Search results for: cardiac left ventricle.

Authors: D. Šedivý, S. Fialová

Abstract:

The main purpose of this study is to show differences between the numerical solution of the flow through the artificial heart valve using Newtonian or non-Newtonian fluid. The simulation was carried out by a commercial computational fluid dynamics (CFD) package based on finite-volume method. An aortic bileaflet heart valve (Sorin Bicarbon) was used as a pattern for model of real heart valve replacement. Computed tomography (CT) was used to gain the accurate parameters of the valve. Data from CT were transferred in the commercial 3D designer, where the model for CFD was made. Carreau rheology model was applied as non-Newtonian fluid. Physiological data of cardiac cycle were used as boundary conditions. Outputs were taken the leaflets excursion from opening to closure and the fluid dynamics through the valve. This study also includes experimental measurement of pressure fields in ambience of valve for verification numerical outputs. Results put in evidence a favorable comparison between the computational solutions of flow through the mechanical heart valve using Newtonian and non-Newtonian fluid.

Keywords: Computational modeling, dynamic mesh, mechanical heart valve, non-Newtonian fluid, SDOF.

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Authors: Muhammad Murtaza Nasir, Safdar Abbas Zaidi, Kamran Khan

Abstract:

This work is carried out to evaluate the possibility of using to-be-wasted steel as reinforcement after welding together pieces of reinforcing steel bars, left over during construction activities. Tests were performed on a total of nine samples. These were made by welding pieces of reinforcing steel bars purchased from the local scrap steel market. The samples were tested in uniaxial tension using a universal testing machine (UTM). It was found that the failure of the welded bars is governed by the thickness of the weld. It is concluded that suitable design of the weld is essential for achieving the desired level of ductility/elongation of these bars, if they are to be used as conventional reinforcement in reinforced concrete members.

Keywords: Ductility/elongation, low cost housing, reinforced concrete, welding, welded reinforcement, wastage steel.

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Authors: Tai-Hsi Wu, Jinn-Yi Yeh, Chin-Chih Chang

Abstract:

Cell formation is the first step in the design of cellular manufacturing systems. In this study, a general purpose computational scheme employing a hybrid tabu search algorithm as the core is proposed to solve the cell formation problem and its variants. In the proposed scheme, great flexibilities are left to the users. The core solution searching algorithm embedded in the scheme can be easily changed to any other meta-heuristic algorithms, such as the simulated annealing, genetic algorithm, etc., based on the characteristics of the problems to be solved or the preferences the users might have. In addition, several counters are designed to control the timing of conducting intensified solution searching and diversified solution searching strategies interactively.

Keywords: Cell formation problem, Tabu search

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Authors: Alessandro Bevilacqua, Alessandro Gherardi, Filippo Piccinini

Abstract:

The mosaicing technique has been employed in more and more application fields, from entertainment to scientific ones. In the latter case, often the final evaluation is still left to human beings, that assess visually the quality of the mosaic. Many times, a lack of objective measurements in microscopic mosaicing may prevent the mosaic from being used as a starting image for further analysis. In this work we analyze three different metrics and indexes, in the domain of signal analysis, image analysis and visual quality, to measure the quality of different aspects of the mosaicing procedure, such as registration errors and visual quality. As the case study we consider the mosaicing algorithm we developed. The experiments have been carried out by considering mosaics with very different features: histological samples, that are made of detailed and contrasted images, and live stem cells, that show a very low contrast and low detail levels.

Keywords: Mosaicing, quality assessment, microscopy, stem cells.

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Authors: H.-G. Herrmann, M. Schwarz, J. Summa, F. Grossmann

Abstract:

In this work, different non-destructive testing methods for the characterization of defects and interfaces are presented. It is shown that, by means of active thermography, defects in the interface and in the carbon fiber reinforced polymer (CFRP) itself can be detected and determined. The bonding of metal and thermoplastic can be characterized very well by ultrasonic testing with electromagnetic acoustic transducers (EMAT). Mechanical testing is combined with passive thermography to correlate mechanical values with the defect-size. There is also a comparison between active and passive thermography. Mechanical testing shows the influence of different defects. Furthermore, a correlation of defect-size and loading to rupture was performed.

 

Keywords: Defect evaluation, EMAT, mechanical testing, thermography.

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Authors: Nebi Gedik

Abstract:

One of the important parts of the brain-computer interface (BCI) studies is the classification of motor imagery (MI) obtained by electroencephalography (EEG). The major goal is to provide non-muscular communication and control via assistive technologies to people with severe motor disorders so that they can communicate with the outside world. In this study, an EEG signal classification approach based on multiscale and multi-resolution transform method is presented. The proposed approach is used to decompose the EEG signal containing motor image information (right- and left-hand movement imagery). The decomposition process is performed using curvelet transform which is a multiscale and multiresolution analysis method, and the transform output was evaluated as feature data. The obtained feature set is subjected to feature selection process to obtain the most effective ones using t-test methods. SVM and k-NN algorithms are assigned for classification.

Keywords: motor imagery, EEG, curvelet transform, SVM, k-NN

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Authors: Sami I. Serhan, Hamed M. Abdel-Haq

Abstract:

In this paper, an efficient technique is proposed to manage the cache memory. The proposed technique introduces some modifications on the well-known set associative mapping technique. This modification requires a little alteration in the structure of the cache memory and on the way by which it can be referenced. The proposed alteration leads to increase the set size virtually and consequently to improve the performance and the utilization of the cache memory. The current mapping techniques have accomplished good results. In fact, there are still different cases in which cache memory lines are left empty and not used, whereas two or more processes overwrite the lines of each other, instead of using those empty lines. The proposed algorithm aims at finding an efficient way to deal with such problem.

Keywords: Modified Set Associative Mapping, Locality of Reference, Miss Ratio, Hit Ratio, Cache Memory, Clustered Behavior, Index Address, Tag Field, Status Field, and Complement of Index Address.

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Authors: Abdurrahim Dal, Tuncay Karaçay

Abstract:

Dynamics of a rotor supported by air bearings is strongly depends on the pressure distribution between the rotor and the bearing. In this study, internal pressure in air bearings is numerical and experimental analyzed for different radial clearances. Firstly the pressure distribution between rotor and bearing is modeled using Reynold's equation and this model is solved numerically. The rotor-bearing system is also modeled in four degree of freedom and it is simulated for different radial clearances. Then, in order to validate numerical results, a test rig is designed and the rotor bearing system is run under the same operational conditions. Pressure signals of left and right bearings are recorded. Internal pressure variations are compared for numerical and experimental results for different radial clearances.

Keywords: Air bearing, internal pressure, Reynold’s equation, rotor.

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Authors: Yiqin Lin, Liang Bao, Yimin Wei

Abstract:

In this paper we study numerical methods for solving Sylvester matrix equations of the form AX +XBT +CDT = 0. A new projection method is proposed. The union of Krylov subspaces in A and its inverse and the union of Krylov subspaces in B and its inverse are used as the right and left projection subspaces, respectively. The Arnoldi-like process for constructing the orthonormal basis of the projection subspaces is outlined. We show that the approximate solution is an exact solution of a perturbed Sylvester matrix equation. Moreover, exact expression for the norm of residual is derived and results on finite termination and convergence are presented. Some numerical examples are presented to illustrate the effectiveness of the proposed method.

Keywords: Arnoldi process, Krylov subspace, Iterative method, Sylvester equation, Dissipative matrix.

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Authors: Jian Tang

Abstract:

In this paper, we first introduce the new concept of completely semiprime fuzzy ideals of an ordered semigroup S, which is an extension of completely semiprime ideals of ordered semigroup S, and investigate some its related properties. Especially, we characterize an ordered semigroup that is a semilattice of simple ordered semigroups in terms of completely semiprime fuzzy ideals of ordered semigroups. Furthermore, we introduce the notion of semiprime fuzzy ideals of ordered semigroup S and establish the relations between completely semiprime fuzzy ideals and semiprime fuzzy ideals of S. Finally, we give a characterization of prime fuzzy ideals of an ordered semigroup S and show that a nonconstant fuzzy ideal f of an ordered semigroup S is prime if and only if f is twovalued, and max{f(a), f(b)} = inf f((aSb]), ∀a, b ∈ S.

Keywords: Ordered fuzzy point, fuzzy left (right) ideal of anordered semigroup, completely semiprime fuzzy ideal, semiprimefuzzy ideal, prime fuzzy ideal.

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Authors: Oke Oktavianty, Tadayuki Kyoutani, Shigeyuki Haruyama, Ken Kaminishi

Abstract:

For advancing the experiment system standard of Inkjet printer that is being developed, the actual natural period, fire limitation number in droplet weight measurement and observation distance in droplet velocity measurement was investigated. In another side, the study to control the droplet volume in inkjet printer with negative actuating waveform method is still limited. Therefore, the effect of negative waveform with preliminary and suppressing vibration addition on the droplet formation process, droplet shape, volume and velocity were evaluated. The different voltage and print-head temperature were exerted to obtain the optimum preliminary and suppressing vibration. The mechanism of different phenomenon from each waveform was also discussed.

Keywords: Inkjet printer, DoD, waveform, preliminary and suppressing vibration.

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Authors: Nadia Masood Khan, Muhammad Salman Khan, Gul Muhammad Khan

Abstract:

Cardiologists perform cardiac auscultation to detect abnormalities in heart sounds. Since accurate auscultation is a crucial first step in screening patients with heart diseases, there is a need to develop computer-aided detection/diagnosis (CAD) systems to assist cardiologists in interpreting heart sounds and provide second opinions. In this paper different algorithms are implemented for automated heart sound classification using unsegmented phonocardiogram (PCG) signals. Support vector machine (SVM), artificial neural network (ANN) and cartesian genetic programming evolved artificial neural network (CGPANN) without the application of any segmentation algorithm has been explored in this study. The signals are first pre-processed to remove any unwanted frequencies. Both time and frequency domain features are then extracted for training the different models. The different algorithms are tested in multiple scenarios and their strengths and weaknesses are discussed. Results indicate that SVM outperforms the rest with an accuracy of 73.64%.

Keywords: Pattern recognition, machine learning, computer aided diagnosis, heart sound classification, and feature extraction.

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Authors: Hasliza A. Rahim, Fareq Malek, Nur A. M. Affendi, Azuwa Ali, Norshafinash Saudin, Latifah Mohamed

Abstract:

This paper presents the experimental investigation of on-body channel fading at 2.45 GHz considering two effects of the user body movement; stationary and mobile. A pair of body-worn antennas was utilized in this measurement campaign. A statistical analysis was performed by comparing the measured on-body path loss to five well-known distributions; lognormal, normal, Nakagami, Weibull and Rayleigh. The results showed that the average path loss of moving arm varied higher than the path loss in sitting position for upper-arm-to-left-chest link, up to 3.5 dB. The analysis also concluded that the Nakagami distribution provided the best fit for most of on-body static link path loss in standing still and sitting position, while the arm movement can be best described by log-normal distribution.

Keywords: On-Body channel communications, fading characteristics, statistical model.

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Authors: Jing Zhang, Jie Chen

Abstract:

In this paper, we deal with the optimal I/O point location in an automated parking system. In this system, the S/R machine (storage and retrieve machine) travels independently in vertical and horizontal directions. Based on the characteristics of the parking system and the basic principle of AS/RS system (Automated Storage and Retrieval System), we obtain the continuous model in units of time. For the single command cycle using the randomized storage policy, we calculate the probability density function for the system travel time and thus we develop the travel time model. And we confirm that the travel time model shows a good performance by comparing with discrete case. Finally in this part, we establish the optimal model by minimizing the expected travel time model and it is shown that the optimal location of the I/O point is located at the middle of the left-hand above corner.

Keywords: Parking system, optimal location, response time, S/R machine.

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Authors: Viktória Sugár, Attila Talamon, András Horkai, Michihiro Kita

Abstract:

The dense urban fabric of the Budapest 7th district is known as the former Jewish Quarter. The majority of the historical building stock contains multi-story tenement houses with courtyards, built around the end of the 19^th century. Various rehabilitation and urban planning attempt occurred until today, mostly left unfinished. Present paper collects the past rehabilitation plans, actions and their effect which took place in the former Jewish District of Budapest. The authors aim to assess the boundaries of a complex building stock rehabilitation, by taking into account the monument protection guidelines. As a main focus of the research, structural as well as energetic rehabilitation possibilities are analyzed in case of each building by using Geographic Information System (GIS) methods.

Keywords: Geographic information system, Hungary, Jewish quarter, monument, protection, rehabilitation.

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Authors: Sallem F., Dahhou B., Kamoun A.

Abstract:

In this work, the main problem considered is the  detection and the isolation of the actuator fault. A new formulation of  the linear system is generated to obtain the conditions of the actuator  fault diagnosis. The proposed method is based on the representation  of the actuator as a subsystem connected with the process system in  cascade manner. The designed formulation is generated to obtain the  conditions of the actuator fault detection and isolation. Detectability  conditions are expressed in terms of the invertibility notions. An  example and a comparative analysis with the classic formulation  illustrate the performances of such approach for simple actuator fault  diagnosis by using the linear model of nuclear reactor.

 

Keywords: Actuator fault, Fault detection, left invertibility, nuclear reactor, observability, parameter intervals, system inversion.

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Authors: Norazam Arbin, Ishak Hashim

Abstract:

Double-diffusive natural convection in an open top square cavity and heated from the side is studied numerically. Constant temperatures and concentration are imposed along the right and left walls while the heat balance at the surface is assumed to obey Newton-s law of cooling. The finite difference method is used to solve the dimensionless governing equations. The numerical results are reported for the effect of Marangoni number, Biot number and Prandtl number on the contours of streamlines, temperature and concentration. The predicted results for the average Nusselt number and Sherwood number are presented for various parametric conditions. The parameters involved are as follows; the thermal Marangoni number, 0 ≤ MaT ≤1000 , the solutal Marangoni number, 0 1000 c ≤ Ma ≤ , the Biot number, 0 ≤ Bi ≤ 6 , Grashof number, 5 Gr = 10 and aspect ratio 1. The study focused on both flows; thermal dominated, N = 0.8 , and compositional dominated, N = 1.3 .

Keywords: Double-diffusive, Marangoni effects, heat and mass transfer.

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Authors: M.Victoria Garcia-Camba, M.Isabel Garcia-Planas

Abstract:

The use of brain stem auditory evoked potential (BAEP) is a common way to study the hearing function of people, a way to learn the functionality of a part of the brain neuronal groups that intervene in the learning process by studying the behaviour of wave VI. The latest advances in neuroscience have revealed the existence of different brain activity in the learning process that can be highlighted through the use of innocuous, low-cost and easy-access techniques such as, among others, the BAEP that can help us to detect early possible neurodevelopmental difficulties for their subsequent assessment and cure. To date and the authors best knowledge, only the latency data obtained, observing the first to V waves and mainly in the left ear, were taken into account. This work shows that it is essential to consider both ears; with these latest data, it has been possible to diagnose more precisely some cases than with the previous data had been diagnosed as “normal”despite showing signs of some alteration that motivated the new consultation to the specialist.

Keywords: Ear, neurodevelopment, auditory evoked potentials, intervals of normality, learning disabilities.

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Authors: Francisco J. Lopez-Jaquez, Sandra E. Ramirez-Jara

Abstract:

This paper presents an implementation and performance test of a distributed motion control system based on a master-slave configuration used to move a plasma-cutting torch over a predefined trajectory. The master is a general-purpose computer running on an open source operating system platform and software developer. Software running in the master computer generates commands on real time and we measure performance based on a selected set of differences between expected and observed distances. We are testing the null hypothesis that the outcome trajectory is identical to the input against the alternative hypothesis that there is a shift to the right or left of the input one. We used the Wilcoxon signed ranks test method for the hypothesis test.

Keywords: Distributed, motion, control, real-time, contouring.

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Authors: Hamid Mamani, Negin Sharifi, Nangkula Utaberta

Abstract:

Social, culture and artistic status of a society in various historical eras is affected by numerous, and sometimes imposed, factors that better understanding requires analysis of such conditions. Throughout history Iran has been involved with determining and significant events that examining each of these events can improve the understanding of social conditions of this country in the intended time. Mongolian conquest of Iran is one of most significant events in the history of Iran with consequences that never left Iranian societies. During this tragic invasion and subsequent devastating wars, which led to establishment of Ilkhanate dynasty, numerous cultural and artistic changes occurred both in Mongolian conquerors and Iranian society. This study examines these changes with a glimpse towards art and architecture as important part of cultural aspects and social communication.

Keywords: Art and Architecture, Exchanging cultures, Ilkhanates, War

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Authors: M Nazrul-Hakim, A Yaacob, Y Adam, A Zuraini

Abstract:

This study examined the toxicological effects and safety of polypeptide k isolated from the seeds of Momordica charantia in laboratory rats. 30 male Sprague Dawley rats (12 weeks old, bodyweight 180-200 g) were randomly divided into 3 groups (1000 mg/kg, 500 mg and 0 mg/kg). Rats were acclimatized to laboratory conditions for 7 days and at day 8 rats were dosed orally with polypeptide k (in 2% DMSO/normal saline) and the controls received the dosed vehicle only. Rats were then observed for 72 hours before sacrificed. Rats were anaesthetized by pentobarbital (50 mg/kg ip) and 2-3.0 mL of blood was taken by cardiac puncture and rats were scarified by anaesthetic overdose. Immediately, organs (heart, lungs, liver, kidneys) were weigh and taken for histology. Organ sections were then evaluated by a histopathologist. Serum samples were assayed for liver functions (ALT and γ-GT) and kidney functions (BUN and creatinine). All rats showed normal behavior after the dosing and no statistical changes were observed in all blood parameters and organ weight. Histological examinations revealed normal organ structures. In conclusion, dosing of rats up to 1000 mg/kg did not have any effects on the rat behavior, liver or kidney functions nor histology of the selected organs.

Keywords: Polypeptide k, safety, histology, toxicology, Momordica charantia

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Authors: Nebojsa B. Raicevic, Teodoros S. Prokic, Vladan Golubovic

Abstract:

Recently, bianisotropic media again received increasing importance in electromagnetic theory because of advances in material science which enable the manufacturing of complex bianisotropic materials. By using Maxwell's equations and corresponding boundary conditions, the electromagnetic field distribution in bianisotropic solenoid coils is determined and the influence of the bianisotropic behaviour of coil to the impedance and Q-factor is considered. Bianisotropic media are the largest class of linear media which is able to describe the macroscopic material properties of artificial dielectrics, artificial magnetics, artificial chiral materials, left-handed materials, metamaterials, and other composite materials. Several special cases of coils, filled with complex substance, have been analyzed. Results obtained by using the analytical approach are compared with values calculated by numerical methods, especially by our new hybrid EEM/BEM method and FEM.

Keywords: Bianisotropic media, impedance and Q-factor, Maxwell`s equations, hybrid EEM/BEM method.

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Authors: H.A. Ashorynejad, M. Farhadi, K.Sedighi, A.Hasanpour

Abstract:

We report the results of an lattice Boltzmann simulation of magnetohydrodynamic damping of sidewall convection in a rectangular enclosure filled with a porous medium. In particular we investigate the suppression of convection when a steady magnetic field is applied in the vertical direction. The left and right vertical walls of the cavity are kept at constant but different temperatures while both the top and bottom horizontal walls are insulated. The effects of the controlling parameters involved in the heat transfer and hydrodynamic characteristics are studied in detail. The heat and mass transfer mechanisms and the flow characteristics inside the enclosure depended strongly on the strength of the magnetic field and Darcy number. The average Nusselt number decreases with rising values of the Hartmann number while this increases with increasing values of the Darcy number.

Keywords: Lattice Boltzmann method , Natural convection , Magnetohydrodynamic , Porous medium

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Authors: S. Nandagopalan, N. Pradeep

Abstract:

The aim of this paper is to propose a general framework for storing, analyzing, and extracting knowledge from two-dimensional echocardiographic images, color Doppler images, non-medical images, and general data sets. A number of high performance data mining algorithms have been used to carry out this task. Our framework encompasses four layers namely physical storage, object identification, knowledge discovery, user level. Techniques such as active contour model to identify the cardiac chambers, pixel classification to segment the color Doppler echo image, universal model for image retrieval, Bayesian method for classification, parallel algorithms for image segmentation, etc., were employed. Using the feature vector database that have been efficiently constructed, one can perform various data mining tasks like clustering, classification, etc. with efficient algorithms along with image mining given a query image. All these facilities are included in the framework that is supported by state-of-the-art user interface (UI). The algorithms were tested with actual patient data and Coral image database and the results show that their performance is better than the results reported already.

Keywords: Active Contour, Bayesian, Echocardiographic image, Feature vector.

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Authors: L.Wiset, N. Poomsa-ad, V. Srilaong

Abstract:

The peel of dragon fruit is a byproduct left over after consuming. Normally, the use of plants as antioxidant source must be dried before further process. Therefore, the aim of this study is interesting to dry the peel by heat pump dryer (45 ºC) and fluidized bed dryer (110 º C) compared with the sun drying method. The sample with initial moisture content of about 85-91% wet basis was dried down to about 10% wet basis where it took 620 and 25 min for heat pump dryer and fluidized bed dryer, respectively. However, the sun drying took about 900 min to dry the peel. After that, sample was evaluated antioxidant activity, -carotene and betalains contents. The results found that the antioxidant activity and betalains contents of dried peel obtained from heat pump and fluidized bed dryings were significantly higher than that sun drying (p 0.05). Moreover, the drying by heat pump provided the highest -carotene content.

Keywords: Pitaya, betalains, β-carotene, antioxidant.

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Authors: H. Özkan

Abstract:

In this paper, a novel and fast algorithm for segmental and subsegmental lung vessel segmentation is introduced using Computed Tomography Angiography images. This process is quite important especially at the detection of pulmonary embolism, lung nodule, and interstitial lung disease. The applied method has been realized at five steps. At the first step, lung segmentation is achieved. At the second one, images are threshold and differences between the images are detected. At the third one, left and right lungs are gathered with the differences which are attained in the second step and Exact Lung Image (ELI) is achieved. At the fourth one, image, which is threshold for vessel, is gathered with the ELI. Lastly, identifying and segmentation of segmental and subsegmental lung vessel have been carried out thanks to image which is obtained in the fourth step. The performance of the applied method is found quite well for radiologists and it gives enough results to the surgeries medically.

Keywords: Computed tomography angiography (CTA), Computer aided detection (CAD), Lung segmentation, Lung vessel segmentation

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Authors: O. E. Okafor, L. U. S. Ezeanyika, C. G. Nkwonta, C. J. Okonkwo

Abstract:

The effect of processing on plasma lipid profile and atherogenic indices of rats fed Artocarpus heterophyllus seed diets at different concentrations were investigated. Fifty five rats were used for this study, they were divided into eleven groups of five rats each (one control group and ten test groups), the test groups were fed raw, boiled, roasted, fermented and soaked diets at 10% and 40% concentrations. The study lasted for thirty five days. The diets led to significant decrease (p<0.05) in plasma cholesterol and triacylglycerol of rats fed 10% and 40% concentrations of the diets, and a significant increase (p<0.05) in high density lipoprotein (HDL) levels at 40% concentrations of the test diets. The diets also produced decrease in low density lipoprotein (LDL), very low density lipoprotein (VLDL), cardiac risk ratio (CRR), atherogenic index of plasma (AIP) and atherogenic coefficient (AC) at 40% concentrations except the soaked group that showed slight elevation of LDL, CRR, AC and AIP at 40% concentration. Artocarpus heterophyllus seeds could be beneficial to health because of its ability to increase plasma HDL and reduce plasma LDL, VLDL, cholesterol, triglycerides and atherogenic indices at higher diet concentration.

Keywords: Artocarpus heterophyllus, atherogenic indices, concentrations, lipid profile.

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Authors: Carolina Gouveia, José Vieira, Pedro Pinho

Abstract:

The cardiopulmonary signal monitoring, without the usage of contact electrodes or any type of in-body sensors, has several applications such as sleeping monitoring and continuous monitoring of vital signals in bedridden patients. This system has also applications in the vehicular environment to monitor the driver, in order to avoid any possible accident in case of cardiac failure. Thus, the bio-radar system proposed in this paper, can measure vital signals accurately by using the Doppler effect principle that relates the received signal properties with the distance change between the radar antennas and the person’s chest-wall. Once the bio-radar aim is to monitor subjects in real-time and during long periods of time, it is impossible to guarantee the patient immobilization, hence their random motion will interfere in the acquired signals. In this paper, a mathematical model of the bio-radar is presented, as well as its simulation in MATLAB. The used algorithm for breath rate extraction is explained and a method for DC offsets removal based in a motion detection system is proposed. Furthermore, experimental tests were conducted with a view to prove that the unavoidable random motion can be used to estimate the DC offsets accurately and thus remove them successfully.

Keywords: Bio-signals, DC Component, Doppler Effect, ellipse fitting, radar, SDR.

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Authors: Raouf Fareh, Maarouf Saad, Sofiane Khadraoui, Tamer Rabie

Abstract:

This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cannot be generated directly by the motors. To overcome this problem, the second level of the controllers, dynamic control, is designed. This dynamic control law is developed based on Lyapunov theory in order to track the desired trajectories of the mobile robot. The stability of the tracking error is proved using Lupunov and Barbalat approaches. Simulation results on a nonholonomic wheeled mobile robot are given to demonstrate the feasibility and effectiveness of the presented approach.

Keywords: Mobile robot, trajectory tracking, Lyapunov, stability.

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Authors: M. Jaditager, J. Lovisa, N. Sivakugan

Abstract:

The Port of Townsville conducts regular annual maintenance dredging to maintain depths of its harbor basin and approach channels for the navigational safety of the vessels against the natural accumulation of marine sediments. In addition to the regular maintenance dredging, the port undertakes emergency dredging in cases where large quantities of sediments are mobilized and deposited in port waters by cyclone or major flood events. The maintenance dredging material derived from the port may be disposed at sea or on land in accordance with relevant state and commonwealth regulations. For the land disposal, the dredged mud slurry is hydraulically placed into containment ponds and left to undergo sedimentation and self-weight consolidation to form fill material for land reclamation. This paper provides an overview of the maintenance dredging at the Port of Townsville and emphasis on maintenance dredging requirements, sediment quality, bathymetry, dredging methods used, and dredged material disposal options.

Keywords: Consolidation, dredged material, maintenance dredging, marine sediments, sedimentation.

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