Abstract: The paper focuses on the enhanced stiffness modeling
of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the
virtual joint technique that describes the compliance of manipulator elements by a set of localized six-dimensional springs separated by
rigid links and perfect joints. In contrast to the conventional
formulation, which is valid for the unloaded mode and small
displacements, the proposed approach implicitly assumes that the loading leads to the non-negligible changes of the manipulator posture and corresponding amendment of the Jacobian. The
developed numerical technique allows computing the static
equilibrium and relevant force/torque reaction of the manipulator for
any given displacement of the end-effector. This enables designer
detecting essentially nonlinear effects in elastic behavior of
manipulator, similar to the buckling of beam elements. It is also proposed the linearization procedure that is based on the inversion of
the dedicated matrix composed of the stiffness parameters of the
virtual springs and the Jacobians/Hessians of the active and passive
joints. The developed technique is illustrated by an application example that deals with the stiffness analysis of a parallel
manipulator of the Orthoglide family
Abstract: Being creative in an educational environment, such as in the university, has many times been downplayed by bureaucracy, human inadequacy and physical hindrance. These factors control, stifle and subsequently condemn this natural phenomenon which is normally exuded by the tertiary community. If taken in a positive light, creativity has always led to many new discoveries and inventions. These creations are then gradually developed for the university reputation and achievements, in all fields of studies from the sciences to the humanities. This paper attempts to explore, through more than twenty years of observation, issues that stifle the university citizenry – academicians and students- – creativity. It also scrutinizes how enhancement of such creativity can be further supported by bureaucracy simplicity, encouraging and developing human potential and constructing uncompromising physical infrastructure and administrative support. These ideals – all of which can help to promote creativity, increases the productivity of the university community in aspects of teaching, research, publication, innovation and commercialization; be it at national as well as at international arena for the good of human and societal growth and development. This discursive presentation hopes to address another issue on promoting university community creativity through several deliverables which require cooperation from every quarter of the institution so that being creative continues to be promoted for sustainable human capital growth and development of the country, if not, the global community.
Abstract: In this paper, we are interested in attitude control of a satellite, which using wheels of reaction, by state feedback. First, we develop a method allowing us to put the control and its integral in the state-feedback form. Then, by using the theorem of Gronwall- Bellman, we put the sufficient conditions so that the nonlinear system modeling the satellite is stabilisable and observed by state feedback.
Abstract: Cooperative communication scheme can be substituted
for multiple-input multiple-output (MIMO) technique when it may
not be able to support multiple antennas due to size, cost or
hardware limitations. In other words, cooperative communication
scheme is an efficient method to achieve spatial diversity without
multiple antennas. For satisfaction of rising QoS, we propose a
reliable cooperative communication scheme with M-QAM based Dual
Carrier Modulation (M-DCM), which can increase diversity gain.
Although our proposed scheme is very simple method, it gives us
frequency and spatial diversity. Simulation result shows our proposed
scheme obtains diversity gain more than the conventional cooperative
communication scheme.
Abstract: The objective of this paper is to analyze the
performance of a double-sided axial flux permanent magnet
brushless DC (AFPM BLDC) motor with two-phase winding.
To study the motor operation, a mathematical dynamic model
has been proposed for motor, which became the basis for
simulations that were performed using MATLAB/SIMULINK
software package. The results of simulations were presented
in form of the waveforms of selected quantities and the
electromechanical characteristics performed by the motor. The
calculation results show that the two-phase motor version
develops smooth torque and reaches high efficiency. The twophase
motor can be applied where more smooth torque is
required. Finally a study on the influence of switching angle
on motor performance shows that when advance switching
technique is used, the motor operates with the highest
efficiency.
Abstract: In this paper, novel techniques in increasing the accuracy
and speed of convergence of a Feed forward Back propagation
Artificial Neural Network (FFBPNN) with polynomial activation
function reported in literature is presented. These technique was
subsequently used to determine the coefficients of Autoregressive
Moving Average (ARMA) and Autoregressive (AR) system. The
results obtained by introducing sequential and batch method of weight
initialization, batch method of weight and coefficient update, adaptive
momentum and learning rate technique gives more accurate result
and significant reduction in convergence time when compared t the
traditional method of back propagation algorithm, thereby making
FFBPNN an appropriate technique for online ARMA coefficient
determination.
Abstract: Failure in mastery of motor skills proficiency during
childhood has been seen as a detrimental factor for children to be
physically active. Lack of motor skills proficiency tends to reduce
children’s competency and confidence level to participate in physical
activity. As a consequence of less participation in physical activity,
children will turn to be overweight and obese. It has been suggested
that children who master motor skill proficiency will be more
involved in physical activity thus preventing them from being
overweight. Obesity has become a serious childhood health issues
worldwide. Previous studies have found that children who were
overweight and obese were generally less active however these
studies focused on one gender. This study aims to compare motor
skill proficiency of underweight, normal-weight, overweight and
obese young boys as well as to determine the relationship between
motor skills proficiency and body composition. 112 boys aged
between 8 to 10 years old participated in this study. Participants were
assigned to four groups; underweight, normal-weight, overweight and
obese using BMI-age percentile chart for children. Bruininks-
Oseretsky Test Second Edition-Short Form was administered to
assess their motor skill proficiency. Meanwhile, body composition
was determined by the skinfold thickness measurement. Result
indicated that underweight and normal children were superior in
motor skills proficiency compared to overweight and obese children
(p < 0.05). A significant strong inverse correlation between motor
skills proficiency and body composition (r = -0.849) is noted. The
findings of this study could be explained by non-contributory mass
that carried by overweight and obese children leads to biomechanical
movement inefficiency which will become detrimental to motor skills
proficiency. It can be concluded that motor skills proficiency is
inversely correlated with body composition.
Abstract: Ontology is a terminology which is used in artificial
intelligence with different meanings. Ontology researching has an
important role in computer science and practical applications,
especially distributed knowledge systems. In this paper we present an
ontology which is called Computational Object Knowledge Base
Ontology. It has been used in designing some knowledge base
systems for solving problems such as the system that supports
studying knowledge and solving analytic geometry problems, the
program for studying and solving problems in Plane Geometry, the
knowledge system in linear algebra.
Abstract: Human Computer Interaction (HCI) has been an
emerging field that draws in the experts from various fields to
enhance the application of computer programs and the ease of
computer users. HCI has much to do with learning and cognition and
an emerging approach to learning and problem-solving is problembased
learning (PBL). The processes of PBL involve important
cognitive functions in the various stages. This paper will illustrate
how closely related fields to HCI, PBL and cognitive psychology can
benefit from informing each other through analysing various
cognitive functions. Several cognitive functions from cognitive
function disc (CFD) would be presented and discussed in relation to
human-computer interface. This paper concludes with the
implications of bridging the gaps amongst these disciplines.
Abstract: Coal will continue to be the predominant source of
global energy for coming several decades. The huge generation of fly
ash (FA) from combustion of coal in thermal power plants (TPPs) is
apprehended to pose the concerns of its disposal and utilization. FA
application based on its typical characteristics as soil ameliorant for
agriculture and forestry is the potential area, and hence the global
attempt. The inferences drawn suffer from the variations of ash
characteristics, soil types, and agro-climatic conditions; thereby
correlating the effects of ash between various plant species and soil
types is difficult. Indian FAs have low bulk density, high water
holding capacity and porosity, rich silt-sized particles, alkaline
nature, negligible solubility, and reasonable plant nutrients. Findings
of the demonstrations trials for more than two decades from lab/pot
to field scale long-term experiments are developed as FA soil
amendment technology (FASAT) by Central Institute of Mining and
Fuel Research (CIMFR), Dhanbad. Performance of different crops
and plant species in cultivable and problematic soils, are
encouraging, eco-friendly, and being adopted by the farmers. FA
application includes ash alone and in combination with
inorganic/organic amendments; combination treatments including
bio-solids perform better than FA alone. Optimum dose being up to
100 t/ha for cultivable land and up to/ or above 200 t/ha of FA for
waste/degraded land/mine refuse, depending on the characteristics of
ash and soil. The elemental toxicity in Indian FA is usually not of
much concern owing to alkaline ashes, oxide forms of elements, and
elemental concentration within the threshold limits for soil
application. Combating toxicity, if any, is possible through
combination treatments with organic materials and phytoremediation.
Government initiatives through extension programme
involving farmers and ash generating organizations need to be
accelerated
Abstract: This paper presents performance comparison of three estimation techniques used for peak load forecasting in power systems. The three optimum estimation techniques are, genetic algorithms (GA), least error squares (LS) and, least absolute value filtering (LAVF). The problem is formulated as an estimation problem. Different forecasting models are considered. Actual recorded data is used to perform the study. The performance of the above three optimal estimation techniques is examined. Advantages of each algorithms are reported and discussed.
Abstract: The structural stability of the model of a nonelectroneutral current sheath is investigated. The stationary model of a current sheath represents the system of four connected nonlinear differential first-order equations and thus they should manifest structural instability property, i.e. sensitivity to the infinitesimal changes of parameters and starting conditions. Domains of existence of the solutions of current sheath type are found. Those solutions of the current sheath type are realized only in some regions of sevendimensional space of parameters of the problem. The phase volume of those regions is small in comparison with the whole phase volume of the definition range of those parameters. It is shown that the offered model of a nonelectroneutral current sheath is applicable for theoretical interpretation of the bifurcational current sheaths observed in the magnetosphere.
Abstract: This paper analyses the performance of a genetic algorithm using a new concept, namely a fractional-order dynamic fitness function, for the synthesis of combinational logic circuits. The experiments reveal superior results in terms of speed and convergence to achieve a solution.
Abstract: Falls are the primary cause of accidents in people over
the age of 65, and frequently lead to serious injuries. Since the early
detection of falls is an important step to alert and protect the aging
population, a variety of research on detecting falls was carried out
including the use of accelerators, gyroscopes and tilt sensors. In
exiting studies, falls were detected using an accelerometer with
errors. In this study, the proposed method for detecting falls was to
use two accelerometers to reject wrong falls detection. As falls are
accompanied by the acceleration of gravity and rotational motion, the
falls in this study were detected by using the z-axial acceleration
differences between two sites. The falls were detected by calculating
the difference between the analyses of accelerometers placed on two
different positions on the chest of the subject. The parameters of the
maximum difference of accelerations (diff_Z) and the integration of
accelerations in a defined region (Sum_diff_Z) were used to form the
fall detection algorithm. The falls and the activities of daily living
(ADL) could be distinguished by using the proposed parameters
without errors in spite of the impact and the change in the positions
of the accelerometers. By comparing each of the axial accelerations,
the directions of falls and the condition of the subject afterwards
could be determined.In this study, by using two accelerometers
without errors attached to two sites to detect falls, the usefulness of
the proposed fall detection algorithm parameters, diff_Z and
Sum_diff_Z, were confirmed.
Abstract: Jacobs, A.B. (1993) stated that "When I think of a city,
the first thing that comes to mind is the street. If the street is
interesting, the rest of the city is interesting. If the street is mundane,
the city is also mundane." In this statement, he expresses the
importance of the streetscape and the street environment. The
objective of this paper is to analyze the spatial relationships of the
streetscape that affect the general public's preference of the cityscape.
Furthermore, this research focuses on the important role that
streetscape plays in public perception of the city by the pedestrians
who experience it daily. The subject of this paper is eight of the
"Design Seoul Street."The analysis and survey results show the
preference criteria that affect the streetscape and ultimately the
cityscape. This research endeavor shows that differences in physical
form, shape, size, color, locations, and context are important.
Abstract: Solidification cracking and hydrogen cracking are some defects generated in the fusion welding of ultrahigh carbon steels. However, friction stir welding (FSW) of such steels, being a solid-state technique, has been demonstrated to alleviate such problems encountered in traditional welding. FSW include different process parameters that must be carefully defined prior processing. These parameters included but not restricted to: tool feed, tool RPM, tool geometry, tool tilt angle. These parameters form a key factor behind avoiding warm holes and voids behind the tool and in achieving a defect-free weld. More importantly, these parameters directly affect the microstructure of the weld and hence the final mechanical properties of weld. For that, 3D finite element (FE) thermo-mechanical model was developed using DEFORM 3D to simulate FSW of carbon steel. At points of interest in the joint, tracking is done for history of critical state variables such as temperature, stresses, and strain rates. Typical results found include the ability to simulate different weld zones. Simulations predictions were successfully compared to experimental FSW tests. It is believed that such a numerical model can be used to optimize FSW processing parameters to favor desirable defect free weld with better mechanical properties.
Abstract: The impact of the information revolution is double
edged. While it is applauded for its versatility and performance
robustness and acclaimed for making life smooth and easy, on the
other hand people are concerned about its dark side especially to
younger generations. The education system should extend its
educating role beyond the school to home. Parents should be included
in forming the policies of Internet use as well as in the curriculum
delivery. This paper discusses how curriculum can be instrumental in
addressing social and ethical issues resulted from the Internet.
Abstract: In a recent major industry-supported research and development study, a novel framework was developed and applied for assessment of reliability and quality performance levels in reallife power systems with practical large-scale sizes. The new assessment methodology is based on three metaphors (dimensions) representing the relationship between available generation capacities and required demand levels. The paper shares the results of the successfully completed stud and describes the implementation of the new methodology on practical zones in the Saudi electricity system.
Abstract: Wireless ad hoc nodes are freely and dynamically
self-organize in communicating with others. Each node can act as
host or router. However it actually depends on the capability of
nodes in terms of its current power level, signal strength, number
of hops, routing protocol, interference and others. In this research,
a study was conducted to observe the effect of hops count over
different network topologies that contribute to TCP Congestion
Control performance degradation. To achieve this objective, a
simulation using NS-2 with different topologies have been
evaluated. The comparative analysis has been discussed based on
standard observation metrics: throughput, delay and packet loss
ratio. As a result, there is a relationship between types of topology
and hops counts towards the performance of ad hoc network. In
future, the extension study will be carried out to investigate the
effect of different error rate and background traffic over same
topologies.
Abstract: In this study, the thermal and mechanical properties of
basalt fibre reinforced concrete were investigated. The volume
fractions of basalt fibre of (0.1, 0.2, 0.3, and 0.5% by total mix
volume) were used. Properties such as heat transfer, compressive and
splitting tensile strengths were examined. Results indicated that the
strength increases with increase the fibre content till 0.3% then there
is a slight reduction when 0.5% fibre used. Lower amount of heat
conducted through the thickness of concrete specimens than the
conventional concrete was also recorded.