Abstract: A novel low-cost impedance control structure is
proposed for monitoring the contact force between end-effector and
environment without installing an expensive force/torque sensor.
Theoretically, the end-effector contact force can be estimated from the
superposition of each joint control torque. There have a nonlinear
matrix mapping function between each joint motor control input and
end-effector actuating force/torques vector. This new force control
structure can be implemented based on this estimated mapping matrix.
First, the robot end-effector is manipulated to specified positions, then
the force controller is actuated based on the hall sensor current
feedback of each joint motor. The model-free fuzzy sliding mode
control (FSMC) strategy is employed to design the position and force
controllers, respectively. All the hardware circuits and software
control programs are designed on an Altera Nios II embedded
development kit to constitute an embedded system structure for a
retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI
and FSMC force control algorithms can achieve reasonable contact
force monitoring objective based on this hardware control structure.
Abstract: When it comes to last, it is regarded as the critical
foundation of shoe design and development. A computer aided
methodology for various last form designs is proposed in this study.
The reverse engineering is mainly applied to the process of scanning
for the last form. Then with the minimum energy for revision of
surface continuity, the surface reconstruction of last is rebuilt by the
feature curves of the scanned last. When the surface reconstruction of
last is completed, the weighted arithmetic mean method is applied to
the computation on the shape morphing for the control mesh of last,
thus 3D last form of different sizes is generated from its original form
feature with functions remained. In the end, the result of this study is
applied to an application for 3D last reconstruction system. The
practicability of the proposed methodology is verified through later
case studies.
Abstract: In current global economics the application of Business Continuity Management is the prerequisite for sustainable competitive advantage in an organization. Business Continuity Management is a managerial which identifies the potential impact of losses in an organization. The aim of this paper is to identify and critically evaluate the relative advantages and disadvantages of deploying Business Continuity Management in an organization on the basis of seven criteria. The strongest advantage of Business Continuity Management is in its capacity to identify a crisis situation and help the organization to flexibly and also to keep the critical knowledge within the organization. By contrast the main disadvantage is that establishing Business Continuity Management in an organization is time-consuming and its implementation as an integral part of the organizational culture present significant difficulties.
Abstract: Attempts were made to identify anuran glial cells. They were found as nervous tissue resident. Having stage dependent morphotype changes, whereby, appeared as an ovoid to oval in resting state and amoeboid mrophotypes in activated state, stained fairly with methylene blue and take up Pelikane blue 10% aqueous solution, as well as having the ability to phagocytize heat killed Staphylococcus aureus. They were delineated from the migrating peripheral monocytes by morphotypic and morphometeric differences. Such criteria were consistence with glial cells. Thus, the anuran glial cells are being identified in the frog Rana ridibunda Pallas 1771 and this animal can be of use as a simple model for the immunobiology of glial cells.
Abstract: A Negotiation Support is required on a value-based decision to enable each stakeholder to evaluate and rank the solution alternatives before engaging into negotiation with the other stakeholders. This study demonstrates a process of negotiation support model for selection of a building system from value-based design perspective. The perspective is based on comparison of function and cost of a building system. Multi criteria decision techniques were applied to determine the relative value of the alternative solutions for performing the function. A satisfying option game theory are applied to the criteria of value-based decision which are LCC (life cycle cost) and function based FAST. The results demonstrate a negotiation process to select priorities of a building system. The support model can be extended to an automated negotiation by combining value based decision method, group decision and negotiation support.
Abstract: As the air traffic increases at a hub airport, some
flights cannot land or depart at their preferred target time. This event
happens because the airport runways become occupied to near their
capacity. It results in extra costs for both passengers and airlines
because of the loss of connecting flights or more waiting, more fuel
consumption, rescheduling crew members, etc. Hence, devising an
appropriate scheduling method that determines a suitable runway and
time for each flight in order to efficiently use the hub capacity and
minimize the related costs is of great importance. In this paper, we
present a mixed-integer zero-one model for scheduling a set of mixed
landing and departing flights (despite of most previous studies
considered only landings). According to the fact that the flight cost is
strongly affected by the level of airline, we consider different airline
categories in our model. This model presents a single objective
minimizing the total sum of three terms, namely 1) the weighted
deviation from targets, 2) the scheduled time of the last flight (i.e.,
makespan), and 3) the unbalancing the workload on runways. We
solve 10 simulated instances of different sizes up to 30 flights and 4
runways. Optimal solutions are obtained in a reasonable time, which
are satisfactory in comparison with the traditional rule, namely First-
Come-First-Serve (FCFS) that is far apart from optimality in most
cases.
Abstract: Copolymerization of ethylene with 1-hexene was
carried out using two ansa-fluorenyl titanium derivative complexes.
The substituent effect on the catalytic activity, monomer reactivity
ratio and polymer property was investigated. It was found that the
presence of t-Bu groups on fluorenyl ring exhibited remarkable
catalytic activity and produced polymer with high molecular weight.
However, these catalysts produce polymer with narrow molecular
weight distribution, indicating the characteristic of single-site
metallocene catalyst. Based on 13C NMR, we can observe that
monomer reactivity ratio was affected by catalyst structure. The rH
values of complex 2 were lower than that of complex 1 which might
be result from the higher steric hindrance leading to a reduction of 1-
hexene insertion step.
Abstract: Within the new world order, the term “crisis" is nowadays familiar to companies. Organizations are experiencing conditions which are surprising, uncertain, often adverse and usually unstable. The companies, who grasp the importance of transformation within the information age, have felt the need to develop modern methods to achieve the ability to thrive despite severe shocks. Through strategically managing human resource and developing appropriate elements of human resource system, companies can be assured for resolving the crisis. In this paper the role of HR system on resolving crisis has been evaluated. To help accomplish this, an insight on previous strategic HRM literature and an introduction to the elements and relationship within HR systems has been presented. It also reviews different attitude around resilience in literature. It continues by reviewing three elements central to developing an organization-s capacity for crisis resolving and it will demonstrate how designing proper elements of HR system can lead the organizations to possess the ability for passing through crisis. Finally it will evaluate an Iranian Insurance organization in case of one of the three central elements (specific cognitive ability) and observe how successful they were on developing an effective HR system to be ready for facing crisis.
Abstract: Bleeding in the digestive duct is an important diagnostic parameter for patients. Blood in the endoscopic image can be determined by investigating the color tone of blood due to the degree of oxygenation, under- or over- illumination, food debris and secretions, etc. However, we found that how to pre-process raw images obtained from the capsule detectors was very important. We applied various image process methods suitable for the capsule endoscopic image in order to remove noises and unbalanced sensitivities for the image pixels. The results showed that much improvement was achieved by additional pre-processing techniques on the algorithm of determining bleeding areas.
Abstract: Internet is without any doubt the fastest and effective mean of communication making it possible to reach a great number of people in the world. It draws its base from exchange points. Indeed exchange points are used to inter-connect various Internet suppliers and operators in order to allow them to exchange traffic and it is with these interconnections that Internet made its great strides. They thus make it possible to limit the traffic delivered via the operators of transits. This limitation allows a significant improvement of the quality of service, a reduction in the latency time just as a reduction of the cost of connection for the final subscriber. Through this article we will show how the installation of an IXP allows an improvement and a diversification of the services just as a reduction of the Internet connection costs.
Abstract: This paper presents the methodology from machine
learning approaches for short-term rain forecasting system. Decision
Tree, Artificial Neural Network (ANN), and Support Vector Machine
(SVM) were applied to develop classification and prediction models
for rainfall forecasts. The goals of this presentation are to
demonstrate (1) how feature selection can be used to identify the
relationships between rainfall occurrences and other weather
conditions and (2) what models can be developed and deployed for
predicting the accurate rainfall estimates to support the decisions to
launch the cloud seeding operations in the northeastern part of
Thailand. Datasets collected during 2004-2006 from the
Chalermprakiat Royal Rain Making Research Center at Hua Hin,
Prachuap Khiri khan, the Chalermprakiat Royal Rain Making
Research Center at Pimai, Nakhon Ratchasima and Thai
Meteorological Department (TMD). A total of 179 records with 57
features was merged and matched by unique date. There are three
main parts in this work. Firstly, a decision tree induction algorithm
(C4.5) was used to classify the rain status into either rain or no-rain.
The overall accuracy of classification tree achieves 94.41% with the
five-fold cross validation. The C4.5 algorithm was also used to
classify the rain amount into three classes as no-rain (0-0.1 mm.),
few-rain (0.1- 10 mm.), and moderate-rain (>10 mm.) and the overall
accuracy of classification tree achieves 62.57%. Secondly, an ANN
was applied to predict the rainfall amount and the root mean square
error (RMSE) were used to measure the training and testing errors of
the ANN. It is found that the ANN yields a lower RMSE at 0.171 for
daily rainfall estimates, when compared to next-day and next-2-day
estimation. Thirdly, the ANN and SVM techniques were also used to
classify the rain amount into three classes as no-rain, few-rain, and
moderate-rain as above. The results achieved in 68.15% and 69.10%
of overall accuracy of same-day prediction for the ANN and SVM
models, respectively. The obtained results illustrated the comparison
of the predictive power of different methods for rainfall estimation.
Abstract: This paper investigates the effect of product substitution in the single-period 'newsboy-type' problem in a fuzzy environment. It is supposed that the single-period problem operates under uncertainty in customer demand, which is described by imprecise terms and modelled by fuzzy sets. To perform this analysis, we consider the fuzzy model for two-item with upward substitution. This upward substitutability is reasonable when the products can be stored according to certain attribute levels such as quality, brand or package size. We show that the explicit consideration of this substitution opportunity increase the average expected profit. Computational study is performed to observe the benefits of product's substitution.
Abstract: A preliminary evaluation of the urban land system is
presented in the article together with the instruments of land policy in
Serbia. The main reason for the analysis is demand for
definition of reform framework for urban land management in
Serbia in the period of transition towards market-led system. It
is concluded that due to the limitations of the current regulation it
will be impossible in the future to apply market principles in the
urban land policy (supply and demand of land, land capitalization,
investment efficiency, et al.). Based on the estimation that the urban
land system and land policy are key factors of competitiveness
between regions and towns in Serbia, it is necessary to initiate
changes in this field. There are indicated on an option of privatization
of urban public land and possible establishment of leasehold land. A
comparative analysis of the possibilities of the reform urban land
system in Serbia has been carried out in relation to two approaches of
market systems: (a) with dominant private ownership of urban land
(neo/liberal approach) and (b) with dominant public ownership of
urban land (system of leasehold)whose findings can be a basis for
further study of the new system in Serbia.. The attanied results are
part of studies matter for the making of Strategy of territorial
development of Serbia.
Abstract: An acyclic coloring of a graph G is a coloring of its
vertices such that:(i) no two neighbors in G are assigned the same
color and (ii) no bicolored cycle can exist in G. The acyclic chromatic
number of G is the least number of colors necessary to acyclically
color G. Recently it has been proved that any graph of maximum
degree 5 has an acyclic chromatic number at most 8. In this paper
we present another proof for this result.
Abstract: Increasing demand on the performance of Subsea
Production Systems (SPS) suggests a need for more detailed
investigation of fluid behavior taking place in subsea equipment.
Complete CFD cool down analyses of subsea equipment are very
time demanding. The objective of this paper is to investigate a
Locked CFD approach, which enables significant reduction of the
computational time and at the same time maintains sufficient
accuracy during thermal cool down simulations. The result
comparison of a dead leg simulation using the Full CFD and the three
LCFD-methods confirms the validity of the locked flow field
assumption for the selected case. For the tested case the LCFD
simulation speed up by factor of 200 results in the absolute thermal
error of 0.5 °C (3% relative error), speed up by factor of 10 keeps the
LCFD results within 0.1 °C (0.5 % relative error) comparing to the
Full CFD.
Abstract: In this paper, a new approach for quality assessment
tasks in lossy compressed digital video is proposed. The research
activity is based on the visual fixation data recorded by an eye
tracker. The method involved both a new paradigm for subjective
quality evaluation and the subsequent statistical analysis to match
subjective scores provided by the observer to the data obtained from
the eye tracker experiments. The study brings improvements to the
state of the art, as it solves some problems highlighted in literature.
The experiments prove that data obtained from an eye tracker can be
used to classify videos according to the level of impairment due to
compression. The paper presents the methodology, the experimental
results and their interpretation. Conclusions suggest that the eye
tracker can be useful in quality assessment, if data are collected and
analyzed in a proper way.
Abstract: Tool wear and surface roughness prediction plays a
significant role in machining industry for proper planning and control
of machining parameters and optimization of cutting conditions. This
paper deals with developing an artificial neural network (ANN)
model as a function of cutting parameters in turning steel under
minimum quantity lubrication (MQL). A feed-forward
backpropagation network with twenty five hidden neurons has been
selected as the optimum network. The co-efficient of determination
(R2) between model predictions and experimental values are 0.9915,
0.9906, 0.9761 and 0.9627 in terms of VB, VM, VS and Ra
respectively. The results imply that the model can be used easily to
forecast tool wear and surface roughness in response to cutting
parameters.
Abstract: The focus of this paper is to highlight the design and
development of an educational game prototype as an evaluation
instrument for the Malaysia driving license static test. This
educational game brings gaming technology into the conventional
objective static test to make it more effective, real and interesting.
From the feeling of realistic, the future driver can learn something,
memorized and use it in the real life. The current online objective
static test only make the user memorized the answer without knowing
and understand the true purpose of the question. Therefore, in real
life, they will not behave as expected due to behavior and moral
lacking. This prototype has been developed inform of multiple-choice
questions integrated with 3D gaming environment to make it simulate
the real environment and scenarios. Based on the testing conducted,
the respondent agrees with the use of this game prototype it can
increase understanding and promote obligation towards traffic rules.
Abstract: The commercial finite element program LS-DYNA was employed to evaluate the response and energy absorbing capacity of cylindrical metal tubes that are externally wrapped with composite. The effects of composite wall thickness, loading conditions and fiber ply orientation were examined. The results demonstrate that a wrapped composite can be utilized effectively to enhance the crushing characteristics and energy absorbing capacity of the tubes. Increasing the thickness of the composite increases the mean force and the specific energy absorption under both static and dynamic crushing. The ply pattern affects the energy absorption capacity and the failure mode of the metal tube and the composite material property is also significant in determining energy absorption efficiency.
Abstract: Renewable and non-renewable resource constraints have been vast studied in theoretical fields of project scheduling problems. However, although cumulative resources are widespread in practical cases, the literature on project scheduling problems subject to these resources is scant. So in order to study this type of resources more, in this paper we use the framework of a resource constrained project scheduling problem (RCPSP) with finish-start precedence relations between activities and subject to the cumulative resources in addition to the renewable resources. We develop a branch and bound algorithm for this problem customizing precedence tree algorithm of RCPSP. We perform extensive experimental analysis on the algorithm to check its effectiveness and performance for solving different instances of the problem in question.