Search results for: motor imagery.

Authors: C. Rajan, B. Megala, A. Nandhini, C. Rasi Priya

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Robotics brings together several very different engineering areas and skills. There are various types of robot such as humanoid robot, mobile robots, remotely operated vehicles, modern autonomous robots etc. This survey paper advocates the operation of a robotic car (remotely operated vehicle) that is controlled by a mobile phone (communicate on a large scale over a large distance even from different cities). The person makes a call to the mobile phone placed in the car. In the case of a call, if any one of the button is pressed, a tone equivalent to the button pressed is heard at the other end of the call. This tone is known as DTMF (Dual Tone Multiple Frequency). The car recognizes this DTMF tone with the help of the phone stacked in the car. The received tone is processed by the Arduino microcontroller. The microcontroller is programmed to acquire a decision for any given input and outputs its decision to motor drivers in order to drive the motors in the forward direction or backward direction or left or right direction. The mobile phone that makes a call to cell phone stacked in the car act as a remote.

Keywords: Arduino Micro-controller, Arduino UNO, DTMF, Mobile phone, Robotic car.

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Authors: Mohsen Masoomi, Fazel Asadi Amjad, Monireh Arvin

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According to Naturalistic principles, human destiny in the form of blind chance and determinism, entraps the individual, so man is a defenceless creature unable to escape from the ruthless paws of a stoical universe. In Naturalism; nonetheless, melodrama mirrors a conscious alternative with a peculiar function. A typical American Naturalistic character thus cannot be a subject for social criticism of American society since they are not victims of the ongoing virtual slavery, capitalist system, nor of a ruined milieu, but of their own volition, and more importantly, their character frailty. Through a Postmodern viewpoint, each Naturalistic work can encompass some entropic trends and changes culminating in an entire failure and devastation. Frank Norris in McTeague displays the futile struggles of ordinary men and how they end up brutes. McTeague encompasses intoxication, abuse, violation, and ruthless homicides. Norris’ depictions of the falling individual as a demon represent the entropic dimension of Naturalistic novels. McTeague’s defeat is somewhat his own fault, the result of his own blunders and resolution, not the result of sheer accident. Throughout the novel, each character is a kind of insane quester indicating McTeague’s decadence and, by inference, the decadence of Western civilisation. McTeague seems to designate Norris’ solicitude for a community fabricated by the elements of human negative demeanours and conducts hauling acute symptoms of infectious dehumanisation. The aim of this article is to illustrate how one specific negative human disposition gradually, like a running fire, can spread everywhere and burn everything in itself. The author applies the concept of entropy metaphorically to describe the individual devolutions that necessarily comprise community entropy in McTeague, a dying universe.

Keywords: Animal imagery, entropy, Gypsy, melodrama.

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Authors: K.Sedhuraman, S.Himavathi, A.Muthuramalingam

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The performance of sensor-less controlled induction motor drive depends on the accuracy of the estimated speed. Conventional estimation techniques being mathematically complex require more execution time resulting in poor dynamic response. The nonlinear mapping capability and powerful learning algorithms of neural network provides a promising alternative for on-line speed estimation. The on-line speed estimator requires the NN model to be accurate, simpler in design, structurally compact and computationally less complex to ensure faster execution and effective control in real time implementation. This in turn to a large extent depends on the type of Neural Architecture. This paper investigates three types of neural architectures for on-line speed estimation and their performance is compared in terms of accuracy, structural compactness, computational complexity and execution time. The suitable neural architecture for on-line speed estimation is identified and the promising results obtained are presented.

Keywords: Sensorless IM drives, rotor speed estimators, artificial neural network, feed- forward architecture, single neuron cascaded architecture.

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Authors: Ali Roozbahani, Aref Mardani, Roohollah Jokar, Hamid Taghavifar

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Evaluating and measuring the performance parameters of wheels and tillage equipments under controlled conditions obligates the use of soil bin facility. In this research designing, constructing and evaluating a single-wheel tester has been studied inside a soil bin. The tested wheel was directly driven by the electric motor. Vertical load was applied by a power bolt on wheel. This tester can measure required draft force, the depth of tire sinkage, contact area between wheel and soil, and soil stress at different depths and in the both alongside and perpendicular to the direction of traversing. In order to evaluate the system preparation, traction force was measured by the connected S-shaped load cell as arms between the wheel-tester and carriage. Treatments of forward speed, slip, and vertical load at a constant pressure were investigated in a complete randomized block design. The results indicated that the traction force increased at constant wheel load. The results revealed that the maximum traction force was observed within the %15 of slip.

Keywords: Slip, single wheel-tester, soil bin, soil–machine, speed, traction.

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Authors: M. Cangi, T. Dolar, C. Ersoy, Y. E. Aydogdu, A. I. Aydeniz, A. Mugan

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The drum is one of the critical parts in a washing machine in which the clothes are washed and spin by the rotational movement. It is activated by the drum shaft which is attached to an electric motor and subjected to dynamic loading. Being one of the critical components, failures of the drum require costly repairs of dynamic components. In this study, tolerance bands between the drum shaft and its two bearings were examined to develop a relationship between the fatigue life of the shaft and the interaction tolerances. Optimization of tolerance bands was completed in consideration of the fatigue life of the shaft as the cost function. The following methodology is followed: multibody dynamic model of a washing machine was constructed and used to calculate dynamic loading on the components. Then, these forces were used in finite element analyses to calculate the stress field in critical components which was used for fatigue life predictions. The factors affecting the fatigue life were examined to find optimum tolerance grade for a given test condition. Numerical results were verified by experimental observations.

Keywords: Fatigue life, finite element analysis, tolerance analysis, optimization.

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Authors: Muhammad Tahir Qadri, Syed Shafi-Uddin Qadri, Faizan Farid, Nabeel Abid

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This paper discuss the separation of the miscible liquids by means of fractional distillation. For complete separation of liquids, the process of heating, condensation, separation and storage is done automatically to achieve the objective. PIC micro-controller has been used to control each and every process of the work. The controller also controls the storage process by activating and deactivating the conveyors. The liquids are heated which on reaching their respective boiling points evaporate and enter the condensation chamber where they convert into liquid. The liquids are then directed to their respective tanks by means of stepper motor which moves in three directions, each movement into different tank. The tank on filling sends the signal to controller which then opens the solenoid valves. The tank is emptied into the beakers below the nozzle. As the beaker filled, the nozzle closes and the conveyors come into operation. The filled beaker is replaced by an empty beaker from behind. The work can be used in oil industries, chemical industries and paint industries.

Keywords: Miscible Liquid Separation Unit, Distillation, Waste Water Treatment, Organic Liquids Collection.

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Authors: M.M. Al Emran Hasan, M.Ektesabi, A.Kapoor

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Recently electric vehicles are becoming popular as an alternative of conventional fossil fuel vehicles. Conventional Internal Combustion Engine (ICE) vehicle uses fossil fuel which contributing a major part of overall carbon emission in the environment. Carbon and other green house gas emission are responsible for global warming and resulting climate change. It becomes vital to evaluate performance of vehicle based on emission. In this paper an effort has been made to depict the picture of emission caused by vehicle and scenario of Australia has taken into account. Effort has been made to compare the fossil based vehicle with electric vehicle in phases. The study also evaluates advancement in electric vehicle technology, required infrastructure for sustainability and future scope of developments. This paper also includes the evaluation of electric vehicle concept for pollution control and sustainable transport systems in future. This study can be a benchmark for development of electric vehicle as low carbon emission alternative for the cities of tomorrow.

Keywords: Electric Vehicle, Fossil Fuel, Internal CombustionEngine, Green House Gas, In wheel motor, Smart grid

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Authors: Ly. Benbahouche

Abstract:

Currently, several soft switching topologies have been studied to achieve high power switching efficiency, reduced cost, improved reliability and reduced parasites. It is well known that improvement in power electronics systems always depend on advanced in power devices. The IGBT has been successfully used in a variety of switching applications such as motor drives and appliance control because of its superior characteristics.

The aim of this paper is focuses on simulation and explication of the internal dynamics of IGBTs behaviour under the most popular soft switching schemas that is Zero Current Switching (ZCS) environments.

The main purpose of this paper is to point out some mechanisms relating to current tail during the turn-off and examination of the response at turn-off with variation of temperature, inductance L, snubber capacitors Cs, and bus voltage in order to achieve an improved understanding of internal carrier dynamics. It is shown that the snubber capacitor, the inductance and even the temperature controls the magnitude and extent of the tail current, hence the turn-off time (switching speed of the device).

Moreover, it has also been demonstrated that the ZCS switching can be utilized efficiently to improve and reduce the power losses as well as the turn-off time. Furthermore, the turn-off loss in ZCS was found to depend on the time of switching of the device.

Keywords: PT-IGBT, ZCS, turn-off losses, dV/dt.

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Authors: Hamed.Vezvaei, Sepideh.Ordibeheshti, Mehdi.Ardjmand

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Gasoline Octane Number is the standard measure of the anti-knock properties of a motor in platforming processes, that is one of the important unit operations for oil refineries and can be determined with online measurement or use CFR (Cooperative Fuel Research) engines. Online measurements of the Octane number can be done using direct octane number analyzers, that it is too expensive, so we have to find feasible analyzer, like ANFIS estimators. ANFIS is the systems that neural network incorporated in fuzzy systems, using data automatically by learning algorithms of NNs. ANFIS constructs an input-output mapping based both on human knowledge and on generated input-output data pairs. In this research, 31 industrial data sets are used (21 data for training and the rest of the data used for generalization). Results show that, according to this simulation, hybrid method training algorithm in ANFIS has good agreements between industrial data and simulated results.

Keywords: Adaptive Neuro-Fuzzy Inference Systems, GasolineOctane Number, Soft-sensor, Catalytic Naphtha Reforming

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Authors: Siqing Chen

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Megalopolis is a group of densely populated metropolitan areas that combine to form an urban complex. Since China introduced the economic reforms in late 1970s, the Chinese urban system has experienced unprecedented growth. The process of urbanisation prevailed in the 1980s, and the process of predominantly large city growth appeared to continue through 1990s and 2000s. In this study, the magnitude and pattern of urbanisation in China during 1990s were examined using remotely sensed imagery acquired by TM/ETM+ sensor onboard the Landsat satellites. The development of megalopolis areas in China was also studied based on the GIS analysis of the increases of urban and built-up area from 1990 to 2000. The analysis suggests that in the traditional agricultural zones in China, e.g., Huang-Huai-Hai Plains, Changjiang River Delta, Pearl River Delta and Sichuan Basin, the urban and built-up areas increased by 1.76 million hectares, of which 0.82 million hectares are expansion of urban areas, an increase of 24.78% compared with 1990 at the national scale. The Yellow River Delta, Changjiang River Delta and Pearl River Delta also saw an increase of urban and built-up area by 63.9%, 66.2% and 83.0% respectively. As a result, three major megalopolises were developed in China: the Guangzhou-Shenzhen-Hong Kong- Macau (Pearl River Delta: PRD) megalopolis area, the Shanghai- Nanjing-Hangzhou (Changjiang River Delta: CRD) megalopolis area and the Beijing-Tianjing-Tangshan-Qinhuangdao (Yellow River Delta-Bohai Sea Ring: YRD) megalopolis area. The relationship between the processed of megalopolisation and the inter-provincial population flow was also explored in the context of social-economic and transport infrastructure development in Post-reform China.

Keywords: Megalopolisation, Land use change, Spatial analysis, Post-reform China

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Authors: S. Sonkham, U. Pinsopon, W. Chatlatanagulchai

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This paper presents a method of sliding mode control (SMC) designing and developing for the servo system in a dual-stage actuator (DSA) hard disk drive. Mathematical modeling of hard disk drive actuators is obtained, extracted from measuring frequency response of the voice-coil motor (VCM) and PZT micro-actuator separately. Matlab software tools are used for mathematical model estimation and also for controller design and simulation. A model-reference approach for tracking requirement is selected as a proposed technique. The simulation results show that performance of a model-reference SMC controller design in DSA servo control can be satisfied in the tracking error, as well as keeping the positioning of the head within the boundary of +/-5% of track width under the presence of internal and external disturbance. The overall results of model-reference SMC design in DSA are met per requirement specifications and significant reduction in %off track is found when compared to the single-state actuator (SSA).

Keywords: Hard Disk Drive, Dual-Stage Actuator, Track Following, HDD Servo Control, Sliding Mode Control, Model-Reference, Tracking Control.

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Authors: A.Venkadesan, S.Himavathi, A.Muthuramalingam

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Rotor Flux based Model Reference Adaptive System (RF-MRAS) is the most popularly used conventional speed estimation scheme for sensor-less IM drives. In this scheme, the voltage model equations are used for the reference model. This encounters major drawbacks at low frequencies/speed which leads to the poor performance of RF-MRAS. Replacing the reference model using Neural Network (NN) based flux estimator provides an alternate solution and addresses such drawbacks. This paper identifies an NN based flux estimator using Single Neuron Cascaded (SNC) Architecture. The proposed SNC-NN model replaces the conventional voltage model in RF-MRAS to form a novel MRAS scheme named as SNC-NN-MRAS. Through simulation the proposed SNC-NN-MRAS is shown to be promising in terms of all major issues and robustness to parameter variation. The suitability of the proposed SNC-NN-MRAS based speed estimator and its advantages over RF-MRAS for sensor-less induction motor drives is comprehensively presented through extensive simulations.

Keywords: Sensor-less operation, vector-controlled IM drives, SNC-NN-MRAS, single neuron cascaded architecture, RF-MRAS, artificial neural network

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Authors: Raquel M. de Sousa, Sofiane Labidi, Allan Kardec D. Barros, Alex O. Barradas Filho, Aldalea L. B. Marques

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Several parameters are established in order to measure biodiesel quality. One of them is the iodine value, which is an important parameter that measures the total unsaturation within a mixture of fatty acids. Limitation of unsaturated fatty acids is necessary since warming of higher quantity of these ones ends in either formation of deposits inside the motor or damage of lubricant. Determination of iodine value by official procedure tends to be very laborious, with high costs and toxicity of the reagents, this study uses artificial neural network (ANN) in order to predict the iodine value property as an alternative to these problems. The methodology of development of networks used 13 esters of fatty acids in the input with convergence algorithms of back propagation of back propagation type were optimized in order to get an architecture of prediction of iodine value. This study allowed us to demonstrate the neural networks’ ability to learn the correlation between biodiesel quality properties, in this caseiodine value, and the molecular structures that make it up. The model developed in the study reached a correlation coefficient (R) of 0.99 for both network validation and network simulation, with Levenberg-Maquardt algorithm.

Keywords: Artificial Neural Networks, Biodiesel, Iodine Value, Prediction.

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Authors: Muhammad Farid Shaari, Zahurin Samad

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This paper presents the design, development and characterization of contractile water jet thruster (CWJT) for mini underwater robot. Instead of electric motor, this CWJT utilizes the Ionic Polymer Metal Composite (IPMC) as the actuator to generate the water jet. The main focus of this paper is to analyze the conceptual design of the proposed CWJT which would determine the thrust force value, jet flow behavior and actuator’s stress. Those thrust force and jet flow studies were carried out using Matlab/Simscape simulation software. The actuator stress had been analyzed using COSMOS simulation software. The results showed that there was no significant change for jet velocity at variable cross sectional nozzle area. However, a significant change was detected for jet velocity at different nozzle cross sectional area ratio which was up to 37%. The generated thrust force has proportional relation to the nozzle cross sectional area.

Keywords: Contractile water jet thruster, IPMC actuator, Thrust force.

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Authors: Dana Gabriková, Martin Mistrík, Jarmila Bernasovská, Iveta Tóthová, Jana Kisková

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The Roma (Gypsies) is a transnational minority with a high degree of consanguineous marriages. Similar to other genetically isolated founder populations, the Roma harbor a number of unique or rare genetic disorders. This paper discusses about a rare form of Charcot-Marie-Tooth disease – type 4G (CMT4G), also called Hereditary Motor and Sensory Neuropathy type Russe, an autosomal recessive disease caused by mutation private to Roma characterized by abnormally increased density of non-myelinated axons. CMT4G was originally found in Bulgarian Roma and in 2009 two putative causative mutations in the HK1 gene were identified. Since then, several cases were reported in Roma families mainly from Bulgaria and Spain. Here we present a Slovak Roma family in which CMT4G was diagnosed on the basis of clinical examination and genetic testing. This case is a further proof of the role of the HK1 gene in pathogenesis of the disease. It confirms that mutation in the HK1 gene is a common cause of autosomal recessive CMT disease in Roma and should be considered as a common part of a diagnostic procedure.

Keywords: Gypsies, HK1, HSMN-Russe, rare disease.

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Authors: Esther T. Akinlabi, Milan Isvarial, Stephen A. Akinlabi

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Today, canines are still used effectively in acceleration detection situation. However, this method is becoming impractical in modern age and a new automated replacement to the canine is required. This paper reports the design of an innovative accelerant detector. Designing an accelerant detector is a long process as is any design process; therefore, a solution to the need for a mobile, effective accelerant detector is hereby presented. The device is simple and efficient to ensure that any accelerant detection can be conducted quickly and easily. The design utilizes Ultra Violet (UV) light to detect the accelerant. When the UV light shines on an accelerant, the hydrocarbons in the accelerant emit florescence. The advantages of using the UV light to detect accelerant are also outlined in this paper. The mobility of the device is achieved by using a Direct Current (DC) motor to run tank tracks. Tank tracks were chosen as to ensure that the device will be mobile in the rough terrain of a fire site. The materials selected for the various parts are also presented. A Solid Works Simulation was also conducted on the stresses in the shafts and the results are presented. This design is an innovative solution which offers a user friendly interface. The design is also environmentally friendly, ecologically sound and safe to use.

Keywords: Accelerant detector, Canines, Gas Chromatography- Mass Spectrometry (GC-MS), Ultra Violet light.

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Authors: M. Amlie A. Kasim, Ahsana Aqilah, Ahmed Jaffar, Cheng Yee Low, Roseleena Jaafar, M. Saiful Bahari, Armansyah

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The study of human hand morphology reveals that developing an artificial hand with the capabilities of human hand is an extremely challenging task. This paper presents the development of a robotic prosthetic hand focusing on the improvement of a tendon driven mechanism towards a biomimetic prosthetic hand. The design of this prosthesis hand is geared towards achieving high level of dexterity and anthropomorphism by means of a new hybrid mechanism that integrates a miniature motor driven actuation mechanism, a Shape Memory Alloy actuated mechanism and a passive mechanical linkage. The synergy of these actuators enables the flexion-extension movement at each of the finger joints within a limited size, shape and weight constraints. Tactile sensors are integrated on the finger tips and the finger phalanges area. This prosthesis hand is developed with an exact size ratio that mimics a biological hand. Its behavior resembles the human counterpart in terms of working envelope, speed and torque, and thus resembles both the key physical features and the grasping functionality of an adult hand.

Keywords: Prosthetic hand, Biomimetic actuation, Shape Memory Alloy, Tactile sensing.

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Authors: Pradeep M., N. S. Mahesh, Raja Hussain

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Resistance spot welding (RSW) has been used widely to join sheet metals. It has been a challenge to get required weld quality in spot welding of dissimilar thickness materials. Weld parameters are not generally available in standards for thickness beyond 4mm. This paper presents the welding process design and parameter optimization of RSW used in joining of low carbon steel sheet of thickness 0.8 mm and metal strips of cross section 10 x 5mm for electrical motor applications. Taguchi quality design was adopted for weld current and time optimization using L9 orthogonal array. Optimum process parameters (current- 3.5kA and time- 10 cycles) were obtained from the Taguchi analysis and shear test results. Confirmation experiment result revealed that the weld quality was within acceptable interval. Further, numerical simulation of RSW process was carried out with selected weld parameters to quantify the temperature at faying surface and check for formation of appropriate nugget. The nugget geometry measured after peel test and predicted from numerical validation method were similar and in accordance with the standards.

Keywords: Resistance spot welding, dissimilar thickness, weld parameters, Taguchi method, numerical modeling.

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Authors: Ada Yurman

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Using the case of Israeli Atomic Spy Mordechai Vanunu as an example, this study sought to examine social response to political deviance whereby social response can be mobilized in order to achieve social control. Mordechai Vanunu, a junior technician in the Dimona Atomic Research Center, played a normative role in the militaristic discourse while working in the “holy shrine” of the Israeli defense system for many years. At a certain stage, however, Vanunu decided to detach himself from this collective and launched an assault on this top-secret circle. Israeli society in general and the security establishment in particular found this attack intolerable and unforgivable. They presented Vanunu as a ticking time bomb, delegitimized him and portrayed him as “other”. In addition, Israeli enforcement authorities imposed myriad prohibitions and sanctions on Vanunu even after his release from prison – “as will be done to he who desecrates holiness.” Social response to Vanunu at the time of his capture and trial was studied by conducting a content analysis of six contemporary daily newspapers. The analysis focused on use of language and forms of expression. In contrast with traditional content analysis methodology, this study did not just look at frequency of expressions of ideas and terms in the text and covert content; rather, the text was analyzed as a structural whole, and included examination of style, tone and unusual use of imagery, and more, in order to uncover hidden messages within the text. The social response to this case was extraordinarily intense, not only because in this case of political deviance, involving espionage and treason, Vanunu’s actions comprised a real potential threat to the country, but also because of the threat his behavior posed to the symbolic universe of society. Therefore, the response to this instance of political deviance can be seen as being part of a mechanism of social control aiming to protect world view of society as a whole, as well as to punish the criminal.

Keywords: Militarism, political deviance, social construction, social control.

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Authors: Collins C. Chiemeke

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The need to evaluate and understand the natural drainage pattern in a flood prone, and fast developing environment is of paramount importance. This information will go a long way to help the town planners to determine the drainage pattern, road networks and areas where prominent structures are to be located. This research work was carried out with the aim of studying the Bayelsa landscape topography using digitized topographic information, and to model the natural drainage flow pattern that will aid the understanding and constructions of workable drainages. To achieve this, digitize information of elevation and coordinate points were extracted from a global imagery map. The extracted information was modeled into 3D surfaces. The result revealed that the average elevation for Bayelsa State is 12 m above sea level. The highest elevation is 28 m, and the lowest elevation 0 m, along the coastline. In Yenagoa the capital city of Bayelsa were a detail survey was carried out showed that average elevation is 15 m, the highest elevation is 25 m and lowest is 3 m above the mean sea level. The regional elevation in Bayelsa, showed a gradation decrease from the North Eastern zone to the South Western Zone. Yenagoa showed an observed elevation lineament, were low depression is flanked by high elevation that runs from the North East to the South west. Hence, future drainages in Yenagoa should be directed from the high elevation, from South East toward the North West and from the North West toward South East, to the point of convergence which is at the center that flows from South East toward the North West. Bayelsa when considered on a regional Scale, the flow pattern is from the North East to the South West, and also North South. It is recommended that in the event of any large drainage construction at municipal scale, it should be directed from North East to the South West or from North to South. Secondly, detail survey should be carried out to ascertain the local topography and the drainage pattern before the design and construction of any drainage system in any part of Bayelsa.

Keywords: Bayelsa, Digitized Topographic Information, Drainage, Flood.

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Authors: Abdulaziz H. El-Sinawi

Abstract:

Some of the polycyclic aromatic hydrocarbons (PAHs) are the strongest known carcinogens compounds; the majority of them are mostly produced by the incomplete combustion of fossil fuels; Motor vehicles are a significant source of polycyclic aromatic hydrocarbon (PAH) where diesel emission is one of the main sources of such compounds available in the ambient air. There is a big concern about the increasing concentration of PAHs in the environment. Researchers are trying to explore optimal methods to reduce those pollutants and improve the quality of air. Water blended fuel is one of the possible approaches to reduce emission of PAHs from the combustion of diesel in urban and domestic vehicles. In this work a modeling study was conducted using CHEMKIN-PRO software to simulate spray combustion at similar diesel engine conditions. Surrogate fuel of (80 % n-heptane and 20 % toluene) was used due to detailed kinetic and thermodynamic data needed for modeling is available for this kind of fuel but not available for diesel. An emulsified fuel with 3, 5, 8, 10 and 20 % water by volume is used as an engine feed for this study. The modeling results show that water has a significant effect on reducing engine soot and PAHs precursors formation up to certain extent.

Keywords: Polycyclic Aromatic Hydrocarbons (PAHs), DieselEngine, Emission, Surrogate Fuel, Emulsified Fuel, Soot precursors, Combustion

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Authors: Nan-Chyuan Tsai, Din-Chang Chen, Rong-Mao Lee, Bai-Lu Wang

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This paper presents how the real-time chatter prevention can be realized by feedback of acoustic cutting signal, and the efficacy of the proposed adaptive spindle speed tuning algorithm is verified by intensive experimental simulations. A pair of microphones, perpendicular to each other, is used to acquire the acoustic cutting signal resulting from milling chatter. A real-time feedback control loop is constructed for spindle speed compensation so that the milling process can be ensured to be within the stability zone of stability lobe diagram. Acoustic Chatter Signal Index (ACSI) and Spindle Speed Compensation Strategy (SSCS) are proposed to quantify the acoustic signal and actively tune the spindle speed respectively. By converting the acoustic feedback signal into ACSI, an appropriate Spindle Speed Compensation Rate (SSCR) can be determined by SSCS based on real-time chatter level or ACSI. Accordingly, the compensation command, referred to as Added-On Voltage (AOV), is applied to increase/decrease the spindle motor speed. By inspection on the precision and quality of the workpiece surface after milling, the efficacy of the real-time chatter prevention strategy via acoustic signal feedback is further assured.

Keywords: Chatter compensation, Stability lobes, Non-invasivemeasurement.

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Authors: Martin J.-D. Otis, Thien-Ly Nguyen-Dang, Thierry Laliberte, Denis Ouellet, Denis Laurendeau, Clement Gosselin

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A Cable-Driven Locomotion Interface provides a low inertia haptic interface and is used as a way of enabling the user to walk and interact with virtual surfaces. These surfaces generate Cartesian wrenches which must be optimized for each motorized reel in order to reproduce a haptic sensation in both feet. However, the use of wrench control requires a measure of the cable tensions applied to the moving platform. The latter measure may be inaccurate if it is based on sensors located near the reel. Moreover, friction hysteresis from the reel moving parts needs to be compensated for with an evaluation of low angular velocity of the motor shaft. Also, the pose of the platform is not known precisely due to cable sagging and mechanical deformation. This paper presents a non-ideal motorized reel design with its corresponding control strategy that aims at overcoming the aforementioned issues. A transfert function of the reel based on frequency responses in function of cable tension and cable length is presented with an optimal adaptative PIDF controller. Finally, an hybrid position/tension control is discussed with an analysis of the stability for achieving a complete functionnality of the haptic platform.

Keywords: haptic, reel, transparency, cable, tension, control

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Authors: A. K. Aswathy, Asha Manoharan, Arya Manoharan

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The purpose of this study are to define the nature of oral sensory issues in children with autism spectrum disorder (ASD), identify important components of the assessment and treatment of this issues specific to this population, and delineate specific therapeutic techniques designed to improve assessment and treatment within therapeutic settings. Literature review and case example is used to define the predominant nature of the oral sensory issues that are experienced by some children on the autism spectrum. Characteristics of this complex disorder that can have an impact on feeding skill and behavior are also identified. These factors are then integrated to create assessment and intervention techniques that can be used in conjunction with traditional feeding approaches to facilitate improvements in eating as well as reducing oral apraxic component in this unique population. The complex nature of ASD and its many influences on feeding skills and behavior create the need for modification to both assessment and treatment approaches. Additional research is needed to create therapeutic protocols that can be used by speech-language pathologists to effectively assess and treat feeding and oro motor apraxic difficulties that are commonly encountered in children with ASD.

Keywords: Autism, feeding, intervention, oral sensory issues, oral apraxia.

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Authors: B. Wang, W. H. Or, S.C. Lee, Y.C. Leung, B. Organ

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This study presents an investigation of diesel vehicle particulate-phase emissions with neat ultralow sulphur diesel (B0, ULSD) and 5% waste cooking oil-based biodiesel blend (B5) in Hong Kong. A Euro VI light duty diesel vehicle was tested under transient (New European Driving Cycle (NEDC)), steady-state and idling on a chassis dynamometer. Chemical analyses including organic carbon (OC), elemental carbon (EC), as well as 30 polycyclic aromatic hydrocarbons (PAHs) and 10 oxygenated PAHs (oxy-PAHs) were conducted. The OC fuel-based emission factors (EFs) for B0 ranged from 2.86 ± 0.33 to 7.19 ± 1.51 mg/kg, and those for B5 ranged from 4.31 ± 0.64 to 15.36 ± 3.77 mg/kg, respectively. The EFs of EC were low for both fuel blends (0.25 mg/kg or below). With B5, the EFs of total PAHs were decreased as compared to B0. Specifically, B5 reduced total PAH emissions by 50.2%, 30.7%, and 15.2% over NEDC, steady-state and idling, respectively. It was found that when B5 was used, PAHs and oxy-PAHs with lower molecular weight (2 to 3 rings) were reduced whereas PAHs/oxy-PAHs with medium or high molecular weight (4 to 7 rings) were increased. Our study suggests the necessity of taking atmospheric and health factors into account for biodiesel application as an alternative motor fuel.

Keywords: Biodiesel, OC/EC, PAHs, vehicular emission.

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Authors: Elyas Akbari, Jafar Hasani, Newsha Dehestani, Mohammad Khaleghi, Alireza Moradi

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The aim of the present study was to assess the effect of emotional experience induction in the mirror neurons systems (MNS) activity with regard to the spectrum of depressive symptoms. For this purpose, at first stage, 449 students of Kharazmi University of Tehran were selected randomly and completed the second version of the Beck Depression Inventory (BDI-II). Then, 36 students with standard Z-score equal or above +1.5 and equal or equal or below -1.5 were selected to construct two groups of high and low spectrum of depressive symptoms. In the next stage, the basic activity of MNS was recorded (mu wave) before presenting the positive and negative emotional video clips by Electroencephalography (EEG) technique. The findings related to emotion induction (neutral, negative and positive emotion) demonstrated that the activity of recorded mirror neuron areas had a significant difference between the depressive and non-depressive groups. These findings suggest that probably processing of negative emotions in depressive individuals is due to the idea that the mirror neurons in motor cortex matched up the activity of cognitive regions with the person’s schema. Considering the results of the present study, it could be said that the MNS provides a substrate where emotional disorders can be studied and evaluated.

Keywords: Emotional experiences, mirror neurons, depressive symptoms.

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Authors: M. Shaker, S. Minaei, M. H. Khoshtaghaza, A. Banakar, A. Jafari

Abstract:

In this study a system of machine vision and singulation was developed to separate paddy from rice and determine paddy husking and rice breakage percentages. The machine vision system consists of three main components including an imaging chamber, a digital camera, a computer equipped with image processing software. The singulation device consists of a kernel holding surface, a motor with vacuum fan, and a dimmer. For separation of paddy from rice (in the image), it was necessary to set a threshold. Therefore, some images of paddy and rice were sampled and the RGB values of the images were extracted using MATLAB software. Then mean and standard deviation of the data were determined. An Image processing algorithm was developed using MATLAB to determine paddy/rice separation and rice breakage and paddy husking percentages, using blue to red ratio. Tests showed that, a threshold of 0.75 is suitable for separating paddy from rice kernels. Results from the evaluation of the image processing algorithm showed that the accuracies obtained with the algorithm were 98.36% and 91.81% for paddy husking and rice breakage percentage, respectively. Analysis also showed that a suction of 45 mmHg to 50 mmHg yielding 81.3% separation efficiency is appropriate for operation of the kernel singulation system.

Keywords: Computer vision, rice kernel, husking, breakage.

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Authors: Adrienne Kline, Jaydip Desai

Abstract:

Electroencephalogram (EEG) is a noninvasive technique that registers signals originating from the firing of neurons in the brain. The Emotiv EEG Neuroheadset is a consumer product comprised of 14 EEG channels and was used to record the reactions of the neurons within the brain to two forms of stimuli in 10 participants. These stimuli consisted of auditory and visual formats that provided directions of ‘right’ or ‘left.’ Participants were instructed to raise their right or left arm in accordance with the instruction given. A scenario in OpenViBE was generated to both stimulate the participants while recording their data. In OpenViBE, the Graz Motor BCI Stimulator algorithm was configured to govern the duration and number of visual stimuli. Utilizing EEGLAB under the cross platform MATLAB®, the electrodes most stimulated during the study were defined. Data outputs from EEGLAB were analyzed using IBM SPSS Statistics® Version 20. This aided in determining the electrodes to use in the development of a brain-machine interface (BMI) using real-time EEG signals from the Emotiv EEG Neuroheadset. Signal processing and feature extraction were accomplished via the Simulink® signal processing toolbox. An Arduino™ Duemilanove microcontroller was used to link the Emotiv EEG Neuroheadset and the right and left Mecha TE™ Hands.

Keywords: Brain-machine interface, EEGLAB, emotiv EEG neuroheadset, openViBE, simulink.

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Authors: Yen-Ting Wang, Shou-Jing Guo, Hsiu-Kuang Chang, Kenny Wen-Chyuan Chen, Alex J.Y. Lee

Abstract:

This study examined the effects of eight weeks of whole-body vibration training (WBVT) on vertical and decuple jump performance in handball athletes. Sixteen collegiate Level I handball athletes volunteered for this study. They were divided equally as control group and experimental group (EG). During the period of the study, all athletes underwent the same handball specific training, but the EG received additional WBVT (amplitude: 2 mm, frequency: 20 - 40 Hz) three time per week for eight consecutive weeks. The vertical jump performance was evaluated according to the maximum height of squat jump (SJ) and countermovement jump (CMJ). Single factor ANCOVA was used to examine the differences in each parameter between the groups after training with the pretest values as a covariate. The statistic significance was set at p < .05. After 8 weeks WBVT, the EG had significantly improved the maximal height of SJ (40.92 ± 2.96 cm vs. 48.40 ± 4.70 cm, F = 5.14, p < .05) and the maximal height CMJ (47.25 ± 7.48 cm vs. 52.20 ± 6.25 cm, F = 5.31, p < .05). 8 weeks of additional WBVT could improve the vertical and decuple jump performance in handball athletes. Enhanced motor unit synchronization and firing rates, facilitated muscular contraction stretch-shortening cycle, and improved lower extremity neuromuscular coordination could account for these enhancements.

Keywords: Muscle strength, explosive power, squat jump, and countermovement jump.

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Authors: Mehdi Modabberifar, Sanaz Jabary, Mojtaba Ghodsi

Abstract:

Stiffness sensing is an important issue in medical diagnostic, robotics surgery, safe handling, and safe grasping of objects in production lines. Detecting and obtaining the characteristics in dwelling lumps embedded in a soft tissue and safe removing and handling of detected lumps is needed in surgery. Also in industry, grasping and handling an object without damaging in a place where it is not possible to access a human operator is very important. In this paper, a method for object handling is presented. It is based on the use of an intelligent gripper to detect the object stiffness and then setting a programmable force for grasping the object to move it. The main components of this system includes sensors (sensors for measuring force and displacement), electrical (electrical and electronic circuits, tactile data processing and force control system), mechanical (gripper mechanism and driving system for the gripper) and the display unit. The system uses a rotary potentiometer for measuring gripper displacement. A microcontroller using the feedback received by the load cell, mounted on the finger of the gripper, calculates the amount of stiffness, and then commands the gripper motor to apply a certain force on the object. Results of Experiments on some samples with different stiffness show that the gripper works successfully. The gripper can be used in haptic interfaces or robotic systems used for object handling.

Keywords: Gripper, haptic, stiffness, robotic.

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