Search results for: fixed effects

Authors: Hong-fang Ma, Cong-yi He, Hai-tao Zhang, Wei-yong Ying, Ding-ye Fang

Abstract:

A Ni-based catalyst supported by γ-Al₂O₃ was prepared by impregnation method, and the catalyst was used in a low CO and CO₂ concentration methanation system. The effect of temperature, pressure and space velocity on the methanation reaction was investigated in an experimental fixed-bed reactor. The methanation reaction was operated at the conditions of 190-240°C, 3000-24000ml•g^-1•h^-1 and 1.5-3.5MPa. The results show that temperature and space velocity play important role on the reaction. With the increase of reaction temperature the CO and CO₂ conversion increase and the selectivity of CH₄ increase. And with the increase of the space velocity the conversion of CO and CO₂ and the selectivity of CH₄ decrease sharply.

Keywords: Coke oven gas, methanation, catalyst, fixed-bed.

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

This paper proposes a solution to the motion planning and control problem of a point-mass robot which is required to move safely to a designated target in a priori known workspace cluttered with fixed elliptical obstacles of arbitrary position and sizes. A tailored and unique algorithm for target convergence and obstacle avoidance is proposed that will work for any number of fixed obstacles. The control laws proposed in this paper also ensures that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a planar (RP) manipulator will be presented.

Keywords: Point-mass Robot, Asymptotic stability, Motionplanning, Planar Robot Arm.

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Authors: Chuanyun Gu, Shouming Zhong

Abstract:

In this paper, the existence and uniqueness of positive solutions for nonlinear fractional differential equation boundary value problem is concerned by a fixed point theorem of a sum operator. Our results can not only guarantee the existence and uniqueness of positive solution, but also be applied to construct an iterative scheme for approximating it. Finally, the example is given to illustrate the main result.

Keywords: Fractional differential equation, Boundary value problem, Positive solution, Existence and uniqueness, Fixed point theorem of a sum operator

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Authors: Thomas Kampke

Abstract:

Equations with differentials relating to the inverse of an unknown function rather than to the unknown function itself are solved exactly for some special cases and numerically for the general case. Invertibility combined with differentiability over connected domains forces solutions always to be monotone. Numerical function inversion is key to all solution algorithms which either are of a forward type or a fixed point type considering whole approximate solution functions in each iteration. The given considerations are restricted to ordinary differential equations with inverted functions (ODEIs) of first order. Forward type computations, if applicable, admit consistency of order one and, under an additional accuracy condition, convergence of order one.

Keywords: Euler method, fixed points, golden section, multi-step procedures, Runge Kutta methods.

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Authors: Yongzhi Liao

Abstract:

By using the theory of exponential dichotomy and Banach fixed point theorem, this paper is concerned with the problem of the existence and uniqueness of positive almost periodic solution in a delayed Lotka-Volterra recurrent neural networks with harvesting terms. To a certain extent, our work in this paper corrects some result in recent years. Finally, an example is given to illustrate the feasibility and effectiveness of the main result.

Keywords: positive almost periodic solution, Lotka-Volterra, neural networks, Banach fixed point theorem, harvesting

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Authors: Safeer Hussain Khan

Abstract:

In this paper, we use a one-step iteration scheme to approximate common fixed points of two quasi-asymptotically nonexpansive mappings. We prove weak and strong convergence theorems in a uniformly convex Banach space. Our results generalize the corresponding results of Yao and Chen [15] to a wider class of mappings while extend those of Khan, Abbas and Khan [4] to an improved one-step iteration scheme without any condition and improve upon many others in the literature.

Keywords: One-step iteration scheme, asymptotically quasi non expansive mapping, common fixed point, condition (a'), weak and strong convergence.

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Authors: A. K. Prajapati

Abstract:

In this paper, the periodic surveillance scheme has been proposed for any convex region using mobile wireless sensor nodes. A sensor network typically consists of fixed number of sensor nodes which report the measurements of sensed data such as temperature, pressure, humidity, etc., of its immediate proximity (the area within its sensing range). For the purpose of sensing an area of interest, there are adequate number of fixed sensor nodes required to cover the entire region of interest. It implies that the number of fixed sensor nodes required to cover a given area will depend on the sensing range of the sensor as well as deployment strategies employed. It is assumed that the sensors to be mobile within the region of surveillance, can be mounted on moving bodies like robots or vehicle. Therefore, in our scheme, the surveillance time period determines the number of sensor nodes required to be deployed in the region of interest. The proposed scheme comprises of three algorithms namely: Hexagonalization, Clustering, and Scheduling, The first algorithm partitions the coverage area into fixed sized hexagons that approximate the sensing range (cell) of individual sensor node. The clustering algorithm groups the cells into clusters, each of which will be covered by a single sensor node. The later determines a schedule for each sensor to serve its respective cluster. Each sensor node traverses all the cells belonging to the cluster assigned to it by oscillating between the first and the last cell for the duration of its life time. Simulation results show that our scheme provides full coverage within a given period of time using few sensors with minimum movement, less power consumption, and relatively less infrastructure cost.

Keywords: Sensor Network, Graph Theory, MSN, Communication.

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Authors: Lway F. Abdulrazak, Zaid A. Shamsan, Ali K. Aswad, Tharek Abd. Rahman

Abstract:

This paper gives a study about forging solution to deploy the fixed wireless access (FWA) in the band 3300-3400MHz instead of 3400-3600MHz to eschew the harmful interference between from the FWA towards fixed satellite services receiver presented in this band. The impact of FWA services toward the FSS and the boundaries of spectrum emission mask had been considered to calculate the possible Guard band required in this case. In addition, supplementary separation distance added to improve the coexistence between the two adjacent bands. Simulation had been done using Matlab software base on ITU models reliance on the most popular specification used for the tropical weather countries. Review the current problem of interference between two systems and some mitigation techniques which adopted in Malaysia as a case study is a part of this research.

Keywords: Coexistence, FSS, FWA, mask.

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Authors: X. Wang, J. S. Kuang

Abstract:

The Fixed-angle Softened Truss Model with Tension-stiffening (FASTMT) has a superior performance in predicting the shear behaviour of reinforced concrete (RC) membrane elements, especially for the post-cracking behaviour. Nevertheless, massive computational work is inevitable due to the multiple transcendental equations involved in the stress-strain relationship. In this paper, an iterative root-finding technique is introduced to FASTMT for solving quickly the transcendental equations of the tension-stiffening effect of RC membrane elements. This fast FASTMT, which performs in MATLAB, uses the bisection method to calculate the tensile stress of the membranes. By adopting the simplification, the elapsed time of each loop is reduced significantly and the transcendental equations can be solved accurately. Owing to the high efficiency and good accuracy as compared with FASTMT, the fast FASTMT can be further applied in quick prediction of shear behaviour of complex large-scale RC structures.

Keywords: Bisection method, fixed-angle softened truss model with tension-stiffening, iterative root-finding technique, reinforced concrete membrane.

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Authors: Chuanyun Gu

Abstract:

By using fixed point theorems for a class of generalized concave and convex operators, the positive solution of nonlinear fractional differential equation with integral boundary conditions is studied, where n ≥ 3 is an integer, μ is a parameter and 0 ≤ μ < α. Its existence and uniqueness is proved, and an iterative scheme is constructed to approximate it. Finally, two examples are given to illustrate our results.

Keywords: Fractional differential equation, positive solution, existence and uniqueness, fixed point theorem, generalized concave and convex operator, integral boundary conditions.

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Authors: V. A. C. Vale, E. T. L. Cöuras Ford

Abstract:

The use of optical technologies in the telecommunications has been increasing due to its ability to transmit large amounts of data over long distances. However, as in all systems of data transmission, optical communication channels suffer from undesirable and non-deterministic effects, being essential to know the same. Thus, this research allows the assessment of these effects, as well as their characterization and beneficial uses of these effects.

Keywords: Optical communication, optical fiber, non-deterministic effects.

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Authors: Fauziah Hanim Tafri, Zarinah Hamid, Ahamed Kameel Mydin Meera, Mohd Azmi Omar

Abstract:

This paper examines the relationship between financial risks and profitability of the conventional and Islamic banks in Malaysia for the period between 1996 and 2005. The measures of profitability that have been used in the study are the return on equity (ROE) and return on assets (ROA) while the financial risks are credit risk, interest rate risk and liquidity risks. This study employs panel data regression analysis of Generalised Least Squares of fixed effects and random effects models. It was found that credit risk has a significant impact on ROA and ROE for the conventional as well as the Islamic banks. The relationship between interest rate risk and ROE were found to be weakly significant for the conventional banks and insignificant for the Islamic banks. The effect of interest rate risk on ROA is significant for the conventional banks. Liquidity risk was found to have an insignificant impact on both profitability measures.

Keywords: Credit risk, interest rate risk, liquidity risk, market risk, profitability.

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Authors: Christina Tay

Abstract:

This paper investigates the impact of Information and Communication Technology (ICT) on bilateral trade in goods. Empirical analysis is performed on the United States and 34 partnering countries from 2000 to 2013. Our econometric model fits the data well, explaining 52% of the variation in trade flows for goods trade, 53.2% of the variation in trade flows for goods export and 48% of the variation in trade flows for goods import. For every 10% increase in fixed broadband Internet subscribers per 100 people increases, goods trade by 7.9% and for every 5% increase in fixed broadband Internet subscribers per 100 people, goods export increases by 11%. For every 1% increase in fixed telephone line penetration per 100 people, goods trade increases by 26.3%, goods export increases by 24.4% and goods import increases by 24.8%. For every 1% increase in mobile-cellular telephone subscriptions, goods trade decreases by 29.6% and goods export decreases by 27.1%, whilst for every 0.01% increase in mobile-cellular telephone subscriptions, goods import decreases by 34.3%. For every 1% increase in the percentage of population who used the Internet from any location in the last 12 months Internet, goods trade increases by 32.5%, goods export increases by 38.9%, goods import increases by 33%. All our trade determinants as well as our ICT variables have significances on goods exports for the US. We can also draw from our study that the US relies more rather heavily on ICT for its goods export compared to goods import.

Keywords: Bilateral trade, goods trade, information and communication technologies, Internet.

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Authors: A. Djafer, S. Kouadri Moustefai, A. Idou, M. Douani

Abstract:

The removal of chromium by living yeast biomass immobilized onto pozzolana was studied. The results obtained in batch experiments indicate that the immobilized yeast on to pozzolana is a excellent biosorbent of Cr(V) with a good removal rates of 85–90%. The initial concentration solution and agitation speed affected Cr(V) removal. The batch studies data were described using the Freundlich and Langmuir models, but the best fit was obtained with Langmuir model. The breakthrough curve from the continuous flow studies shows that immobilized yeast in the fixed-bed column is capable of decreasing Cr(VI) concentration from 15mg/l to a adequate level. 

Keywords: Biosorption, yeast, chromium, kinetic biosorption, fixed biomass

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Authors: K. P. K. S. Lahirushan, W. G. V. Gunasekara

Abstract:

Main purpose of this study is to identify the impact of government expenditure on economic growth in Asian Countries. Consequently, main objective is to analyze whether government expenditure causes economic growth in Asian countries vice versa and then scrutinizing long-run equilibrium relationship exists between them. The study completely based on secondary data. The methodology being quantitative that includes econometrical techniques of cointegration, panel fixed effects model and granger causality in the context of panel data of Asian countries; Singapore, Malaysia, Thailand, South Korea, Japan, China, Sri Lanka, India and Bhutan with 44 observations in each country, totaling to 396 observations from 1970 to 2013. The model used is the random effects panel OLS model. As with the above methodology, the study found the fascinating outcome. At first, empirical findings exhibit a momentous positive impact of government expenditure on Gross Domestic Production in Asian region. Secondly, government expenditure and economic growth indicate a long-run relationship in Asian countries. In conclusion, there is a unidirectional causality from economic growth to government expenditure and government expenditure to economic growth in Asian countries. Hence the study is validated that it is in line with the Keynesian theory and Wagner’s law as well. Consequently, it can be concluded that role of government would play a vital role in economic growth of Asian Countries. However; if government expenditure did not figure out with the economy’s needs it might be considerably inspiration the economy in a negative way so that society bears the costs.

Keywords: Asian Countries, Government Expenditure, Keynesian theory, Wagner’s theory, Random effects panel OLS model.

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Authors: M. Tehranizadeh, E. Shoushtari Rezvani

Abstract:

Seismic performance of steel moment-resisting frame structures is investigated considering nonlinear soil-structure interaction (SSI) effects. 10-, 15-, and 20-story planar building frames with aspect ratio of 3 are designed in accordance with current building codes. Inelastic seismic demands of the superstructure are considered using concentrated plasticity model. The raft foundation system is designed for different soil types. Beam-on-nonlinear Winkler foundation (BNWF) is used to represent dynamic impedance of the underlying soil. Two sets of pulse-like as well as no-pulse near-fault earthquakes are used as input ground motions. The results show that the reduction in drift demands due to nonlinear SSI is characterized by a more uniform distribution pattern along the height when compared to the fixed-base and linear SSI condition. It is also concluded that beneficial effects of nonlinear SSI on displacement demands is more significant in case of pulse-like ground motions and performance level of the steel moment-resisting frames can be enhanced.

Keywords: Soil-structure interaction, uplifting, soil plasticity, near-fault earthquake, tall building.

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Authors: Vitalice K. Oduol, C. Ardil

Abstract:

The transient analysis of a queuing system with fixed-size batch Poisson arrivals and a single server with exponential service times is presented. The focus of the paper is on the use of the functions that arise in the analysis of the transient behaviour of the queuing system. These functions are shown to be a generalization of the modified Bessel functions of the first kind, with the batch size B as the generalizing parameter. Results for the case of single-packet arrivals are obtained first. The similarities between the two families of functions are then used to obtain results for the general case of batch arrival queue with a batch size larger than one.

Keywords: batch arrivals, generalized Bessel functions, queuetransient analysis, time-varying probabilities.

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Authors: Veli Ozbolat, Nehir Tokgoz, Besir Sahin

Abstract:

Present study numerically investigates the flow field and heat transfer of water in two dimensional sinusoidal and rectangular corrugated wall channels. Simulations are performed for fully developed flow conditions at inlet sections of the channels that have 12 waves. The temperature of the input fluid is taken to be less than that temperature of wavy walls. The governing continuity, momentum and energy equations are numerically solved using finite volume method based on SIMPLE technique. The investigation covers Reynolds number in the rage of 100-1000. The effects of the distance between upper and lower corrugated walls are studied by varying Hmin/Hmax ratio from 0.3 to 0.5 for keeping wave length and wave amplitude values fixed for both geometries. The effects of the wall geometry, Reynolds number and the distance between walls on the flow characteristics, the local Nusselt number and heat transfer are studied. It is found that heat transfer enhancement increases by usage of corrugated horizontal walls in an appropriate Reynolds number regime and channel height.

Keywords: Corrugated Channel, CFD, Flow Characteristics, Heat Transfer.

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Authors: Porojan S., Sandu L., Topală F.

Abstract:

Minor problems arising from optimizations by welding of fixed prostheses frameworks can be identified by macroscopic and microscopic visual inspection. The purpose of this study was to highlight the visible discontinuities present in the laser welds of dental Ni-Cr alloys. Ni-Cr base metal alloys designated for fixed prostheses manufacture were selected for the experiments. Using cast plates, preliminary tests were conducted by laser welding. Macroscopic visual inspection was done carefully to assess the defects of the welding rib. Electron microscopy images allowed visualization of small discontinuities, which escapes visual inspection. Making comparison to Ni-Cr alloys taken in the experiment and laser welded, after visual analysis, the best welds appear for Heraenium NA alloy.

Keywords: macroscopic visual inspection, electron microscopyimages, Ni-Cr dental alloys, laser welding.

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Authors: Fahad Alhussein, Huaping Liu

Abstract:

This paper compares the multipath mitigation performance of code correlation reference waveform receivers with variable and fixed window width, for binary offset carrier and multiplexed binary offset carrier signals typically used in global navigation satellite systems. In the variable window width method, such width is iteratively reduced until the distortion on the discriminator with multipath is eliminated. This distortion is measured as the Euclidean distance between the actual discriminator (obtained with the incoming signal), and the local discriminator (generated with a local copy of the signal). The variable window width have shown better performance compared to the fixed window width. In particular, the former yields zero error for all delays for the BOC and MBOC signals considered, while the latter gives rather large nonzero errors for small delays in all cases. Due to its computational simplicity, the variable window width method is perfectly suitable for implementation in low-cost receivers.

Keywords: Correlation reference waveform receivers, binary offset carrier, multiplexed binary offset carrier, global navigation satellite systems.

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Authors: Gordana Kordić, Petra Palić

Abstract:

The European countries that during the past two decades based their exchange rate regimes on currency board arrangement (CBA) are usually analysed from the perspective of corner solution choice’s stabilisation effects. There is an open discussion on the positive and negative background of a strict exchange rate regime choice, although it should be seen as part of the transition process towards the monetary union membership. The focus of the paper is on the Baltic countries that after two decades of a rigid exchange rate arrangement and strongly influenced by global crisis are finishing their path towards the euro zone. Besides the stabilising capacity, the CBA is highly vulnerable regime, with limited developing potential. The rigidity of the exchange rate (and monetary) system, despite the ensured credibility, do not leave enough (or any) space for the adjustment and/or active crisis management. Still, the Baltics are in a process of recovery, with fiscal consolidation measures combined with (painful and politically unpopular) measures of internal devaluation. Today, two of them (Estonia and Latvia) are members of euro zone, fulfilling their ultimate transition targets, but de facto exchanging one fixed regime with another. The paper analyses the challenges for the CBA in unstable environment since the fixed regimes rely on imported stability and are sensitive to external shocks. With limited monetary instruments, these countries were oriented to the fiscal policies and used a combination of internal devaluation and tax policy measures. Despite their rather quick recovery, our second goal is to analyse the long term influence that the measures had on the national economy.

Keywords: Currency Board Arrangement, internal devaluation, exchange rate regime, Great recession.

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Authors: R. A. Petre, S. E. Nichifor, A. Craifaleanu, I. Stroe

Abstract:

The relative motion of a robotic arm formed by homogeneous bars of different lengths and masses, hinged to each other is investigated. The first bar of the mechanism is articulated on a platform, considered initially fixed on the surface of the Earth, while for the second case the platform is considered to be in rotation with respect to the Earth. For both analyzed cases the motion equations are determined using the Lagrangian formalism, applied in its traditional form, valid with respect to an inertial reference system, conventionally considered as fixed. However, in the second case, a generalized form of the formalism valid with respect to a non-inertial reference frame will also be applied. The numerical calculations were performed using a MATLAB program.

Keywords: Lagrange equations, relative motion, inertial or non-inertial reference frame.

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Authors: V. Khosravi, F. D. Ardejani, A. Aryafar, M. Sedighi

Abstract:

Heavy metals have a damaging impact for the environment, animals and humans due to their extreme toxicity and removing them from wastewaters is a very important and interesting task in the field of water pollution control. Biosorption is a relatively new method for treatment of wastewaters and recovery of heavy metals. In this study, a continuous fixed bed study was carried out by using Bacillus thuringiensis as a biosorbent for the removal of Cu and Mn ions from Sarcheshmeh Acid Mine Drainage (AMD). The effect of operating parameters such as flow rate and bed height on the sorption characteristics of B. thuringiensis was investigated at pH 6.0 for each metal ion. The experimental results showed that the breakthrough time decreased with increasing flow rate and decreasing bed height. The data also indicated that the equilibrium uptake of both metals increased with decreasing flow rate and increasing bed height. BDST, Thomas, and Yoon–Nelson models were applied to experimental data to predict the breakthrough curves. All models were found suitable for describing the whole dynamic behavior of the column with respect to flow rate and bed height. In order to regenerate the adsorbent, an elution step was carried out with 1 M HCl and five adsorption-desorption cycles were carried out in continuous manner.

Keywords: Acid Mine Drainage, Bacillus thuringiensis, Biosorption, Cu and Mn ions, Fixed bed.

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Authors: Mohammad Reza Pirestani, Mehdi Shafaghati, Amir Ahmad Dehghani

Abstract:

From the beginning of creation, human being has ever fought against the ecosystem by changes has made in environment. The most environmental changes on the nature have been done after starting the concentrated life in the same region. Dams are one of the most important buildings in water resources and transferring. These buildings have been made from old times without access to hydrological, hydraulically, hydro mechanical information. Dams have positive and negative effects on environment. Constructing a dam relatively causes equal ecological consequences. According to different criteria, environmental effects of dams can lead short term and long term damages. These effects may influence on the situation and treatment of meteorology, biology, culture, ancient works, etc and severely causes to change and complicate it. So considering importance of positive effects of dam construction, it is necessary to minimize negative environmental effects of dams to achieve a stable development. In this article the considered effects and their solutions in influencing on assessment of destructive environmental effects of dams construction have been surveyed and presented.

Keywords: Dam, Environment, Water Resources, Assessment

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Authors: Yunquan Ke, Chunfang Miao

Abstract:

In this paper, the exponential stability of periodic solutions in inertial neural networks with unbounded delay are investigated. First, using variable substitution the system is transformed to first order differential equation. Second, by the fixed-point theorem and constructing suitable Lyapunov function, some sufficient conditions guaranteeing the existence and exponential stability of periodic solutions of the system are obtained. Finally, two examples are given to illustrate the effectiveness of the results.

Keywords: Inertial neural networks, unbounded delay, fixed-point theorem, Lyapunov function, periodic solutions, exponential stability.

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Authors: Andrew Randles, Ilker Ocak, Cheam Daw Don, Navab Singh, Alex Gu

Abstract:

Nine Degrees of Freedom (9 DOF) systems are already in development in many areas. In this paper, an integrated pressure sensor is proposed that will make use of an already existing monolithic 9 DOF inertial MEMS platform. Capacitive pressure sensors can suffer from limited sensitivity for a given size of membrane. This novel pressure sensor design increases the sensitivity by over 5 times compared to a traditional array of square diaphragms while still fitting within a 2 mm x 2 mm chip and maintaining a fixed static capacitance. The improved design uses one large diaphragm supported by pillars with fixed electrodes placed above the areas of maximum deflection. The design optimization increases the sensitivity from 0.22 fF/kPa to 1.16 fF/kPa. Temperature sensitivity was also examined through simulation.

Keywords: Capacitive pressure sensor, 9 DOF, 10 DOF, sensor, capacitive, inertial measurement unit, IMU, inertial navigation system, INS.

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Authors: Cauvery N. K., K. V. Viswanatha

Abstract:

Mobile Ad hoc network consists of a set of mobile nodes. It is a dynamic network which does not have fixed topology. This network does not have any infrastructure or central administration, hence it is called infrastructure-less network. The change in topology makes the route from source to destination as dynamic fixed and changes with respect to time. The nature of network requires the algorithm to perform route discovery, maintain route and detect failure along the path between two nodes [1]. This paper presents the enhancements of ARA [2] to improve the performance of routing algorithm. ARA [2] finds route between nodes in mobile ad-hoc network. The algorithm is on-demand source initiated routing algorithm. This is based on the principles of swarm intelligence. The algorithm is adaptive, scalable and favors load balancing. The improvements suggested in this paper are handling of loss ants and resource reservation.

Keywords: Ad hoc networks, On-demand routing, Swarmintelligence.

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Authors: Valeri A. Makarov, Ezequiel Del Rio, Manuel G. Bedia, Manuel G. Velarde, Werner Ebeling

Abstract:

We proposed the use of a Toda-Rayleigh ring as a central pattern generator (CPG) for controlling hexapodal robots. We show that the ring composed of six Toda-Rayleigh units coupled to the limb actuators reproduces the most common hexapodal gaits. We provide an electrical circuit implementation of the CPG and test our theoretical results obtaining fixed gaits. Then we propose a method of incorporation of the actuator (motor) dynamics in the CPG. With this approach we close the loop CPG – environment – CPG, thus obtaining a decentralized model for the leg control that does not require higher level intervention to the CPG during locomotion in a nonhomogeneous environments. The gaits generated by the novel CPG are not fixed, but adapt to the current robot bahvior.

Keywords: Central pattern generator, electrical circuit, hexapod robot

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Authors: S. Sookpeng, C. J. Martin, D. J. Gentle

Abstract:

Automatic tube current modulation (ATCM) systems are available for all CT manufacturers and are used for the majority of patients. Understanding how the systems work and their influence on patient dose and image quality is important for CT users, in order to gain the most effective use of the systems. In the present study, a new phantom was used for evaluating dose distribution and image quality under the ATCM operation for the Toshiba Aquilion 64 CT scanner using different ATCM options and a fixed mAs technique. A routine chest, abdomen and pelvis (CAP) protocol was selected for study and Gafchromic film was used to measure entrance surface dose (ESD), peripheral dose and central axis dose in the phantom. The results show the dose reductions achievable with various ATCM options, in relation with the target noise. The doses and image noise distribution were more uniform when the ATCM system was implemented compared with the fixed mAs technique. The lower limit set for the tube current will affect the modulations especially for the lower dose option. This limit prevented the tube current being reduced further and therefore the lower dose ATCM setting resembled a fixed mAs technique. Selection of a lower tube current limit is likely to reduce doses for smaller patients in scans of chest and neck regions.

Keywords: Computed Tomography (CT), Automatic Tube Current Modulation (ATCM), Automatic Exposure Control (AEC).

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

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