Abstract: This research paper designs a unique motion planner
of multiple platoons of nonholonomic car-like robots as a feasible
solution to the lane changing/merging maneuvers. The decentralized
planner with a leaderless approach and a path-guidance principle
derived from the Lyapunov-based control scheme generates collision
free avoidance and safe merging maneuvers from multiple lanes to a
single lane by deploying a split/merge strategy. The fixed obstacles
are the markings and boundaries of the road lanes, while the moving
obstacles are the robots themselves. Real and virtual road lane
markings and the boundaries of road lanes are incorporated into a
workspace to achieve the desired formation and configuration of the
robots. Convergence of the robots to goal configurations and the
repulsion of the robots from specified obstacles are achieved by
suitable attractive and repulsive potential field functions,
respectively. The results can be viewed as a significant contribution
to the avoidance algorithm of the intelligent vehicle systems (IVS).
Computer simulations highlight the effectiveness of the split/merge
strategy and the acceleration-based controllers.
Abstract: Conceptualization strengthens intelligent systems in generalization skill, effective knowledge representation, real-time inference, and managing uncertain and indefinite situations in addition to facilitating knowledge communication for learning agents situated in real world. Concept learning introduces a way of abstraction by which the continuous state is formed as entities called concepts which are connected to the action space and thus, they illustrate somehow the complex action space. Of computational concept learning approaches, action-based conceptualization is favored because of its simplicity and mirror neuron foundations in neuroscience. In this paper, a new biologically inspired concept learning approach based on the probabilistic framework is proposed. This approach exploits and extends the mirror neuron-s role in conceptualization for a reinforcement learning agent in nondeterministic environments. In the proposed method, instead of building a huge numerical knowledge, the concepts are learnt gradually from rewards through interaction with the environment. Moreover the probabilistic formation of the concepts is employed to deal with uncertain and dynamic nature of real problems in addition to the ability of generalization. These characteristics as a whole distinguish the proposed learning algorithm from both a pure classification algorithm and typical reinforcement learning. Simulation results show advantages of the proposed framework in terms of convergence speed as well as generalization and asymptotic behavior because of utilizing both success and failures attempts through received rewards. Experimental results, on the other hand, show the applicability and effectiveness of the proposed method in continuous and noisy environments for a real robotic task such as maze as well as the benefits of implementing an incremental learning scenario in artificial agents.
Abstract: In this paper, we study the formation control problem
for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired
formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov
method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations
Abstract: Improving the reactive power and voltage profile of a
distribution substation is investigated in this paper. The purpose is to
properly determination of the shunt capacitors on/off status and
suitable tap changer (TC) position of a substation transformer. In
addition, the limitation of secondary bus voltage, the maximum
allowable number of switching operation in a day for on load tap
changer and on/off status of capacitors are taken into account. To
achieve these goals, an artificial neural network (ANN) is designed to
provide preliminary scheduling. Input of ANN is active and reactive
powers of transformer and its primary and secondary bus voltages.
The output of ANN is capacitors on/off status and TC position. The
preliminary schedule is further refined by fuzzy dynamic
programming in order to reach the final schedule. The operation of
proposed method in Q/V improving is compared with the results
obtained by operator operation in a distribution substation.
Abstract: Poly-β-hydroxybutyrate (PHB) is one of the most
famous biopolymers that has various applications in production of
biodegradable carriers. The most important strategy for enhancing
efficiency in production process and reducing the price of PHB, is the
accurate expression of kinetic model of products formation and
parameters that are effective on it, such as Dry Cell Weight (DCW)
and substrate consumption. Considering the high capabilities of
artificial neural networks in modeling and simulation of non-linear
systems such as biological and chemical industries that mainly are
multivariable systems, kinetic modeling of microbial production of
PHB that is a complex and non-linear biological process, the three
layers perceptron neural network model was used in this study.
Artificial neural network educates itself and finds the hidden laws
behind the data with mapping based on experimental data, of dry cell
weight, substrate concentration as input and PHB concentration as
output. For training the network, a series of experimental data for
PHB production from Hydrogenophaga Pseudoflava by glucose
carbon source was used. After training the network, two other
experimental data sets that have not intervened in the network
education, including dry cell concentration and substrate
concentration were applied as inputs to the network, and PHB
concentration was predicted by the network. Comparison of predicted
data by network and experimental data, indicated a high precision
predicted for both fructose and whey carbon sources. Also in present
study for better understanding of the ability of neural network in
modeling of biological processes, microbial production kinetic of
PHB by Leudeking-Piret experimental equation was modeled. The
Observed result indicated an accurate prediction of PHB
concentration by artificial neural network higher than Leudeking-
Piret model.
Abstract: Phytases are enzymes used as an important component
in monogastric animals feeds in order to improve phosphorous
availability, since it is not readily assimilated by these animals in the
form of the phytate presented in plants and grains. As these enzymes
are used in industrial activities, they must retain its catalytic activities
during a certain storage period. This study presents information about
the stability of 4 different phytases, produced by four macromycetes
fungi through solid-state fermentation (SSF). There is a lack of data
in literature concerning phytase from macromycetes shelf-life in
storage conditions at room, cooling and freezing temperatures. The 4
phytases from macromycetes still had enzymatic activities around
100 days of storage at room temperature. At cooling temperature in
146 days of studies, the phytase from G. stipitatum was the most
stable with 44% of the initial activity, in U.gds (units per gram of
dried fermented substrate). The freezing temperature was the best
condition storage for phytases from G. stipitatum and T. versicolor.
Each condition provided a study for each mushroom phytase,
totalizing 12 studies. The phytases showed to be stable for a long
period without the addition of additives.
Abstract: In this work a software simulation model has been
proposed for two driven wheels mobile robot path planning; that can
navigate in dynamic environment with static distributed obstacles.
The work involves utilizing Bezier curve method in a proposed N
order matrix form; for engineering the mobile robot path. The Bezier
curve drawbacks in this field have been diagnosed. Two directions:
Up and Right function has been proposed; Probability Recursive
Function (PRF) to overcome those drawbacks.
PRF functionality has been developed through a proposed;
obstacle detection function, optimization function which has the
capability of prediction the optimum path without comparison
between all feasible paths, and N order Bezier curve function that
ensures the drawing of the obtained path.
The simulation results that have been taken showed; the mobile
robot travels successfully from starting point and reaching its goal
point. All obstacles that are located in its way have been avoided.
This navigation is being done successfully using the proposed PRF
techniques.
Abstract: Road authorities have confronted problems to
maintaining the serviceability of road infrastructure systems by using
various traditional methods of contracting. As a solution to these
problems, many road authorities have started contracting out road
maintenance works to the private sector based on performance
measures. This contracting method is named Performance-Based
Maintenance Contracting (PBMC). It is considered more costeffective
than other traditional methods of contracting. It has a
substantial success records in many developed and developing
countries over the last two decades. This paper discusses and
analyses the potential issues to be considered before the introduction
of PBMC in a country.
Abstract: This study was conducted in Malaysia to discover how
meaning and appreciation were construed among 35 Form Five
students. Panofsky-s theory was employed to discover the levels of
reasoning among students when various types of posters were
displayed. The independent variables used were posters that carried
explicit and implicit meanings; the moderating variable was students-
visual literacy levels while the dependent variable was the implicit
interpretation level. One-way ANOVA was applied for the data
analysis. The data showed that before students were exposed to
Panofsky-s theory, there were differences in thinking between boys,
who did not think abstractly or implicit in comparison to girls. The
study showed that students- visual literacy in posters depended on the
use of visual texts and illustration. This paper discuss further on
posters with text only have a tendency to be too abstract as opposed
to posters with visuals plus text.
Abstract: This paper studied the synthesis of monoacylglycerol (monolaurin) by glycerolysis of coconut oil and crude glycerol, catalyzed by Carica papaya lipase. Coconut oil obtained from cold pressed extraction method and crude glycerol obtained from the biodiesel plant in Department of Chemistry, Uttaradit Rajabhat University, Thailand which used oils were used as raw materials for biodiesel production through transesterification process catalyzed by sodium hydroxide. The influences of the following variables were studied: (i) type of organic solvent, (ii) molar ratio of substrate, (iii) reaction temperature, (iv) reaction time, (v) lipase dosage, and (vi) initial water activity of enzyme. High yields in monoacylglycerol (58.35%) were obtained with molar ratio of glycerol to oil at 8:1 in ethanol, temperature was controlled at 45oC for 36 hours, the amount of enzyme used was 20 wt% of oil and initial water activity of enzyme at 0.53.
Abstract: Fuller’s earth is a fine-grained, naturally occurring substance that has a substantial ability to adsorb impurities. In the present study Fuller’s earth has been characterized and used for the removal of Pb(II) from aqueous solution. The effect of various physicochemical parameters such as pH, adsorbent dosage and shaking time on adsorption were studied. The result of the equilibrium studies showed that the solution pH was the key factor affecting the adsorption. The optimum pH for adsorption was 5. Kinetics data for the adsorption of Pb(II) was best described by pseudo-second order model. The effective diffusion co-efficient for Pb(II) adsorption was of the order of 10-8 m2/s. The adsorption data for metal adsorption can be well described by Langmuir adsorption isotherm. The maximum uptake of metal was 103.3 mg/g of adsorbent. Mass transfer analysis was also carried out for the adsorption process. The values of mass transfer coefficients obtained from the study indicate that the velocity of the adsorbate transport from bulk to the solid phase was quite fast. The mean sorption energy calculated from Dubinin-Radushkevich isotherm indicated that the metal adsorption process was chemical in nature.
Abstract: Our results showed that for the growth of qualitative
seedling and vegetative raw material of ðó. marschallianus Willd. and
T. serphyllum L. it is more profitable to use the in vitro and
hydroponics combined method. In in vitro culture it is possible to do
micro-propagation whole year with 98-99% rhizogenesis. 30000
micro-plants were obtained from one explant during 9 months.
Hydroponic conditions provide the necessary microclimate for
microplants where the survival rate without acclimatization was
93.3%. The essential oil content in hydroponic dry herb of both
species in vegetative and blossom phase was 1.3% whereas in wild
plants it was 1.2%, the content of extractive substances and vitamin
C also exceeded wild plants. Our biochemical and radiochemical
investigations indicated that the medicinal raw materials obtained
from hydroponic and wild plants of Thymus species correspond to
the demands of SPh XI, and the content of artificial radionuclides
does not exceed the MACL.
Abstract: Periphyton development and composition were
studied in three different treatments: (i) two fishpond units of
wetland-type wastewater treatment pond systems, (ii) two fishponds
in combined intensive-extensive fish farming systems and (iii) three
traditional polyculture fishponds. Results showed that amounts of
periphyton developed in traditional polyculture fishponds (iii) were
different compared to the other treatments (i and ii), where the main
function of ponds was stated wastewater treatment. Negative
correlation was also observable between water quality parameters
and periphyton production. The lower trophity, halobity and
saprobity level of ponds indicated higher amount of periphyton. The
dry matter content of periphyton was significantly higher in the
samples, which were developed in traditional polyculture fishponds
(2.84±3.02 g m-2 day-1, whereby the ash content in dry matter 74%),
than samples taken from (i) (1.60±2.32 g m-2 day-1, 61%) and (ii)
fishponds (0.65±0.45 g m-2 day-1, 81%).
Abstract: Vinegar is a precious food additive and complement as well as effective preservative against food spoilage. Recently traditional vinegar production has been improved using various natural substrates and fruits such as grape, palm, cherry, coconut, date, sugarcane, rice and balsam. These neoclassical fermentations resulted in several vinegar types with different tastes, fragrances and nutritional values because of applying various acetic acid bacteria as starters. Acetic acid bacteria include genera Acetobacter, Gluconacetobacter and Gluconobacter according to latest edition of Bergy-s Manual of Systematic Bacteriology that classifies genera on the basis of their 16s RNA differences. Acetobacter spp as the main vinegar starters belong to family Acetobacteraceae that are gram negative obligate aerobes, chemoorganotrophic bacilli that are oxidase negative and oxidize ethanol to acetic acid. In this research we isolated and identified a native Acetobacter strain with high acetic acid productivity and tolerance against high ethanol concentrations from Iranian peach as a summer delicious fruit that is very susceptible to food spoilage and decay. We used selective and specific laboratorial culture media such as Standard GYC, Frateur and Carr medium. Also we used a new industrial culture medium and a miniature fermentor with a new aeration system innovated by Pars Yeema Biotechnologists Co., Isfahan Science and Technology Town (ISTT), Isfahan, Iran. The isolated strain was successfully cultivated in modified Carr media with 2.5% and 5% ethanol simultaneously in high temperatures, 34 - 40º C after 96 hours of incubation period. We showed that the increase of ethanol concentration resulted in rising of strain sensitivity to high temperature. In conclusion we isolated and characterized a new Acetobacter strain from Iranian peach that could be considered as a potential strain for production of a new vinegar type, peach vinegar, with a delicious taste and advantageous nutritional value in food biotechnology and industrial microbiology.
Abstract: Pyrolysis of waste tire is one of alternative technique
to produce petrochemicals, such as light olefins, mixed C4, and monoaromatics.
Noble metals supported on acid zeolite catalysts were
reported as potential catalysts to produce the high valuable products
from waste tire pyrolysis. Especially, Pd supported on HBeta gave a
high yield of olefins, mixed C4, and mono-aromatics. Due to the high
prices of noble metals, the objective of this work was to investigate
whether or not a non-noble Ni metal can be used as a substitute of a
noble metal, Pd, supported on HBeta as a catalyst for waste tire pyrolysis.
Ni metal was selected in this work because Ni has high activity
in cracking, isomerization, hydrogenation and the ring opening of
hydrocarbons Moreover, Ni is an element in the same group as Pd
noble metal, which is VIIIB group, aiming to produce high valuable
products similarly obtained from Pd. The amount of Ni was varied as
5, 10, and 20% by weight, for comparison with a fixed 1 wt% Pd,
using incipient wetness impregnation. The results showed that as a
petrochemical-producing catalyst, 10%Ni/HBeta performed better
than 1%Pd/HBeta because it did not only produce the highest yield of
olefins and cooking gases, but the yields were also higher than
1%Pd/HBeta. 5%Ni/HBeta can be used as a substitute of
1%Pd/HBeta for similar crude production because its crude contains
the similar amounts of naphtha and saturated HCs, although it gave
no concentration of light mono-aromatics (C6-C11) in the oil. Additionally,
10%Ni/HBeta that gave high olefins and cooking gases was
found to give a fairly high concentration of the light mono-aromatics
in the oil.
Abstract: Studies have shown that the SnAgCu solder family has been widely used as a replacement for conventional Sn-Pb solders. An attractive approach is by introducing alloying additives (rare earth elements (RE), Zn, Co, Fe, Ni, Sb) into the SnAgCu solder, which helps in refining the microstructure also improving the mechanical and wetting properties of the solder. The present work focuses on the effect of additions of 0.5% Ce and Fe into Sn-3.0Ag-0.5Cu solder, in attempt to reduce the intermetallic compound (IMC) growth and reflow properties of the solder on Cu and Ni (P) surface finish, as well as effects thermal aging on the formation of intermetallic compound (IMC) on different surface finish. Excessive intermetallic compound growth may effect the interface and solder joint due to the brittle nature of the intermetallic compounds. Thus, by introducing alloying elements, IMC layer thickness can be decrease, resulting in better joint and solder reliability.
Abstract: An investigation of noise in a micro stepping motor is
considered to study in this article. Because of the trend towards higher
precision and more and more small 3C (including Computer,
Communication and Consumer Electronics) products, the micro
stepping motor is frequently used to drive the micro system or the
other 3C products. Unfortunately, noise in a micro stepped motor is
too large to accept by the customs. To depress the noise of a micro
stepped motor, the dynamic characteristics in this system must be
studied. In this article, a Visual Basic (VB) computer program speed
controlled micro stepped motor in a digital camera is investigated.
Karman KD2300-2S non-contract eddy current displacement sensor,
probe microphone, and HP 35670A analyzer are employed to analyze
the dynamic characteristics of vibration and noise in a motor. The
vibration and noise measurement of different type of bearings and
different treatment of coils are compared. The rotating components,
bearings, coil, etc. of the motor play the important roles in producing
vibration and noise. It is found that the noise will be depressed about
3~4 dB and 6~7 dB, when substitutes the copper bearing with plastic
one and coats the motor coil with paraffin wax, respectively.
Abstract: This paper discusses the causal explanation capability
of QRIOM, a tool aimed at supporting learning of organic chemistry
reactions. The development of the tool is based on the hybrid use of
Qualitative Reasoning (QR) technique and Qualitative Process
Theory (QPT) ontology. Our simulation combines symbolic,
qualitative description of relations with quantity analysis to generate
causal graphs. The pedagogy embedded in the simulator is to both
simulate and explain organic reactions. Qualitative reasoning through
a causal chain will be presented to explain the overall changes made
on the substrate; from initial substrate until the production of final
outputs. Several uses of the QPT modeling constructs in supporting
behavioral and causal explanation during run-time will also be
demonstrated. Explaining organic reactions through causal graph
trace can help improve the reasoning ability of learners in that their
conceptual understanding of the subject is nurtured.
Abstract: This paper presents a solution for the behavioural animation of autonomous virtual agent navigation in virtual environments. We focus on using Dempster-Shafer-s Theory of Evidence in developing visual sensor for virtual agent. The role of the visual sensor is to capture the information about the virtual environment or identifie which part of an obstacle can be seen from the position of the virtual agent. This information is require for vitual agent to coordinate navigation in virtual environment. The virual agent uses fuzzy controller as a navigation system and Fuzzy α - level for the action selection method. The result clearly demonstrates the path produced is reasonably smooth even though there is some sharp turn and also still not diverted too far from the potential shortest path. This had indicated the benefit of our method, where more reliable and accurate paths produced during navigation task.
Abstract: Transpedicular screw fixation in spinal fractures,
degenerative changes, or deformities is a well-established procedure.
However, important rate of fixation failure due to screw bending,
loosening, or pullout are still reported particularly in weak bone stock
in osteoporosis. To overcome the problem, mechanism of failure has
to be fully investigated in vitro. Post-mortem human subjects are less
accessible and animal cadavers comprise limitations due to different
geometry and mechanical properties. Therefore, the development of a
synthetic model mimicking the realistic human vertebra is highly
demanded. A bone surrogate, composed of Polyurethane (PU) foam
analogous to cancellous bone porous structure, was tested for 3
different densities in this study. The mechanical properties were
investigated under uniaxial compression test by minimizing the end
artifacts on specimens. The results indicated that PU foam of 0.32
g.cm-3 density has comparable mechanical properties to human
cancellous bone in terms of young-s modulus and yield strength.
Therefore, the obtained information can be considered as primary
step for developing a realistic cancellous bone of human vertebral
body. Further evaluations are also recommended for other density
groups.