Search results for: Semi cylindrical Capacitive Sensor

Authors: Zhongzhen Luo, Saeid Habibi, Martin v. Mohrenschildt

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Self-driving vehicle require a high level of situational awareness in order to maneuver safely when driving in real world condition. This paper presents a LiDAR based real time perception system that is able to process sensor raw data for multiple target detection and tracking in dynamic environment. The proposed algorithm is nonparametric and deterministic that is no assumptions and priori knowledge are needed from the input data and no initializations are required. Additionally, the proposed method is working on the three-dimensional data directly generated by LiDAR while not scarifying the rich information contained in the domain of 3D. Moreover, a fast and efficient for real time clustering algorithm is applied based on a radially bounded nearest neighbor (RBNN). Hungarian algorithm procedure and adaptive Kalman filtering are used for data association and tracking algorithm. The proposed algorithm is able to run in real time with average run time of 70ms per frame.

Keywords: LiDAR, real-time system, clustering, tracking, data association.

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Authors: Chih-Yuan Chang, Jin-Chiuan Chang, San-Shan Hung, Cheng-Jui Hsu

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The heat storage capacity of concrete in building shells is a major reason for excessively large electricity consumption induced by indoor air conditioning. In this research, the previously developed Smart Temperature Information Material (STIM) is embedded in two groups of exterior wall specimens (the control group contains reinforced concrete exterior walls and the experimental group consists of tiled exterior walls). Long term temperature measurements within the concrete are taken by the embedded STIM. Temperature differences between the control group and the experimental group in walls facing the four cardinal directions (east, west, south, and north) are evaluated. This study aims to provide a basic reference for the design of exterior walls and the selection of heat insulation materials.

Keywords: building envelope, sensor, energy, thermal insulation, reinforced concrete

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Authors: Bo-Wun Huang, Jao-Hwa Kuang, J.-G. Tseng, Yan-De Wu

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An investigation of noise in a micro stepping motor is considered to study in this article. Because of the trend towards higher precision and more and more small 3C (including Computer, Communication and Consumer Electronics) products, the micro stepping motor is frequently used to drive the micro system or the other 3C products. Unfortunately, noise in a micro stepped motor is too large to accept by the customs. To depress the noise of a micro stepped motor, the dynamic characteristics in this system must be studied. In this article, a Visual Basic (VB) computer program speed controlled micro stepped motor in a digital camera is investigated. Karman KD2300-2S non-contract eddy current displacement sensor, probe microphone, and HP 35670A analyzer are employed to analyze the dynamic characteristics of vibration and noise in a motor. The vibration and noise measurement of different type of bearings and different treatment of coils are compared. The rotating components, bearings, coil, etc. of the motor play the important roles in producing vibration and noise. It is found that the noise will be depressed about 3~4 dB and 6~7 dB, when substitutes the copper bearing with plastic one and coats the motor coil with paraffin wax, respectively.

Keywords: micro motor, noise, vibration

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Authors: J. Mlýnek, R. Srb

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This article is focused on the calculation of heat radiation intensity and its optimization on an aluminum mould surface. The inside of the mould is sprinkled with a special powder and its outside is heated by infra heaters located above the mould surface, up to a temperature of 250°C. By this way artificial leathers in the car industry are produced (e. g. the artificial leather on a car dashboard). A mathematical model of heat radiation of infra heaters on a mould surface is described in this paper. This model allows us to calculate a heat-intensity radiation on the mould surface for the concrete location of infra heaters above the mould surface. It is necessary to ensure approximately the same heat intensity radiation on the mould surface by finding a suitable location for the infra heaters, and in this way the same material structure and color of artificial leather. In the model we have used a genetic algorithm to optimize the radiation intensity on the mould surface. Experimental measured values for the heat radiation intensity by a sensor in the surroundings of an infra heater are used for the calculation procedures. A computational procedure was programmed in language Matlab.

Keywords: Genetic algorithm, mathematical model of heat radiation, optimization of radiation intensity, software implementation

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Authors: Guomin Luo, Daming Zhang, Yong Kwee Koh, Kim Teck Ng, Helmi Kurniawan, Weng Hoe Leong

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Partial discharge (PD) detection is an important method to evaluate the insulation condition of metal-clad apparatus. Non-intrusive sensors which are easy to install and have no interruptions on operation are preferred in onsite PD detection. However, it often lacks of accuracy due to the interferences in PD signals. In this paper a novel PD extraction method that uses frequency analysis and entropy based time-frequency (TF) analysis is introduced. The repetitive pulses from convertor are first removed via frequency analysis. Then, the relative entropy and relative peak-frequency of each pulse (i.e. time-indexed vector TF spectrum) are calculated and all pulses with similar parameters are grouped. According to the characteristics of non-intrusive sensor and the frequency distribution of PDs, the pulses of PD and interferences are separated. Finally the PD signal and interferences are recovered via inverse TF transform. The de-noised result of noisy PD data demonstrates that the combination of frequency and time-frequency techniques can discriminate PDs from interferences with various frequency distributions.

Keywords: Entropy, Fourier analysis, non-intrusive measurement, time-frequency analysis, partial discharge

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Authors: G. Jelic Mrcelic, M. Sliskovic

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In Croatia, the majority of cultured marine fish species are reared in net cages. The intensive production of the fish in net cages may generate the considerable amount of bio waste and change water quality especially in enclosed and semi-enclosed coastal areas. The aim of this paper is to assess the potential impact of sea bass (Dicentrarchus labrax L.) cage farm on water quality. The weak relationship between food supply and water quality parameters (nutrient content and phytoplankton biomass) was found, but significant changes in oxygen saturation was observed in the cages during the warmer period of a year especially in the morning (occasionally it dropped below 70 %). Despite of, satisfactory results of water quality parameters, it is necessary to establish comprehensive monitoring process, especially to include quality assessment of fouling communities.

Keywords: Mariculture, monitoring, fish cages, water quality parameters.

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Authors: Chi Jung Kim, Mincheol Whang, Eui Chul Lee

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In this paper, we propose a new method to distinguish between arousal and relaxation states by using multiple features acquired from a photoplethysmogram (PPG) and support vector machine (SVM). To induce arousal and relaxation states in subjects, 2 kinds of sound stimuli are used, and their corresponding biosignals are obtained using the PPG sensor. Two features–pulse to pulse interval (PPI) and pulse amplitude (PA)–are extracted from acquired PPG data, and a nonlinear classification between arousal and relaxation is performed using SVM. This methodology has several advantages when compared with previous similar studies. Firstly, we extracted 2 separate features from PPG, i.e., PPI and PA. Secondly, in order to improve the classification accuracy, SVM-based nonlinear classification was performed. Thirdly, to solve classification problems caused by generalized features of whole subjects, we defined each threshold according to individual features. Experimental results showed that the average classification accuracy was 74.67%. Also, the proposed method showed the better identification performance than the single feature based methods. From this result, we confirmed that arousal and relaxation can be classified using SVM and PPG features.

Keywords: Support Vector Machine, PPG, Emotion Recognition, Arousal, Relaxation

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Authors: Conradie, P.W., Lombard, A., Moller, M.

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The dramatic effect of information technology on society is undeniable. In education, it is evident in the use of terms like active learning, blended learning, electronic learning and mobile learning (ubiquitous learning). This study explores the perceptions of 54 learners in a higher education institution regarding the use of mobile devices in a third year module. Using semi-structured interviews, it was found that mobile devices had a positive impact on learner motivation, engagement and enjoyment. It also improved the consistency of learning material, and the convenience and flexibility (anywhere, anytime) of learning. User-interfacelimitation, bandwidth and cognitive overload, however, were of concern. The use of cloud based resources like Youtube and Google Docs, through mobile devices, positively influenced learner perceptions, making them prosumers (both consumers and producers) of education content.

Keywords: Active learning, education, mobile learning, pedagogy.

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Authors: Tijani Delleji, Mourad Zribi, Ahmed Ben Hamida

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This paper discusses EM algorithm and Bootstrap approach combination applied for the improvement of the satellite image fusion process. This novel satellite image fusion method based on estimation theory EM algorithm and reinforced by Bootstrap approach was successfully implemented and tested. The sensor images are firstly split by a Bayesian segmentation method to determine a joint region map for the fused image. Then, we use the EM algorithm in conjunction with the Bootstrap approach to develop the bootstrap EM fusion algorithm, hence producing the fused targeted image. We proposed in this research to estimate the statistical parameters from some iterative equations of the EM algorithm relying on a reference of representative Bootstrap samples of images. Sizes of those samples are determined from a new criterion called 'hybrid criterion'. Consequently, the obtained results of our work show that using the Bootstrap EM (BEM) in image fusion improve performances of estimated parameters which involve amelioration of the fused image quality; and reduce the computing time during the fusion process.

Keywords: Satellite image fusion, Bayesian segmentation, Bootstrap approach, EM algorithm.

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Authors: Hanizam Awang, Mohammed Zuhear Al-Mulali

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In this study, the possibility of using unground oil palm ash (UOPA) for producing foamed concrete is investigated. The UOPA used in this study is produced by incinerating palm oil biomass at a temperature exceeding 1000ºC. A semi-structural density of 1300kg/m3 was used with filler to binder ratio of 1.5 and preliminary water to binder ratio of 0.45. Cement was replaced by UOPA at replacement levels of 0, 25, 35, 45, 55 and 65% by weight of binder. Properties such as density, compressive strength, drying shrinkage and water absorption were investigated to the age of 90 days. The mix with a 35% of UOPA content was chosen to be used as the base material of a newly designed interlocking, mortar-less block system.

Keywords: Foamed concrete, oil palm ash, strength, interlocking block.

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Authors: G. Balakrishnan, G. Sainarayanan, R. Nagarajan, Sazali Yaacob

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This paper presents a review on vision aided systems and proposes an approach for visual rehabilitation using stereo vision technology. The proposed system utilizes stereo vision, image processing methodology and a sonification procedure to support blind navigation. The developed system includes a wearable computer, stereo cameras as vision sensor and stereo earphones, all moulded in a helmet. The image of the scene infront of visually handicapped is captured by the vision sensors. The captured images are processed to enhance the important features in the scene in front, for navigation assistance. The image processing is designed as model of human vision by identifying the obstacles and their depth information. The processed image is mapped on to musical stereo sound for the blind-s understanding of the scene infront. The developed method has been tested in the indoor and outdoor environments and the proposed image processing methodology is found to be effective for object identification.

Keywords: Blind navigation, stereo vision, image processing, object preference, music tones.

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Authors: V. Precupas, A. Ivan, M. Ivan

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The dome with ribs and rings, which covers the ROMEXPO pavilion from Bucharest, was designed after the collapse of the single layer reticulated dome. In this paper, it was made the checking of the structure, under the dynamic loads with three recorded accelerograms calibrated according to Romanian seismic design code P100-1/2006. Under the action the dynamic loadings, it was made a time-history analysis to determine the zones where the plastic hinges appear, at what accelerations and their position on the structure. The studied dome is formed by 32 spatial semi arches and three rings: one circular ring located at the top of the dome and another two rings, design as trusses, the first near the supports and the second as an intermediate rings above the skylights. Above the skylights up to the top, the dome is tight together with purlins and bracings.

Keywords: dome, dynamic analysis, plastic hinges, time-history

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Authors: Daehyoung Kim, Pervez Khan, Hoon Kim

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Efficient utilization of spectrum resources is a fundamental issue of wireless communications due to its scarcity. To improve the efficiency of spectrum utilization, the spectrum sharing for unlicensed bands is being regarded as one of key technologies in the next generation wireless networks. A number of schemes such as Listen-Before-Talk(LBT) and carrier sensor adaptive transmission (CSAT) have been suggested from this aspect, but more efficient sharing schemes are required for improving spectrum utilization efficiency. This work considers an opportunistic transmission approach and a dynamic Contention Window (CW) adjustment scheme for LTE-U users sharing the unlicensed spectrum with Wi-Fi, in order to enhance the overall system throughput. The decision criteria for the dynamic adjustment of CW are based on the collision evaluation, derived from the collision probability of the system. The overall performance can be improved due to the adaptive adjustment of the CW. Simulation results show that our proposed scheme outperforms the Distributed Coordination Function (DCF) mechanism of IEEE 802.11 MAC.

Keywords: Spectrum sharing, adaptive opportunistic transmission, unlicensed bands, heterogeneous networks.

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Authors: Adamu Mudi, Fawole Wahab Ibrahim, Abubakar Abba Kolo

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In this paper, we present a microcontroller-based liquid level controller which identifies the various levels of a liquid, carries out certain actions and is capable of communicating with the human being and other devices through the GSM network. This project is useful in ensuring that a liquid is not wasted. It also contributes to the internet of things paradigm, which is the future of the internet. The method used in this work includes designing the circuit and simulating it. The circuit is then implemented on a solderless breadboard after which it is implemented on a strip board. A C++ computer program is developed and uploaded into the microcontroller. This program instructs the microcontroller on how to carry out its actions. In other to determine levels of the liquid, an ultrasonic wave is sent to the surface of the liquid similar to radar or the method for detecting the level of sea bed. Message is sent to the phone of the user similar to the way computers send messages to phones of GSM users. It is concluded that the routine of observing the levels of a liquid in a tank, refilling the tank when the liquid level is too low can be entirely handled by a programmable device without wastage of the liquid or bothering a human being with such tasks.

Keywords: Arduino Uno, HC-SR04 ultrasonic sensor, Internet of Things, IoT, SIM900 GSM Module.

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Authors: Khosrow Maleknejad, Yaser Rostami

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In this paper, Semi-orthogonal B-spline scaling functions and wavelets and their dual functions are presented to approximate the solutions of integro-differential equations.The B-spline scaling functions and wavelets, their properties and the operational matrices of derivative for this function are presented to reduce the solution of integro-differential equations to the solution of algebraic equations. Here we compute B-spline scaling functions of degree 4 and their dual, then we will show that by using them we have better approximation results for the solution of integro-differential equations in comparison with less degrees of scaling functions

Keywords: Integro-differential equations, Quartic B-spline wavelet, Operational matrices.

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Authors: Easa Ali Abbasi, Akbar Allahverdizadeh, Reza Jahangiri, Behnam Dadashzadeh

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Electrical current measurement is a suitable method for the performance determination of electrical devices. There are two contact and noncontact methods in this measuring process. Contact method has some disadvantages like having direct connection with wire which may endamage the system. Thus, in this paper, a bimorph piezoelectric cantilever beam which has a permanent magnet on its free end is used to measure electrical current in a noncontact way. In mathematical modeling, based on Galerkin method, the governing equation of the cantilever beam is solved, and the equation presenting the relation between applied force and beam’s output voltage is presented. Magnetic force resulting from current carrying wire is considered as the external excitation force of the system. The results are compared with other references in order to demonstrate the accuracy of the mathematical model. Finally, the effects of geometric parameters on the output voltage and natural frequency are presented.

Keywords: Cantilever beam, electrical current measurement, forced excitation, piezoelectric.

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Authors: Akram Khaleghei Ghosheh Balagh, Viliam Makis, Leila Jafari

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In this paper, we present a new maintenance model for a partially observable system subject to two failure modes, namely a catastrophic failure and a failure due to the system degradation. The system is subject to condition monitoring and the degradation process is described by a hidden Markov model. A cost-optimal Bayesian control policy is developed for maintaining the system. The control problem is formulated in the semi-Markov decision process framework. An effective computational algorithm is developed, illustrated by a numerical example.

Keywords: Partially observable system, hidden Markov model, competing risks, multivariate Bayesian control.

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Authors: Muthatakul Metasit, Setthasakko Watchaneeporn

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At present, increased concerns about global environmental problems have magnified the importance of sustainability management. To move towards sustainability, companies need to look at everything from a holistic perspective in order to understand the interconnections between economic growth and environmental and social sustainability. This paper aims to gain an understanding of key determinants that drive sustainability management and barriers that hinder its development. It employs semi-structured interviews with key informants, site observation and documentation. The informants are production, marketing and environmental managers of the leading wine producer, which aims to become an Asia-s leader in wine & wine based products. It is found that corporate image and top management leadership are the primary factors influencing the adoption of sustainability management. Lack of environmental knowledge and inefficient communication are identified as barriers.

Keywords: Environmental, knowledge; Sustainability management; Top management leadership; Wine industry

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Authors: G. Zazzaro, F.M. Pisano, G. Romano

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During last decades, worldwide researchers dedicated efforts to develop machine-based seismic Early Warning systems, aiming at reducing the huge human losses and economic damages. The elaboration time of seismic waveforms is to be reduced in order to increase the time interval available for the activation of safety measures. This paper suggests a Data Mining model able to correctly and quickly estimate dangerousness of the running seismic event. Several thousand seismic recordings of Japanese and Italian earthquakes were analyzed and a model was obtained by means of a Bayesian Network (BN), which was tested just over the first recordings of seismic events in order to reduce the decision time and the test results were very satisfactory. The model was integrated within an Early Warning System prototype able to collect and elaborate data from a seismic sensor network, estimate the dangerousness of the running earthquake and take the decision of activating the warning promptly.

Keywords: Bayesian Networks, Decision Support System, Magnitude Classification, Seismic Early Warning System

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Authors: Erika Ruiz, Nestor Ortiz

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Lean philosophy has evolved over time and has been implemented both in manufacturing and services, more recently lean has been integrated in the companies of the health sector. Currently it is important to understand the successful way to implement this philosophy and try to identify barriers and enablers to the sustainability of lean healthcare. The main purpose of this research is to identify the barriers and enablers in the implementation of Lean Healthcare based on case studies of Colombian healthcare centers. In order to do so, we conducted semi-structured interviews based on a maturity model. The main results indicate that the success of Lean implementation depends on its adaptation to contextual factors. In addition, in the Colombian context were identified new factors such as organizational culture, management models, integration of the care and administrative departments and triple helix relationship.

Keywords: Barriers, enablers, implementation, lean healthcare, sustainability.

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Authors: Zhenyu Zhang, Qingbin Gao

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Low-resolution digital encoder (LRDE) is commonly adopted as a position sensor in low-cost and resource-constraint applications. Traditionally, a digital encoder is modeled as a quantizer without considering the initial position of the LRDE. However, it cannot be applied to extreme LRDE for which stroke of angular motion is only a few times of resolution of the encoder. Besides, the actual angular motion is substantially distorted by this extreme LRDE so that the encoder reading does not faithfully represent the actual angular motion. This paper presents a modeling method for extreme LRDE by taking into account the initial position of the LRDE. For a control system with sinusoidal reference signal and extreme LRDE, this paper analyzes the characteristics of angular motion. Specifically, two descriptors of sinusoidal angular motion are studied, which essentially sheds light on the actual angular motion from extreme LRDE.

Keywords: Low resolution digital encoder, resource-constraint control system, sinusoidal reference signal, servo motion control.

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Authors: Mehdi Saati, Mohammad Bagheri, Fatemeh Zamanian

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One of the most important parameters to develop and manage urban areas is appropriate selection of land surface to develop green spaces in these areas. In this study, in order to identify the most appropriate sites and areas cultivated for ornamental species in Jiroft, Landsat Enhanced Thematic Mapper Plus (ETM+) images due to extract the most important effective climatic and adaphic parameters for growth ornamental species were used. After geometric and atmospheric corrections applied, to enhance accuracy of multi spectral (XS) bands, the fusion of Landsat XS bands by IRS-1D panchromatic band (PAN) was performed. After field sampling to evaluate the correlation between different factors in surface soil sampling location and different bands digital number (DN) of ETM+ sensor on the same points, correlation tables formed using the best computational model and the map of physical and chemical parameters of soil was produced. Then the accuracy of them was investigated by using kappa coefficient. Finally, according to produced maps, the best areas for cultivation of recommended species were introduced.

Keywords: Locate ornamental species, Remote Sensing, Adaphic parameters, ETM+, Jiroft

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Authors: Hussam Elias, Ninovic Perez, Holger Hirsch

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The completion of the EMC regulations worldwide is growing steadily as the usage of electronics in our daily lives is increasing more than ever. In this paper, we present a method to perform the final phase of Electromagnetic Compatibility (EMC) measurement and to reduce the required test time according to the norm EN 55032 by using a developed tool and the Conventional Neural Network (CNN). The neural network was trained using real EMC measurements which were performed in the Semi Anechoic Chamber (SAC) by CETECOM GmbH in Essen Germany. To implement our proposed method, we wrote software to perform the radiated electromagnetic interference (EMI) measurements and use the CNN to predict and determine the position of the turntable that meet the maximum radiation value.

Keywords: Conventional neural network, electromagnetic compatibility measurement, mean absolute error, position error.

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Authors: Dean J. Callaghan, Mark M. McGrath

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Sensorized instruments that accurately measure the interaction forces (between biological tissue and instrument endeffector) during surgical procedures offer surgeons a greater sense of immersion during minimally invasive robotic surgery. Although there is ongoing research into force measurement involving surgical graspers little corresponding effort has been carried out on the measurement of forces between scissor blades and tissue. This paper presents the design and development of a force measurement test apparatus, which will serve as a sensor characterization and evaluation platform. The primary aim of the experiments is to ascertain whether the system can differentiate between tissue samples with differing mechanical properties in a reliable, repeatable manner. Force-angular displacement curves highlight trends in the cutting process as well the forces generated along the blade during a cutting procedure. Future applications of the test equipment will involve the assessment of new direct force sensing technologies for telerobotic surgery.

Keywords: Force measurement, minimally invasive surgery, scissor blades, tissue cutting.

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Authors: Maria Neagu

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This paper presents the heat and mass driven natural convection succession in a Darcy thermally stratified porous medium that embeds a vertical semi-infinite impermeable wall of constant heat flux and concentration. The scale analysis of the system determines the two possible maps of the heat and mass driven natural convection sequence along the wall as a function of the process parameters. These results are verified using the finite differences method applied to the conservation equations.

Keywords: Finite difference method, natural convection, porous medium, scale analysis, thermal stratification.

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Authors: Nuran Öze

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Communities and societies have been changing towards computer mediated communication. This paper explores online and offline identities and how relationships are formed and negotiated within internet environments which offer opportunities for people who know each other offline and move into relationships online. The expectations and norms of behavior within everyday life cause people to be embodied self. According to the age categories of Turkish Cypriots, their measurements of attitudes in Facebook will be investigated. Face-to-face field research and semi-structured interview methods are used in the study. Face-to-face interview has been done with Turkish Cypriots who are using Facebook already. According to the study, in constructing a linkage between real and virtual identities mostly affected from societal relations serves as a societal grooming tool for Turkish Cypriots.

Keywords: Facebook, identity, social media, virtual reality.

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Authors: Mohammad Mousaei Sanjerehei

Abstract:

The objective of this research was to identify the vegetation-soil relationships in Nodushan arid rangelands of Yazd. 5 sites were selected for measuring the cover of plant species and soil attributes. Soil samples were taken in 0-10 and 10-80 cm layers. The species studied were Salsola tomentosa, Salsola arbuscula, Peganum harmala, Zygophylum eurypterum and Eurotia ceratoides. Canonical correspondence analysis (CCA) was used to analyze the data. Based on the CCA results, 74.9 % of vegetation-soil variation was explained by axis 1-3. Axis 1, 2 and 3 accounted for 27.2%, 24.9 % and 22.8% of variance respectively. Correlation between axis 1, 2, 3 and speciesedaphic variables were 0.995, 0.989, 0.981 respectively. Soil texture, lime, salinity and organic matter significantly influenced the distribution of these plant species. Determination of soil-vegetation relationships will be useful for managing and improving rangelands in arid and semi arid environments.

Keywords: CCA, Nodushan, Rangelands, Vegetation-soil

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Authors: Olufisayo A. Olufayo, Fred A. O. Otieno, George M. Ochieng

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Abstraction of water from the dry river sand-beds is well-known as an alternative source of water during dry seasons. Internally, because of the form of sand particles, voids are created which can store water in the riverbeds. Large rivers are rare in South Africa. Many rivers are sand river types and without water during the prolonged dry periods. South Africa has not taken full advantage of water storage in sand as a solution to the growing water scarcity both in urban and rural areas. The paper reviews the benefits of run-off storage in sand reservoirs gained from other arid areas and need for adoption in rural areas of South Africa as an alternative water supply where it is probable.

Keywords: Groundwater, Perennial river, Run-off storage, Sandreservoir.

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Authors: H. Ifassiouen, H. Medromi, N. E. Radhy

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In this paper, we present the recently implemented approach allowing dynamics systems to plan its actions, taking into account the environment perception changes, and to control their execution when uncertainty and incomplete knowledge are the major characteristics of the situated environment [1],[2],[3],[4]. The control distributed architecture has three modules and the approach is related to hierarchical planning: the plan produced by the planner is further refined at the control layer that in turn supervises its execution by a functional level. We propose a new intelligent distributed architecture constituted by: Multi-Agent subsystem of the sensor, of the interpretation and representation of environment [9], of the dynamic localization and of the action. We tested this distributed architecture with dynamic system in the known environment. The autonomous for Rotor Mini Rotorcraft task is described by the primitive actions. The distributed controlbased on multi-agent system is in charge of achieving each task in the best possible way taking into account the context and sensory feedback.

Keywords: Autonomous four rotors helicopter, Control system, Hierarchical planning, Intelligent Distributed Architecture.

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Authors: Marita Pigłowska, Beata Kurc, Maciej Galiński

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The application of carbon materials in the branches of the electrochemical industry shows an increasing tendency each year due to the many interesting properties they possess. These are, among others, a well-developed specific surface, porosity, high sorption capacity, good adsorption properties, low bulk density, electrical conductivity and chemical resistance. All these properties allow for their effective use, among others in supercapacitors, which can store electric charges of the order of 100 F due to carbon electrodes constituting the capacitor plates. Coals (including expanded graphite, carbon black, graphite carbon fibers, activated carbon) are commonly used in electrochemical methods of removing oil derivatives from water after tanker disasters, e.g., phenols and their derivatives by their electrochemical anodic oxidation. Phenol can occupy practically the entire surface of carbon material and leave the water clean of hydrophobic impurities. Regeneration of such electrodes is also not complicated, it is carried out by electrochemical methods consisting in unblocking the pores and reducing resistances, and thus their reactivation for subsequent adsorption processes. Graphite is commonly used as an anode material in lithium-ion cells, while due to the limited capacity it offers (372 mAh g-1), new solutions are sought that meet both capacitive, efficiency and economic criteria. Increasingly, biodegradable materials, green materials, biomass, waste (including agricultural waste) are used in order to reuse them and reduce greenhouse effects and, above all, to meet the biodegradability criterion necessary for the production of lithium-ion cells as chemical power sources. The most common of these materials are cellulose, starch, wheat, rice, and corn waste, e.g., from agricultural, paper and pharmaceutical production. Such products are subjected to appropriate treatments depending on the desired application (including chemical, thermal, electrochemical). Starch is a biodegradable polysaccharide that consists of polymeric units such as amylose and amylopectin that build an ordered (linear) and amorphous (branched) structure of the polymer. Carbon is also used as a catalyst. Elemental carbon has become available in many nano-structured forms representing the hybridization combinations found in the primary carbon allotropes, and the materials can be enriched with a large number of surface functional groups. There are many examples of catalytic applications of coal in the literature, but the development of this field has been hampered by the lack of a conceptual approach combining structure and function and a lack of understanding of material synthesis. In the context of catalytic applications, the integrity of carbon environmental management properties and parameters such as metal conductivity range and bond sequence management should be characterized. Such data, along with surface and textured information, can form the basis for the provision of network support services.

Keywords: carbon materials, catalysis, BET, capacitors, lithium ion cell

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