Abstract: This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.
Abstract: The fortified of soft wheat flour with cowpea flour in
bread making was investigated. The Soft wheat flour (SWF) was
substituted by cowpea flour at levels of 5, 15 and 20%. The protein content of composite breads ranged from 6.1 – 9.9%. Significant
difference was observed in moisture, protein and crude fibre contents of control (wheat bread) and composite bread at 5% addition of
cowpea. Water absorption capacities of composite flours increased with increasing levels of cowpea flour in the blend. The specific loaf
volume decreased significantly with increased cowpea content of
blends. The overall acceptability of the 5% cowpea flour content of
composite bread was not significantly different from the control (Soft Wheat-bread) but there is significantly different with increasing the
levels of cowpea flour in the blend more than 5%.
Abstract: Worldwide many electrical equipment insulation
failures have been reported caused by switching operations, while
those equipments had previously passed all the standard tests and
complied with all quality requirements. The problem is mostly
associated with high-frequency overvoltages generated during
opening or closing of a switching device. The transients generated
during switching operations in a Gas Insulated Substation (GIS) are
associated with high frequency components in the order of few tens
of MHz.
The frequency spectrum of the VFTO generated in the 220/66 kV
Wadi-Hoff GIS is analyzed using Fast Fourier Transform technique.
The main frequency with high voltage amplitude due to the operation
of disconnector (DS5) is 5 to 10 MHz, with the highest amplitude at 9
MHz. The main frequency with high voltage amplitude due to the
operation of circuit breaker (CB5) is 1 to 25 MHz, with the highest
amplitude at 2 MHz.
Mitigating techniques damped the oscillating frequencies
effectively. The using of cable terminal reduced the frequency
oscillation effectively than that of OHTL terminal. The using of a
shunt capacitance results in vanishing the high frequency
components. Ferrite rings reduces the high frequency components
effectively especially in the range 2 to 7 MHz. The using of RC and
RL filters results in vanishing the high frequency components.
Abstract: Burnishing is a method of finishing and hardening
machined parts by plastic deformation of the surface. Experimental
work based on central composite second order rotatable design has
been carried out on a lathe machine to establish the effects of ball
burnishing parameters on the surface roughness of brass material.
Analysis of the results by the analysis of variance technique and the
F-test show that the parameters considered, have significant effects
on the surface roughness.
Abstract: This paper proposes a novel system for monitoring the
health of underground pipelines. Some of these pipelines transport
dangerous contents and any damage incurred might have catastrophic
consequences. However, most of these damage are unintentional and
usually a result of surrounding construction activities. In order to
prevent these potential damages, monitoring systems are
indispensable. This paper focuses on acoustically recognizing road
cutters since they prelude most construction activities in modern
cities. Acoustic recognition can be easily achieved by installing a
distributed computing sensor network along the pipelines and using
smart sensors to “listen" for potential threat; if there is a real threat,
raise some form of alarm. For efficient pipeline monitoring, a novel
monitoring approach is proposed. Principal Component Analysis
(PCA) was studied and applied. Eigenvalues were regarded as the
special signature that could characterize a sound sample, and were
thus used for the feature vector for sound recognition. The denoising
ability of PCA could make it robust to noise interference. One class
SVM was used for classifier. On-site experiment results show that the
proposed PCA and SVM based acoustic recognition system will be
very effective with a low tendency for raising false alarms.
Abstract: This paper presents the development of analysis tools
for Home Agriculture project. The tools are required for monitoring
the condition of greenhouse which involves two components:
measurement hardware and data analysis engine. Measurement
hardware is functioned to measure environment parameters such as
temperature, humidity, air quality, dust and etc while analysis tool is
used to analyse and interpret the integrated data against the condition
of weather, quality of health, irradiance, quality of soil and etc. The
current development of the tools is completed for off-line data
recorded technique. The data is saved in MMC and transferred via
ZigBee to Environment Data Manager (EDM) for data analysis.
EDM converts the raw data and plot three combination graphs. It has
been applied in monitoring three months data measurement for
irradiance, temperature and humidity of the greenhouse..
Abstract: Previously, harmonic parameters (HPs) have been
selected as features extracted from EEG signals for automatic sleep
scoring. However, in previous studies, only one HP parameter was
used, which were directly extracted from the whole epoch of EEG
signal.
In this study, two different transformations were applied to extract
HPs from EEG signals: Hilbert-Huang transform (HHT) and wavelet
transform (WT). EEG signals are decomposed by the two
transformations; and features were extracted from different
components. Twelve parameters (four sets of HPs) were extracted.
Some of the parameters are highly diverse among different stages.
Afterward, HPs from two transformations were used to building a
rough sleep stages scoring model using the classifier SVM. The
performance of this model is about 78% using the features obtained by
our proposed extractions. Our results suggest that these features may
be useful for automatic sleep stages scoring.
Abstract: Three-dimensional simulation of harmonic up
generation in free electron laser amplifier operating simultaneously
with a cold and relativistic electron beam is presented in steady-state
regime where the slippage of the electromagnetic wave with respect
to the electron beam is ignored. By using slowly varying envelope
approximation and applying the source-dependent expansion to wave
equations, electromagnetic fields are represented in terms of the
Hermit Gaussian modes which are well suited for the planar wiggler
configuration. The electron dynamics is described by the fully threedimensional
Lorentz force equation in presence of the realistic planar
magnetostatic wiggler and electromagnetic fields. A set of coupled
nonlinear first-order differential equations is derived and solved
numerically. The fundamental and third harmonic radiation of the
beam is considered. In addition to uniform beam, prebunched
electron beam has also been studied. For this effect of sinusoidal
distribution of entry times for the electron beam on the evolution of
radiation is compared with uniform distribution. It is shown that
prebunching reduces the saturation length substantially. For
efficiency enhancement the wiggler is set to decrease linearly when
the radiation of the third harmonic saturates. The optimum starting
point of tapering and the slope of radiation in the amplitude of
wiggler are found by successive run of the code.
Abstract: A mathematical model for the hydrodynamic
lubrication of parabolic slider bearings with couple stress lubricants
is presented. A numerical solution for the mathematical model using
finite element scheme is obtained using three nodes isoparametric
quadratic elements. Stiffness integrals obtained from the weak form
of the governing equations were solved using Gauss Quadrature to
obtain a finite number of stiffness matrices. The global system of
equations was obtained for the bearing and solved using Gauss Seidel
iterative scheme. The converged pressure solution was used to obtain
the load capacity of the bearing. Parametric studies were carried out
and it was shown that the effect of couple stresses and profile
parameter are to increase the load carrying capacity of the parabolic
slider bearing. Numerical experiments reveal that the magnitude of
the profile parameter at which maximum load is obtained increases
with decrease in couple stress parameter. The results are presented in
graphical form.
Abstract: In this paper, the differential quadrature method is applied to simulate natural convection in an inclined cubic cavity using velocity-vorticity formulation. The numerical capability of the present algorithm is demonstrated by application to natural convection in an inclined cubic cavity. The velocity Poisson equations, the vorticity transport equations and the energy equation are all solved as a coupled system of equations for the seven field variables consisting of three velocities, three vorticities and temperature. The coupled equations are simultaneously solved by imposing the vorticity definition at boundary without requiring the explicit specification of the vorticity boundary conditions. Test results obtained for an inclined cubic cavity with different angle of inclinations for Rayleigh number equal to 103, 104, 105 and 106 indicate that the present coupled solution algorithm could predict the benchmark results for temperature and flow fields. Thus, it is convinced that the present formulation is capable of solving coupled Navier-Stokes equations effectively and accurately.
Abstract: Noise has adverse effect on human health and
comfort. Noise not only cause hearing impairment, but it also acts as
a causal factor for stress and raising systolic pressure. Additionally it
can be a causal factor in work accidents, both by marking hazards
and warning signals and by impeding concentration. Industry
workers also suffer psychological and physical stress as well as
hearing loss due to industrial noise. This paper proposes an approach
to enable engineers to point out quantitatively the noisiest source for
modification, while multiple machines are operating simultaneously.
The model with the point source and spherical radiation in a free field
was adopted to formulate the problem. The procedure works very
well in ideal cases (point source and free field). However, most of the
industrial noise problems are complicated by the fact that the noise is
confined in a room. Reflections from the walls, floor, ceiling, and
equipment in a room create a reverberant sound field that alters the
sound wave characteristics from those for the free field. So the model
was validated for relatively low absorption room at NIT Kurukshetra
Central Workshop. The results of validation pointed out that the
estimated sound power of noise sources under simultaneous
conditions were on lower side, within the error limits 3.56 - 6.35 %.
Thus suggesting the use of this methodology for practical
implementation in industry. To demonstrate the application of the
above analytical procedure for estimating the sound power of noise
sources under simultaneous operating conditions, a manufacturing
facility (Railway Workshop at Yamunanagar, India) having five
sound sources (machines) on its workshop floor is considered in this
study. The findings of the case study had identified the two most
effective candidates (noise sources) for noise control in the Railway
Workshop Yamunanagar, India. The study suggests that the
modification in the design and/or replacement of these two identified
noisiest sources (machine) would be necessary so as to achieve an
effective reduction in noise levels. Further, the estimated data allows
engineers to better understand the noise situations of the workplace
and to revise the map when changes occur in noise level due to a
workplace re-layout.
Abstract: This paper discusses a design of nonlinear observer by
a formal linearization method using an application of Chebyshev Interpolation
in order to facilitate processes for synthesizing a nonlinear
observer and to improve the precision of linearization.
A dynamic nonlinear system is linearized with respect to a linearization
function, and a measurement equation is transformed into
an augmented linear one by the formal linearization method which is
based on Chebyshev interpolation. To the linearized system, a linear
estimation theory is applied and a nonlinear observer is derived. To
show effectiveness of the observer design, numerical experiments
are illustrated and they indicate that the design shows remarkable
performances for nonlinear systems.
Abstract: The increasing industrialization and motorization of the world has led to a steep rise for the demand of petroleum-based fuels. Petroleum-based fuels are obtained from limited reserves. These finite reserves are highly concentrated in certain regions of the world. Therefore, those countries not having these resources are facing energy/foreign exchange crisis, mainly due to the import of crude petroleum. Hence, it is necessary to look for alternative fuels which can be produced from resources available locally within the country such as alcohol, biodiesel, vegetable oils etc. Biodiesel is a renewable, domestically produced fuel that has been shown to reduce particulate, hydrocarbon, and carbon monoxide emissions from combustion. In the present study an experimental investigation on emission characteristic of a liquid burner system operating on several percentage of biodiesel and gas oil is carried out. Samples of exhaust gas are analysed with Testo 350 Xl. The results show that biodiesel can lower some pollutant such as CO, CO2 and particulate matter emissions while NOx emission would increase in comparison with gas oil. The results indicate there may be benefits to using biodiesel in industrial processes.
Abstract: The motivation of this work was to find a suitable 3D
scanner for human body parts digitalization in the field of prosthetics
and orthotics. The main project objective is to compare the three
hand-held portable scanners (two optical and one laser) and two
optical tripod scanners. The comparison was made with respect of
scanning detail, simplicity of operation and ability to scan directly on
the human body. Testing was carried out on a plaster cast of the
upper limb and directly on a few volunteers. The objective monitored
parameters were time of digitizing and post-processing of 3D data
and resulting visual data quality. Subjectively, it was considered level
of usage and handling of the scanner. The new tripod was developed
to improve the face scanning conditions. The results provide an
overview of the suitability of different types of scanners.
Abstract: Activity-Based Costing (ABC) represents an
alternative paradigm to traditional cost accounting system and
it often provides more accurate cost information for decision
making such as product pricing, product mix, and make-orbuy
decisions. ABC models the causal relationships between
products and the resources used in their production and traces
the cost of products according to the activities through the use
of appropriate cost drivers. In this paper, the implementation
of the ABC in a manufacturing system is analyzed and a
comparison with the traditional cost based system in terms of
the effects on the product costs are carried out to highlight the
difference between two costing methodologies. By using this
methodology, a valuable insight into the factors that cause the
cost is provided, helping to better manage the activities of the
company.
Abstract: A sequential treatment of ozonation followed by a
Fenton or photo-Fenton process, using black light lamps (365 nm) in
this latter case, has been applied to remove a mixture of
pharmaceutical compounds and the generated by-products both in
ultrapure and secondary treated wastewater. The scientifictechnological
innovation of this study stems from the in situ
generation of hydrogen peroxide from the direct ozonation of
pharmaceuticals, and can later be used in the application of Fenton
and photo-Fenton processes. The compounds selected as models
were sulfamethoxazol and acetaminophen. It should be remarked that
the use of a second process is necessary as a result of the low
mineralization yield reached by the exclusive application of ozone.
Therefore, the influence of the water matrix has been studied in terms
of hydrogen peroxide concentration, individual compound
concentration and total organic carbon removed. Moreover, the
concentration of different iron species in solution has been measured.
Abstract: In this work, the precipitation of asphaltene from a Malaysian light oil reservoir was studies. A series of experiments were designed and carried out to examine the effect of CO2 injection on asphaltene precipitation. Different pressures of injections were used in Dynamic flooding experiment in order to investigate the effect of pressure versus injection pore volume of CO2. These dynamic displacement tests simulate reservoir condition. Results show that by increasing the pore volume of injected gas asphaltene precipitation will increases, also rise in injection pressure causes less precipitation. Sandstone core plug was used to represent reservoir formation during displacement test; therefore it made it possible to study the effect of present of asphaltene on formation. It is found out that the precipitated asphaltene can reduce permeability and porosity which is not favorable during oil production.
Abstract: The governing two-dimensional equations of a heterogeneous material composed of a fluid (allowed to flow in the absence of acoustic excitations) and a crystalline piezoelectric cubic solid stacked one-dimensionally (along the z direction) are derived and special emphasis is given to the discussion of acoustic group velocity for the structure as a function of the wavenumber component perpendicular to the stacking direction (being the x axis). Variations in physical parameters with y are neglected assuming infinite material homogeneity along the y direction and the flow velocity is assumed to be directed along the x direction. In the first part of the paper, the governing set of differential equations are derived as well as the imposed boundary conditions. Solutions are provided using Hamilton-s equations for the wavenumber vs. frequency as a function of the number and thickness of solid layers and fluid layers in cases with and without flow (also the case of a position-dependent flow in the fluid layer is considered). In the first part of the paper, emphasis is given to the small-frequency case. Boundary conditions at the bottom and top parts of the full structure are left unspecified in the general solution but examples are provided for the case where these are subject to rigid-wall conditions (Neumann boundary conditions in the acoustic pressure). In the second part of the paper, emphasis is given to the general case of larger frequencies and wavenumber-frequency bandstructure formation. A wavenumber condition for an arbitrary set of consecutive solid and fluid layers, involving four propagating waves in each solid region, is obtained again using the monodromy matrix method. Case examples are finally discussed.
Abstract: Unified Modeling Language (UML) extensions for real time embedded systems (RTES) co-design, are taking a growing interest by a great number of industrial and research communities. The extension mechanism is provided by UML profiles for RTES. It aims at improving an easily-understood method of system design for non-experts. On the other hand, one of the key items of the co- design methods is the Hardware/Software partitioning and scheduling tasks. Indeed, it is mandatory to define where and when tasks are implemented and run. Unfortunately the main goals of co-design are not included in the usual practice of UML profiles. So, there exists a need for mapping used models to an execution platform for both schedulability test and HW/SW partitioning. In the present work, test schedulability and design space exploration are performed at an early stage. The proposed approach adopts Model Driven Engineering MDE. It starts from UML specification annotated with the recent profile for the Modeling and Analysis of Real Time Embedded systems MARTE. Following refinement strategy, transformation rules allow to find a feasible schedule that satisfies timing constraints and to define where tasks will be implemented. The overall approach is experimented for the design of a football player robot application.
Abstract: Diabetes mellitus (DM) is frequently characterized by
autonomic nervous dysfunction. Analysis of heart rate variability
(HRV) has become a popular noninvasive tool for assessing the
activities of autonomic nervous system (ANS). In this paper, changes
in ANS activity are quantified by means of frequency and time
domain analysis of R-R interval variability. Electrocardiograms
(ECG) of 16 patients suffering from DM and of 16 healthy volunteers
were recorded. Frequency domain analysis of extracted normal to
normal interval (NN interval) data indicates significant difference in
very low frequency (VLF) power, low frequency (LF) power and
high frequency (HF) power, between the DM patients and control
group. Time domain measures, standard deviation of NN interval
(SDNN), root mean square of successive NN interval differences
(RMSSD), successive NN intervals differing more than 50 ms (NN50
Count), percentage value of NN50 count (pNN50), HRV triangular
index and triangular interpolation of NN intervals (TINN) also show
significant difference between the DM patients and control group.