Development of personal area network (PAN) for mobile robot using bluetooth transceiver

The work presents the concept of providing a Personal Area Network (PAN) for microcontroller based mobile robots using Bluetooth transceiver. With the concept of replacing cable, low cost, low power consumption and communication range between 10m to 100m, Bluetooth is suitable for communication between mobile robots since most mobile robots are powered by batteries and have high mobility. The network aimed to support real-time control of up to two mobile robots from a master mobile robot through communication using Bluetooth transceiver. If a fast network radio link is implemented, a whole new world of possibilities is opened in the research of robotics control and Artificial Intelligence (AI) research works, sending real time image and information. Robots could communicate through obstacles or even through walls. Bluetooth Ad Hoc topology provides a simple communication between devices in close by forming PAN. A system contained of both hardware and software is designed to enable the robots to form a PAN and communicating, sharing information. Three microcontroller based mobile robots are built for this research work. Bluetooth Protocol Stack and mobile robot control architecture is implemented on a single microcontroller chip. The PAN enabled a few mobile robots to communicate with each other to complete a given task. The wireless communication between mobile robots is reliable based from the result of experiments carried out. Thus this is a platform for multi mobile robots system and Ad Hoc networking system. Results from experiments show that microcontroller based mobile robots can easily form a Bluetooth PAN and communicate with each other

Recycling of solvent used in a solvent extraction of petroleum hydrocarbons contaminated soil.

The application of water washing technology for recycling an organic composite solvent consisting of hexane and pentane (4:1; TU-A solvent) was investigated for extracting total petroleum hydrocarbons (TPH) from contaminated soil. The effects of water volume, water temperature, washing time and initial concentration of solvent were evaluated using orthogonal experiments followed by single factor experiments. Our results showed that the water volume was a statistically significant factor influencing greatly the water washing efficiency. Although less important, the other three factors have all increased the efficacy of water washing treatment. Based on a treatment of 20g of contaminated soil with a TPH concentration of 140mgg(-1), optimal conditions were found to be at 40°C, 100mL water, 5min washing time and 660mgg(-1) solvent. Semi-continuous water extraction method showed that the concentration of the composite solvent TU-A was reduced below 15mgg(-1) d.w. soil with a recovery extraction efficiency >97%. This finding suggests that water washing is a promising technology for recycling solvent used in TPH extraction from contaminated soil

Time Dependent Saddle Node Bifurcation: Breaking Time and the Point of No Return in a Non-Autonomous Model of Critical Transitions

There is a growing awareness that catastrophic phenomena in biology and medicine can be mathematically represented in terms of saddle-node bifurcations. In particular, the term `tipping', or critical transition has in recent years entered the discourse of the general public in relation to ecology, medicine, and public health. The saddle-node bifurcation and its associated theory of catastrophe as put forth by Thom and Zeeman has seen applications in a wide range of fields including molecular biophysics, mesoscopic physics, and climate science. In this paper, we investigate a simple model of a non-autonomous system with a time-dependent parameter $p(\tau)$ and its corresponding `dynamic' (time-dependent) saddle-node bifurcation by the modern theory of non-autonomous dynamical systems. We show that the actual point of no return for a system undergoing tipping can be significantly delayed in comparison to the {\em breaking time} $\hat{\tau}$ at which the corresponding autonomous system with a time-independent parameter $p_{a}= p(\hat{\tau})$ undergoes a bifurcation. A dimensionless parameter $\alpha=\lambda p_0^3V^{-2}$ is introduced, in which $\lambda$ is the curvature of the autonomous saddle-node bifurcation according to parameter $p(\tau)$, which has an initial value of $p_{0}$ and a constant rate of change $V$. We find that the breaking time $\hat{\tau}$ is always less than the actual point of no return $\tau^*$ after which the critical transition is irreversible; specifically, the relation $\tau^*-\hat{\tau}\simeq 2.338(\lambda V)^{-\frac{1}{3}}$ is analytically obtained. For a system with a small $\lambda V$, there exists a significant window of opportunity $(\hat{\tau},\tau^*)$ during which rapid reversal of the environment can save the system from catastrophe

Influence and interactions of multi-factors on the bioavailability of PAHs in compost amended contaminated soils

Compost amendment to contaminated soils is a potential approach for waste recycling and soil remediation. The relative importance and interactions of multiple factors on PAH bioavailability in soils were investigated using conjoint analysis and five-way analysis of variance. Results indicated that soil type and contact time were the two most significant factors influencing the PAH bioavailability in amended soils. The other two factors (compost type and ratio of compost addition) were less important but their interactions with other factors were significant. Specifically the 4-factor interactions showed that compost addition stimulated the degradation of high molecular PAHs at the initial stage (3 month) by enhancing the competitive sorption within PAH groups. Such findings suggest that a realistic decision-making towards hydrocarbon bioavailability assessment should consider interactions among various factors. Further to this, this study demonstrated that compost amendment can enhance the removal of recalcitrant hydrocarbons such as PAHs in contaminated soils

The neural basis of responsibility attribution in decision-making

Social responsibility links personal behavior with societal expectations and plays a key role in affecting an agent's emotional state following a decision. However, the neural basis of responsibility attribution remains unclear. In two previous event-related brain potential (ERP) studies we found that personal responsibility modulated outcome evaluation in gambling tasks. Here we conducted a functional magnetic resonance imaging (fMRI) study to identify particular brain regions that mediate responsibility attribution. In a context involving team cooperation, participants completed a task with their teammates and on each trial received feedback about team success and individual success sequentially. We found that brain activity differed between conditions involving team success vs. team failure. Further, different brain regions were associated with reinforcement of behavior by social praise vs. monetary reward. Specifically, right temporoparietal junction (RTPJ) was associated with social pride whereas dorsal striatum and dorsal anterior cingulate cortex (ACC) were related to reinforcement of behaviors leading to personal gain. The present study provides evidence that the RTPJ is an important region for determining whether self-generated behaviors are deserving of praise in a social context

Understanding women managers’ competence acquisition

This study investigates the process of competence acquisition of women managers in Malaysia. Even though women form a huge pool of talent at the workplace, they are underrepresented at the upper management levels. Therefore, it is critical to understand how women in management acquire competence at work since the lack of understanding of acquisition process hinders women managers’ competency development. The research employed qualitative multiple-case studies using grounded theory approach against the backdrop of feminist principles. Data were gathered using semi-structured in-depth interviews by incorporating critical incidents and behavioural events techniques, followed by written exercises at the end of the interviews. Fifteen women managers from three work sectors namely, the public sector, private sector and government-linked companies were interviewed. Subsequently the data were analysed using grounded theory approach to identify the broad themes. A key finding is that women managers acquire competence using various informal learning strategies and the process of competence acquisition is affected by individual differences, local social context, organisational culture, work-life balance, coping strategies as well as leadership and management styles. The differences and variations in the individual understanding of competence were also discovered. Competence is understood as the dynamic and contextually-bounded holistic capabilities comprising versatile knowledge, management of extraordinaire skills and positive behavioural traits which enable a person to deliver effective performance. Theoretically, the research contributes towards the development of two models of competence acquisition. Practically, the research highlights the competence content of successful women managers that further provides insight into how competence is acquired at the workplace. These are imperative to improve the performance of a woman manager. Methodologically, the research illustrates the effective combination of grounded theory and feminist underlying principles within the context of multiple-case studies of women managers from different work sectors. Recommendations for future research are identified namely, to conduct comparative studies of women managers’ competence acquisition process of different nations and investigate the contextual factors’ influences on competence acquisition using quantitative approach

Processes on the emergent landscapes of biochemical reaction networks and heterogeneous cell population dynamics: differentiation in living matters.

The notion of an attractor has been widely employed in thinking about the nonlinear dynamics of organisms and biological phenomena as systems and as processes. The notion of a landscape with valleys and mountains encoding multiple attractors, however, has a rigorous foundation only for closed, thermodynamically non-driven, chemical systems, such as a protein. Recent advances in the theory of nonlinear stochastic dynamical systems and its applications to mesoscopic reaction networks, one reaction at a time, have provided a new basis for a landscape of open, driven biochemical reaction systems under sustained chemostat. The theory is equally applicable not only to intracellular dynamics of biochemical regulatory networks within an individual cell but also to tissue dynamics of heterogeneous interacting cell populations. The landscape for an individual cell, applicable to a population of isogenic non-interacting cells under the same environmental conditions, is defined on the counting space of intracellular chemical composition

{μ-6,6′-Dimeth­oxy-2,2′-[ethane-1,2-diylbis(nitrilo­methyl­idyne)]diphenolato}-μ-nitrato-dinitratoholmium(III)zinc(II)

In the title heteronuclear ZnII–HoIII complex (systematic name: {μ-6,6′-dimeth­oxy-2,2′-[ethane-1,2-diylbis(nitrilo­methyl­idyne)]diphenolato-1κ4 O 1,O 1′,O 6,O 6′:2κ4 O 1,N,N′,O 1′)-μ-nitrato-1:2κ2 O:O′-dinitrato-1κ4 O,O′-holmium(III)zinc(II)), [HoZn(C18H18N2O4)(NO3)3], with the hexa­dentate Schiff base compartmental ligand N,N′-bis­(3-methoxy­salicyl­idene)ethyl­enediamine (H2 L), the Ho and Zn atoms are triply bridged by two phenolate O atoms of the Schiff base ligand and one nitrate ion. The five-coordinate Zn atom is in a square-pyramidal geometry with the donor centers of two imine N atoms, two phenolate O atoms and one of the bridging nitrate O atoms. The HoIII center has a ninefold coordination environment of O atoms, involving the phenolate O atoms, two meth­oxy O atoms, two O atoms from two nitrate ions and one from the bridging nitrate ion. Weak inter­molecular C—H⋯O inter­actions generate a two-dimensional double-layer structure

Systematic Digitized Treatment of Engineering Line-Diagrams

YesIn engineering design, there are many functional relationships which are difficult to express into a simple and exact mathematical formula. Instead they are documented within a form of line graphs (or plot charts or curve diagrams) in engineering handbooks or text books. Because the information in such a form cannot be used directly in the modern computer aided design (CAD) process, it is necessary to find a way to numerically represent the information. In this paper, a data processing system for numerical representation of line graphs in mechanical design is developed, which incorporates the process cycle from the initial data acquisition to the final output of required information. As well as containing the capability for curve fitting through Cubic spline and Neural network techniques, the system also adapts a novel methodology for use in this application: Grey Models. Grey theory have been used in various applications, normally involved with time-series data, and have the characteristic of being able to handle sparse data sets and data forecasting. Two case studies were then utilized to investigate the feasibility of Grey models for curve fitting. Furthermore, comparisons with the other two established techniques show that the accuracy was better than the Cubic spline function method, but slightly less accurate than the Neural network method. These results are highly encouraging and future work to fully investigate the capability of Grey theory, as well as exploiting its sparse data handling capabilities is recommended