Search results for: soft exoskeleton

Authors: I. Arockiarani

Abstract:

The focus of the paper is to furnish the entropy measure for a neutrosophic set and neutrosophic soft set which is a measure of uncertainty and it permeates discourse and system. Various characterization of entropy measures are derived. Further we exemplify this concept by applying entropy in various real time decision making problems.

Keywords: entropy measure, Hausdorff distance, neutrosophic set, soft set

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Authors: Seyed Abolhasan Naeini, Saeideh Mohammadi

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Time dependent settlement due to loading on soft saturated soils produces many problems such as high consolidation settlements and low consolidation rates. Also, long term consolidation settlement of soft soil underlying the embankment leads to unpredicted settlements and cracks on soil surface. Preloading method is an effective improvement method to solve this problem. Using vertical drains in preloading method is an effective method for improving soft soils. Applying deep soil mixing method on soft soils is another effective method for improving soft soils. There are little studies on using two methods of preloading and deep soil mixing simultaneously. In this paper, the concurrent effect of preloading with deep soil mixing by vertical drains is investigated through a finite element code, Plaxis2D. The influence of parameters such as deep soil mixing columns spacing, existence of vertical drains and distance between them, on settlement and stability factor of safety of embankment embedded on soft soil is investigated in this research.

Keywords: preloading, soft soil, vertical drains, deep soil mixing, consolidation settlement

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Authors: Dolly Nyaguthii Wanjau

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This study contributes to our understanding of how lecturers assess soft skills in accounting programmes, with the intention of producing graduates that are better prepared for the world of work. Insights were obtained through semi-structured interviews with twelve South African universities that offer chartered accountant training and accredited by SAICA. It was found that the lecturers assessed soft skills using traditional methods of assessments such as tests, assignments, and examinations. However, there were missed opportunities to embrace ICT tools in the assessment process, and this could be attributed to a lack of resources within the participating universities. Given the increasing use of digital tools for business activities, it is important that ICT tools be embraced as an inseparable part of soft skills because employers are increasingly looking for accounting graduates with digital skills.

Keywords: accounting, assessment, ICT skills, SAICA, soft skills

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Authors: Jun Sung Go, Jong Kang Park, Jong Tae Kim

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As semi-conductor manufacturing technology evolves; the single event transient problem becomes more significant issue. Single event transient has a critical impact on both combinational and sequential logic circuits, so it is important to evaluate the soft error tolerance of the circuits at the design stage. In this paper, we present a soft error detecting simulation using scan chain. The simulation model generates a single event transient randomly in the circuit, and detects the soft error during the execution of the test patterns. We verified this model by inserting a scan chain in an 8051 microprocessor using 65 nm CMOS technology. While the test patterns generated by ATPG program are passing through the scan chain, we insert a single event transient and detect the number of soft errors per sub-module. The experiments show that the soft error rates per cell area of the SFR module is 277% larger than other modules.

Keywords: scan chain, single event transient, soft error, 8051 processor

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Authors: Sautma Ronni Basana, Zeplin Jiwa Husada Tarigan, Widjojo Suprapto

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Companies have already implemented the Enterprise Resource Planning (ERP) system to increase the data integration so that they can improve their business performance. Although some companies have managed to implement the ERP well, they still need to improve gradually so that the ERP functions can be optimized. To obtain a faster and more accurate data, the key users and IT department have to customize the process to suit the needs of the company. In reality, sustaining the ERP technology system requires soft and hard ERP so it enables to improve the business performance of the company. Soft and hard ERP are needed to build a tough system to ensure the integration among departments running smoothly. This research has three questions. First, is the soft ERP bringing impacts to the hard ERP and system integration. Then, is the hard ERP having impacts to the system integration. Finally, is the business performance of the manufacturing companies is affected by the soft ERP, hard ERP, and system integration. The questionnaires are distributed to 100 manufacturing companies in East Java, and are collected from 90 companies which have implemented the ERP, with the response rate of 90%. From the data analysis using PLS program, it is obtained that the soft ERP brings positive impacts to the hard ERP and system integration for the companies. Then, the hard ERP brings also positive impacts to the system integration. Finally, the business process performance of the manufacturing companies is affected by the system integration, soft ERP, and hard ERP simultaneously.

Keywords: soft ERP, hard ERP, system integration, business performance

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Authors: Aya Rezgui, Lasaad Ajam, Belgacem Jalleli

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The Tunis soft soils present a difficult challenge as construction sites and for Geotechnical works. Currently, different techniques are used to improve such soil properties taking into account the environmental considerations. One of the recent methods is involving plastic wastes as a reinforcing materials. The present study pertains to the development of a numerical model for predicting the behavior of Tunis Soft soil (TSS) improved with recycled Monobloc chair wastes.3D numerical models for unreinforced TSS and reinforced TSS aims to evaluate settlement reduction and the values of consolidation times in oedometer conditions.

Keywords: Tunis soft soil, settlement, plastic wastes, finte -difference, FLAC3D modeling

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Authors: Abiola Ayopo Abiodun, Zalihe Nalbantoglu

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The electrokinetic application (EKA), a relatively modern chemical treatment has a potential for in-situ ground improvement in an open field or under existing structures. It utilizes a low electrical gradient to transport electrolytic chemical ions between bespoke electrodes inserted in the fine-grained, low permeable soft soils. The paper investigates the efficacy of the EKA as a mitigation technique for the soft clay beds. The laboratory model of the EKA comprises of rectangular plexiglass test tank, electrolytes compartments, geosynthetic electrodes and direct electric current supply. Within this setup, the EK effects resulted from the exchange of ions between anolyte (anodic) and catholyte (cathodic) ends through the tested soil were examined by basic experimental laboratory testing methods. As such, the treated soft soil properties were investigated as a function of the anode-to-cathode distances and curing periods. The test results showed that there have been some changes in the physical and engineering properties of the treated soft soils. The significant changes in the physicochemical and electrical properties suggested that their corresponding changes can be utilized as a monitoring technique to evaluate the improvement in the engineering properties EK treated soft clay soils.

Keywords: electrokinetic, electrolytes, exchange ions, geosynthetic electrodes, soft soils

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Authors: Gerardette Darkwah, Gloria Ankar Brewoo, John Barimah, Gilbert Owiah Sampson, Vincent Abe-Inge

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Soft drinks which are widely consumed in Ghana have been reported in other countries to contain toxic heavy metals beyond the acceptable limits in other countries. Therefore, the objective of this study was to assess the quality characteristics of selected locally produced and marketed soft drinks. Three (3) different batches of 23 soft drinks were sampled from the Takoradi markets. The samples were prescreened for the presence of reducing sugars, phosphates, alcohol and carbon dioxide. The heavy metal contents and physicochemical properties were also determined with AOAC methods. The results indicated the presence of reducing sugars, carbon dioxide and the absence of alcohol in all the selected soft drink samples. The pH, total sugars, moisture, total soluble solids (TSS) and titratable acidity ranged from 2.42 – 3.44, 3.30 – 10.44%, 85.63 – 94.85%, 5.00 – 13.33°Brix, and 0.21 – 1.99% respectively. The concentration of heavy metals were also below detection limits in all samples. The quality of the selected were within specifications prescribed by regulatory bodies.

Keywords: heavy metal contamination, locally manufactured, quality, soft drinks

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Authors: Iman Shabanzadeh

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The economic growth and the special model of development in China have caused sensitivity in the public opinion of the world regarding the nature of this growth and development. In this regard, the Chinese have tried to put an end to such alarming procedures by using all the tools at their disposal and seek to present a peaceful and cooperative image of themselves. In this way, one of the most important diplomatic tools that Beijing has used to reduce the concerns caused by the Threat Theory has been the use of soft power resources and its tools in its development policies. This article begins by analyzing the concept of soft power and examining its foundations in international relations, and continues to examine the components of soft power in its Chinese version. The main purpose of the article is to figure out about the position of West Asia in China's soft power strategy and resources China use to achieve its goals in this region. In response to the main question, the paper's hypothesis is that soft power in its Chinese version had significant differences from Joseph Nye's original idea. In fact, the Chinese have imported the American version of soft power and adjusted, strengthened and, in other words, internalized it with their abilities, capacities and political philosophy. Based on this, China's software presence in West Asia can be traced in three areas. The first source of China's soft power in this region of West Asia is cultural in nature and is realized through strategies such as "use of educational tools and methods", "media methods" and "tourism industry". The second source is related to political soft power, which is applied through the policy of "balance of influence" and the policy of "mediation" and relying on the "ideological foundations of Confucianism". The third source also refers to China's economic soft power and is realized through three tools: "energy exchanges", "foreign investments" and "Belt-Road initiative". The research method of this article is descriptive-analytical.

Keywords: soft power, cooperative power, china, west asia

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Authors: Giuliana Scuderi, Patrick Teuffel

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The proven vulnerability of the existing social housing building heritage to natural or induced earthquakes requires the development of new design concepts and conceptual method to preserve materials and object, at the same time providing new performances. An integrate intervention between civil engineering, building physics and architecture can convert the social housing districts from a critical part of the city to a strategic resource of revitalization. Referring to bio-mimicry principles the present research proposes a taxonomy with the exoskeleton of the insect, an external, light and resistant armour whose role is to protect the internal organs from external potentially dangerous inputs. In the same way, a “building exoskeleton”, acting from the outside of the building as an enclosing cage, can restore, protect and support the existing building, assuming a complex set of roles, from the structural to the thermal, from the aesthetical to the functional. This study evaluates the structural efficiency of shape memory alloys devices (SMADs) connecting the “building exoskeleton” with the existing structure to rehabilitate, in order to prevent the out-of-plane collapse of walls and for the passive dissipation of the seismic energy, with a calibrated operability in relation to the intensity of the horizontal loads. The two case studies of a masonry structure and of a masonry structure with concrete frame are considered, and for each case, a theoretical social housing building is exposed to earthquake forces, to evaluate its structural response with or without SMADs. The two typologies are modelled with the finite element program SAP2000, and they are respectively defined through a “frame model” and a “diagonal strut model”. In the same software two types of SMADs, called the 00-10 SMAD and the 05-10 SMAD are defined, and non-linear static and dynamic analyses, namely push over analysis and time history analysis, are performed to evaluate the seismic response of the building. The effectiveness of the devices in limiting the control joint displacements resulted higher in one direction, leading to the consideration of a possible calibrated use of the devices in the different walls of the building. The results show also a higher efficiency of the 00-10 SMADs in controlling the interstory drift, but at the same time the necessity to improve the hysteretic behaviour, to maximise the passive dissipation of the seismic energy.

Keywords: adaptive structure, biomimetic design, building exoskeleton, social housing, structural envelope, structural retrofitting

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Authors: Amarjit Singh, Tripatdeep Singh Dua, Vikas Attri

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Mobile Ad-hoc Network is a combination of several nodes that create dynamically a specific network without using any base infrastructure. In this study all the mobile nodes can depended upon each other to send any data. Mobile host can pick up data and forwarding to their destination path. Basically MANET depend upon their Quality of Service which is highly constraints to the user. To give better services we need to improve the QOS. In these days MANET QOS requirement to use soft computing techniques. These techniques depend upon their specific requirement and which exists using MANET concepts. Using a soft computing techniques various protocol and algorithms may be considered. In this paper, we provide comparative study review of existing work done in MANET using various kind of soft computing techniques. Our review research is based on their specific protocol or algorithm which provide concern solution of QOS need. We discuss about various protocol through which routing in MANET. In Second section we clear the concepts of Soft Computing and their types. In third section we review the MANET using different kind of soft computing techniques work done before. In forth section we need to understand the concept of QoS requirement which exists in MANET and we done comparative study on different protocol used before and last we conclude the purpose of using MANET with soft computing techniques metrics.

Keywords: mobile ad-hoc network, fuzzy improved genetic approach, neural network, routing protocol, wireless mesh network

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Authors: Seyed Abolhasan Naeini, Saeideh Mohammadi

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Embankment settlement on soft clays has always been problematic due to the high compaction and low shear strength of the soil. Deep soil mixing and geosynthetics are two soil improvement methods in such fields. Here, a numerical study is conducted on the embankment performance on the soft ground improved by deep soil mixing columns and geosynthetics based on the data of a real project. For this purpose, the finite element method is used in the Plaxis 2D software. The Soft Soil Creep model considers the creep phenomenon in the soft clay layer while the Mohr-Columb model simulates other soil layers. Results are verified using the data of an experimental embankment built on deep mixing columns. The effect of depth and diameter of deep mixing columns and the stiffness of geogrid on the vertical and horizontal movements of embankment on clay subsoil will be investigated in the following.

Keywords: PLAXIS 2D, embankment settlement, horizontal movement, deep soil mixing column, geogrid

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Authors: M. H. Korayem, N. Sangsefidi

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Magnetically guided soft robots have emerged as a promising technology in minimally invasive surgery due to their ability to adapt to complex environments. However, one of the main challenges in this field is damage to the vascular structure caused by unwanted stress on the vessel wall and deformation of the vessel due to improper control of the shape of the robot body during surgery. Therefore, this article proposes an approach for controlling the form of a magnetic, soft, continuous robot body using a PID controller. The magnetic soft continuous robot is modelled using Cosserat theory in static mode and solved numerically. The designed controller adjusts the position of each part of the robot to match the desired shape. The PID controller is considered to minimize the robot's contact with the vessel wall and prevent unwanted vessel deformation. The simulation results confirmed the accuracy of the numerical solution of the static Cosserat model. Also, they showed the effectiveness of the proposed contouring method in achieving the desired shape with a maximum error of about 0.3 millimetres.

Keywords: PID, magnetic soft continuous robot, soft robot shape control, Cosserat theory, minimally invasive surgery

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Authors: Chander Kant, Arun Kumar

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Biometric systems automatically recognize an individual based on his/her physiological and behavioral characteristics. There are also some traits like weight, age, height etc. that may not provide reliable user recognition because of there common and temporary nature. These traits are called soft bio metric traits. Although soft bio metric traits are lack of permanence to uniquely and reliably identify an individual, yet they provide some beneficial evidence about the user identity and may improve the system performance. Here in this paper, we have proposed an approach for integrating the soft bio metrics with fingerprint and face to improve the performance of personal authentication system. In our approach we have proposed a combined architecture of three different sensors to elevate the system performance. The approach includes, soft bio metrics, fingerprint and face traits. We have also proven the efficiency of proposed system regarding FAR (False Acceptance Ratio) and total response time, with the help of MUBI (Multimodal Bio metrics Integration) software.

Keywords: FAR, minutiae point, multimodal bio metrics, primary bio metric, soft bio metric

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Authors: Leili Nekounazar

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Since 2009, when the Green movement, Iran’s most significant political uprising in post-Islamic revolution materialized, the term 'soft war' has become an integral part of the Iranian regime’s lexicon when addressing the media propaganda waged by the west and the regime’s so-called 'enemies'. Iran’s authorities describe soft war as a western campaign aiming at undermining the revolutionary values by covert activities, deploying cultural tools and purposeful dissemination of information. With this respect, Internet and in particular, the social media networks, and oppositional radio-television broadcasts have been considered as the west’s soft war conduits. With the rising of the underground fashion industry in the past couple of years that does not conform to the compulsory dress codes prescribed by the state, the Islamic regime expands the soft war narrative to include any undesired fashion-related activities and frames the rising fashion industry as a cultural war intoxicating the Iranian-Islamic identity. Accordingly, fashion products created by the Iranian fashion intermediators have been attributed to the westerners and outsiders and are regarded as the matter of national security. This study examines the reactive and proactive measures deployed by the Iranian regime to control the rise of fashion industry. It further puts under the scrutiny how the state as a part of its proactive measure shapes the narrative of 'soft war' in relation to fashion in Iran and explores how the notion of soft war has been articulated in relation to the modeling and fashion in the state’s political rhetoric. Through conducting a content analysis of the authorities’ statements, it describes how the narrative of soft war assists the state policing the fashion industry.

Keywords: censorship, fashion, Iran, soft war

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Authors: E. Channol, O. Collet, N. Kostyuchyk, T. Mesbah, Quoc Hoang Long Nguyen

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In this paper, a pricing model is proposed for co-integrated commodities extending Larsson model. The futures formulae have been derived and tests have been performed with non-constant volatility. The model has been applied to energy commodities (gas, CO2, energy) and soft commodities (corn, wheat). Results show that non-constant volatility leads to more accurate short term prices, which provides better evaluation of value-at-risk and more generally improve the risk management.

Keywords: co-integration, soft commodities, risk management, value-at-risk

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Authors: Syed Talib Abbas Raza, Tahseen Ahmed Jilani, Saleem Abdullah

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This paper presents interval-valued intuitionistic fuzzy soft sets based TOPSIS method for group decision making. The interval-valued intuitionistic fuzzy soft set is a mutation of an interval-valued intuitionistic fuzzy set and soft set. In group decision making problems IVIFSS makes the process much more algebraically elegant. We have used weighted arithmetic averaging operator for aggregating the information and define a new Hybrid Score Function as metric tool for comparison between interval-valued intuitionistic fuzzy values. In an illustrative example we have applied the developed method to a criminological problem. We have developed a group decision making model for integrating the imprecise and hesitant evaluations of multiple law enforcement agencies working on target killing cases in the country.

Keywords: group decision making, interval-valued intuitionistic fuzzy soft set, TOPSIS, score function, criminology

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Authors: Mohammed Hasan Salahat, Stave Wade

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This paper presents an application of a “Systematic Soft Domain Driven Design Framework” as a soft systems approach to domain-driven design of information systems development. The framework combining techniques from Soft Systems Methodology (SSM), the Unified Modeling Language (UML), and an implementation pattern knows as ‘Naked Objects’. This framework have been used in action research projects that have involved the investigation and modeling of business processes using object-oriented domain models and the implementation of software systems based on those domain models. Within this framework, Soft Systems Methodology (SSM) is used as a guiding methodology to explore the problem situation and to develop the domain model using UML for the given business domain. The framework is proposed and evaluated in our previous works, and a real case study ‘Information Retrieval System for Academic Research’ is used, in this paper, to show further practice and evaluation of the framework in different business domain. We argue that there are advantages from combining and using techniques from different methodologies in this way for business domain modeling. The framework is overviewed and justified as multi-methodology using Mingers Multi-Methodology ideas.

Keywords: SSM, UML, domain-driven design, soft domain-driven design, naked objects, soft language, information retrieval, multimethodology

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Authors: Doo W. Lee, Soo J. Lee, Bye R. Yoon, Jae Y. Jho, Kyehan Rhee

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Hand exoskeletons have been developed in order to assist daily activities for disabled and elder people. A figure exoskeleton was developed using ionic polymer metal composite (IPMC) actuators, and the performance of it was evaluated in this study. In order to study dynamic performance of a finger dummy performing pinching motion, force generating characteristics of an IPMC actuator and pinching motion of a thumb and index finger dummy actuated by IMPC actuators were analyzed. The blocking force of 1.54 N was achieved under 4 V of DC. A thumb and index finger dummy, which has one degree of freedom at the proximal joint of each figure, was manufactured by a three dimensional rapid prototyping. Each figure was actuated by an IPMC actuator, and the maximum fingertip force was 1.18 N. Pinching motion of a dummy was analyzed by two video cameras in vertical top and horizontal left end view planes. A figure dummy powered by IPMC actuators could perform flexion and extension motion of an index figure and a thumb.

Keywords: finger exoskeleton, ionic polymer metal composite, flexion and extension, motion analysis

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Authors: G. Nitesh

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Stone column or granular pile is a proven technique to mitigate settlement in soft soil. Granular pile increases both rate of consolidation and stiffness of the ground. In this paper, a method to analyze further reduction in settlement of granular column reinforced with lime pile is presented treating the system as a unit cell and considering one-dimensional compression approach. The core of the granular pile is stiffened with a steel rod or lime column. Influence of a wide range of parameters such as area ratio of granular pile-soft soil, area ratio of lime pile-granular pile, modular ratio of granular pile and modular ratio of lime pile with respect to granular pile on settlement reduction factor, etc. are obtained and presented.

Keywords: lime pile, granular pile, soft soil, settlement

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Authors: K. Iu. Hrizhymalska, O. Ol. Andrushkova, I. Iu. Pshenychna

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Aim. To study and copare the side effects of myopia contact correction by soft lenses and orthokeratology lenses among medical students. Patients and methods: 34 students (68 eyes) with moderate and severe myopia, who used contact correction of myopia for 2-4 years, were examined. Some of them used soft lenses, while others - orthokeratology lenses. Methods were used: biomicroscopy of the eye surface, Schirmer's test, Norn's test, survey regarding satisfaction with use. Results. Corneal vascularization along the limbus was noted in 4 (5%) eyes of the examined students. In 8 (11%) eyes, symptoms of mild dry eye disease were detected. 2 (3%) eyes showed signs of meibomitis. Allergic conjunctivitis was observed in 4 (5%) eyes, and a purulent corneal ulcer was present in 1 eye. Surveys have shown that orthokeratology lenses unlike soft lenses don't limit everyday activity (in sports, tourism, swimming etc.), they also don't cause discomfort during temperature changes and reduce existing symptoms of dry eye disease. Conclusion. Thus, myopia contact correction is one of the optimal options among students, which allows to expand physical and mental activity. However, taking into account the frequency of side effects in users of soft contact lenses, it is necessary to carry out prevention and treatment of myopia in medical students, follow the recommendations for use, instill preservative-free tear substitutes with trehalose when symptoms of dry eye appear. Also when side reactions occur, contact correction with soft lenses should be changed to orthokeratology lenses.

Keywords: correction, myopia, soft lenses, orthokeratology, specracles, cornea, dry eye, side effects, refractive errors

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Authors: Majid Bagherinia

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Lime and cement are frequently used as binders in the Deep Mixing Method (DMM) to improve soft clay soils. The most significant disadvantages of these materials are carbon dioxide emissions and the consumption of natural resources. In this study, three different biopolymers, guar gum, locust bean gum, and sodium alginate, were investigated for the improvement of soft clay using DMM. In the experimental study, the effects of the additive ratio and curing time on the Unconfined Compressive Strength (UCS) of stabilized specimens were investigated. According to the results, the UCS values of the specimens increased as the additive ratio and curing time increased. The most effective additive was sodium alginate, and the highest strength was obtained after 28 days.

Keywords: deep mixing method, soft clays, ground improvement, biopolymers, unconfined compressive strength

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Authors: Mohammed Salahat, Steve Wade

Abstract:

This paper presents and compares the SSDDD “Systematic Soft Domain Driven Design Framework” to DDD “Domain Driven Design Framework” as a soft system approach of information systems development. The framework use SSM as a guiding methodology within which we have embedded a sequence of design tasks based on the UML leading to the implementation of a software system using the Naked Objects framework. This framework has been used in action research projects that have involved the investigation and modelling of business processes using object-oriented domain models and the implementation of software systems based on those domain models. Within this framework, Soft Systems Methodology (SSM) is used as a guiding methodology to explore the problem situation and to develop the domain model using UML for the given business domain. The framework is proposed and evaluated in our previous works, a comparison between SSDDD and DDD is presented in this paper, to show how SSDDD improved DDD as an approach to modelling and implementing business domain perspectives for Information Systems Development. The comparison process, the results, and the improvements are presented in the following sections of this paper.

Keywords: domain-driven design, soft domain-driven design, naked objects, soft language

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Authors: Najib K. Dankadai, Ahmad 'Athif Mohd Faudzi, Khairuddin Osman, Muhammad Rusydi Muhammad Razif, IIi Najaa Aimi Mohd Nordin

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Researches in soft actuators are now growing rapidly because of their adequacy to be applied in sectors like medical, agriculture, biological and welfare. This paper presents system identification (SI) and control of the force generated by a two chambers pneumatic soft actuator (PSA). A force mathematical model for the actuator was identified experimentally using data acquisition card and MATLAB SI toolbox. Two control techniques; a predictive functional control (PFC) and conventional proportional integral and derivative (PID) schemes are proposed and compared based on the identified model for the soft actuator flexible mechanism. Results of this study showed that both of the proposed controllers ensure accurate tracking when the closed loop system was tested with the step, sinusoidal and multi step reference input through MATLAB simulation although the PFC provides a better response than the PID.

Keywords: predictive functional control (PFC), proportional integral and derivative (PID), soft actuator, system identification

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Authors: Walid El Kamash

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Sand columns (or granular piles) can be employed as soil strengthening for flexible constructions such as road embankments, oil storage tanks in addition to multistory structures. The challenge of embedding the sand columns in soft soil is that the surrounding soft soil cannot avail the enough confinement stress in order to keep the form of the sand column. Therefore, the sand columns which were installed in such soil will lose their ability to perform needed load-bearing capacity. The encasement, besides increasing the strength and stiffness of the sand column, prevents the lateral squeezing of sands when the column is installed even in extremely soft soils, thus enabling quicker and more economical installation. This paper investigates the improvement in load capacity of the sand column by encasement through a comprehensive parametric study using the 3-D finite difference analysis for the soft clay of soil in Egypt. Moreover, the study was extended to include a comparison study between encased sand column and Deep Mixed columns (DM). The study showed that confining the sand by geosynthetic resulted in an increment of shear strength. That result paid the attention to use encased sand stone rather than deep mixed columns due to relative high permeability of the first material.

Keywords: encased sand column, Deep mixed column, numerical analysis, improving soft soil

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Authors: Mami Nishida

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This paper presented a study on the development and control of a small biped soft robot using shape memory alloys (SMAs). Author proposed a flexible flat plate (FFP) actuators consisting of a thin　polyethylene plate and SMAs. This actuator has a nail like an insect. This robot moves from the front to back and from left to right using two nails. The walking robot has two degrees of freedom and is controlled by switching the ON-OFF current signals to the SMA based FFPs. The resulting small biped soft robot weighs a mere 4.7 g (with a height of 67 mm). The small robot realizes biped walking by transferring the elastic potential energy (generated by deflections of the SMA based FFPs) to kinematic energy. Experimental results demonstrated the viability and utility of the small biped soft robot with the proposed SMA-based FFPs and the control strategy to achieve walking behavior.

Keywords: biped soft robot with nails, flexible flat plate (FFP) actuators, ON-OFF control strategy, shape memory alloys (SMA)

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Authors: V. K. Banga

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Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.

Keywords: artificial intelligence, kinematics, robotic arm, neural networks, fuzzy logic

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Authors: Shabnam Dadparvar, Laijin Shen

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After a period of conflict between Russia and the West, new signs of confrontation between the United States and China are observed. China, as the most populous country in the world with a high rate of economic growth, neither stands the hegemonic power of the United States nor has the intention of direct confrontation with it. By raising the costs of the United States’ leadership at the international level, China seeks to find a better status without direct confrontation with the US. Meanwhile, the Shanghai Cooperation Organization (SCO), as a soft balancing strategy against the hegemony of the United States is used as a tool to reach this goal. The authors by using a descriptive-analytical method try to explain the policies of China and the United States on Shanghai Cooperation Organization as well as confrontation between these two countries within the framework of 'balance of soft power theory'.

Keywords: balance of soft power, Central Asia, Shanghai cooperation organization, terrorism

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Authors: Sharmeelee Subramaniam, Muhd Harris Ramli, Fauziah Ahmad

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The application of vacuum pressure to accelerate ground consolidation has been growing significantly in recent years. This ground improvement technique has its advantages, especially in areas where suitable fill is scarce, as it minimizes the surcharge fill height required for the preloading. A study was carried out to examine the response of soft subsoil subjected to vacuum consolidation in combination with embankment loading, surcharge preloading and PVD with two-way drainage. This paper shall describe a procedure to determine the optimum surcharge height and penetration depth of prefabricated vertical drains (PVD) where vacuum consolidation is combined with the use of PVD in soft clay deposits with two-way drainage.

Keywords: prefabricated vertical drain, soft soil, surcharge preload, vacuum consolidation

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Authors: Seyed Abolhasan Naeini, Mohammad Hosseinzade

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Settlement and bearing capacity of a piled raft are the two important issues for the foundations of the structures built on coastal areas from the geotechnical engineering point of view. Strip piled raft as a load carrying system could be used to reduce the possible extensive consolidation settlements and improve bearing capacity of structures in soft ground. The aim of this research was to evaluate the efficiency of strip piled raft embedded in soft clay. The efficiency of bearing capacity of strip piled raft foundation is evaluated numerically in two cases: in first case, the cap is placed directly on the ground surface and in the second, the cap is placed above the ground. Regarding to the fact that the geotechnical parameters of the soft clay are considered at low level, low bearing capacity is expected. The length, diameter and axe-to-axe distance of piles are the parameters which varied in this research to find out how they affect the bearing capacity. Results indicate that increasing the length and the diameter of the piles increase the bearing capacity. The complementary results will be presented in the final version of the paper.

Keywords: soft clay, strip piled raft, bearing capacity, settlement

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