bluuebunny/crossref_metadata_2025 huggingface dataset:
The genesis of Typhoon Nuri as observed during the Tropical Cyclone Structure 2008 (TCS08) field experiment – Part 2: Observations of the convective environment
Authors: Montgomery M. T. , Smith R. K.
Published: May 2012

Abstract. Analyses of thermodynamic data gathered from airborne dropwindsondes during the Tropical Cyclone Structure (2008) experiment are presented for the disturbance that became Typhoon Nuri. Although previous work has suggested that Nuri formed within the protective recirculating "pouch" region of a westward propagating wave-like disturbance and implicated rotating deep convective clouds in driving the inflow to spin up the tangential circulation of the system-scale flow, the nature of the thermodynamic environment that supported the genesis remains a topic of debate. During the genesis phase, vertical profiles of virtual potential temperature show little variability between soundings on a particular day and the system-average soundings likewise show a negligible change. There is a tendency also for the lower and middle troposphere to moisten. However, the data show that, on the scale of the recirculating region of the disturbance, there was no noticeable reduction of virtual temperature in the lower troposphere, but a small warming (less than 1 K) in the upper troposphere. Vertical profiles of pseudo-equivalent potential temperature, θe, during the genesis show a modestly decreasing deficit of θe in the vertical between the surface and the height of minimum θe (between 3 and 4 km), from 17.5 K to 15.2 K. The findings reported here are consistent with those found for developing disturbances observed in the Pre-Depression Investigation of Cloud Systems in the Tropics (PREDICT) experiment in 2010. Some implications of the findings are discussed.
Variation of CO2 mole fraction in the lower free troposphere, in the boundary layer and at the surface
Authors: Haszpra L. , Ramonet M. , Schmidt M. , Barcza Z. , Pátkai Z. , Tarczay K. , Yver C. , Tarniewicz J. , Ciais P.
Published: May 2012

Abstract. Eight years of occasional flask air sampling and 3 yr of frequent in situ measurements of carbon dioxide (CO2) vertical profiles on board of a small aircraft, over a tall tower greenhouse gases monitoring site in Hungary are used for the analysis of the variations of vertical profile of CO2 mole fraction. Using the airborne vertical profiles and the measurements along the 115 m tall tower it is shown that the measurements at the top of the tower estimate the mean boundary layer CO2 mole fraction during the mid-afternoon fairly well, with an underestimation of 0.27–0.85 μmol mol−1 in summer, and an overestimation of 0.66–1.83 μmol mol−1 in winter. The seasonal cycle of CO2 mole fraction is damped with elevation. While the amplitude of the seasonal cycle is 28.5 μmol mol−1 at 10 m above the ground, it is only 10.7 μmol mol−1 in the layer of 2500–3000 m corresponding to the lower free atmosphere above the well-mixed boundary layer. The maximum mole fraction in the layer of 2500–3000 m can be observed around 25 March on average, two weeks ahead of that of the marine boundary layer reference (GLOBALVIEW). By contrast, close to the ground, the maximum CO2 mole fraction is observed late December, early January. The specific seasonal behavior is attributed to the climatology of vertical mixing of the atmosphere in the Carpathian Basin.
Height increase of the melting level stability anomaly in the tropics
Authors: Folkins I.
Published: May 2012

Abstract. In actively convecting regions of the tropics, the lower troposphere is significantly less stable than predicted by a moist pseudoadiabat. This anomalous variation in lapse rate occurs between the boundary layer inversion (~2 km) and the melting level (~5 km), and has been attributed to mesoscale downdrafts that develop below precipitating stratiform anvil clouds. We use an 11 yr record (1998–2008) from five Western Tropical Pacific radiosonde stations in the Stratospheric Processes and their Role in Climate (SPARC) archive, to determine the response of this stability anomaly to changes in monthly mean surface temperature. We find that the stability anomaly shifts upward when the surface temperature increases, by an amount roughly equal to the upward displacement of the melting level. It is likely that this change in lower tropospheric stability is associated with increases in the height of cumulus congestus clouds, in the vertical distance through which stratiform precipitation falls through cloud free air, and in the vertical wavelength of the stratiform heating mode.
Multi-sensor Aerosol Products Sampling System (MAPSS)
Authors: Petrenko M. , Ichoku C. , Leptoukh G.
Published: May 2012

Abstract. Global and local properties of atmospheric aerosols have been extensively observed and measured using both spaceborne and ground-based instruments, especially during the last decade. Unique properties retrieved by the different instruments contribute to an unprecedented availability of the most complete set of complimentary aerosol measurements ever acquired. However, some of these measurements remain underutilized, largely due to the complexities involved in analyzing them synergistically. To characterize the inconsistencies and bridge the gap that exists between the sensors, we have established a Multi-sensor Aerosol Products Sampling System (MAPSS), which consistently samples and generates the spatial statistics (mean, standard deviation, direction and rate of spatial variation, and spatial correlation coefficient) of aerosol products from multiple spaceborne sensors, including MODIS (on Terra and Aqua), MISR, OMI, POLDER, CALIOP, and SeaWiFS. Samples of satellite aerosol products are extracted over Aerosol Robotic Network (AERONET) locations as well as over other locations of interest such as those with available ground-based aerosol observations. In this way, MAPSS enables a direct cross-characterization and data integration between Level-2 aerosol observations from multiple sensors. In addition, the available well-characterized co-located ground-based data provides the basis for the integrated validation of these products. This paper explains the sampling methodology and concepts used in MAPSS, and demonstrates specific examples of using MAPSS for an integrated analysis of multiple aerosol products.
Constraining the temperature history of the past millennium using early instrumental observations
Authors: Brohan P. , Allan R. , Freeman E. , Wheeler D. , Wilkinson C. , Williamson F.
Published: May 2012

Abstract. The current assessment that twentieth-century global temperature change is unusual in the context of the last thousand years relies on estimates of temperature changes from natural proxies (tree-rings, ice-cores etc.) and climate model simulations. Confidence in such estimates is limited by difficulties in calibrating the proxies and systematic differences between proxy reconstructions and model simulations. As the difference between the estimates extends into the relatively recent period of the early nineteenth century it is possible to compare them with a reliable instrumental estimate of the temperature change over that period, provided that enough early thermometer observations, covering a wide enough expanse of the world, can be collected. One organisation which systematically made observations and collected the results was the English East-India Company (EEIC), and their archives have been preserved in the British Library. Inspection of those archives revealed 900 log-books of EEIC ships containing daily instrumental measurements of temperature and pressure, and subjective estimates of wind speed and direction, from voyages across the Atlantic and Indian Oceans between 1789 and 1834. Those records have been extracted and digitised, providing 273 000 new weather records offering an unprecedentedly detailed view of the weather and climate of the late eighteenth and early nineteenth centuries. The new thermometer observations demonstrate that the large-scale temperature response to the Tambora eruption and the 1809 eruption was modest (perhaps 0.5 °C). This provides a powerful out-of-sample validation for the proxy reconstructions – supporting their use for longer-term climate reconstructions. However, some of the climate model simulations in the CMIP5 ensemble show much larger volcanic effects than this – such simulations are unlikely to be accurate in this respect.
Description of a hybrid ice sheet-shelf model, and application to Antarctica
Authors: Pollard D. , DeConto R. M.
Published: May 2012

Abstract. The formulation of a 3-D ice sheet-shelf model is described. The model is designed for long-term continental-scale applications, and has been used mostly in paleoclimatic studies. It uses a hybrid combination of the scaled Shallow Ice and Shallow Shelf Approximations for ice flow. Floating ice shelves and grounding-line migration are included, with parameterized ice fluxes at grounding lines that allows relatively coarse resolutions to be used. All significant components and parameterizations of the model are described in some detail. Basic results for modern Antarctica are compared with observations, and simulations over the last 5 million yr are shown to be similar to previously published results using an earlier model version. The sensitivity of ice retreat during the last deglaciation to basal sliding coefficients is discussed.
Investigating the time-scaling behavior of the 2004–2010 seismicity of Aswan area (Egypt) by means of the Allan factor statistics and the detrended fluctuation analysis
Authors: Telesca L. , Lovallo M. , Amin Mohamed A. E.-E. , ElGabry M. , El-hady S. , Abou Elenean K. M. , ElShafey Fat ElBary R.
Published: May 2012

Abstract. The time dynamics of seismicity of Aswan area (Egypt) from 2004 to 2010 was investigated by means of the (i) Allan Factor, which is a powerful tool allowing the capture of time-clusterized properties of temporal point processes; and the (ii) detrended fluctuation analysis, which is capable of detecting scaling in nonstationary time series. The analysis was performed varying the depth and the magnitude thresholds. The 2004–2010 Aswan seismicity is characterized by significant three-fold time-clustering behaviors with scaling exponents ~0.77 for timescales between 104.16 s and 105.14 s, ~0.34 for timescales between 105.14 s and 106.53 s, and ~1 for higher timescales. The seismic interevent times and distances are characterized by persistent temporal fluctuations for most of the magnitude and depth thresholds.
The 6 August 2010 Mount Meager rock slide-debris flow, Coast Mountains, British Columbia: characteristics, dynamics, and implications for hazard and risk assessment
Authors: Guthrie R. H. , Friele P. , Allstadt K. , Roberts N. , Evans S. G. , Delaney K. B. , Roche D. , Clague J. J. , Jakob M.
Published: May 2012

Abstract. A large rock avalanche occurred at 03:27:30 PDT, 6 August 2010, in the Mount Meager Volcanic Complex southwest British Columbia. The landslide initiated as a rock slide in Pleistocene rhyodacitic volcanic rock with the collapse of the secondary peak of Mount Meager. The detached rock mass impacted the volcano's weathered and saturated flanks, creating a visible seismic signature on nearby seismographs. Undrained loading of the sloping flank caused the immediate and extremely rapid evacuation of the entire flank with a strong horizontal force, as the rock slide transformed into a debris flow. The disintegrating mass travelled down Capricorn Creek at an average velocity of 64 m s−1, exhibiting dramatic super-elevation in bends to the intersection of Meager Creek, 7.8 km from the source. At Meager Creek the debris impacted the south side of Meager valley, causing a runup of 270 m above the valley floor and the deflection of the landslide debris both upstream (for 3.7 km) and downstream into the Lillooet River valley (for 4.9 km), where it blocked the Lillooet River river for a couple of hours, approximately 10 km from the landslide source. Deposition at the Capricorn–Meager confluence also dammed Meager Creek for about 19 h creating a lake 1.5 km long. The overtopping of the dam and the predicted outburst flood was the basis for a night time evacuation of 1500 residents in the town of Pemberton, 65 km downstream. High-resolution GeoEye satellite imagery obtained on 16 October 2010 was used to create a post-event digital elevation model. Comparing pre- and post-event topography we estimate the volume of the initial displaced mass from the flank of Mount Meager to be 48.5 × 106 m3, the height of the path (H) to be 2183 m and the total length of the path (L) to be 12.7 km. This yields H/L = 0.172 and a fahrböschung (travel angle) of 9.75°. The movement was recorded on seismographs in British Columbia and Washington State with the initial impact, the debris flow travelling through bends in Capricorn Creek, and the impact with Meager Creek are all evident on a number of seismograms. The landslide had a seismic trace equivalent to a M = 2.6 earthquake. Velocities and dynamics of the movement were simulated using DAN-W. The 2010 event is the third major landslide in the Capricorn Creek watershed since 1998 and the fifth large-scale mass flow in the Meager Creek watershed since 1930. No lives were lost in the event, but despite its relatively remote location direct costs of the 2010 landslide are estimated to be in the order of $10 M CAD.
Problems faced by women entrepreneurs in Kohat city of Khyber Pakhtunkhwa-Pakistan
Authors: Ullha Hafiz , Ahmad Zulqarnain Muhammad , Manzoor Sheikh Raheel , Hussain Murad , Farooq Muhammad Azam
Published: May 2012

The object of this study is to find out different problems faced by women entrepreneurs in Kohat city of Khyber Pakhtunkhwa-Pakistan. 30 questionnaires were distributed among respondents through simple random sampling method to collect information about female entrepreneurs working in different fields. Results are presented in pie chart form and interpreted through simple average method. Like most of the developing countries, women entrepreneurs in Pakistan and Kohat in particularly face gender base discrimination and suffer from the shortage and little access to resources. Lack of product market information, education and training, assistant from governmental agencies etc. having no encouragement from male family members, and improper networking mechanisms are further problems faced by women entrepreneurs.   Key Words: Women, entrepreneur, female entrepreneurship, Khyber Pakhtunkhwa, business problems.
Job involvement in Iranian Custom Affairs Organization: the Role of Organizational Justice and Job Characteristics
Authors: Ahmadi Freyedon
Published: May 2012

Job Involvement (JI) is defined as employee’s psychological identification with current job. Some researchers argue that JI is explained only by intrinsic variables. In contrast, others use organizational variables as drivers of JI. The purpose of Current research is to explain JI using simultaneously two important but ignored organizational drivers, as organizational justice (OJ) and job characteristics (JC). OJ is conceptualized by three dimensions as distributive, procedural, and interactional justice. Also, JC model is divided, as Henchman and Oldham (1976) suggested, into five dimensions as task variety, task identity, task significance, job autonomy, and feedback. The question is: do OJ and JC dimensions can explain and predict variance of JI? By selecting systematically random 140 employees from Iranian custom affairs organization (ICAO), standard questionnaire is sent in order to fill it based on self-report. Structural equation modeling approach results show that distributive and procedural justices, task variety task identity, autonomy, and feedback have significantly positive impacts on JI, but interactional justice and task significance do not. Some practical and theoretical suggestions and recommendations are presented at the end of report. Key words: job involvement, organizational justice, job characteristics, ICAO.
Human Resource Outsourcing in Times of Economic Turbulence – a Contemporary Review of Practice
Authors: Beregszaszi Judit , Polay Dieu Hack
Published: May 2012

This article reviews developments in human resource outsourcing (HRO) in recent years, particularly in light of the severe economic recession prevailing since 2007. It establishes that companies are increasingly outsourcing routine HR processes, and in some cases, critical HR processes in view to cut costs. The article takes the view that while such a strategy could be viable in the short term, its long-term strategic effectiveness is questionable. This view is founded on widely accepted assumptions that people are critical assets in organizations, thus, commanding that companies maintain a strong hold on vital employee commitment processes. Outsourcing may not be the only valid framework for the future; companies must consider alternatives.   Key words: Outsourcing; HRO; economic recession; cost saving; globalization; transaction cost.
The International Criminal Court Appeals Chamber: Prosecutor V. Francis Kirimi Muthaura, Uhuru Muigai Kenyatta and Mohammed Hussein Ali
Authors: Bates Elizabeth Stubbins
Published: May 2012

On August 30, 2011, a majority of the Appeals Chamber of the International Criminal Court (‘‘ICC’’) rejected the appeal of the Government of Kenya to the earlier admissibility decision of Pre-Trial Chamber II in the case of Prosecutor v. Francis Kirimi Muthaura, Uhuru Muigai Kenyatta and Mohammed Hussein Ali, one of two cases arising from the ICC’s investigations into crimes against humanity committed during the 2007 post-election violence in Kenya.
The Inter-American Commission on Human Rights: Jessica Lenahan (Gonzales) et al. v. United States
Authors: Senier Amy
Published: May 2012

On July 21, 2011, the Inter-American Commission on Human Rights (‘‘IACHR’’ or the ‘‘Commission’’) issued a landmark decision finding that the United States had breached its international legal obligations to exercise due diligence to protect women from domestic violence. The decision holds profound ramifications for states’ responsibility to protect individuals from harm imposed by private actors and to protect women and girl-children from domestic violence.
The Council of Europe Convention on Preventing and Combating Violence Against Women and Domestic Violence
Authors: Meyersfeld Bonita C.
Published: May 2012

The Council of Europe Convention on Preventing and Combating Violence against Women and Domestic Violence (‘‘Convention’’) joins a small number of treaties imposing specific obligations on member states to prevent and address violence against women. The Convention is notable both for its encapsulation of best practices in combating violence against women and for its confirmation that all forms of violence against women, including domestic violence, are human rights violations for which states are responsible.
The International Energy Forum Charter
Authors: Kamine Jorge
Published: May 2012

On February 22, 2011, the Energy Ministers and representatives of eighty-six countries, including energy producers, consumers, and transit countries, met in Riyadh, Saudi Arabia for an Extraordinary Ministerial Meeting of the International Energy Forum (‘‘IEF’’) where they approved and signed a new charter for the IEF (‘‘IEF Charter’’). The IEF Charter creates an ‘‘enhanced IEF framework to sustain and reinforce the commitment of producer and consumer states to the informal dialogue’’ promoted through the IEF process.
Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators Based on Singularity-Equivalent-Mechanism
Authors: Zhou Hui , Cao Yi , Li Baokun , Wu Meiping , Yu Jinghu , Chen Haiwei
Published: May 2012

This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6-Gough-Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6-Gough-Stewart manipulators according to the screw theory, a cubic polynomial expression in the moving platform position parameters that represents the position-singularity locus of the manipulator in a three-dimensional space is derived. Graphical representations of the position-singularity locus for different orientations are given so as to demonstrate the results. Based on the singularity kinematics principle, a novel method referred to as ‘singularity-equivalent-mechanism' is proposed, by which the complicated singularity analysis of the parallel manipulator is transformed into a simpler direct position analysis of the planar singularity-equivalent-mechanism. The property of the position-singularity locus of this class of parallel manipulators for general orientations in the principal-section, where the moving platform lies, is identified. It shows that the position-singularity loci of this class of 3/6-Gough-Stewart manipulators for general orientations in parallel principal-sections are all quadratic expressions, including a parabola, four pairs of intersecting lines and infinite hyperbolas. Finally, the properties of the position-singularity loci of this class of 3/6-Gough-Stewart parallel manipulators in a three-dimensional space for all orientations are presented.
Optimization of the Workpiece Location in a Machining Robotic Cell
Authors: Lopes António M. , Pires E.J. Solteiro
Published: May 2012

One important issue in a machining robotic cell is the location of the workpiece with respect to the robot. The feasibility of the task, the quality of the final work and the energy consumption, just to mention a few, are all dependent upon it. This can be formulated as an optimization problem where the objective functions are chosen in order to meet desired performance criteria. Typically, the complexity of the problems and the large number of optimization parameters that, usually, are involved, make the genetic algorithms an appropriate tool in this context. In this paper, two optimization problems are formulated: firstly, the power consumed by the manipulator is considered and the problem is solved using a single-objective genetic algorithm; then the stiffness of the manipulator is also included and the respective optimization problem is solved using a multi-objective genetic algorithm. Simulation results are presented for a parallel manipulator robotic cell.
Performance Analysis of Numerical Integration Methods in the Trajectory Tracking Application of Redundant Robot Manipulators
Authors: Sariyildiz Emre , Temeltas Hakan
Published: May 2012

Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Therefore, the performance of the trajectory tracking application of the robot manipulator is directly affected by the chosen numerical integration method. This paper compares the performances of numerical integration methods in the trajectory tracking application of redundant robot manipulators. Several widely used numerical integration methods are implemented into the trajectory tracking application of the 7-DOF redundant robot manipulator named PA-10 and simulation results are given.
Kinematic Calibration of Parallel Robots for Docking Mechanism Motion Simulation
Authors: Yu Dayong , Li Hongren , Chen Weifang
Published: May 2012

A new method for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking mechanism motion simulator. To implement this method, a calibration equation is built by generating the constraint conditions of the end-effector's motion in the workspace using a three-dimensional coordinate measuring machine. According to the established calibration equation and the simulation, the geometrical parameters of the parallel robot are identified. The effectiveness of the calibration method with a coordinate measuring machine is verified through random pose test experiment.
Accurate Numerical Methods for Computing 2D and 3D Robot Workspace
Authors: Cao Yi , Lu Ke , Li Xiujuan , Zang Yi
Published: May 2012

Exact computation of the shape and size of robot manipulator workspace is very important for its analysis and optimum design. First, the drawbacks of the previous methods based on Monte Carlo are pointed out in the paper, and then improved strategies are presented systematically. In order to obtain more accurate boundary points of two-dimensional (2D) robot workspace, the Beta distribution is adopted to generate random variables of robot joints. And then, the area of workspace is acquired by computing the area of the polygon what is a closed path by connecting the boundary points together. For comparing the errors of workspaces which are generated by the previous and the improved method from shape and size, one planar robot manipulator is taken as example. A spatial robot manipulator is used to illustrate that the methods can be used not only on planar robot manipulator, but also on the spatial. The optimal parameters are proposed in the paper to computer the shape and size of 2D and 3D workspace. Finally, we provided the computation time and discussed the generation of 3D workspace which is based on 3D reconstruction from the boundary points.
U-Model Based 2DoF Multi-Variable IMC for Improved Input-Disturbance Rejection: A Case Study on a 2-Link Robot Manipulator
Authors: Azhar Ali Syed Saad , AL-Sunni Fouad M. , Shafiq M.
Published: May 2012

A 2-degree-of-freedom internal model control strategy based on U-model is presented for an unknown multivariable nonlinear systems. The proposed algorithm focuses the case where the noise is added at the input of the system and makes use of a local disturbance rejector. The unknown multivariable nonlinear system is identified by the control oriented U-model and the inverse controller is established using Newton-Raphson method. The proposed algorithm is tested in real-time on a 2-link robot manipulator.
Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach
Authors: Liu Huashan , Hao Kuangrong , Lai Xiaobo
Published: May 2012

To deal with the problem of the output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed-loop control with only position measurements, linear and nonlinear filters are optionally involved to generate a pseudo signal to surrogate the actual velocity tracking error. As a third contribution, a fuzzy regulator is added to obtain a self-tuning performance in tackling the disturbances. Moreover, an explicit but strict stability proof of the system based on the stability theory of singularly perturbed systems is presented. Finally, numerical simulations on several sample controllers are implemented to verify the effectiveness of the proposed approach.
Kinematic Characteristics of 3-UPU Parallel Manipulator in Singularity and Its Application
Authors: Binbin Peng , Zengming Li , Kai Wu , Yu Sun
Published: May 2012

Abstract This paper focuses on the kinematic characteristics of the 3-UPU (universal-prismatic-universal) parallel manipulator in one of singular configurations. The motion of the moving platform is analyzed by changing the layout of the universal joints. A layout of universal joints in the singular configuration is discussed in detail by deriving the kinematic and constraint equations. Solving the equations, the kinematic characteristics in such case is obtained. At the same time the kinematic characteristics is simulated by the commercial software and the results of the simulation verify it. Based on the kinematics characteristics of it, the application of the singular configuration is presented. And a compound limb which can translate freely along a circular path is presented. Finally, the some new 2-DOF (degree of freedom) planar parallel translating manipulators whose orientation can remain constant are put forward by the compound limb. The passive joints of the new 2-DOF planar parallel translating manipulators are universal joint and the struts of it do not bear the bending moment. It gives the planar parallel manipulator a good architecture to resist the force which is perpendicular to the kinematics plane.
Impedance Controller Tuned by Particle Swarm Optimization for Robotic Arms
Authors: Mehdi Haifa , Boubaker Olfa
Published: May 2012

This paper presents an efficient and fast method for fine tuning the controller parameters of robot manipulators in constrained motion. The stability of the robotic system is proved using a Lyapunov-based impedance approach whereas the optimal design of the controller parameters are tuned, in offline, by a Particle Swarm Optimization (PSO) algorithm. For designing the PSO method, different index performances are considered in both joint and Cartesian spaces. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the performances of the proposed approach. The simulation results show the stability and the performances of the proposed approach.
A Comparative Study of Three Inverse Kinematic Methods of Serial Industrial Robot Manipulators in the Screw Theory Framework
Authors: Sariyildiz Emre , Cakiray Eray , Temeltas Hakan
Published: May 2012

In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual-quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need less storage area. The method which is based on dual-quaternion gives the most compact and computationally efficient solution. Paden-Kahan sub-problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods. Simulation and experimental results are given.
Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network
Authors: Kim Yoon-Gu , An Jinung , Lee Ki-Dong
Published: May 2012

In this paper, we propose a robust and real-time localization method for dynamic environments based on a sensor network; the method combines landmark image information obtained from an ordinary camera and distance information obtained from sensor nodes in an indoor environment. The sensor network provides an effective method for a mobile robot to adapt to changes and guides it across a geographical network area. To enhance the performance, we used a charge-coupled device (CCD) camera and artificial landmarks for self-localization. Experimental results showed that global localization can be achieved with high robustness and accuracy using the proposed localization method.
Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers
Authors: Huang Jian , Hori Takayuki , Toyoda Nozomi , Yabuta Tetsuro
Published: May 2012

In the previous studies, admittance control and impedance control for a finger-arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3-DOF fingers are attached to the end-effector of a 6-DOF arm to configure a multi-finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi-finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini-max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi-finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.
Docking Design of Self-Reconfigurable Robot
Authors: Fei Yanqiong
Published: May 2012

Docking design of self-reconfigurable robots is studied. Firstly, the self-reconfigurable robot is presented. Its basic module is designed, which is composed of a central cube and six rotary arms. Then, the novel docking mechanism of each module is designed. It is critical for the self-reconfigurable robot to discard any faulty modules for the self-repairing actions. The docking process is analyzed with the geometric method. The docking forces between two modules are described with the static equilibrium condition and the small motion's method. It shows that the reliability of the connection will be increased when the module's weight G is increased. It is important to finish the docking action in the self-reconfigurable robot. At last, a simulation of six-module and an experiment of three-module show that the modules can finish the docking process effectively.
Quad-Rotor Unmanned Aerial Vehicle Helicopter Modelling & Control
Authors: Naidoo Yogianandh , Stopforth Riaan , Bright Glen
Published: May 2012

This paper presents the investigation of the modelling and control of a quad-rotor helicopter and forms part of research involving the development of an unmanned aerial vehicle (UAV) to be used in search and rescue applications. Quad-rotor helicopters consist of two pairs of counter rotating rotors situated at the ends of a cross, symmetric about the centre of gravity, which coincides with the origin of the reference system used. These rotors provide the predominant aerodynamic forces which act on the rotorcraft, and are modelled using momentum theory as well as blade element theory. From this, one can determine the expected payload capacity and lift performance of the rotorcraft. The Euler-Lagrange method has been used to derive the defining equations of motion of the six degree-of-freedom system. The Lagrangian was obtained by modelling the kinetic and potential energy of the system and the external forces obtained from the aerodynamic analysis. Based on this model, a control strategy was developed using linear PD controllers. A numerical simulation was then conducted using MATLAB® Simulink®. First, the derived model was simulated to investigate the behaviour of the rotorcraft, and then a second investigation was conducted to determine the effectiveness of the implemented control system. The results and findings of these investigations are then presented and discussed.
Neural Network Control for the Linear Motion of a Spherical Mobile Robot
Authors: Cai Yao , Zhan Qiang , Xi Xi
Published: May 2012

This paper discusses the stabilization and position tracking control of the linear motion of an underactuated spherical robot. Including the actuator dynamics, the complete dynamic model of the robot is deduced, which is a third order, two-variable nonlinear differential system that holds underactuation, strong coupling characteristics brought by the mechanism structure of the robot. Different from traditional treatments no linearization is applied, whereas a single-input multiple-output PID (SIMO_PID) controller is proposed with a neural network controller to compensate the actuator nonlinearity. A six-input single-output CMAC_GBF (Cerebellar Model Articulation Controller with General Basis Function) neural network is employed, while the Credit Assignment (CA) learning method is adopted to obtain faster convergence rate than the classical backpropagation (BP) learning method. The proposed controller can be generalizable to other single-input multiple-output system with good real-time capability. MATLAB simulations are used to validate the control effects.
An Investigation of Education and Research Management for Tertiary Academic Institutions
Authors: Habib Md. Mamun , Pathik Bishwajit Banik
Published: May 2012

This exploratory study addresses the education management and research management as the major constituents of the educational management for the tertiary academic institutions. The study revealed four main activities; includes education development, education assessment, research development, and research assessment; in the educational management for the Universities. Four aspects of each main activity, namely Programs Establishment, University Culture, Faculty Capabilities, and Facilities were investigated at three decision levels. The proposed model was developed based on the secondary data, i.e. analysis of literature, and primary data, i.e. interviews with stakeholders of tertiary academic institutions. Model structures were defined and confirmed by 493 respondents, representing University administrators of leading tertiary educational institutions around the world, faculty and staffs, employers, and graduates. The resulting model was subsequently evaluated for accuracy and validity by multiple linear regression (MLR) analysis and the structural equation modeling (SEM) technique. The conceptual model and research equations provides a novel approach for prospective investors or current administrators of the tertiary academic institutions to review and appraise their performance toward fulfillment of ultimate goals, i.e. producing high-competent graduates and significant research outcomes for the well-being of the society.
Modelling and Risk Management in the Offshore and Marine Industry Supply Chain
Authors: Liew K.C. , Lee C.K.M.
Published: May 2012

Supply chain risk management is primarily a process that involves the identification, assessment and mitigation of risks that arise in a particular supply chain system. Pertaining to that, the offshore and marine industry is one of the many industries that have seldom received much consideration when it comes to management of the supply chain system. The rig building facet of the offshore and marine industry was thus chosen as the main focus of the project to manage the risks that arise in a particular oil rig building project. A risk mitigation plan framework was proposed to act as a guideline to identify as much risk as possible, eliminate trivial ones, and subsequently, prioritizing the remaining ones. The final step involves the formulation of a mathematical model based on the selected risk. In this case, the risk of raw material price fluctuation is studied. The demonstration of the Monte Carlo simulation using the Risk Solver program was also done to quantify the risks. Two case scenarios were then developed along with the implementation of risk management techniques in order to observe the effectiveness of the risk management of the overall rig building supply chain.
Preparation and Characterization of Raspberry-like SiO2 Particles by the Sol-Gel Method
Authors: Gui-Long Xu , Changyun Deng , Yun Liang , Pi-Hui Pi , Jian Hu , Zhuoru Yang
Published: May 2012

Raspberry-like SiO2 particles with a nano-micro-binary structure were prepared by a simple sol-gel method using tetraethoxysilane (TEOS) and methyltriethoxysilane (MTES) as precursors. The chemical components and morphology of the SiO2 particles were characterized by Fourier transform infrared spectroscopy (FT-IR) and a Transmission electron microscope (TEM). The surface topography and wetting behaviour of the raspberry-like SiO2 surface were observed with a Scanning electron microscope (SEM) and studied by the water/oil contact angle (CA), respectively. The thermal stability of the prepared SiO2 particles was characterized by TGA analysis. The results show that the highly dispersed SiO2 particles initially prepared by the sol-gel method turn into raspberry-like particles with during the aging process. The raspberry-like SiO2 particles show superhydrophobicity and superoleophilicity across a wide range of pH values. The SiO2 particles were thermally stable up to 475°C, while above this temperature the hydrophobicity decreases and finally becomes superhydrophobic when the temperature reaches 600°C. The raspberry-like SiO2 particles which were prepared have potential applications in the fields of superhydrophobic surfaces, water-oil separation, anti-corrosion and fluid transportation.
A Study on Intelligent System Design of U-Business Service by Using Ubiquitous Component Technologies
Authors: Chang Hangbae
Published: May 2012

The u-Business service is prevailed trend due to rapid development of telecommunication technology and the growth of ubiquitous computing environments. However, since the majority of u-Business service cases such as home network service, location-based service have not been focused on user requirements, and deduced business services and built systems considering only technical issues, there may be a possibility to be an obstacle for spreading advanced future u-Business services. Therefore, this study investigated user requirements to model the u-Bookstore business service as a killer service of u-Businesses and designed a system for a large bookstore. By exploiting various ways to deduce u-Service's requirements needed in the future-enabled ubiquitous computing business environments and proposing directions to implement them. This study result is anticipated to suggest validity for developing ubiquitous computing technologies, and it is expected to utilize as fundamental data for spreading u-Business.
Effects of hearing aids in the balance, quality of life and fear to fall in elderly people with sensorineural hearing loss
Authors: Lacerda Clara Fonseca , Silva Luciana Oliveira e , de Tavares Canto Roberto Sérgio , Cheik Nadia Carla
Published: May 2012

Introduction: The aging process provokes structural modifications and functional to it greets, compromising the postural control and central processing. Studies have boarded the necessity to identify to the harmful factors of risk to aged the auditory health and security in stricken aged by auditory deficits and with alterations of balance.

Objective: To evaluate the effect of auditory prosthesis in the quality of life, the balance and the fear of fall in aged with bilateral auditory loss.

Method: Carried through clinical and experimental study with 56 aged ones with sensorineural auditory loss, submitted to the use of auditory prosthesis of individual sonorous amplification (AASI). The aged ones had answered to the questionnaires of quality of life Short Form Health Survey (SF-36), Falls Efficacy International Scale- (FES-I) and the test of Berg Balance Scale (BBS). After 4 months, the aged ones that they adapted to the use of the AASI had been reevaluated.

Results: It had 50% of adaptation of the aged ones to the AASI. It was observed that the masculine sex had greater difficulty in adapting to the auditory device and that the variable age, degree of loss, presence of humming and vertigo had not intervened with the adaptation to auditory prosthesis. It had improvement of the quality of life in the dominance of the State General Health (EGS) and Functional Capacity (CF) and of the humming, as well as the increase of the auto-confidence after adaptation of auditory prosthesis.

Conclusion: The use of auditory prosthesis provided the improvement of the domains of the quality of life, what it reflected consequently in one better auto-confidence and in the long run in the reduction of the fear of fall in aged with sensorineural auditory loss.
Multifrequency tympanometry in infants
Authors: Macedo Camila de Cássia , Feniman Mariza Ribeiro , de Moraes Tamyne Ferreira Duarte
Published: May 2012

Introduction: The use of conventional tympanometry is not sufficiently sensitive to detect all cases of middle ear changes, and this hinders accurate diagnosis.

Objective: To characterize acoustic immittance measures of infants from 0 to 3 months of age using multifrequency tympanometry in a prospective study.

Method: 54 infants from 0 to 3 months of age were evaluated. The inclusion criteria included absence of respiratory infections during the evaluation, presence of transient evoked otoacoustic emissions, and absence of risk indicators for hearing loss. The subjects were evaluated by an audiologic interview, a visual inspection of the ear canal, and measures of acoustic immittance at the frequencies of 226 Hz, 678 Hz, and 1,000 Hz. Tympanometric records of the occlusion effect, tympanometric curve type, tympanometric peak pressure, equivalent ear canal volume, and peak compensated static acoustic admittance were collected.

Results: The results indicated the presence of an occlusion effect (2.88% at 226 Hz, 4.81% at 678 Hz and 3.85% at 1,000 Hz), predominance of a tympanometric curve with a single peak (65.35% at 226 Hz, 81.82% at 678 Hz, and 77.00% at 1,000 Hz), and tympanometric peak pressure ranging from -155 to 180 daPa. Further, the equivalent ear canal volume increased with the frequency of the probe (0.64 mL at 226 Hz, 1.63 mho at 678 Hz, and 2.59 mmho at 1,000 Hz) and the peak compensated static acoustic admittance values increased with an increase in frequency (0.51 mL at 226 Hz, 0.55 mmho at 678 Hz and 1.20 mmho at 1,000 Hz). 93.06% of the tympanograms were classified as normal at 226 Hz, 81.82% at 678 Hz, and 77.00 % at 1,000 Hz, respectively.

Conclusion: Taken together, these results demonstrated that utilizing these evaluations made it possible to characterize the acoustic immittance measures of infants.
Treatment of retroauricular keloids: Revision of cases treated at the ENT service of HC/UFPR
Authors: Ballin Annelyse Cristine , Becker Renata Vecentin , Ribeiro Talita Beithum , Cavichiolo Juliana Benthien , Ballin Carlos Roberto , Mocellin Marcos , Carvalho Bettina
Published: May 2012

Introduction: Keloids are benign tumors arising from abnormal healing of the skin, and there are several procedures available for their treatment.

Objective: The objective of this study was to evaluate the outcomes of patients undergoing treatment of keloids after ear, nose, and throat (ENT) surgeries at our service center.

Method: We conducted thorough, retrospective and prospective analysis of records of patients undergoing treatment of retroauricular keloids at our center.

Results: Nine patients were evaluated, and 6 underwent resection and adjuvant beta-therapy, 2 underwent resection with local application of corticosteroids, and only 1 underwent resection without adjuvant therapy. There was no recurrence of keloids in patients that were treated with beta-therapy in the early postoperative period. One patient had relapsed despite corticosteroid administration and late beta-therapy.

Discussion: Several techniques have been used for the treatment of retroauricular keloids, and beta-therapy is thought to yield the best results, followed by the use of intralesional corticosteroids.

Conclusion: Treatment of retroauricular keloids remains a challenge. While new techniques are being developed, resection followed by early beta-therapy is still the best treatment option.