Abstract: High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work
Abstract: The mechanical deformation and the electrical conductivity of lanthanum strontium cobalt ferrite oxide under uniaxial compression were investigated at various temperatures up to 1073 K. The material reveals a rather complex mechanical behaviour related to its ferroelasticity and completely different stress-strain curves are obtained during the 1st and 2nd loading cycles. A distinctive ferroelastic creep was observed at 293 K whilst typical ferroelastic stress-strain curve were obtained in the temperature range from 473 K to 873 K. At 1073 K, on the other hand, high-temperature creep deformation was observed instead of ferroelastic deformation. The conductivity increases with increasing compressive stress at all the temperatures. The increase in conductivity is related to both geometrical and piezoelectric effects. From 293 K to 873 K, where the material exhibits ferroelastic behaviour, the variation in the total conductivity decreases with increasing temperature. The contribution of the piezoelectric effect to the total conductivity variation also decreases with increasing temperature and the maximum in piezoconductivity has a value of about 0.75 % at 293 K for a compressive stress of 100 MPa. There is no effect of domain switching on conductivity except for the geometric effect. At 1073 K, the conductivity is simply proportional to the compressive strain.
Abstract: We study different types of aggregation operators and
the decision making process with minimization of regret. We analyze
the original work developed by Savage and the recent work
developed by Yager that generalizes the MMR method creating a
parameterized family of minimal regret methods by using the ordered
weighted averaging (OWA) operator. We suggest a new method that
uses different types of geometric operators such as the weighted
geometric mean or the ordered weighted geometric operator (OWG)
to generalize the MMR method obtaining a new parameterized family
of minimal regret methods. The main result obtained in this method
is that it allows to aggregate negative numbers in the OWG operator.
Finally, we give an illustrative example.
Abstract: In this paper, a novel corner detection method is
presented to stably extract geometrically important corners.
Intensity-based corner detectors such as the Harris corner can detect
corners in noisy environments but has inaccurate corner position and
misses the corners of obtuse angles. Edge-based corner detectors such
as Curvature Scale Space can detect structural corners but show
unstable corner detection due to incomplete edge detection in noisy
environments. The proposed image-based direct curvature estimation
can overcome limitations in both inaccurate structural corner detection
of the Harris corner detector (intensity-based) and the unstable corner
detection of Curvature Scale Space caused by incomplete edge
detection. Various experimental results validate the robustness of the
proposed method.
Abstract: The compressive strength development through
polymerization process of alkaline solution and fly ash blended with Microwave Incinerated Rice Husk Ash (MIRHA) is described in this
paper. Three curing conditions, which are hot gunny curing, ambient
curing, and external humidity curing are investigated to obtain the suitable curing condition for cast in situ provision. Fly ash was
blended with MIRHA at 3%, 5%, and 7% to identify the effect of blended mixes to the compressive strength and microstructure
properties of geopolymer concrete. Compressive strength results
indicated an improvement in the strength development with external humidity curing concrete samples compared to hot gunny curing and
ambient curing. Blended mixes also presented better performance
than control mixes. Improvement of interfacial transition zone (ITZ)
and micro structure in external humidity concrete samples were also
identified compared to hot gunny and ambient curing.
Abstract: The seismic response of steel shear wall system considering nonlinearity effects using finite element method is investigated in this paper. The non-linear finite element analysis has potential as usable and reliable means for analyzing of civil structures with the availability of computer technology. In this research the large displacements and materially nonlinear behavior of shear wall is presented with developing of finite element code. A numerical model based on the finite element method for the seismic analysis of shear wall is presented with developing of finite element code in this research. To develop the finite element code, the standard Galerkin weighted residual formulation is used. Two-dimensional plane stress model and total Lagrangian formulation was carried out to present the shear wall response and the Newton-Raphson method is applied for the solution of nonlinear transient equations. The presented model in this paper can be developed for analysis of civil engineering structures with different material behavior and complicated geometry.
Abstract: The paper focuses on the area of context modeling with respect to the specification of context-aware systems supporting ubiquitous applications. The proposed approach, followed within the SIMPLICITY IST project, uses a high-level system ontology to derive context models for system components which consequently are mapped to the system's physical entities. For the definition of user and device-related context models in particular, the paper suggests a standard-based process consisting of an analysis phase using the Common Information Model (CIM) methodology followed by an implementation phase that defines 3GPP based components. The benefits of this approach are further depicted by preliminary examples of XML grammars defining profiles and components, component instances, coupled with descriptions of respective ubiquitous applications.
Abstract: Digital watermarking is one of the techniques for
copyright protection. In this paper, a normalization-based robust
image watermarking scheme which encompasses singular value
decomposition (SVD) and discrete cosine transform (DCT)
techniques is proposed. For the proposed scheme, the host image is
first normalized to a standard form and divided into non-overlapping
image blocks. SVD is applied to each block. By concatenating the
first singular values (SV) of adjacent blocks of the normalized image,
a SV block is obtained. DCT is then carried out on the SV blocks to
produce SVD-DCT blocks. A watermark bit is embedded in the highfrequency
band of a SVD-DCT block by imposing a particular
relationship between two pseudo-randomly selected DCT
coefficients. An adaptive frequency mask is used to adjust local
watermark embedding strength. Watermark extraction involves
mainly the inverse process. The watermark extracting method is blind
and efficient. Experimental results show that the quality degradation
of watermarked image caused by the embedded watermark is visually
transparent. Results also show that the proposed scheme is robust
against various image processing operations and geometric attacks.
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.
Abstract: To achieve accurate and precise results of finite
element analysis (FEA) of bones, it is important to represent the
load/boundary conditions as identical as possible to the human body
such as the bone properties, the type and force of the muscles, the
contact force of the joints, and the location of the muscle attachment.
In this study, the difference in the Von-Mises stress and the total
deformation was compared by classifying them into Case 1, which
shows the actual anatomical form of the muscle attached to the femur
when the same muscle force was applied, and Case 2, which gives a
simplified representation of the attached location. An inverse
dynamical musculoskeletal model was simulated using data from an
actual walking experiment to complement the accuracy of the
muscular force, the input value of FEA. The FEA method using the
results of the muscular force that were calculated through the
simulation showed that the maximum Von-Mises stress and the
maximum total deformation in Case 2 were underestimated by 8.42%
and 6.29%, respectively, compared to Case 1. The torsion energy and
bending moment at each location of the femur occurred via the stress
ingredient. Due to the geometrical/morphological feature of the femur
of having a long bone shape when the stress distribution is wide, as
shown in Case 1, a greater Von-Mises stress and total deformation are
expected from the sum of the stress ingredients. More accurate results
can be achieved only when the muscular strength and the attachment
location in the FEA of the bones and the attachment form are the same
as those in the actual anatomical condition under the various moving
conditions of the human body.
Abstract: Even though most researchers would agree that in
symbiotic relationships, like the one between parent and child,
influences become reciprocal over time, empirical evidence
supporting this claim is limited. The aim of the current study was to
develop and test a model describing the reciprocal influence between
characteristics of the parent-child relationship, such as closeness and
conflict, and the child-s bullying and victimization experiences at
school. The study used data from the longitudinal Study of Early
Child-Care, conducted by the National Institute of Child Health and
Human Development. The participants were dyads of early
adolescents (5th and 6th graders during the two data collection waves)
and their mothers (N=1364). Supporting our hypothesis, the findings
suggested a reciprocal association between bullying and positive
parenting, although this association was only significant for boys.
Victimization and positive parenting were not significantly
interrelated.
Abstract: This work offers a study of new simple compact model
of dual-drain Magnetic Field Effect Transistor (MAGFET) including
geometrical effects and biasing dependency. An explanation of the
sensitivity is investigated, involving carrier deflection as the dominant
operating principle. Finally, model verification with simulation results
is introduced to ensure that acceptable error of 2% is achieved.
Abstract: Optimization of rational geometrical and mechanical
parameters of panel with curved plywood ribs is considered in this
paper. The panel consists of cylindrical plywood ribs manufactured
from Finish plywood, upper and bottom plywood flange, stiffness
diaphragms. Panel is filled with foam. Minimal ratio of structure self
weight and load that could be applied to structure is considered as
rationality criteria. Optimization is done, by using classical beam
theory without nonlinearities. Optimization of discreet design
variables is done by Genetic algorithm.
Abstract: Spatial and mobile computing evolves. This paper
describes a smart modeling platform called “GeoSEMA". This
approach tends to model multidimensional GeoSpatial Evolutionary
and Mobile Agents. Instead of 3D and location-based issues, there
are some other dimensions that may characterize spatial agents, e.g.
discrete-continuous time, agent behaviors. GeoSEMA is seen as a
devoted design pattern motivating temporal geographic-based
applications; it is a firm foundation for multipurpose and
multidimensional special-based applications. It deals with
multipurpose smart objects (buildings, shapes, missiles, etc.) by
stimulating geospatial agents.
Formally, GeoSEMA refers to geospatial, spatio-evolutive and
mobile space constituents where a conceptual geospatial space model
is given in this paper. In addition to modeling and categorizing
geospatial agents, the model incorporates the concept of inter-agents
event-based protocols. Finally, a rapid software-architecture
prototyping GeoSEMA platform is also given. It will be
implemented/ validated in the next phase of our work.
Abstract: Shear walls are used in most of the tall buildings for
carrying the lateral load. When openings for doors or windows are
necessary to be existed in the shear walls, a special type of the shear
walls is used called "coupled shear walls" which in some cases is
stiffened by specific beams and so, called "stiffened coupled shear
walls".
In this paper, a mathematical method for geometrically nonlinear
analysis of the stiffened coupled shear walls has been presented.
Then, a suitable formulation for determining the critical load of the
stiffened coupled shear walls under gravity force has been proposed.
The governing differential equations for equilibrium and deformation
of the stiffened coupled shear walls have been obtained by setting up
the equilibrium equations and the moment-curvature relationships for
each wall. Because of the complexity of the differential equation, the
energy method has been adopted for approximate solution of the
equations.
Abstract: Experimental investigations were made on the instability of supercritical kerosene flowing in active cooling channels. Two approaches were used to control the pressure in the channel. One is the back-pressure valve while the other is the venturi. In both conditions, a kind of low-frequency oscillation of pressure and temperature is observed. And the oscillation periods are calculated. By comparison with the flow time, it is concluded that the instability occurred in active cooling channels is probably one kind of density wave instability. And its period has no relationship with the cooling channel geometry, nor the pressure, but only depends on the flow time of kerosene in active cooling channels. When the mass flow rate, density and pressure drop couple with each other, the density wave instability will appear.
Abstract: This study describes a micro device integrated with
multi-chamber for polymerase chain reaction (PCR) with different
annealing temperatures. The device consists of the reaction
polydimethylsiloxane (PDMS) chip, a cover glass chip, and is
equipped with cartridge heaters, fans, and thermocouples for
temperature control. In this prototype, commercial software is utilized
to determine the geometric and operational parameters those are
responsible for creating the denaturation, annealing, and extension
temperatures within the chip. Two cartridge heaters are placed at two
sides of the chip and maintained at two different temperatures to
achieve a thermal gradient on the chip during the annealing step. The
temperatures on the chip surface are measured via an infrared imager.
Some thermocouples inserted into the reaction chambers are used to
obtain the transient temperature profiles of the reaction chambers
during several thermal cycles. The experimental temperatures
compared to the simulated results show a similar trend. This work
should be interesting to persons involved in the high-temperature
based reactions and genomics or cell analysis.
Abstract: In view of geological origin, formation of the shallow
gas reservoir of the Hangzhou Bay, northern Zhejiang Province,
eastern China, and original occurrence characteristics of the gassy
sand are analyzed. Generally, gassy sand in scale gas reservoirs is in
the state of residual moisture content and the approximate scope of
initial matric suction of sand ranges about from 0kPa to100kPa.
Results based on GDS triaxial tests show that the classical shear
strength formulas of unsaturated soil can not effectively describe basic
strength characteristics of gassy sand; the relationship between
apparent cohesion and matric suction of gassy sand agrees well with
the power function, which can reasonably be used to describe the
strength of gassy sand. In the stress path of gas release, shear strength
of gassy sand will increase and experimental results show the formula
proposed in this paper can effectively predict the strength increment.
When saturated strength indexes of the sand are used in engineering
design, moderate reduction should be considered.
Abstract: We present a non standard Euclidean vehicle
routing problem adding a level of clustering, and we revisit the use
of self-organizing maps as a tool which naturally handles such
problems. We present how they can be used as a main operator
into an evolutionary algorithm to address two conflicting
objectives of route length and distance from customers to bus stops
minimization and to deal with capacity constraints. We apply the
approach to a real-life case of combined clustering and vehicle
routing for the transportation of the 780 employees of an
enterprise. Basing upon a geographic information system we
discuss the influence of road infrastructures on the solutions
generated.
Abstract: The aim of this contribution is to present a new
approach in modeling the electrical activity of the human heart. A
recurrent artificial neural network is being used in order to exhibit a
subset of the dynamics of the electrical behavior of the human heart.
The proposed model can also be used, when integrated, as a
diagnostic tool of the human heart system.
What makes this approach unique is the fact that every model is
being developed from physiological measurements of an individual.
This kind of approach is very difficult to apply successfully in many
modeling problems, because of the complexity and entropy of the
free variables describing the complex system. Differences between
the modeled variables and the variables of an individual, measured at
specific moments, can be used for diagnostic purposes. The sensor
fusion used in order to optimize the utilization of biomedical sensors
is another point that this paper focuses on. Sensor fusion has been
known for its advantages in applications such as control and
diagnostics of mechanical and chemical processes.