Search results for: Osman Akin Kutlar
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 85

Search results for: Osman Akin Kutlar

85 Mechanical Design and Theoretical Analysis of a Skip-Cycle Mechanism for an Internal Combustion Engine

Authors: Ismail Gerzeli, Cemal Baykara, Osman Akin Kutlar

Abstract:

Skip cycle is a working strategy for spark ignition engines, which allows changing the effective stroke of an engine through skipping some of the four stroke cycles. This study proposes a new mechanism to achieve the desired skip-cycle strategy for internal combustion engines. The air and fuel leakage, which occurs through the gas exchange, negatively affects the efficiency of the engine at high speeds and loads. An absolute sealing is assured by direct use of poppet valves, which are kept in fully closed position during the skipped mode. All the components of the mechanism were designed according to the real dimensions of the Anadolu Motor's gasoline engine and modeled in 3D by means of CAD software. As the mechanism operates in two modes, two dynamically equivalent models are established to obtain the force and strength analysis for critical components.

Keywords: Dynamic Model, Mechanical Design, Skip Cycle System (SCS), Valve Disabling Mechanism

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84 On the Integer Solutions of the Pell Equation x2 - dy2 = 2t

Authors: Ahmet Tekcan, Betül Gezer, Osman Bizim

Abstract:

Let k ≥ 1 and t ≥ 0 be two integers and let d = k2 + k be a positive non-square integer. In this paper, we consider the integer solutions of Pell equation x2 - dy2 = 2t. Further we derive a recurrence relation on the solutions of this equation.

Keywords: Pell equation, Diophantine equation.

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83 Image Transmission via Iterative Cellular-Turbo System

Authors: Ersin Gose, Kenan Buyukatak, Onur Osman, Osman N. Ucan

Abstract:

To compress, improve bit error performance and also enhance 2D images, a new scheme, called Iterative Cellular-Turbo System (IC-TS) is introduced. In IC-TS, the original image is partitioned into 2N quantization levels, where N is denoted as bit planes. Then each of the N-bit-plane is coded by Turbo encoder and transmitted over Additive White Gaussian Noise (AWGN) channel. At the receiver side, bit-planes are re-assembled taking into consideration of neighborhood relationship of pixels in 2-D images. Each of the noisy bit-plane values of the image is evaluated iteratively using IC-TS structure, which is composed of equalization block; Iterative Cellular Image Processing Algorithm (ICIPA) and Turbo decoder. In IC-TS, there is an iterative feedback link between ICIPA and Turbo decoder. ICIPA uses mean and standard deviation of estimated values of each pixel neighborhood. It has extra-ordinary satisfactory results of both Bit Error Rate (BER) and image enhancement performance for less than -1 dB Signal-to-Noise Ratio (SNR) values, compared to traditional turbo coding scheme and 2-D filtering, applied separately. Also, compression can be achieved by using IC-TS systems. In compression, less memory storage is used and data rate is increased up to N-1 times by simply choosing any number of bit slices, sacrificing resolution. Hence, it is concluded that IC-TS system will be a compromising approach in 2-D image transmission, recovery of noisy signals and image compression.

Keywords: Iterative Cellular Image Processing Algorithm (ICIPA), Turbo Coding, Iterative Cellular Turbo System (IC-TS), Image Compression.

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82 Efficient Electromagnetic Modeling of Dual-GateTransistor with Iterative Method using Auxiliary Sources

Authors: Z. Harouni, L. Osman, M. Yeddes, A. Gharsallah, H. Baudrand

Abstract:

In this paper, an efficient wave concept iterative process (WCIP) with auxiliary Sources is presented for full wave investigation of an active microwave structure on micro strip technology. Good agreement between the experimental and simulation results is observed.

Keywords: WCIP, Dual-Gate Transistor, Auxiliary source.

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81 A Programming Solution for Moving Mobile Transaction

Authors: Osman Mohammed Hegazy, Ali Hamed El Bastawissy, Romani Farid Ibrahim

Abstract:

In this paper, our concern is the management of mobile transactions in the shared area among many servers, when the mobile user moves from one cell to another in online partiallyreplicated distributed mobile database environment. We defined the concept of transaction and classified the different types of transactions. Based on this analysis, we propose an algorithm that handles the disconnection due to moving among sites.

Keywords: Concurrency, mobile database, transaction processing, two phase locking.

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80 Microstructure Parameters of a Super-Ionic Sample (Csag2i3)

Authors: Samir Osman M., Mohammed Hassan S.

Abstract:

Sample of CsAg2I3 was prepared by solid state reaction. Then, microstructure parameters of this sample have been determined using wide angle X-ray scattering WAXS method. As well as, Cell parameters of crystal structure have been refined using CHEKCELL program. This analysis states that the lattice intrinsic strainof the sample is so small and the crystal size is on the order of 559Å.

Keywords: WAXS, Microstructure parameters, super-ionic conductor.

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79 Using Genetic Algorithm to Improve Information Retrieval Systems

Authors: Ahmed A. A. Radwan, Bahgat A. Abdel Latef, Abdel Mgeid A. Ali, Osman A. Sadek

Abstract:

This study investigates the use of genetic algorithms in information retrieval. The method is shown to be applicable to three well-known documents collections, where more relevant documents are presented to users in the genetic modification. In this paper we present a new fitness function for approximate information retrieval which is very fast and very flexible, than cosine similarity fitness function.

Keywords: Cosine similarity, Fitness function, Genetic Algorithm, Information Retrieval, Query learning.

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78 On The Elliptic Divisibility Sequences over Finite Fields

Authors: Osman Bizim

Abstract:

In this work we study elliptic divisibility sequences over finite fields. MorganWard in [11, 12] gave arithmetic theory of elliptic divisibility sequences. We study elliptic divisibility sequences, equivalence of these sequences and singular elliptic divisibility sequences over finite fields Fp, p > 3 is a prime.

Keywords: Elliptic divisibility sequences, equivalent sequences, singular sequences.

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77 The Number of Rational Points on Elliptic Curves y2 = x3 + b2 Over Finite Fields

Authors: Betül Gezer, Hacer Özden, Ahmet Tekcan, Osman Bizim

Abstract:

Let p be a prime number, Fpbe a finite field and let Qpdenote the set of quadratic residues in Fp. In the first section we givesome notations and preliminaries from elliptic curves. In the secondsection, we consider some properties of rational points on ellipticcurves Ep,b: y2= x3+ b2 over Fp, where b ∈ F*p. Recall that theorder of Ep,bover Fpis p + 1 if p ≡ 5(mod 6). We generalize thisresult to any field Fnp for an integer n≥ 2. Further we obtain someresults concerning the sum Σ[x]Ep,b(Fp) and Σ[y]Ep,b(Fp), thesum of x- and y- coordinates of all points (x, y) on Ep,b, and alsothe the sum Σ(x,0)Ep,b(Fp), the sum of points (x, 0) on Ep,b.

Keywords: Elliptic curves over finite fields, rational points on elliptic curves.

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76 Lung Segmentation Algorithm for CAD System in CTA Images

Authors: H. Özkan, O. Osman, S. Şahin, M. M. Atasoy, H. Barutca, A. F. Boz, A. Olsun

Abstract:

In this study, we present a new and fast algorithm for lung segmentation using CTA images. This process is quite important especially at lung vessel segmentation, detection of pulmonary emboly, finding nodules or segmentation of airways. Applied method has been carried out at four steps. At first step, images have been applied optimal threshold. At the second one, the subsegment vessels, which have a place in lung region and which are in small dimension, have been removed. At the third one, identifying and segmentation of lungs and airway edges have been carried out. Lastly, by throwing away the airway, lung segmentation has been presented.

Keywords: Lung segmentation, computed tomography angiography, computer-aided diagnostic system

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75 Smart Security Concept in the East Mediterranean: Anti-Asymmetrical Area Denial (A3D)

Authors: Serkan Tezgel, Osman Gül, İskender Cahit Şafak

Abstract:

This paper proposes the application of the Smart Security Concept in the East Mediterranean. Smart Security aims to secure critical infrastructure, such as hydrocarbon platforms, against asymmetrical threats. The concept is based on Anti Asymmetrical Area Denial (A3D) which necessitates limiting freedom of action of maritime terrorists and piracy by founding safe and secure maritime areas through sea lines of communication using short range capabilities.

Keywords: Partnership, A3D, Maritime Security, Centers.

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74 Transient Analysis of a Single-Server Queue with Batch Arrivals Using Modeling and Functions Akin to the Modified Bessel Functions

Authors: Vitalice K. Oduol

Abstract:

The paper considers a single-server queue with fixedsize batch Poisson arrivals and exponential service times, a model that is useful for a buffer that accepts messages arriving as fixed size batches of packets and releases them one packet at time. Transient performance measures for queues have long been recognized as being complementary to the steady-state analysis. 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. The paper exploits practical modelling to obtain a solution to the integral equation encountered in the analysis. Results obtained indicate that under heavy load conditions, there is significant disparity in the statistics between the transient and steady state values.

Keywords: batch arrivals, modelling, single-server queue, time-varying probabilities, transient analysis.

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73 Two Degree of Freedom Spherical Mechanism Design for Exact Sun Tracking

Authors: Osman Acar

Abstract:

Sun tracking systems are the systems following the sun ray by a right angle or by predetermined certain angle. In this study, we used theoretical trajectory of sun for latitude of central Anatolia in Turkey. A two degree of freedom spherical mechanism was designed to have a large workspace able to follow the sun's theoretical motion by the right angle during the whole year. An inverse kinematic analysis was generated to find the positions of mechanism links for the predicted trajectory. Force and torque analysis were shown for the first day of the year.

Keywords: Sun tracking, theoretical sun trajectory, spherical mechanism, inverse kinematic analysis.

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72 Elliptic Divisibility Sequences over Finite Fields

Authors: Betül Gezer, Ahmet Tekcan, Osman Bizim

Abstract:

In this work, we study elliptic divisibility sequences over finite fields. Morgan Ward in [14], [15] gave arithmetic theory of elliptic divisibility sequences and formulas for elliptic divisibility sequences with rank two over finite field Fp. We study elliptic divisibility sequences with rank three, four and five over a finite field Fp, where p > 3 is a prime and give general terms of these sequences and then we determine elliptic and singular curves associated with these sequences.

Keywords: Elliptic divisibility sequences, singular elliptic divisibilitysequences, elliptic curves, singular curves.

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71 The Number of Rational Points on Elliptic Curves and Circles over Finite Fields

Authors: Betül Gezer, Ahmet Tekcan, Osman Bizim

Abstract:

In elliptic curve theory, number of rational points on elliptic curves and determination of these points is a fairly important problem. Let p be a prime and Fp be a finite field and k ∈ Fp. It is well known that which points the curve y2 = x3 + kx has and the number of rational points of on Fp. Consider the circle family x2 + y2 = r2. It can be interesting to determine common points of these two curve families and to find the number of these common points. In this work we study this problem.

Keywords: Elliptic curves over finite fields, rational points on elliptic curves and circles.

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70 The Impact of Website Personality on Consumers' Initial Trust towards Online Retailing Websites

Authors: Jasmine Yeap Ai Leen, T. Ramayah, Azizah Omar

Abstract:

E-tailing websites are often perceived to be static, impersonal and distant. However, with the movement of the World Wide Web to Web 2.0 in recent years, these online websites have been found to display personalities akin to 'humanistic' qualities and project impressions much like its retailing counterpart i.e. salespeople. This paper examines the personality of e-tailing websites and their impact on consumers- initial trust towards the sites. A total of 239 Internet users participated in this field experiment study which utilized 6 online book retailers- websites that the participants had not previously visited before. Analysis revealed that out of four website personalities (sincerity, competence, excitement and sophistication) only sincerity and competence are able to exert an influence in building consumers- trust upon their first visit to the website. The implications of the findings are further elaborated in this paper.

Keywords: E-commerce, e-tailing, initial trust, online trust, partial least squares, website personality.

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69 Strategic Risk Issues for Film Distributors of Hindi Film Industry in Mumbai: A Grounded Theory Approach

Authors: R. Dyondi, S. K. Jha

Abstract:

The purpose of the paper is to address the strategic risk issues surrounding Hindi film distribution in Mumbai for a film distributor, who acts as an entrepreneur when launching a product (movie) in the market (film territory).The paper undertakes a fundamental review of films and risk in the Hindi film industry and applies Grounded Theory technique to understand the complex phenomena of risk taking behavior of the film distributors (both independent and studios) in Mumbai. Rich in-depth interviews with distributors are coded to develop core categories through constant comparison leading to conceptualization of the phenomena of interest. This paper is a first-of-its-kind-attempt to understand risk behavior of a distributor, which is akin to entrepreneurial risk behavior under conditions of uncertainty.

Keywords: Entrepreneurial Risk Behavior, Film Distribution Strategy, Hindi Film Industry, Risk.

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68 Industrial Waste Monitoring

Authors: Khairuddin Bin Osman, Ngo Boon Kiat, A. Hamid Bin hamidon, Khairul Azha Bin A. Aziz, Hazli Rafis Bin Abdul Rahman, Mazran Bin Esro

Abstract:

Conventional industrial monitoring systems are tedious, inefficient and the at times integrity of the data is unreliable. The objective of this system is to monitor industrial processes specifically the fluid level which will measure the instantaneous fluid level parameter and respond by text messaging the exact value of the parameter to the user when being enquired by a privileged access user. The development of the embedded program code and the circuit for fluid level measuring are discussed as well. Suggestions for future implementations and efficient remote monitoring works are included.

Keywords: Industrial monitoring system, text messaging, embedded programming.

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67 Behavior Model Mapping and Transformation using Model-Driven Architecture

Authors: Mohammed Abdalla Osman Mukhtar, Azween Abdullah, Alan Giffin Downe

Abstract:

Model mapping and transformation are important processes in high level system abstractions, and form the cornerstone of model-driven architecture (MDA) techniques. Considerable research in this field has devoted attention to static system abstraction, despite the fact that most systems are dynamic with high frequency changes in behavior. In this paper we provide an overview of work that has been done with regard to behavior model mapping and transformation, based on: (1) the completeness of the platform independent model (PIM); (2) semantics of behavioral models; (3) languages supporting behavior model transformation processes; and (4) an evaluation of model composition to effect the best approach to describing large systems with high complexity.

Keywords: MDA; PIM, PSM, QVT, Model Transformation

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66 Technology Adoption among Small and Medium Enterprises (SME's): A Research Agenda

Authors: Ramayah Thurasamy, Osman Mohamad, Azizah Omar, Malliga Marimuthu

Abstract:

This paper presents the research agenda that has been proposed to develop an integrated model to explain technology adoption of SMEs in Malaysia. SMEs form over 90% of all business entities in Malaysia and they have been contributing to the development of the nation. Technology adoption has been a thorn issue among SMEs as they require big outlay which might not be available to the SMEs. Although resource has been an issue among SMEs they cannot lie low and ignore the technological advancements that are taking place at a rapid pace. With that in mind this paper proposes a model to explain the technology adoption issue among SMEs.

Keywords: Technology adoption, integrated model, Small and Medium Enterprises (SME), Malaysia

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65 Effect of Heat Treatment on the Phase Formation of La0.6Sr0.4CoO3-α

Authors: A. A. Samat, N. A. Abdullah, M. A. M. Ishak, N. Osman

Abstract:

Powder of La0.6Sr0.4CoO3-α (LSCO) was synthesized by a combined citrate-EDTA method. The as-synthesized LSCO powder was calcined, respectively at temperatures of 800, 900 and 1000 °C with different heating/cooling rates which are 2, 5, 10 and 15 °C min-1. The effects of heat treatments on the phase formation of perovskite phase of LSCO were investigated by powder X-ray diffraction (XRD). The XRD patterns revealed that the rate of 5 °C min-1 is the optimum heating/cooling rate to obtain a single perovskite phase of LSCO with calcination temperature of 800 °C. This result was confirmed by a thermogravimetric analysis (TGA) as it showed a complete decomposition of intermediate compounds to form oxide material was also observed at 800 °C.

Keywords: La0.6Sr0.4CoO3-α, heat treatment, perovskite-type oxide, XRD.

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64 Electromyographic Activity of the Medial Gastrocnemius and Lateral Gastrocnemius Muscle during Salat-s and Specific Exercise

Authors: M. K. M. Safee, W. A. B. Wan Abas, N. A. Abu Osman, F. Ibrahim

Abstract:

This paper investigates the activity of the gastrocnemius (Gas) muscle in healthy subjects during salat (ruku- position) and specific exercise [Unilateral Plantar Flexion Exercise (UPFE)] using electromyography (EMG). Both lateral and medial Gas muscles were assessed. A group of undergraduates aged between 19 to 25 years voluntarily participated in this study. The myoelectric activity of the muscles were recorded and analyzed. The finding indicated that there were contractions of the muscles during the salat and exercise with almost same EMG-s level. From the result, Wilcoxon-s Rank Sum test showed no significant difference between ruku- and UPFE for both medial (p=0.082) and lateral (p=0.226) of GAS muscles. Therefore, salat may be useful in strengthening exercise and also in rehabilitation programs for lower limb activities.

Keywords: Electromyography, salat, exercise, muscle.

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63 Cutting Tools in Finishing Operations for CNC Rapid Manufacturing Processes: Experimental Studies

Authors: M. N. Osman Zahid, K. Case, D. Watts

Abstract:

This paper reports an advanced approach in the application of CNC machining for rapid manufacturing processes (CNC-RM). The aim of this study is to improve the quality of machined parts by introducing different cutting tools during finishing operations. As the cutting is performed in different directions, the surfaces presented on part can be classified into several categories. Therefore, suitable cutting tools are assigned to machine particular surfaces and to improve the quality. Experimental studies have been carried out by fabricating several parts based on the suggested approach. The results provide further support for implementing this approach in rapid machining processes.

Keywords: CNC machining, End mill tool, Finishing operation, Rapid manufacturing.

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62 Safety Practices among Bus Operators during Wee Hour Operations

Authors: M.R. Osman, F. Abas, M.S. Noh, A. Mohamad Suffian, O. Ilhamah, H.Z. Zarir, A.B. Wahida, P. Noor Faradila, M.F. Siti Atiqah

Abstract:

Safety Health and Environment Code of Practice (SHE COP) was developed to help road transportation operators to manage its operation in a systematic and safe manner. A study was conducted to determine the effectiveness of SHE COP implementation during non-OPS period. The objective of the study is to evaluate the implementations of SHE COP among bus operators during wee hour operations. The data was collected by completing a set of checklist after observing the activities during pre departure, during the trip, and upon arrival. The results show that there are seven widely practiced SHE COP elements. 22% of the buses have average speed exceeding the maximum permissible speed on the highways (90 km/h), with 13% of the buses were travelling at the speed of more than 100 km/h. The statistical analysis shows that there is only one significant association which relates speeding with prior presence of enforcement officers.

Keywords: Safety practices, speeding, wee hour.

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61 Phase Formation of Ba(Ce1-xZrx)0.90Y0.1O3-δ Prepared by a Modified Sol-Gel Method

Authors: N. Z. Baderisham, H. A. Hamid, N. Osman

Abstract:

The powders of Ba(Ce1-xZrx)0.90Y0.1O3-δ (BCZY) with 0.2 ≤ x ≤ 0.6 have been prepared by a modified sol-gel method. Triethylenetetramine (TETA) was employed as chelating agent. Phase formation of calcined powders at 1100oC and sintered pellets at 1400oC of BCZY were examined by an X-ray diffractrometer (XRD). XRD results showed the calcined powder and sintered pellet formed a single perovskite phase over the entire range of x values. As the amount of zirconium substitution (x values) increase, the main peaks are shifted to the higher 2theta values which suggest a complete substitution of zirconium into cerium sites. All the obtained calcined powders and sintered pellets possess cubic structure (Pm-3m) at all x values.

Keywords: Structure, phase formation, modified sol-gel, cerate-zirconate electrolye, XRD.

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60 The Effects of Different Level Cluster Tip Reduction and Foliar Boric Acid Applications on Yield and Yield Components of Italia Grape Cultivar

Authors: A. Akin

Abstract:

This study was carried out on Italia grape variety (Vitis vinifera L.) in Konya province, Turkey in 2016. The cultivar is five years old and grown on 1103 Paulsen rootstock. It was determined the effects of applications of the Control (C), 1/3 Cluster Tip Reduction (1/3 CTR), 1/6 Cluster Tip Reduction (1/6 CTR), 1/9 Cluster Tip Reduction (1/9 CTR), 1/3 CTR+Boric Acid (BA), 1/6 CTR+BA, 1/9 CTR+BA, on yield and yield components of the Italia grape variety. The results were obtained as the highest fresh grape yield (4.74 g) with 1/9 CTR+BA application; the highest cluster weight (220.08 g) with 1/3 CTR application; the highest 100 berry weight (565.85 g) with 1/9 CTR+BA application; as the highest maturity index (49.28) with 1/9 CTR+BA application; as the highest must yield (685.33 ml/kg) with 1/3 CTR+BA and (685.33 ml/kg) with 1/9 CTR+BA applications. To increase the fresh grape yield, 100 berry weight and maturity index in the Italia grape variety, the 1/9 CTR+BA application can be recommended.

Keywords: Italia grape variety, boric acid, cluster tip reduction, yield, yield components.

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59 A Fuzzy Mixed Integer Multi-Scenario Portfolio Optimization Model

Authors: M. S. Osman, A. A. Tharwat, I. A. El-Khodary, A. G. Chalabi

Abstract:

In this paper, we propose a multiple objective optimization model with respect to portfolio selection problem for investors looking forward to diversify their equity investments in a number of equity markets. Based on Markowitz-s M-V model we developed a Fuzzy Mixed Integer Multi-Objective Nonlinear Programming Problem (FMIMONLP) to maximize the investors- future gains on equity markets, reach the optimal proportion of the budget to be invested in different equities. A numerical example with a comprehensive analysis on artificial data from several equity markets is presented in order to illustrate the proposed model and its solution method. The model performed well compared with the deterministic version of the model.

Keywords: Equity Markets, Future Scenarios, PortfolioSelection, Multiple Criteria Fuzzy Optimization

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58 Knowledge Sharing Behaviour among Academic Staff at a Public Higher Education Institution in Malaysia

Authors: Noor Asilah Nordin, Normala Daud, Wan Ummi Kalsom Meor Osman

Abstract:

This study applied Theory of Planned Behaviour (TPB) to explain the knowledge sharing behaviour among academic staff at a Public Higher Education Institution (HEI) in Malaysia. The main objectives of this study are; to identify the components that influence knowledge sharing behaviour and to determine the levels of knowledge sharing behaviour among academic staff. A total of 200 respondents were participated in answering questionnaires. The findings of this study revealed that level of perceiving and implementing knowledge sharing behaviour among academic staff at a Public HEI in Malaysia exist but not openly or strongly practiced. The findings were discussed and recommendations for the future research were also addressed.

Keywords: Attitude, Knowledge Sharing Behaviour, Perceived Behavioural Control, Subjective Norm.

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57 Electromyography Activity of the Rectus Femoris and Biceps Femoris Muscles during Prostration and Squat Exercise

Authors: Mohd Safee M. K., Wan Abas W. A. B, Ibrahim F., Abu Osman N. A., Abdul Malik N. A.

Abstract:

This paper investigates the activity of the rectus femoris (RF) and biceps femoris (BF) in healthy subjects during salat (prostration) and specific exercise (squat exercise) using electromyography (EMG). A group of undergraduates aged between 19 to 25 years voluntarily participated in this study. The myoelectric activity of the muscles were recorded and analyzed. The finding indicated that there were contractions of the muscles during the salat and exercise with almost same EMG’s level. From the result, Wilcoxon’s Rank Sum test showed significant difference between prostration and squat exercise (p<0.05) but the differences was very small; RF (8.63%MVC) and BF (11.43%MVC). Therefore, salat may be useful in strengthening exercise and also in rehabilitation programs for lower limb activities. This pilot study conducted initial research into the biomechanical responses of human muscles in various positions of salat.

Keywords: Electromyography, exercise, muscle, salat.

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56 Real-Time Control of a Two-Wheeled Inverted Pendulum Mobile Robot

Authors: S. W. Nawawi, M. N. Ahmad, J. H. S. Osman

Abstract:

The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.

Keywords: Embedded System, Two-wheeled Inverted Pendulum Mobile Robot.

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