Abstract: Model Predictive Control (MPC) is increasingly being
proposed for real time applications and embedded systems. However
comparing to PID controller, the implementation of the MPC in
miniaturized devices like Field Programmable Gate Arrays (FPGA)
and microcontrollers has historically been very small scale due to its
complexity in implementation and its computation time requirement.
At the same time, such embedded technologies have become an
enabler for future manufacturing enterprises as well as a transformer
of organizations and markets. Recently, advances in microelectronics
and software allow such technique to be implemented in embedded
systems. In this work, we take advantage of these recent advances
in this area in the deployment of one of the most studied and
applied control technique in the industrial engineering. In fact in
this paper, we propose an efficient framework for implementation
of Generalized Predictive Control (GPC) in the performed STM32
microcontroller. The STM32 keil starter kit based on a JTAG interface
and the STM32 board was used to implement the proposed GPC
firmware. Besides the GPC, the PID anti windup algorithm was
also implemented using Keil development tools designed for ARM
processor-based microcontroller devices and working with C/Cµ
langage. A performances comparison study was done between both
firmwares. This performances study show good execution speed and
low computational burden. These results encourage to develop simple
predictive algorithms to be programmed in industrial standard hardware.
The main features of the proposed framework are illustrated
through two examples and compared with the anti windup PID
controller.
Abstract: There are many approaches proposed for solving
Sudoku puzzles. One of them is by modelling the puzzles as block
world problems. There have been three model for Sudoku solvers
based on this approach. Each model expresses Sudoku solver as
a parameterized multi agent systems. In this work, we propose a
new model which is an improvement over the existing models. This
paper presents the development of a Sudoku solver that implements
all the proposed models. Some experiments have been conducted to
determine the performance of each model.
Abstract: The application of a simple microcontroller to deal
with a three variable input and a single output fuzzy logic controller,
with Proportional – Integral – Derivative (PID) response control
built-in has been tested for an automatic voltage regulator. The
fuzzifiers are based on fixed range of the variables of output voltage.
The control output is used to control the wiper motor of the auto
transformer to adjust the voltage, using fuzzy logic principles, so that
the voltage is stabilized. In this report, the author will demonstrate
how fuzzy logic might provide elegant and efficient solutions in the
design of multivariable control based on experimental results rather
than on mathematical models.
Abstract: Recently, various services such as television and the
Internet have come to be received through various terminals.
However, we could gain greater convenience by receiving these
services through cellular phone terminals when we go out and then
continuing to receive the same services through a large screen digital
television after we have come home. However, it is necessary to go
through the same authentication processing again when using TVs
after we have come home. In this study, we have developed an
authentication method that enables users to switch terminals in
environments in which the user receives service from a server through
a terminal. Specifically, the method simplifies the authentication of
the server side when switching from one terminal to another terminal
by using previously authenticated information.
Abstract: In this paper a study on the vibration of thin
cylindrical shells with ring supports and made of functionally graded
materials (FGMs) composed of stainless steel and nickel is presented.
Material properties vary along the thickness direction of the shell
according to volume fraction power law. The cylindrical shells have
ring supports which are arbitrarily placed along the shell and impose
zero lateral deflections. The study is carried out based on third order
shear deformation shell theory (T.S.D.T). The analysis is carried out
using Hamilton-s principle. The governing equations of motion of
FGM cylindrical shells are derived based on shear deformation
theory. Results are presented on the frequency characteristics,
influence of ring support position and the influence of boundary
conditions. The present analysis is validated by comparing results
with those available in the literature.
Abstract: An envelope echo signal measurement is proposed in
this paper using echo signal observation from the 200 kHz echo
sounder receiver. The envelope signal without any object is compared
with the envelope signal of the sphere. Two diameter size steel ball
(3.1 cm & 2.2 cm) and two diameter size air filled stainless steel ball
(4.8 cm & 7.4 cm) used in this experiment. The target was positioned
about 0.5 m and 1.0 meter from the transducer face using nylon rope.
From the echo observation in time domain, it is obviously shown that
echo signal structure is different between the size, distance and type
of metal sphere. The amplitude envelope voltage for the bigger
sphere is higher compare to the small sphere and it confirm that the
bigger sphere have higher target strength compare to the small
sphere. Although the structure signal without any object are different
compare to the signal from the sphere, the reflected signal from the
tank floor increase linearly with the sphere size. We considered this
event happened because of the object position approximately to the
tank floor.
Abstract: A computer model of Quantum Theory (QT) has been
developed by the author. Major goal of the computer model was
support and demonstration of an as large as possible scope of QT.
This includes simulations for the major QT (Gedanken-) experiments
such as, for example, the famous double-slit experiment.
Besides the anticipated difficulties with (1) transforming exacting
mathematics into a computer program, two further types of problems
showed up, namely (2) areas where QT provides a complete mathematical
formalism, but when it comes to concrete applications the
equations are not solvable at all, or only with extremely high effort;
(3) QT rules which are formulated in natural language and which do
not seem to be translatable to precise mathematical expressions, nor
to a computer program.
The paper lists problems in all three categories and describes also
the possible solutions or circumventions developed for the computer
model.
Abstract: The paper deals with the perspectives and possibilities
of "smart solutions" to critical infrastructure protection. It means that
common computer aided technologies are used from the perspective
of new, better protection of selected infrastructure objects. The paper
is focused on the co-product of the Czech Defence Research Project -
ADAPTIV. This project is carrying out by the University of Defence,
Faculty of Economics and Management at the Department of Civil
Protection. The project creates system and technology for adaptive
cybernetic camouflage of armed forces objects, armaments, vehicles
and troops and of mobilization infrastructure. These adaptive
camouflage system and technology will be useful for army tactic
activities protection and for decoys generation also. The fourth
chapter of the paper concerns the possibilities of using the introduced
technology to the protection of selected civil (economically
important), critical infrastructure objects. The aim of this section
is to introduce the scientific capabilities and potential of the
University of Defence research results and solutions for the practice.
Abstract: This paper analysed the food security situation among
Nigerian rural farmers. Data collected on 202 rural farmers from
Benue State were analysed using descriptive and inferential statistics.
The study revealed that majority of the respondents (60.83%) had
medium dietary diversity. Furthermore, household daily calorie
requirement for the food secure households was 10,723 and the
household daily calorie consumption was 12,598, with a surplus
index of 0.04. The food security index was 1.16. The Household
daily per capita calorie consumption was 3,221.2. For the food
insecure households, the household daily calorie requirement was
20,213 and the household daily calorie consumption was 17,393. The
shortfall index was 0.14. The food security index was 0.88. The
Household daily per capita calorie consumption was 2,432.8. The
most commonly used coping strategies during food stress included
intercropping (99.2%), reliance on less preferred food (98.1%),
limiting portion size at meal times (85.8%) and crop diversification
(70.8%).
Abstract: In this work a new method for low complexity
image coding is presented, that permits different settings and great
scalability in the generation of the final bit stream. This coding
presents a continuous-tone still image compression system that
groups loss and lossless compression making use of finite arithmetic
reversible transforms. Both transformation in the space of color and
wavelet transformation are reversible. The transformed coefficients
are coded by means of a coding system in depending on a
subdivision into smaller components (CFDS) similar to the bit
importance codification. The subcomponents so obtained are
reordered by means of a highly configure alignment system
depending on the application that makes possible the re-configure of
the elements of the image and obtaining different importance levels
from which the bit stream will be generated. The subcomponents of
each importance level are coded using a variable length entropy
coding system (VBLm) that permits the generation of an embedded
bit stream. This bit stream supposes itself a bit stream that codes a
compressed still image. However, the use of a packing system on the
bit stream after the VBLm allows the realization of a final highly
scalable bit stream from a basic image level and one or several
improvement levels.
Abstract: The purpose of this research is: a) to investigate how
the HR practices influence psychological contracts, b) to examine the
influence of psychological contracts to individual behavior and to
contribute individually, c) to study the psychological contact through
leadership. This research using mixed methods, qualitative and
quantitative research methods were utilized to gather the data
collected using a qualitative method by the HR Manager who is in
charge of the trainings from the staffs and quantitative method
(survey) by using questionnaire was utilized to draw upon and to
elaborate on the recurring themes present during the interviews. The
survey was done to 400 staffs of the company. The study found that
leadership styles supporting the firm’s HR strategy is the key in
making psychological contracts that benefit both the firm and its
members.
Abstract: The paper is intended to declare and apply ethics, i. e.
moral principles, rules in marketing environment. Ethical behavior of
selected pharmaceutical companies in the Slovak Republic is the
object of our research. The aim of our research is to determine
perception of ethical behavior of the pharmaceutical industry in
Slovakia by the medicine representatives in comparison with the
assessment of doctors and patients. The experimental sample
included 90 participants who were divided into three groups:
medicine representatives of the pharmaceutical companies (N=30),
doctors (N=30) and patients (N=30). The research method was a
Questionnaire of ethical behavior, created by us, that describes
individual areas included in the Code of ethics of the pharmaceutical
industry in Slovakia. The results showed influence of professional
status on ethical behavior perception, not gender. Higher perception
was indicated at patients rather than doctors and medicine
representatives.
Abstract: The mechanical and tribological properties in WC-Co
coatings are strongly affected by hardness and elasticity
specifications. The results revealed the effect of spraying distance on
microhardness and elasticity modulus of coatings. The metallurgical
studies have been made on coated samples using optical microscopy,
scanning electron microscopy (SEM).
Abstract: The theory of Groebner Bases, which has recently been
honored with the ACM Paris Kanellakis Theory and Practice Award,
has become a crucial building block to computer algebra, and is
widely used in science, engineering, and computer science. It is wellknown
that Groebner bases computation is EXP-SPACE in a general
setting. In this paper, we give an algorithm to show that Groebner
bases computation is P-SPACE in Boolean rings. We also show that
with this discovery, the Groebner bases method can theoretically be
as efficient as other methods for automated verification of hardware
and software. Additionally, many useful and interesting properties of
Groebner bases including the ability to efficiently convert the bases
for different orders of variables making Groebner bases a promising
method in automated verification.
Abstract: The purpose of this study is to find natural gait of
biped robot such as human being by analyzing the COG (Center Of
Gravity) trajectory of human being's gait. It is discovered that human
beings gait naturally maintain the stability and use the minimum
energy. This paper intends to find the natural gait pattern of biped
robot using the minimum energy as well as maintaining the stability by
analyzing the human's gait pattern that is measured from gait image on
the sagittal plane and COG trajectory on the frontal plane. It is not
possible to apply the torques of human's articulation to those of biped
robot's because they have different degrees of freedom. Nonetheless,
human and 5-link biped robots are similar in kinematics. For this, we
generate gait pattern of the 5-link biped robot by using the GA
algorithm of adaptation gait pattern which utilize the human's ZMP
(Zero Moment Point) and torque of all articulation that are measured
from human's gait pattern. The algorithm proposed creates biped
robot's fluent gait pattern as that of human being's and to minimize
energy consumption because the gait pattern of the 5-link biped robot
model is modeled after consideration about the torque of human's each
articulation on the sagittal plane and ZMP trajectory on the frontal
plane. This paper demonstrate that the algorithm proposed is superior
by evaluating 2 kinds of the 5-link biped robot applied to each gait
patterns generated both in the general way using inverse kinematics
and in the special way in which by considering visuality and
efficiency.
Abstract: In this paper, a reliable cooperative multipath routing
algorithm is proposed for data forwarding in wireless sensor networks
(WSNs). In this algorithm, data packets are forwarded towards the
base station (BS) through a number of paths, using a set of relay
nodes. In addition, the Rayleigh fading model is used to calculate
the evaluation metric of links. Here, the quality of reliability is
guaranteed by selecting optimal relay set with which the probability
of correct packet reception at the BS will exceed a predefined
threshold. Therefore, the proposed scheme ensures reliable packet
transmission to the BS. Furthermore, in the proposed algorithm,
energy efficiency is achieved by energy balancing (i.e. minimizing
the energy consumption of the bottleneck node of the routing path)
at the same time. This work also demonstrates that the proposed
algorithm outperforms existing algorithms in extending longevity of
the network, with respect to the quality of reliability. Given this, the
obtained results make possible reliable path selection with minimum
energy consumption in real time.
Abstract: Biomimicry has many potential benefits as many
technologies found in nature are superior to their man-made
counterparts. As technological device components approach the micro
and nanoscale, surface properties such as surface adhesion and friction
may need to be taken into account. Lowering surface adhesion by
manipulating chemistry alone might no longer be sufficient for such
components and thus physical manipulation may be required.
Adhesion reduction is only one of the many surface functions
displayed by micro/nano-structured cuticles of insects. Here, we
present a mini review of our understanding of insect cuticle structures
and the relationship between the structure dimensions and the
corresponding functional mechanisms. It may be possible to introduce
additional properties to material surfaces (indeed multi-functional
properties) based on the design of natural surfaces.
Abstract: This paper proposes a framework for product
development including hardware and software components. It
provides separation of hardware dependent software, modifications of
current product development process, and integration of software
modules with existing product configuration models and assembly
product structures. In order to decide the dependent software, the
framework considers product configuration modules and engineering
changes of associated software and hardware components. In order to
support efficient integration of the two different hardware and
software development, a modified product development process is
proposed. The process integrates the dependent software development
into product development through the interchanges of specific product
information. By using existing product data models in Product Data
Management (PDM), the framework represents software as modules
for product configurations and software parts for product structure.
The framework is applied to development of a robot system in order to
show its effectiveness.
Abstract: Neighborhood Rough Sets (NRS) has been proven to
be an efficient tool for heterogeneous attribute reduction. However,
most of researches are focused on dealing with complete and noiseless
data. Factually, most of the information systems are noisy, namely,
filled with incomplete data and inconsistent data. In this paper, we
introduce a generalized neighborhood rough sets model, called
VPTNRS, to deal with the problem of heterogeneous attribute
reduction in noisy system. We generalize classical NRS model with
tolerance neighborhood relation and the probabilistic theory.
Furthermore, we use the neighborhood dependency to evaluate the
significance of a subset of heterogeneous attributes and construct a
forward greedy algorithm for attribute reduction based on it.
Experimental results show that the model is efficient to deal with noisy
data.
Abstract: Soils are normally dried in either a convection oven or stove. Laboratory moisture content testing indicated that the typical drying durations for a convection oven were, 24 hours. The purpose of this study was to determine the accuracy and soil drying duration of both, moisture content and liquid limit using microwave radiation. The soils were tested with both, convection and microwave ovens. The convection oven was considered to produce the true values for both, natural moisture content and liquid limit of soils; it was, therefore, used as a basis for comparison for the results of the microwave ovens. The samples used in this study were obtained from different projects of Consulting Engineering Bureau of College of Engineering of Sulaimani University. These samples were collected from different locations and at the different depths and consist mostly of brown and light brown clay and silty clay. A total of 102 samples were prepared. 26 of them were tested for natural moisture determination, while the other 76 were used for liquid limits determination