Abstract: We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.
Abstract: Understanding the number of people and the flow of
the persons is useful for efficient promotion of the institution
managements and company-s sales improvements. This paper
introduces an automated method for counting passerby using virtualvertical
measurement lines. The process of recognizing a passerby is
carried out using an image sequence obtained from the USB camera.
Space-time image is representing the human regions which are
treated using the segmentation process. To handle the problem of
mismatching, different color space are used to perform the template
matching which chose automatically the best matching to determine
passerby direction and speed. A relation between passerby speed and
the human-pixel area is used to distinguish one or two passersby. In
the experiment, the camera is fixed at the entrance door of the hall in
a side viewing position. Finally, experimental results verify the
effectiveness of the presented method by correctly detecting and
successfully counting them in order to direction with accuracy of
97%.
Abstract: There were many studies on how to alleviate breast discomfort by reducing breast motion, in which nipple motion was used to represent breast motion. However, this assumption had not been experimentally validated. The aim of this paper was to experimentally validate if nipple can be used as a good indicator of breast. Seven participants (average of 24.4 years old) were recruited to walk and run on the treadmill at 5km h-1 and 10km h-1 respectively. Six markers were pasted on their bodies to collect motion data of different parts of breasts. The results of Friedman test combined with the relationship among the five markers on the same breast revealed that nipple could be used as a good indicator of breast. Wilcoxon test showed that there was no significant (P
Abstract: An alternative iterative computational procedure is
proposed for internal normal ball loads calculation in statically
loaded single-row, angular-contact ball bearings, subjected to a
known thrust load, which is applied in the inner ring at the geometric
bearing center line. An accurate method for curvature radii at
contacts with inner and outer raceways in the direction of the motion
is used. Numerical aspects of the iterative procedure are discussed.
Numerical examples results for a 218 angular-contact ball bearing
have been compared with those from the literature. Twenty figures
are presented showing the geometrical features, the behavior of the
convergence variables and the following parameters as functions of
the thrust load: normal ball loads, contact angle, distance between
curvature centers, and normal ball and axial deflections.
Abstract: The Euler-s equation of motion is extended to include
the viscosity stress tensor leading to the formulation of Navier–
Stokes type equation. The latter is linearized and applied to
investigate the rotational motion or vorticity in a viscous fluid.
Relations for the velocity of viscous waves and attenuation parameter
are obtained in terms of viscosity (μ) and the density (¤ü) of the fluid.
μ and ¤ü are measured experimentally as a function of temperature for
two different samples of light and heavy crude oil. These data
facilitated to determine the activation energy, velocity of viscous
wave and the attenuation parameter. Shear wave velocity in heavy oil
is found to be much larger than the light oil, whereas the attenuation
parameter in heavy oil is quite low in comparison to light one. The
activation energy of heavy oil is three times larger than light oil.
Abstract: Avoiding learning failures in mathematics e-learning environments caused by emotional problems in students with autism has become an important topic for combining of special education with information and communications technology. This study presents an adaptive emotional adjustment model in mathematics e-learning for students with autism, emphasizing the lack of emotional perception in mathematics e-learning systems. In addition, an emotion classification for students with autism was developed by inducing emotions in mathematical learning environments to record changes in the physiological signals and facial expressions of students. Using these methods, 58 emotional features were obtained. These features were then processed using one-way ANOVA and information gain (IG). After reducing the feature dimension, methods of support vector machines (SVM), k-nearest neighbors (KNN), and classification and regression trees (CART) were used to classify four emotional categories: baseline, happy, angry, and anxious. After testing and comparisons, in a situation without feature selection, the accuracy rate of the SVM classification can reach as high as 79.3-%. After using IG to reduce the feature dimension, with only 28 features remaining, SVM still has a classification accuracy of 78.2-%. The results of this research could enhance the effectiveness of eLearning in special education.
Abstract: Robustness is one of the primary performance criteria for an Intelligent Video Surveillance (IVS) system. One of the key factors in enhancing the robustness of dynamic video analysis is,providing accurate and reliable means for shadow detection. If left undetected, shadow pixels may result in incorrect object tracking and classification, as it tends to distort localization and measurement information. Most of the algorithms proposed in literature are computationally expensive; some to the extent of equalling computational requirement of motion detection. In this paper, the homogeneity property of shadows is explored in a novel way for shadow detection. An adaptive division image (which highlights homogeneity property of shadows) analysis followed by a relatively simpler projection histogram analysis for penumbra suppression is the key novelty in our approach.
Abstract: In the recent years, functionally gradient materials (FGMs) have gained considerable attention in the high temperature environment applications. In this paper, free vibration of thin functionally graded cylindrical shell with hole composed of stainless steel and zirconia is studied. The mechanical properties vary smoothly and continuously from one surface to the other according to a volume fraction power-law distribution. The Influence of shell geometrical parameters, variations of volume fractions and boundary conditions on natural frequency is considered. The equations of motion are based on strains-displacement relations from Love-s shell theory and Rayleigh method. The results have been obtained for natural frequencies of cylindrical shell with holes for different shape, number and location in this paper.
Abstract: Walking as a type of non-motorized transportation has
various social, economical and environmental privileges. Also, today
different aspects of sustainable development have been emphasized
and promotion of sustainable transportation modes has been
considered according to this approach. Therefore, the objective of
this research is exploring the circumstance of relationship between
walking and sustainable urban transportation.For writing this article,
the most important resources related to the traits of walking have
been surveyed via a documentary method and after explaining the
concept of sustainable transportation and its indicators, benefiting
from the viewpoints of transportation experts of Tehran, as the capital
and greatest city of Iran, different modes of urban transportation have
been compared in proportion to each criterion and to each other and
have been analyzed according to AHP method. The results of this
study indicate that walking is the most sustainable mode of inner city
transportation.
Abstract: In this paper the Differential Quadrature Method (DQM) is employed to study the coupled lateral-torsional free vibration behavior of the laminated composite beams. In such structures due to the fiber orientations in various layers, the lateral displacement leads to a twisting moment. The coupling of lateral and torsional vibrations is modeled by the bending-twisting material coupling rigidity. In the present study, in addition to the material coupling, the effects of shear deformation and rotary inertia are taken into account in the definition of the potential and kinetic energies of the beam. The governing differential equations of motion which form a system of three coupled PDEs are solved numerically using DQ procedure under different boundary conditions consist of the combinations of simply, clamped, free and other end conditions. The resulting natural frequencies and mode shapes for cantilever beam are compared with similar results in the literature and good agreement is achieved.
Abstract: The mixing behaviors of dry and wet granular
materials in gas fluidized bed systems were investigated
computationally using the combined Computational Fluid Dynamics
and Discrete Element Method (CFD-DEM). Dry particles were
observed to mix fairly rapidly during the fluidization process due to
vigorous relative motions between particles induced by the flow of
gas. In contrast, due to the presence of strong cohesive forces arising
from capillary liquid bridges between wet particles, the mixing
efficiencies of wet granular materials under similar operating
conditions were observed to be reduced significantly.
Abstract: In this paper we intend to ascertain the state of the art on multifingered end-effectors, also known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task based design approach, involving cutting edge technologies in motion capture. After an initial description of the capabilities and complexity of a human hand when grasping objects, in order to point out the importance of replicating it, we analyze the mechanical and kinematical structure of some important works carried out all around the world in the last three decades and also review the actuators and sensing technologies used. Finally we describe a new design philosophy proposing an experimental setup for the first stage using recent developments in human body motion capture systems that might lead to lighter and always more dexterous robotic hands.
Abstract: The accuracy of estimated stability and control
derivatives of a light aircraft from flight test data were evaluated. The light aircraft, named ChangGong-91, is the first certified aircraft from
the Korean government. The output error method, which is a maximum likelihood estimation technique and considers measurement
noise only, was used to analyze the aircraft responses measures. The
multi-step control inputs were applied in order to excite the short period mode for the longitudinal and Dutch-roll mode for the lateral-directional motion. The estimated stability/control derivatives of Chan Gong-91 were analyzed for the assessment of handling
qualities comparing them with those of similar aircraft. The accuracy of the flight derivative estimates derived from flight test measurement
was examined in engineering judgment, scatter and Cramer-Rao bound, which turned out to be satisfactory with minor defects..
Abstract: Atmospheric stability plays the most important role in
the transport and dispersion of air pollutants. Different methods are
used for stability determination with varying degrees of complexity.
Most of these methods are based on the relative magnitude of
convective and mechanical turbulence in atmospheric motions.
Richardson number, Monin-Obukhov length, Pasquill-Gifford
stability classification and Pasquill–Turner stability classification, are
the most common parameters and methods. The Pasquill–Turner
Method (PTM), which is employed in this study, makes use of
observations of wind speed, insolation and the time of day to classify
atmospheric stability with distinguishable indices. In this study, a
model is presented to determination of atmospheric stability
conditions using PTM. As a case study, meteorological data of
Mehrabad station in Tehran from 2000 to 2005 is applied to model.
Here, three different categories are considered to deduce the pattern
of stability conditions. First, the total pattern of stability classification
is obtained and results show that atmosphere is 38.77%, 27.26%,
33.97%, at stable, neutral and unstable condition, respectively. It is
also observed that days are mostly unstable (66.50%) while nights are
mostly stable (72.55%). Second, monthly and seasonal patterns are
derived and results indicate that relative frequency of stable
conditions decrease during January to June and increase during June
to December, while results for unstable conditions are exactly in
opposite manner. Autumn is the most stable season with relative
frequency of 50.69% for stable condition, whilst, it is 42.79%,
34.38% and 27.08% for winter, summer and spring, respectively.
Hourly stability pattern is the third category that points out that
unstable condition is dominant from approximately 03-15 GTM and
04-12 GTM for warm and cold seasons, respectively. Finally,
correlation between atmospheric stability and CO concentration is
achieved.
Abstract: This study examines the inelastic behavior of adjacent planar reinforced concrete (R.C.) frames subjected to strong ground motions. The investigation focuses on the effects of vertical ground motion on the seismic pounding. The examined structures are modeled and analyzed by RUAUMOKO dynamic nonlinear analysis program using reliable hysteretic models for both structural members and contact elements. It is found that the vertical ground motion mildly affects the seismic response of adjacent buildings subjected to structural pounding and, for this reason, it can be ignored from the displacement and interstorey drifts assessment. However, the structural damage is moderately affected by the vertical component of earthquakes.
Abstract: Finding the shortest path between two positions is a
fundamental problem in transportation, routing, and communications
applications. In robot motion planning, the robot should pass around
the obstacles touching none of them, i.e. the goal is to find a
collision-free path from a starting to a target position. This task has
many specific formulations depending on the shape of obstacles,
allowable directions of movements, knowledge of the scene, etc.
Research of path planning has yielded many fundamentally different
approaches to its solution, mainly based on various decomposition
and roadmap methods. In this paper, we show a possible use of
visibility graphs in point-to-point motion planning in the Euclidean
plane and an alternative approach using Voronoi diagrams that
decreases the probability of collisions with obstacles. The second
application area, investigated here, is focused on problems of finding
minimal networks connecting a set of given points in the plane using
either only straight connections between pairs of points (minimum
spanning tree) or allowing the addition of auxiliary points to the set
to obtain shorter spanning networks (minimum Steiner tree).
Abstract: The purpose of this study was to examine to what
extend classroom management efficacy, marital status, gender, and
teaching experience predict burnout among primary school teachers.
Participants of this study were 523 (345 female, 178 male) teachers
who completed inventories. The results of multiple regression
analysis indicated that three dimensions of teacher burnout
(Emotional Exhaustion, Depersonalization, Personal
Accomplishment) were affected differently from four predictor
variables. Findings indicated that for the emotional exhaustion,
classroom management efficacy, marital status and teaching
experience; for depersonalization dimension, classroom management
efficacy and marital status and finally for the personal
accomplishment dimension, classroom management efficacy, gender,
and teaching experience were significant predictors.
Abstract: Modeling and vibration of a flexible link manipulator
with tow flexible links and rigid joints are investigated which can
include an arbitrary number of flexible links. Hamilton principle and
finite element approach is proposed to model the dynamics of
flexible manipulators. The links are assumed to be deflection due to
bending. The association between elastic displacements of links is
investigated, took into account the coupling effects of elastic motion
and rigid motion. Flexible links are treated as Euler-Bernoulli beams
and the shear deformation is thus abandoned. The dynamic behavior
due to flexibility of links is well demonstrated through numerical
simulation. The rigid-body motion and elastic deformations are
separated by linearizing the equations of motion around the rigid
body reference path. Simulation results are shown on for both
position and force trajectory tracking tasks in the presence of varying
parameters and unknown dynamics remarkably well. The proposed
method can be used in both dynamic simulation and controller
design.
Abstract: The study of the interaction between humans and
computers has been emerging during the last few years. This
interaction will be more powerful if computers are able to perceive
and respond to human nonverbal communication such as emotions. In
this study, we present the image-based approach to emotion
classification through lower facial expression. We employ a set of
feature points in the lower face image according to the particular face
model used and consider their motion across each emotive expression
of images. The vector of displacements of all feature points input to
the Adaptive Support Vector Machines (A-SVMs) classifier that
classify it into seven basic emotions scheme, namely neutral, angry,
disgust, fear, happy, sad and surprise. The system was tested on the
Japanese Female Facial Expression (JAFFE) dataset of frontal view
facial expressions [7]. Our experiments on emotion classification
through lower facial expressions demonstrate the robustness of
Adaptive SVM classifier and verify the high efficiency of our
approach.
Abstract: Background: Regular physical activity contributes
positively to physical and psychological health. In the present study,
the stages of change of physical activity and the total physical
Aims: The aim of this study was to investigate the proportion of
adolescent girls in each stages of change and the causative factors
associated with physical activity such as the related social support
and self efficacy in a sample of the high school students.
Methods: In this study, Social Cognitive Theory (SCT) and the
Transtheorical Model (TTM) guided instrument development. The
data regarding the demographics, psychosocial determinants of
physical activity, stage of change and physical activity was gathered
by questionnaires. Several measures of psychosocial determinants of
physical activity were translated from English into Persian using the
back-translation technique. These translated measures were
administered to 512 ninth and tenth-grade Iranian high school
students for factor analysis.
Results: The distribution of the stage of change for physical activity
was as follow: 18/5% in precontemplation, 23.4% in contemplation,
38.2% in preparation, 4.6% in action and 15.3% in maintenance.
They were in 80.1% pre-adoption stages (precontemplation stage,
contemplation stage and preparation stage) and 19.9% post-adoption
stages (action stage and maintenance stage) of physical activity.
There was a significant relate between age and physical activity in
adolescent girls (age-related decline of physical activity) p