Abstract: This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.
Abstract: In this paper, the authors take a look at advantages of
multiphase induction motors comparing them with three phase ones
and present the applications where six-phase induction motors are
used. They elaborate the mathematical model of six-phase induction
motor with two similar stator three phase winding, shifted by 30
degrees in space and three phase winding in rotor, in synchronous
reference frame for soft starting and scalar control. The authors
simulate and discuss results of speed and torque starting transients.
Abstract: In current common research reports, salient regions
are usually defined as those regions that could present the main
meaningful or semantic contents. However, there are no uniform
saliency metrics that could describe the saliency of implicit image
regions. Most common metrics take those regions as salient regions,
which have many abrupt changes or some unpredictable
characteristics. But, this metric will fail to detect those salient useful
regions with flat textures. In fact, according to human semantic
perceptions, color and texture distinctions are the main characteristics
that could distinct different regions. Thus, we present a novel saliency
metric coupled with color and texture features, and its corresponding
salient region extraction methods. In order to evaluate the
corresponding saliency values of implicit regions in one image, three
main colors and multi-resolution Gabor features are respectively used
for color and texture features. For each region, its saliency value is
actually to evaluate the total sum of its Euclidean distances for other
regions in the color and texture spaces. A special synthesized image
and several practical images with main salient regions are used to
evaluate the performance of the proposed saliency metric and other
several common metrics, i.e., scale saliency, wavelet transform
modulus maxima point density, and important index based metrics.
Experiment results verified that the proposed saliency metric could
achieve more robust performance than those common saliency
metrics.
Abstract: Applicability of tuning the controller gains for Stewart manipulator using genetic algorithm as an efficient search technique is investigated. Kinematics and dynamics models were introduced in detail for simulation purpose. A PD task space control scheme was used. For demonstrating technique feasibility, a Stewart manipulator numerical-model was built. A genetic algorithm was then employed to search for optimal controller gains. The controller was tested onsite a generic circular mission. The simulation results show that the technique is highly convergent with superior performance operating for different payloads.
Abstract: An advanced composite flywheel rotor consisting of
intra and inter hybrid rims was designed to optimally increase the energy capacity, and was manufactured using filament winding with
in-situ curing. The flywheel has recently attracted considerable attention from many investigators since it possesses great potential in
many energy storage applications, including electric utilities, hybrid or
electric automobiles, and space vehicles. In this investigation, a comprehensive study was conducted with the intent to implement
composites in high performance flywheel applications.The inner two
intra-hybrid rims (rims 1 and 2) were manufactured as a whole part
through continuous filament winding under in-situ curing conditions,
and so were the outer two rims (rims 3 and 4). The outer surface of rim
2 and the inner surface of rim 3 were CNC-tapered for press-fitting. Machined rims were finally press-fitted using a hydraulic press with a
maximum compressive force of approximately 1000 ton.
Abstract: Arms detection is one of the fundamental problems in
human motion analysis application. The arms are considered as the
most challenging body part to be detected since its pose and speed
varies in image sequences. Moreover, the arms are usually occluded
with other body parts such as the head and torso. In this paper,
histogram-based skin colour segmentation is proposed to detect the
arms in image sequences. Six different colour spaces namely RGB,
rgb, HSI, TSL, SCT and CIELAB are evaluated to determine the best
colour space for this segmentation procedure. The evaluation is
divided into three categories, which are single colour component,
colour without luminance and colour with luminance. The
performance is measured using True Positive (TP) and True Negative
(TN) on 250 images with manual ground truth. The best colour is
selected based on the highest TN value followed by the highest TP
value.
Abstract: Nowadays, engineering ceramics have significant
applications in different industries such as; automotive, aerospace,
electrical, electronics and even martial industries due to their
attractive physical and mechanical properties like very high hardness
and strength at elevated temperatures, chemical stability, low friction
and high wear resistance. However, these interesting properties plus
low heat conductivity make their machining processes too hard,
costly and time consuming. Many attempts have been made in order
to make the grinding process of engineering ceramics easier and
many scientists have tried to find proper techniques to economize
ceramics' machining processes. This paper proposes a new diamond
plunge grinding technique using ultrasonic vibration for grinding
Alumina ceramic (Al2O3). For this purpose, a set of laboratory
equipments have been designed and simulated using Finite Element
Method (FEM) and constructed in order to be used in various
measurements. The results obtained have been compared with the
conventional plunge grinding process without ultrasonic vibration
and indicated that the surface roughness and fracture strength
improved and the grinding forces decreased.
Abstract: Given the motivation of maps impact in enhancing the
perception of the quality of life in a region, this work examines the
use of spatial analytical techniques in exploring the role of space in
shaping human development patterns in Assiut governorate.
Variations of human development index (HDI) of the governorate-s
villages, districts and cities are mapped using geographic information
systems (GIS). Global and local spatial autocorrelation measures are
employed to assess the levels of spatial dependency in the data and to
map clusters of human development. Results show prominent
disparities in HDI between regions of Assiut. Strong patterns of
spatial association were found proving the presence of clusters on the
distribution of HDI. Finally, the study indicates several "hot-spots" in
the governorate to be area of more investigations to explore the
attributes of such levels of human development. This is very
important for accomplishing the development plan of poorest regions
currently adopted in Egypt.
Abstract: In this paper, position vector of a partially null unit speed curve with respect to standard frame of Minkowski space-time is studied. First, it is proven that position vector of every partially null unit speed curve satisfies a vector differential equation of fourth order. In terms of solution of the differential equation, position vector of a partially null unit speed curve is expressed.
Abstract: Multifunctional structures are a potentially disruptive
technology that allows for significant mass savings on spacecraft.
The specific concept addressed herein is that of a multifunctional
power structure. In this paper, a parametric optimisation of the
design of such a structure that uses commercially available battery
cells is presented. Using numerical modelling, it was found that there
exists several trade-offs aboutthe conflict between the capacity of the
panel and its mechanical properties. It was found that there is no
universal optimal location for the cells. Placing them close to the
mechanical interfaces increases loading in the mechanically weak
cells whereas placing them at the centre of the panel increases the
stress inthe panel and reduces the stiffness of the structure.
Abstract: Delivering course material via a virtual environment
is beneficial to today-s students because it offers the interactivity,
real-time interaction and social presence that students of all ages
have come to accept in our gaming rich community. It is essential
that the Net Generation also known as Generation Why, have
exposure to learning communities that encompass interactivity to
form social and educational connections. As student and professor
become interconnected through collaboration and interaction in a
virtual learning space, relationships develop and students begin to
take on an individual identity. With this in mind the research project
was developed to investigate the use of virtual environments on
student satisfaction and the effectiveness of course delivery.
Furthermore, the project was designed to integrate both interactive
(real-time) classes conducted in the Virtual Reality (VR)
environment while also creating archived VR sessions for student use
in retaining and reviewing course content.
Abstract: This paper explores university course timetabling
problem. There are several characteristics that make scheduling and
timetabling problems particularly difficult to solve: they have huge
search spaces, they are often highly constrained, they require
sophisticated solution representation schemes, and they usually
require very time-consuming fitness evaluation routines. Thus
standard evolutionary algorithms lack of efficiency to deal with
them. In this paper we have proposed a memetic algorithm that
incorporates the problem specific knowledge such that most of
chromosomes generated are decoded into feasible solutions.
Generating vast amount of feasible chromosomes makes the progress
of search process possible in a time efficient manner. Experimental
results exhibit the advantages of the developed Hybrid Genetic
Algorithm than the standard Genetic Algorithm.
Abstract: TUSAT is a prospective Turkish
Communication Satellite designed for providing mainly data
communication and broadcasting services through Ku-Band
and C-Band channels. Thermal control is a vital issue in
satellite design process. Therefore, all satellite subsystems and
equipments should be maintained in the desired temperature
range from launch to end of maneuvering life. The main
function of the thermal control is to keep the equipments and
the satellite structures in a given temperature range for various
phases and operating modes of spacecraft during its lifetime.
This paper describes the thermal control design which uses
passive and active thermal control concepts. The active
thermal control is based on heaters regulated by software via
thermistors. Alternatively passive thermal control composes of
heat pipes, multilayer insulation (MLI) blankets, radiators,
paints and surface finishes maintaining temperature level of
the overall carrier components within an acceptable value.
Thermal control design is supported by thermal analysis using
thermal mathematical models (TMM).
Abstract: Support Vector Domain Description (SVDD) is one of the best-known one-class support vector learning methods, in which one tries the strategy of using balls defined on the feature space in order to distinguish a set of normal data from all other possible abnormal objects. As all kernel-based learning algorithms its performance depends heavily on the proper choice of the kernel parameter. This paper proposes a new approach to select kernel's parameter based on maximizing the distance between both gravity centers of normal and abnormal classes, and at the same time minimizing the variance within each class. The performance of the proposed algorithm is evaluated on several benchmarks. The experimental results demonstrate the feasibility and the effectiveness of the presented method.
Abstract: This study uses GIS (Geographic Information
Systems) to conduct an evaluation of the degree of the sufficiency of
public green spaces such as parks and urban green areas as an
indicator of the density of metropolitan areas, in particular the Chubu
metropolitan area, in Japan. To that end, it first grasps the distribution
situation of green spaces in the three metropolitan areas in Japan,
especially in the Chubu metropolitan area, using GIS digital maps.
And based on this result, it conducts a GIS evaluation of the degree of
sufficiency of public green spaces and arranges the result for every
distance belt from the central part to compare and exam for every
distance belt away from the center in the Chubu metropolitan area.
Furthermore, after pointing out the insufficient areas of public green
spaces based on the result, it also proposes the improvement policy
which can be introduced in the Chubu metropolitan area.
Abstract: In this paper, we introduce a new method for elliptical
object identification. The proposed method adopts a hybrid scheme
which consists of Eigen values of covariance matrices, Circular
Hough transform and Bresenham-s raster scan algorithms. In this
approach we use the fact that the large Eigen values and small Eigen
values of covariance matrices are associated with the major and minor
axial lengths of the ellipse. The centre location of the ellipse can be
identified using circular Hough transform (CHT). Sparse matrix
technique is used to perform CHT. Since sparse matrices squeeze zero
elements and contain a small number of nonzero elements they
provide an advantage of matrix storage space and computational time.
Neighborhood suppression scheme is used to find the valid Hough
peaks. The accurate position of circumference pixels is identified
using raster scan algorithm which uses the geometrical symmetry
property. This method does not require the evaluation of tangents or
curvature of edge contours, which are generally very sensitive to
noise working conditions. The proposed method has the advantages of
small storage, high speed and accuracy in identifying the feature. The
new method has been tested on both synthetic and real images.
Several experiments have been conducted on various images with
considerable background noise to reveal the efficacy and robustness.
Experimental results about the accuracy of the proposed method,
comparisons with Hough transform and its variants and other
tangential based methods are reported.
Abstract: A conjugate heat transfer for steady two-dimensional
mixed convection with magnetic hydrodynamic (MHD) flow of an
incompressible quiescent fluid over an unsteady thermal forming
stretching sheet has been studied. A parameter, M, which is used to
represent the dominance of the magnetic effect has been presented in
governing equations. The similar transformation and an implicit
finite-difference method have been used to analyze the present
problem. The numerical solutions of the flow velocity distributions,
temperature profiles, the wall unknown values of f''(0) and '(θ (0) for
calculating the heat transfer of the similar boundary-layer flow are
carried out as functions of the unsteadiness parameter (S), the Prandtl
number (Pr), the space-dependent parameter (A) and
temperature-dependent parameter (B) for heat source/sink and the
magnetic parameter (M). The effects of these parameters have also
discussed. At the results, it will produce greater heat transfer effect
with a larger Pr and M, S, A, B will reduce heat transfer effects. At
last, conjugate heat transfer for the free convection with a larger G has
a good heat transfer effect better than a smaller G=0.
Abstract: Experiments with pumpkin-rowanberry marmalade
candies were carried out at the Faculty of Food Technology of the
Latvia University of Agriculture. The objective of this investigation
was to evaluate the quality changes of pumpkin-rowanberry
marmalade candies packed in different packaging materials during
the storage of 15 weeks, and to find the most suitable packaging
material for prolongation of low sugar marmalade candies shelf-life.
An active packaging in combination with modified atmosphere
(MAP, CO2 100%) was examined and compared with traditional
packaging in air ambiance. Polymer Multibarrier 60 and paper bags
were used. Influence of iron based oxygen absorber in sachets of 500
cc obtained from Mitsubishi Gas Chemical Europe Ageless® on the
marmalade candies’ quality was tested during shelf life. Samples of
80±5 g were packaged in polymer pouches (110 mm x 110 mm),
hermetically sealed by MULTIVAC C300 vacuum chamber machine,
and stored in a room temperature +21±0.5 °C. The physiochemical
properties –moisture content, hardness, aw, pH, changes of
atmosphere content (CO2 and O2), ascorbic acid, total carotenoids,
total phenols in headspace of packs, and microbial conditions were
analysed before packaging and in the 1st, 3rd , 5th, 8th, 11th and 15th
weeks of storage.
Abstract: Nowadays, access to sustainable development in cities is assumed as one of the most important goals of urban managers. In the meanwhile, neighborhood as the smallest unit of urban spatial organization has a substantial effect on urban sustainability. Hence, attention to and focus on this subject is highly important in urban development plans. The objective of this study is evaluation of the status of Jahanshahr Neighborhood in Karaj city based on sustainable neighborhood development indicators. This research has been applied based on documentary method and field surveys. Also, evaluating of Jahanshahr Neighborhood of Karaj shows that it has a high level in sustainability in physical and economical dimension while a low level in cultural and social dimension. For this purpose, this neighborhood as a semi-sustainable neighborhood must take measures for development of collective spaces and efficiency of utilizing the public neighborhood spaces via collaboration of citizens and officials.
Abstract: Computational fluid dynamics (CFD) simulations
carried out in this paper show that spacer orientation has a major
influence on temperature patterns and on the heat transfer rates. The
local heat flux values significantly vary from high to very low values
at each filament when spacer touches the membrane surface. The
heat flux profile is more uniform when spacer filaments are not in
contact with the membrane thus making this arrangement more
beneficial. The temperature polarization is also found to be less in
this case when compared to the empty channel.