Periodicals of Engineering and Natural Sciences (PEN - International University of Sarajevo)
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Eye in hand robot arm based automated object grasping system
Get PDFThe modern robotic systems state that the tracking methodology and the visual servoing are imperative to discover the existence of an object and excite the robot in order to manipulate the target. This paper shows a new object tracking and grasping technique in real time based on Eye in Hand visual servoing structure via a camera mounted at the end of the robot arm. The working principle of the robotic system depends mainly on the prediction based on Kalman filter method that estimates the next location of a moving object in order to specify the path of the target under the scope of the camera. Hereby, the proposed system observes the object and studies its behavior based on the pervious state in order to grasp the target at the exact position. Furthermore, the vision system implements feedback control approach to keep the extracted information of the object updated to solve the stability and the reliability issues that might be encountered. It has to be mentioned that the proposed robotic system was tested by grasping moving objects in different speeds and directions. In addition, the grasping of a stationary object was tested to confirm the practical and the theoretical results. As a final result, it can be stated that the speed of the object is directly proportional with the grasping time and vice versa
Rapidly-implementable optimizely-sizable fuzzy controller architectures: A performance analysis for semiconductor packaging two axes table
Get PDFThe tendency of miniaturizing semiconductor products towards nano-size transistor in integrated chips has motivated this work on the semiconductor package. Consequently, Four Fuzzy PID controller architectures based on type 2 FLC are developed; the Interval Type-2 Fuzzy Logic PID, IT2FLC PID MOALO-based, IT2FLC PI-PD, and IT2FLC PI-PD MOALO controllers. These architectures are improved to overcome the inherent nonlinearity in X-Y table models and capacitate the uncertainties of the parameters and the disturbances. Both controllers are designed to improve the desired position specification at minimum settling time (Ts), rise time (Tr), overshoot through minimization of oscillation and friction rejection during tracking the desired position trajectory. The ant lion optimization (ALO) algorithm has been efficiently solved optimization problems with minimum parameters and execution time. Hence, Multi-Objective Ant Lion Optimizer (MOALO) has been implemented to size the gains of the proposed controllers to get the desired position trajectory according to the required specification. A comparison with a related existing work shows minimal numerical values of improved transient specification response of Tr, Mp% and Ts for the MOALO- Based developed IT2 FLC PID and IT2 FLC PI-PD architectures. Observation of a higher Maximum Percentage of Enhancement settling time is noticed in both axes within the IT2FLC PI-PD architecture. Accordingly, transient performances of the four architectures have been significantly improved. The improvement is noticeable within the response of IT2FLC PI-PD architecture. The Maximum Percentage of Enhancement in the X-axis and Y-axis has been improved more than eight-fold and six-fold respectively using IT2FLC PI-PD architecture
Innovation networks effects simulation models
Get PDFIn current conditions it becomes necessary to develop guidelines for development of the national innovation systems and assessing their role in sustainable national socio-economic development. In the conditions innovation development strategies should be focused on ensuring the competitiveness of economic entities, which can be done through innovation networks. The study enhances academic understanding of the factors of innovation transformation based on innovation networks, designed to ensure the involvement of large number of agents to contribute to the implementation of structural changes. In this paper authors analyze the main indicators of innovation networks impact and investigate the main aspects of innovation networks effects simulation. The hypothesis of the study deals with the assumption that the innovation development of the economic system at the present stage, in addition to stimulating the innovative activity of existing entities, deals with the formation of network structures. This research addresses the indicators for networks modeling by developing and testing a series of points indicating how networks affect economic growth. The foregoing discussion has attempted to innovation networks innovation potential assessing methodology based on indicators of the quantitative composition and dynamics of innovation potential to substantiate the viability of this organizational form in developing sectoral policies and technological priorities has been developed. The developed economic and mathematical model of innovation management network leads us to the conclusion that allows predict changes and form a targeted impact on factors when creating new intersectoral structures in order to increase the volume of innovation products
Organized Derivatives Market and Economical Growth: Relationship and Impact
Get PDFDerivatives have become common instruments for a wide range of users, including financial institutions, companies that manage assets, corporations, hedge funds. These instruments allow for speculative, arbitrage and hedging operations, which defines them as useful instruments to stimulate the growth of the efficiency of financial markets and the real economy. In this article based on 21 macroeconomic and financial indexes of the USA by test of Granger’s relation of cause and effect have been investigated influences of the exchange market of derivatives on indicators of economic growth of the USA. In this article is used a large amount of statistical data of time series and variables of macroeconomic and financial indices. The results of a research have confirmed positive correlation and causality of indicators of economic growth from use of exchange derivatives in real economy. It is received for the studied period of 2000-2015 proofs that the exchange market of derivatives of the USA positively influences the economic. The results obtained during the study can be used to substantiate the necessary measures aimed on the development of the derivatives market in Ukraine
Testing the hypothesis that variations in atmospheric water vapour are the main cause of fluctuations in global temperature
Get PDFA hypothesis that the increasing application of both surface and ground water for irrigation of crops is a significant source of anthropogenic global warming is tested. In climate models, water is already assigned a major secondary amplifying role in warming, solely as a positive feedback from an atmosphere previously warmed by other GHGs. However, this conclusion ignores the direct anthropogenic forcing from increasing use of water in dry regions to grow crops for the human population. The area irrigated worldwide increased by around 1.5% annually between 1960 and 2000, almost trebling in magnitude. Importantly, though only a small proportion of the Earth’s surface, this additional water vapour is dynamically focussed on dry land, intensifying its potential to elevate the troposphere and reduce the regional OLR. Our modelling analysis suggests that the increase in atmospheric water vapour from irrigation could be significantly more than 1% by 2050 compared to 1950, imposing a global forcing exceeding 1.0 W/m2. Fortunately, this hypothesis can be tested, for example, using the satellite data on OLR acquired since the 1970s, relating this to local trends of increasing irrigation or major floods in arid regions. If found consistent with the data, current proposals to mitigate climate change by limiting combustion of fossil fuels may prove less effective. This prediction regarding the warming effect of increasing irrigation is tested using NCAR reanalysis data made possible by the natural experiments of the periodic flooding of Lake Eyre in Australia\u27s semi-arid interior. It is recommended that this hypothesis be tested using data from local studies in irrigated regions such as changes in outgoing longwave radiation and in increased absorption of incoming shortwave radiation in air. 
The new hand geometry system and automatic identification
Get PDFFor the past decades an extensive amount of time and effort has been consumed for the research and development of biometric-based recognition systems. One such system is the one that can recognize based on hand geometry. The objective of this thesis is to explore the usage of hand geometry for developing a hand geometry recognition system. This paper proposes a system performing automatic recognition without the use of specific hardware. The system emphases on executing feature extractions from a typical database and then developing a neural network classifier based on back-propagation architectures with various exercise methods. Features are dug out by the use of morphological (segmentation) operation. Our Experiments were carried out on 500 images (50 persons, 10 images each) under distinctive conditions with possible deliberation of scaling, Translation, Rotation, Color and Illumination modification. The accurate recognition rate is about 96.41 % for the matching of artificial neural network which is calculated by the formula average of sum of errors divided over the number of images
Prediction of dust storms in construction projects using intelligent artificial neural network technology
Get PDFSandstorms (dust storms) are considered the most events which cause destructive and costly damages in lots of desert regions. These sandstorms may be a reason of huge disasters or damages on environmental as well as health aspects. The aim of this paper is to develop a mathematical model for predicting the Dust Storm in Republic of Iraq using Artificial Neural Network (ANN) technique. As a case study, four construction projects in Iraqi cities were selected (Baghdad, Basrah, Samawa, and Nasiriya) in order to identifying and prediction of the sandstorms, which significantly help to reduce the effects of damages. Only one ANN model was built to predict a dust storm. The datas of this model cited from Iraqi Meteorological Organization and Seismology. Four factors were adapted to develop the model (Max. Temperature, Min. Temperature, Rain and Wind), It was found that ANN has the ability to predict the dust storm with a high accuracys off the correlation coefficient (R) which is 90.00%, with a percentage of average accuracy is 89%
Reinforced concrete confinement coefficient estimation using soft computing models
Get PDFInfrastructure vulnerability toward seismic lateral loading within high seismicity has received massive attention by structural engineers and designers. This is for the purpose to provide a reliable alternative material that strengthening the bending and shear of slabs, columns and reinforced concrete (RC). Despite the utilized approaches of strengthening the concrete structure based on fiber reinforced polymers (FRP) is considerably new technique, exploring more reliable and robust methodologies is the motive of scholars for better structural behaviour understanding. In the current research, two soft computing models called artificial neural network (ANN) and support vector regression (SVR) are applied to predict lateral confinement coefficient (Ks). The models are developed based on gathered dataset from open source researches for the lateral confinement coefficient of columns wrapped with carbon FRP (CFRP) and their corresponding parameters including column width, length and thickness (b, h and t mm), column radius (r mm), compressive strength of concrete ( ) and elastic modulus (EFRP). Results indicated the superiority of the ANN model for predicting Ks over the SVR model. The application of the soft computing showed an optimistic approach for the structural lateral confinement coefficient determination
Detection of some virulence factors of Salmonella typhi isolated from patients\u27 blood by PCR and Phylogenetic tree
Get PDFTyphoid fever is brought about by Salmonella enterice serovar typhi, which is a significant general medical issue in many developing nations. The severity the pathogenesis depends on Salmonellaʼs possession of cytolethal distending toxin (CDT) and virulence factors such as fimbriae adhesions, which are important in the adherence, invasion and the development of typhoid fever, was as diagnosed serologically as well as diagnosis of Salmonella typhi causing these fever based on phenotypic and cultural characteristics. Therefore, the coding genes of CdtB protein and fimbriae were detected in molecular methods by PCR technique using special primers. while, the fim gene was 84.21% and CdtB gene was 100%. DNA sequencing was performed and this confirms the isolation obtained in our study. In addition, the phylogenetic tree was analyzed and registered at the gene bank site, where the sequence identity rate fim gene 99.26%, while sequence identity rate for CdtB gene was 99.31%
The philosophy of the workplace spirituality in the third millennium organizations: A field study at the ministry of health center
Get PDFPurpose: The research aims to build an integrated knowledge framework for the basic research topic. The spirituality of the workplace is through access to the most important scientific proposals on these topics. In management thought framing, the knowledge within them in a serious attempt is to provide the appropriate answers about the intellectual dilemma of research by diagnosing the nature of the relationship with the influential elements and its historical development.
Methodology: The study is relied on the analytical survey method. The research sample targeted (88) managers in the center of the Iraqi Ministry of Health exclusively from the researched senior leaders (general manager, assistant general manager, and head of department), and the main tool for research was represented by relying on solid international standards. The research variable has been adapted to the needs of the Iraqi environment. Hypotheses and data analysis have been tested using the appropriate statistical tools (arithmetic mean, standard deviation, differential coefficient and confirmatory factor analysis)
Theoretical results: The research results are formulated according to the process of intellectual reasoning and philosophical variables. Workplace spirituality in its broad sense encompasses a multidimensional concept linked to hope, desires, thinking patterns, emotions, feelings and behaviors. They are critical element in organizations\u27 interactions with employees, customers and the community individuals were able to integrate into their careers and enhance their job satisfaction.
Practical Results: The results of the statistical analysis showed the weak interest of the Ministry of Health in the spirituality of the workplace, as a result of the Ministry’s focus on routine official aspects and neglecting the spiritual aspects, feelings, and feelings of workers, which generally affected the organizational climate of the ministry. This leads to lost element of spiritual interaction that is mostly needed for ministry’s work for spirituality in the workplace.
Originality/ Value: Focusing on the emotional and spiritual aspect of the employees has presented in this study. Technological developments have adversely affected social communication between employees, and the sense of isolation has increased. This has adversely affected performance and creativity at work. So, it is necessary to increase the actual attention of spiritual reality in the workplace. This has evidenced by the fact that some organizations have begun to set up special sections dealing with the spirituality of the workplace as the case within the American Academy, the spirituality of management and the religious interests group (MSR Group) to address specific spiritual issues