Abstract: Mobile robots are used in a large field of scenarios,
like exploring contaminated areas, repairing oil rigs under water,
finding survivors in collapsed buildings, etc. Currently, there is no
unified intuitive user interface (UI) to control such complex mobile
robots. As a consequence, some scenarios are done without the
exploitation of experience and intuition of human teleoperators.
A novel framework has been developed to embed a flexible and
modular UI into a complete 3-D virtual reality simulation system.
This new approach wants to access maximum benefits of human
operators. Sensor information received from the robot is prepared for
an intuitive visualization. Virtual reality metaphors support the
operator in his decisions. These metaphors are integrated into a real
time stereo video stream. This approach is not restricted to any
specific type of mobile robot and allows for the operation of different
robot types with a consistent concept and user interface.
Abstract: This paper presents a robust vehicle detection approach using Haar-like feature. It is possible to get a strong edge feature from this Haar-like feature. Therefore it is very effective to remove the shadow of a vehicle on the road. And we can detect the boundary of vehicles accurately. In the paper, the vehicle detection algorithm can be divided into two main steps. One is hypothesis generation, and the other is hypothesis verification. In the first step, it determines vehicle candidates using features such as a shadow, intensity, and vertical edge. And in the second step, it determines whether the candidate is a vehicle or not by using the symmetry of vehicle edge features. In this research, we can get the detection rate over 15 frames per second on our embedded system.
Abstract: This research proposed a new design of helmet-shaped
array transcranial magnetic stimulation coil system. It was constructed
using several sagittal directional wires and several coronal directional
wires. By varying the current direction and strength on each wire, this
array coil system could be constructed into the circular coil and
figure-eight coil of different size. Also, this proposed coil system can
flexibly not only change the stimulation location, range, type and
strength, but also change the shape and the channel number of coil
dynamically.
Abstract: the reliability analysis of the medical equipments can
help to increase the availability and the efficiency of the systems. In
this manuscript we present a simple method of decomposition that
could be easily applied on the complex medical systems. Using this
method we can easily calculate the effect of the subsystems or
components on the reliability of the overall system. Furthermore, to
investigate the effect of subsystems or components on system
performance, we perform a numerical study varying every time the
worst reliability of subsystem or component with another which has
higher reliability. It can also be useful to engineers and designers of
medical equipment, who wishes to optimize the complex systems.
Abstract: Medicinal plants are most suitable crops for ecological production systems because of their role in human health and the aim of sustainable agriculture to improve ecosystem efficiency and its products quality. Calculations include energy output (contents of energy in seed) and energy inputs (consumption of fertilizers, pesticides, labor, machines, fuel and electricity). The ratio of output of the production to inputs is called the energy outputs / inputs ratio or energy efficiency. One way to quantify essential parts of agricultural development is the energy flow method. The output / input energy ratio is proposed as the most comprehensive single factor in pursuing the objective of sustainability. Sylibum marianum L. is one of the most important medicinal plants in Iran and has effective role on health of growing population in Iran. The objective of this investigation was to find out energy efficiency in conventional and low input production system of Milk thistle. This investigation was carried out in the spring of 2005 – 2007 in the Research Station of Rangelands in Hamand - Damavand region of IRAN. This experiment was done in split-split plot based on randomized complete block design with 3 replications. Treatments were 2 production systems (Conventional and Low input system) in the main plots, 3 planting time (25 of March, 4 and 14 of April) in the sub plots and 2 seed types (Improved and Native of Khoozestan) in the sub-sub plots. Results showed that in conventional production system energy efficiency, because of higher inputs and less seed yield, was less than low input production system. Seed yield was 1199.5 and 1888 kg/ha in conventional and low input systems, respectively. Total energy inputs and out puts for conventional system was 10068544.5 and 7060515.9 kcal. These amounts for low input system were 9533885.6 and 11113191.8 kcal. Results showed that energy efficiency for seed production in conventional and low input system was 0.7 and 1.16, respectively. So, milk thistle seed production in low input system has 39.6 percent higher energy efficiency than conventional production system. Also, higher energy efficiency were found in sooner planting time (25 of March) and native seed of Khoozestan.
Abstract: The genetic algorithm (GA) based solution techniques
are found suitable for optimization because of their ability of
simultaneous multidimensional search. Many GA-variants have been
tried in the past to solve optimal power flow (OPF), one of the
nonlinear problems of electric power system. The issues like
convergence speed and accuracy of the optimal solution obtained
after number of generations using GA techniques and handling
system constraints in OPF are subjects of discussion. The results
obtained for GA-Fuzzy OPF on various power systems have shown
faster convergence and lesser generation costs as compared to other
approaches. This paper presents an enhanced GA-Fuzzy OPF (EGAOPF)
using penalty factors to handle line flow constraints and load
bus voltage limits for both normal network and contingency case
with congestion. In addition to crossover and mutation rate
adaptation scheme that adapts crossover and mutation probabilities
for each generation based on fitness values of previous generations, a
block swap operator is also incorporated in proposed EGA-OPF. The
line flow limits and load bus voltage magnitude limits are handled by
incorporating line overflow and load voltage penalty factors
respectively in each chromosome fitness function. The effects of
different penalty factors settings are also analyzed under contingent
state.
Abstract: This paper presents the system identification by
physical-s law method and designs the controller for the Azimuth
Angle Control of the Platform of the Multi-Launcher Rocket System
(MLRS) by Root Locus technique. The plant mathematical model
was approximated using MATLAB for simulation and analyze the
system. The controller proposes the implementation of PID
Controller using Programmable Logic Control (PLC) for control the
plant. PID Controllers are widely applicable in industrial sectors and
can be set up easily and operate optimally for enhanced productivity,
improved quality and reduce maintenance requirement. The results
from simulation and experiments show that the proposed a PID
Controller to control the elevation angle that has superior control
performance by the setting time less than 12 sec, the rise time less
than 1.6 sec., and zero steady state. Furthermore, the system has a
high over shoot that will be continue development.
Abstract: Simulation accuracy by recent dynamic vehicle
simulation multidimensional expression significantly has progressed
and acceptable results not only for passive vehicles but also for
active vehicles normally equipped with advanced electronic
components is also provided. Recently, one of the subjects that has it
been considered, is increasing the safety car in design. Therefore,
many efforts have been done to increase vehicle stability especially
in the turn. One of the most important efforts is adjusting the camber
angle in the car suspension system. Optimum control camber angle in
addition to the vehicle stability is effective in the wheel adhesion on
road, reducing rubber abrasion and acceleration and braking. Since
the increase or decrease in the camber angle impacts on the stability
of vehicles, in this paper, a car suspension system mechanism is
introduced that could be adjust camber angle and the mechanism is
application and also inexpensive. In order to reach this purpose, in
this paper, a passive double wishbone suspension system with
variable camber angle is introduced and then variable camber
mechanism designed and analyzed for study the designed system
performance, this mechanism is modeled in Visual Nastran software
and kinematic analysis is revealed.
Abstract: This paper explores the implementation of adaptive
coding and modulation schemes for Multiple-Input Multiple-Output
Orthogonal Frequency Division Multiplexing (MIMO-OFDM) feedback
systems. Adaptive coding and modulation enables robust and
spectrally-efficient transmission over time-varying channels. The basic
premise is to estimate the channel at the receiver and feed this estimate
back to the transmitter, so that the transmission scheme can be
adapted relative to the channel characteristics. Two types of codebook
based channel feedback techniques are used in this work. The longterm
and short-term CSI at the transmitter is used for efficient channel
utilization. OFDM is a powerful technique employed in communication
systems suffering from frequency selectivity. Combined with
multiple antennas at the transmitter and receiver, OFDM proves to be
robust against delay spread. Moreover, it leads to significant data rates
with improved bit error performance over links having only a single
antenna at both the transmitter and receiver. The coded modulation
increases the effective transmit power relative to uncoded variablerate
variable-power MQAM performance for MIMO-OFDM feedback
system. Hence proposed arrangement becomes an attractive approach
to achieve enhanced spectral efficiency and improved error rate
performance for next generation high speed wireless communication
systems.
Abstract: This paper presents the modeling and simulation of a hybrid proton exchange membrane fuel cell (PEMFC) with an energy storage system for use in a stand-alone distributed generation (DG) system. The simulation model consists of fuel cell DG, lead-acid battery, maximum power point tracking and power conditioning unit which is modeled in the MATLAB/Simulink platform. Poor loadfollowing characteristics and slow response to rapid load changes are some of the weaknesses of PEMFC because of the gas processing reaction and the fuel cell dynamics. To address the load-tracking issues in PEMFC, a hybrid PEMFC and battery storage system is considered and modelled. The model utilizes PEMFC as the main energy source whereas the battery functions as energy storage to compensate for the limitations of PEMFC.Simulation results are given to show the overall system performance under light and heavyloading conditions.
Abstract: One of the major causes of voltage instability is the reactive power limit of the system. Improving the system's reactive power handling capacity via Flexible AC transmission System (FACTS) devices is a remedy for prevention of voltage instability and hence voltage collapse. In this paper, the effects of SVC and STATCOM in Static Voltage Stability Margin Enhancement will be studied. AC and DC representations of SVC and STATCOM are used in the continuation power flow process in static voltage stability study. The IEEE-14 bus system is simulated to test the increasing loadability. It is found that these controllers significantly increase the loadability margin of power systems.
Abstract: Pressure wave velocity in a hydraulic system was
determined using piezo pressure sensors without removing fluid from
the system. The measurements were carried out in a low pressure
range (0.2 – 6 bar) and the results were compared with the results of
other studies. This method is not as accurate as measurement with
separate measurement equipment, but the fluid is in the actual
machine the whole time and the effect of air is taken into
consideration if air is present in the system. The amount of air is
estimated by calculations and comparisons between other studies.
This measurement equipment can also be installed in an existing
machine and it can be programmed so that it measures in real time.
Thus, it could be used e.g. to control dampers.
Abstract: In this paper, a simple microfluidic device for monitoring algal cell behavior is proposed. An array of algal microwells is fabricated by PDMS soft-lithography using X-ray LIGA mold, placed on a glass substrate. Two layers of replicated PDMS and substrate are attached by oxygen plasma bonding, creating a microchannel for the microfluidic system. Algal cell are loaded into the microfluidic device, which provides positive charge on the bottom surface of wells. Algal cells, which are negative charged, can be attracted to the bottom of the wells via electrostatic interaction. By varying the concentration of algal cells in the loading suspension, it is possible to obtain wells with a single cell. Liquid medium for cells monitoring are flown continuously over the wells, providing nutrient and waste exchange between the well and the main flow. This device could lead to the uncovering of the quantitative biology of the algae, which is a key to effective and extensive algal utilizations in the field of biotechnology, food industry and bioenergy research and developments.
Abstract: This paper describes a newly designed decentralized
nonlinear control strategy to control a robot manipulator. Based on the
concept of the nonlinear state feedback theory and decentralized
concept is developed to improve the drawbacks in previous works
concerned with complicate intelligent control and low cost effective
sensor. The control methodology is derived in the sense of Lyapunov
theorem so that the stability of the control system is guaranteed. The
decentralized algorithm does not require other joint angle and velocity
information. Individual Joint controller is implemented using a digital
processor with nearly actuator to make it possible to achieve good
dynamics and modular. Computer simulation result has been
conducted to validate the effectiveness of the proposed control scheme
under the occurrence of possible uncertainties and different reference
trajectories. The merit of the proposed control system is indicated in
comparison with a classical control system.
Abstract: The Reverse Monte Carlo (RMC) simulation is applied in the study of an aqueous electrolyte LiCl6H2O. On the basis of the available experimental neutron scattering data, RMC computes pair radial distribution functions in order to explore the structural features of the system. The obtained results include some unrealistic features. To overcome this problem, we use the Hybrid Reverse Monte Carlo (HRMC), incorporating an energy constraint in addition to the commonly used constraints derived from experimental data. Our results show a good agreement between experimental and computed partial distribution functions (PDFs) as well as a significant improvement in pair partial distribution curves. This kind of study can be considered as a useful test for a defined interaction model for conventional simulation techniques.
Abstract: The myoelectric signal (MES) is one of the Biosignals
utilized in helping humans to control equipments. Recent approaches
in MES classification to control prosthetic devices employing pattern
recognition techniques revealed two problems, first, the classification
performance of the system starts degrading when the number of
motion classes to be classified increases, second, in order to solve the
first problem, additional complicated methods were utilized which
increase the computational cost of a multifunction myoelectric
control system. In an effort to solve these problems and to achieve a
feasible design for real time implementation with high overall
accuracy, this paper presents a new method for feature extraction in
MES recognition systems. The method works by extracting features
using Wavelet Packet Transform (WPT) applied on the MES from
multiple channels, and then employs Fuzzy c-means (FCM)
algorithm to generate a measure that judges on features suitability for
classification. Finally, Principle Component Analysis (PCA) is
utilized to reduce the size of the data before computing the
classification accuracy with a multilayer perceptron neural network.
The proposed system produces powerful classification results (99%
accuracy) by using only a small portion of the original feature set.
Abstract: To make use of the limited amounts of water in arid
region, the Iranians developed man-made underground water
channels called qanats (kanats) .In fact, qanats may be considered as
the first long-distance water transfer system. Qanats are an ancient
water transfer system found in arid regions wherein groundwater
from mountainous areas, aquifers and sometimes from rivers, was
brought to points of re-emergence such as an oasis, through one or
more underground tunnels. The tunnels, many of which were
kilometers in length, had designed for slopes to provide gravitational
flow. The tunnels allowed water to drain out to the surface by gravity
to supply water to lower and flatter agricultural land.
Qanats have been an ancient, sustainable system facilitating the
harvesting of water for centuries in Iran, and more than 35 additional
countries of the world such as India, Arabia, Egypt, North Africa,
Spain and even to New world.
There are about 22000 qanats in Iran with 274000 kilometers of
underground conduits all built by manual labor. The amount of
water of the usable qanats of Iran produce is altogether 750 to
1000 cubic meter per second. The longest chain of qanat is
situated in Gonabad region in Khorasan province. It is 70
kilometers long. Qanats are renewable water supply systems that
have sustained agricultural settlement on the Iranian plateau for
millennia. The great advantages of Qanats are no evaporation
during transit, little seepage , no raising of the water- table and no
pollution in the area surrounding the conduits. Qanat systems
have a profound influence on the lives of the water users in Iran, and
conform to Iran-s climate. Qanat allows those living in a desert
environment adjacent to a mountain watershed to create a large oasis
in an otherwise stark environment.
This paper explains qanats structure designs, their history,
objectives causing their creation, construction materials, locations
and their importance in different times, as well as their present
sustainable role in Iran.
Abstract: Order reduction of linear-time invariant systems employing two methods; one using the advantages of Routh approximation and other by an evolutionary technique is presented in this paper. In Routh approximation method the denominator of the reduced order model is obtained using Routh approximation while the numerator of the reduced order model is determined using the indirect approach of retaining the time moments and/or Markov parameters of original system. By this method the reduced order model guarantees stability if the original high order model is stable. In the second method Particle Swarm Optimization (PSO) is employed to reduce the higher order model. PSO method is based on the minimization of the Integral Squared Error (ISE) between the transient responses of original higher order model and the reduced order model pertaining to a unit step input. Both the methods are illustrated through numerical examples.
Abstract: This paper presents the influence of distributed generation (DG) on congestion and locational marginal price (LMP) in an optimal power flow (OPF) based wholesale electricity market. The problem of optimal placement to manage congestion and reduce LMP is formulated for the objective of social welfare maximization. From competitive electricity market standpoint, DGs have great value when they reduce load in particular locations and at particular times when feeders are heavily loaded. The paper lies on the groundwork that solution to optimal mix of generation and transmission resources can be achieved by addressing congestion and corresponding LMP. Obtained as lagrangian multiplier associated with active power flow equation for each node, LMP gives the short run marginal cost (SRMC) of electricity. Specific grid locations are examined to study the influence of DG penetration on congestion and corresponding shadow prices. The influence of DG on congestion and locational marginal prices has been demonstrated in a modified IEEE 14 bus test system.
Abstract: Education in the modern world provides the socioeconomic
progress of society. In today's society, where the presence
of large middle class ensures its stability and is a symbol of
resolution of hidden economic problems, education is an integral part
of formation and reproduction of the middle class. This article presents part of results of the sociological study conducted under the
project "Kazakhstan model of education: international experience and national traditions" supported by the Foundation of the First President
of Republic of Kazakhstan - Leader of the Nation to determine the
ratio of students to the transformations of the educational system. The
authors conclude that the Kazakhstani system of education, passing
through the transformation processes, improving the quality of
educational programs and trying to correspond to the international
standards, not yet in full range, but begins to perform important
functions in the formation of the middle class.