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Computational Thinking is introduced as a problem-solving ability that is important for future generations to master. The mastery of computational thinking skills from an early age prepares children to anticipate competition and pursue success in the future. Robotics devices are widely advocated as interactive learning media to facilitate Computational Thinking development. Educational robotics have grown from ideas that represent critical stages of Computational Thinking. The application of robotics in teaching computational thinking skills is increasingly used and is evident in the literature. The paper reviews the development of an innovative robotics device in facilitating understanding of computational thinking in young children in terms of several aspects of computational thinking indicators. A review was also conducted to see the advantages and disadvantages of commercially available robotics devices. This paper was prepared by applying critical analysis methods to the literature published from 1952 to 2017 in international journals and proceedings. As a recommendation for future research, this paper proposes for an educational robotic development that facilitates the of computational thinking skills, especially for early childhood education.

Based on the concept of micro-grid, this paper analyzes the advantages of micro-grid relative to large power grid and the existence of power quality problems, which makes the development of micro-grid currently limited. Then, starting from the power supply of the micro-grid, the benefits of distributed energy as a micro-grid energy are expounded.For the three types of micro-grid - DC micro-grid, AC micro-grid, AC-DC micro-grid, a brief introduction is demonstrated, and a profounder analysis is made for the DC micro-grid. In order to solve the power quality problem existing in the micro-grid, the model of the whole micro-grid system is constructed by local modeling of each component in the micro-grid. Finally,this paper introduces a kind of operation mode of micro-grid--connected operation. The problems that the micro- grid can access to the grid and the development prospects of the micro-grid are analyzed.

Electrohydrodynamic inkjet printing (e-jet printing) is one type of micro/nano scale 3D printing techniques that automatically deposit functional materials to form 3D structures on the substrate. Unlike traditional thermal or acoustic inkjet printing, e-jet printing utilizes high electrical forces for the ink to overcome surface tension at the tip of micro needles. The droplets and filaments coming out from the needle have dimensions much smaller than the dimension of the needle, thus to print geometries in micro and nano scale. E-jet printing process parameters can affect the final quality attributes of fabricated constructs. Currently, assessment of these critical geometries and attributes information must be performed offline using optical microscopy or scanning electron microscopy. This drawback affected the efficiency of micro/nano printing from translation to industrial practice. The research in this paper focused on fundamental research to enable in-situ monitoring of e-jet printing using a real-time images characterization technique. In conclusion, the study in this paper investigated using machine vision for real-time monitoring of micro/nano scale 3D printing. The method worked well for micro-filament detection in e-jet printing, and may be further implemented into feedback control system of complicated e-jet printing. However, the optical machine vision was limited to micro scale detection. One of the future research topic is to develop nano scale in-situ detection mechanism for e-jet printing.

In this paper we refer to the computational issues in solving Maxwell’ s curl equations without using any connectivity among the points in which the problem domain is discretized. The adopted procedure is able to approximate the electric and magnetic vector fields making use of the derivatives of a kernel function at points arranged in the computational domain. In order to improve the numerical accuracy, dealing with irregular data distribution or data located near the boundary, a suitable strategy is considered. The computational core of the overall process requires elementary linear algebra operations. In the paper the method is presented and the discussion is revolved to the computational issues. Moreover, some numerical simulations are presented to validate the numerical process.

The increasing demand for materials is a barrier to achieving a truly circular value chain. As long as the demand increases, extraction of virgin material will remain necessary. Furthermore, as we keep injecting pure virgin material in our value chain, the impurities that are added along the different life cycle stages are diluted. For this reason the real consequence of current material use and reuse is still unknown. As we move towards a circular value chain, not only the volume of reusable resources, but also the quality of those streams becomes more important to monitor. There is a need to better characterize material streams in order to identify the possibilities in the short term and to estimate the consequences in the long term. In this paper relevant data are gathered to assess the potential for a truly circular value chain. First, the concept of industrial symbiosis, that is considered a key success factor to achieve a more circular value chain, is defined. In order to facilitate the link between companies generating and receiving waste streams, a uniform material characterisation method is mandatory. Therefore, the charaterisation of input streams for manufacturing processes is discussed in a second step. The paper focusses on metals because of their economic importance and their high potential for reuse. Taking into account its relative importance in mass volume, special attention is given to steel. In a third step available information of generated waste streams is discussed and current characterisation of metal scrap is reviewed. Currently information related to metal scraps is limited to properties relevant for furnace operators such as presence of tramp elements or maximum dimension to allow direct charging. To identify potential opportunities for industrial symbiosis matchmaking additional information is required such as transparent labeling of the composition of metal waste streams and the state in which they are available.

This study aimed to provide STEM education learning activities based on student context where require problem solving in real world. The issues of floating restaurant designing will be raised in order to enhance students to learn not only content knowledge but also practice those kinds of knowledge in context. The paper will clarify the learning activities which provide through Context based STEM education learning approach. This approach consists of 7 stages including (1) Identification of social issues, (2) Identification of potential solution, (3) Need for knowledge, (4) Decision-making, (5) Development of prototype or product, (6) Test and evaluation of the solution, and (7) Socialization and completion decision stage. Identification of social issues, the construction of floating restaurant will be raised in order to enhance students to identify the problem from the context. Identification of potential solution, the five capitals related to the problem will be discussed to allow students identifying the possible solutions. The need for knowledge, learning activities for constructing meaning of buoyant force, density, sinking and floating, volume, area, geometry, and other related knowledge will be provided. The decision making stage, students will list the possible ways of constructing their floating restaurant and then make decision what kind of floating restaurant will be constructed based on their five capitals analysis. The development of prototype or product stage, students will develop their prototype of floating restaurant. Test and evaluation of the solution stage, students will discuss their conceptualization of test and evaluation for their prototype of floating restaurant and then test and evaluate it. The socialization and completion decision stage, students will socialize their ideas and improve the completed version through presentation of prototype of floating restaurant. The paper will discuss how to provide students chance to applying STEM knowledge through these activities.

In this paper, using fuzzy logic technique an intelligent traffic signal control is introduced. The existing traffic light controllers would not give a best solution to this problem as it changes traffic lights based on constant cycle time. Fuzzy logic controllers can be used to deal with linguistic and unpredictable traffic data to control the signal timings. This paper aims at developing an intelligent traffic light controller using fuzzy logic technique and illustrated a control procedure using if – then rules.

In order to protect images from unauthentic distortions, the watermarking methods provide a noteworthy solution to such problems. This paper proposes a new image watermarking method in Discrete Fractional Fourier Transform (DFrFT) domain. In this scheme, the original cover image is transformed into the frequency components using DFrFT. The binary watermark is embedded in various blocks of such components using a quantization based approach. However, the extraction of watermark bits is performed using adaptive thresholding methodology. The experimental analysis of the proposed scheme is performed over various standard images. The observed results are found satisfactory fulfilling the requirements of robustness and imperceptibility.In order to protect images from unauthentic distortions, the watermarking methods provide a noteworthy solution to such problems. This paper proposes a new image watermarking method in Discrete Fractional Fourier Transform (DFrFT) domain. In this scheme, the original cover image is transformed into the frequency components using DFrFT. The binary watermark is embedded in various blocks of such components using a quantization based approach. However, the extraction of watermark bits is performed using adaptive thresholding methodology. The experimental analysis of the proposed scheme is performed over various standard images. The observed results are found satisfactory fulfilling the requirements of robustness and imperceptibility.

Operator support systems are extensively studied and developed to support human operators for their activities in especially an abnormal condition of a nuclear power plant. By the advancement of computer technology and artificial intelligence, an operator support system can provide detailed support information based on detailed models and utilizing detailed simulation of plant dynamics and/or complicated inference algorithms. However, human operators may not understand the detailed support information under high mental pressure in an abnormal plant condition. In such a case, it is important how to provide essential and understandable support information. This paper deals with a technique to simplify functional models in order to display operator support information that is generated based on detailed functional models. This paper defines eight cognitive states of human operators from the viewpoint of cognitive abilities of human. In addition, three ways to simplify functional models are identified.

The paper presents new and original thin-walled structures designed using the application version of the method of statically admissible discontinuous stress fields (SADSF) assuming the condition of equalized equivalent stress in the limit state. The said structures are based on a C-shaped profile, are built of plane elements and designed for carrying torsional moment load. As a result of designing, spatial layout and connection systems of their component elements, as well as their shape and dimensions, were obtained. The paper shows thin structures being designed have good elastic carrying properties, though the method is approximate. These properties can be several or even a dozen or so times better than properties of the systems designed with use of traditional or intuitive methods.The paper presents new and original thin-walled structures designed using the application version of the method of statically admissible discontinuous stress fields (SADSF) assuming the condition of equalized equivalent stress in the limit state. The said structures are based on a C-shaped profile, are built of plane elements and designed for carrying torsional moment load. As a result of designing, spatial layout and connection systems of their component elements, as well as their shape and dimensions, were obtained. The paper shows thin structures being designed have good elastic carrying properties, though the method is approximate. These properties can be several or even a dozen or so times better than properties of the systems designed with use of traditional or intuitive methods.

This paper presents straightforward sensitivity assessment of a telecommunication tower. The analysis is set to identify the elements of the tower which may be reinforced with the greatest structural advantage. As current expert opinions on structural redesign of similar structures due to a planned addition of extra loads are mainly based on deterministic computations or engineering intuition, the probabilistic-based approach is proposed to verify and supplement the reinforcement design projects, in contrary to the existing action course. In the paper, the analysis is performed on an example of a standard, spatial telecommunication truss tower subjected to a standard set of loads, special attention is paid to wind and icing load. The cross-sectional areas of curbs and braces of each tower segment are adopted as random variables of the problem, in the form of sets of percentage increments of the initial cross-sectional area values. Joint impact is observed of individual variable change and the change imposed by groups of key variables with a similar impact on the structural load capacity. Finally, engineering-oriented conclusions are presented, of probabilistic origin. A beneficial solution of the reinforcement is proposed, maintaining the reliability of the initial tower.

The aim of the paper is to present a regulation and control model of the two link manipulator end effector position. Attention is paid to kinematic and dynamic analysis of the manipulator. Then the simulation model with a control algorithm of its end effector position is proposed. MSC Adams Control Toolkit is used for computer simulation. Finally the results of the simulation are presented in graphical form. An example of a robot model that will be the objective of the solution in the paper consists of two members. The industrial robot can be considered as an open chain mechanism consisting of rigid links and joints. The movable arms are mounted on a solid base ensuring its stability in operation. A working tool, in our case a basket, is fixedly connected to the movable upper arm. Our aim is to describe the movement of the basket of the end member. The control of the position of the end member was performed by the MSC Adams program, which offers the possibility to build a control system and also the possibility of using regulator. In this case a proportional regulator with Kp gain is used. The stability of the basket is eliminated by the control circuit by applying a balancing torque that allows the basket to stabilize during movement. For the control system a feedback control circuit is provided. The regulator controls the equalization torque to keep the basket in a horizontal position during arm rotation. The aim was also to obtain results from the manipulation of the robot’s end effector and to prove the ability and functionality of the designed balancing torque controller. The course of the current and desired angle while moving by trajectory is displayed graphically.The aim of the paper is to present a regulation and control model of the two link manipulator end effector position. Attention is paid to kinematic and dynamic analysis of the manipulator. Then the simulation model with a control algorithm of its end effector position is proposed. MSC Adams Control Toolkit is used for computer simulation. Finally the results of the simulation are presented in graphical form. An example of a robot model that will be the objective of the solution in the paper consists of two members. The industrial robot can be considered as an open chain mechanism consisting of rigid links and joints. The movable arms are mounted on a solid base ensuring its stability in operation. A working tool, in our case a basket, is fixedly connected to the movable upper arm. Our aim is to describe the movement of the basket of the end member. The control of the position of the end member was performed by the MSC Adams program, which offers the possibility to build a control system and also the possi...

In this paper, the average daily power consumption is calculated as an example of a three-dimensional parking lot in zhengzhou. For its features, a photo-hydrogen complementary independent power supply system is designed, including PV system, controller, energy storage system and hydrogen energy system, etc. Firstly, according to the weather information of Zhengzhou City, the average daily power generation is predicted by the PVsyst software. Secondly, the capacity of the energy storage battery and the hydrogen energy system are determined through calculation. Lastly, the simulation model of photo-hydrogen complementary independent power supply system is built by Simulink. The result shows that the photo-hydrogen complementary power supply system proposed in this paper can effectively achieve energy complementation, can ensure the reliability of power supply, and can still meet the electricity demand of the three- dimensional parking lot through hydrogen energy system power generation in continuous rainy weather.

A marine propeller generates adequate thrust to propel a vessel at some design speed. so, propeller is the core to optimum performance on a ship. Considerations are made to match the engine ’s power and shaft speed, as well as the size of the vessel and the ship’s operating speed, with an appropriately designed propeller. As marine propeller has complicated geometries, the flow around the propeller is complicated. In generally, the performance characteristics of a propeller is determined and analyze by experiments like open water and self-propulsion model test which are costly at the initial stage of the design. Numerical analysis using Computational Fluid Dynamics simulations could be an important alternative on this case. This study presents the investigation of marine propeller hydrodynamic performance and parameters through Computational Fluid Dynamic analysis. In this paper, a B-series propeller model is developed with respect to some design constraints such as ship speed, vessel draft etc. and analyzed the performance using CFD tools. In this analysis, we consider Realizable k-ω Turbulence Model & Multiple Reference Frame Model. Results found that all thrust coefficient (KT) and torque coefficient 10 (KQ) decreases with the increasing advance coefficient (J). The efficiency of propeller performance had also consistently showed characteristic trend of nonlinear increases to a peak an optimum value before decreasing drastically with increasing J value. The numerical results obtained from CFD Tool are compared with theoretical available publish data.A marine propeller generates adequate thrust to propel a vessel at some design speed. so, propeller is the core to optimum performance on a ship. Considerations are made to match the engine ’s power and shaft speed, as well as the size of the vessel and the ship’s operating speed, with an appropriately designed propeller. As marine propeller has complicated geometries, the flow around the propeller is complicated. In generally, the performance characteristics of a propeller is determined and analyze by experiments like open water and self-propulsion model test which are costly at the initial stage of the design. Numerical analysis using Computational Fluid Dynamics simulations could be an important alternative on this case. This study presents the investigation of marine propeller hydrodynamic performance and parameters through Computational Fluid Dynamic analysis. In this paper, a B-series propeller model is developed with respect to some design constraints such as ship speed, vessel draft etc. and analy...

The surrounding environment of overhead transmission lines is complex and changeable, which often causes short circuit trip because of the foreign objects such as kite, colored ribbon and plastic film. It brings serious threat to the security of power grid and causes great economic loss. In this paper, an advanced laser distance removing method is proposed in this paper, which can quickly and reliably remove the foreign objects on the line. In this paper, the principle analysis of overhead line laser removal is carried out, and the comparison test results with different lasers of different kinds of lasers are carried out, and the optimal selection scheme of laser is obtained. Laser aiming technology, cooling technology and safety guarantee measures are developed. It has high application value for removing obstacles from overhead lines.

We proposed the design of a respiration system based on laser reflection for an infant incubator that is able to continuously operate. The device consists of a laser diode (λ=650 nm; P=5 mW), a paper reflector, photodiode array as a detector, comparator, microcontroller Arduino UNO R3, and LCD. Also, there is a buzzer for anticipating emergency situations such as apnea. It utilizes the reflection of laser light on paper reflector attached to an infant simulator. Next, the reflection will be received by photodiode array and comparator which connects to the Arduino UNO R3. Then, the result was displayed on an LCD. From the experiment results, it was indicated that the system could measure respiratory rate from 10 up to 70 breaths per minute with an error of 2.357%.

Semiconductor optical amplifier (SOA) is a device that amplifies an optical signal directly, without the need to first convert it to an electrical signal. Furthermore, it can also be used use as a gate switch. We proposed hybrid optical switch architecture (HOSA) for data center network in our recent work which is based on fast and slow optical switches. We considered micro-electromechanical system (MEMS) for slow optical switches and SOAs for fast optical switches. We considered network layer performance of HOSA in that work. In this paper, we focus on the evaluation of physical layer performance of optical switches. As MEMS technology is very much mature and it is widely used in the backbone optical network, so we focus only on the SOAs. This paper presents the characterization of SOAs to evaluate the performance in the physical layer. The main theme of this paper is to find out the best configuration of SOAs which can be considered to design an appropriate architecture of fast optical switch based on SOAs. We used VPITransmissionMaker simulation framework to evaluate the performance of SOAs. The results show that the combination of 10mA for bias and 200mA for amplitude is the best configuration of SOAs that can be considered to design a fast optical switch based on SOAs.

Categorization of water bodies and land areas from the satellite image is performed since the prediction of satellite image has become a major challenging issue due to weather condition, atmosphere, etc. Previously, data mining is used for clustering in various application such as text data, similarities in images and bioinformatics data. In this paper, a novel approach has been designed by incorporating the PSO and DE algorithm for data mining technique in the satellite image. Here feature extraction is carried out by using DWT, PCA, and GLCM techniques. In the proposed method, an optimized PSO-DE algorithm is designed to obtain the best solution in order to get the better satellite data. Finally, the estimated output is compared with the existing method on the bases of performances, and it is found to be efficient. The performance parameters such as PSNR, MSE, RMS, mean, variance, correlation, contrast, energy, homogeneity, SD, and entropy are evaluated for the Landsat and MODIS satellite images.Categorization of water bodies and land areas from the satellite image is performed since the prediction of satellite image has become a major challenging issue due to weather condition, atmosphere, etc. Previously, data mining is used for clustering in various application such as text data, similarities in images and bioinformatics data. In this paper, a novel approach has been designed by incorporating the PSO and DE algorithm for data mining technique in the satellite image. Here feature extraction is carried out by using DWT, PCA, and GLCM techniques. In the proposed method, an optimized PSO-DE algorithm is designed to obtain the best solution in order to get the better satellite data. Finally, the estimated output is compared with the existing method on the bases of performances, and it is found to be efficient. The performance parameters such as PSNR, MSE, RMS, mean, variance, correlation, contrast, energy, homogeneity, SD, and entropy are evaluated for the Landsat and MODIS satellite images.

Acquiring efficient, economic and accurate methods for identifying the material properties of heterogeneous materials have been one of themajor objectives in the mechanical engineering community, thus, inverse methods may be considered as contributing to a very promising way of achieving the objective. This paper is concerned with an inverse method for identifying the material properties of a kenaf reinforced compositetest model. Aninitial finite element model of the composite test model is developed and normal modes analysis is carried out to calculate the modal parameters of the initial finite element model. The inverse method which is developed fromMSC Nastran SOL200 is used to update iteratively the material properties of the initial finite element model based on the comparison between the calculated modal parameters and those observed experimentally from experimental modal analysis (EMA). The objective is to acquire the most appropriate set of material properties that provide well match between the finite element model and the test model. It was found that the identified material properties are well matched with that of previous published papers in terms of the reduction in total errors, which are discussed in this paper.

The paper outlines energy management concepts using PV panels for a grid. The necessity of considering energy management as a crucial innovation in load supplying to permit a more powerful penetration of renewable energy usage with the help of solar energy at a building and metropolis level. It also significantly points out the energy savings by the consumer and helps in reduction of CO2 emissions in the process [1-2] The driving factors to enhance the current power distribution are presented, and the benefits concerning grids are underlined. In the paper, energy management analysis is assessed by taking into account all the electrical value and the demand-side management. [3] In the paper, the evaluations of ecological benefits are reported, and a cost benefit analysis of the energy management system is performed. The need of energy management in distribution systems is necessary because it helps us determine the exact energy consumed by the load as well as different sectors of the load. It also gives us perspective on how much energy is needed and the sources it can be obtained from. The study being done in this paper is at a residential society in Chennai, Tamil Nadu comprising 2 buildings of 40 flats each equipped with standard lights, fans, air conditioners and heaters.

The wheel profile of a rail vehicle is one of the key elements on which its ride dynamics depend. Even small changes in the wheel tread geometry resulting from its gradual wearing can significantly affect not only passenger comfort, but also result in a change in vehicle behavior when running on a straight track, and when running through a track curve, there is a significant change in the forces acting in the wheel-rail contact. The aim of the authors is to clarify the causes of wear by using simulation analysis of a vehicle ride and subsequent processing of the results in their own software, allowing to plot various parameters of the wheel-rail contact in relation to their location on the wheel profile. The value of the presented parameters is also interpreted in relation to the radius of the curve of the track where they occurred. The paper describes software designed by the authors as a tool for research of causes of wear, presents used algorithms and mathematical-analytical apparatus.The wheel profile of a rail vehicle is one of the key elements on which its ride dynamics depend. Even small changes in the wheel tread geometry resulting from its gradual wearing can significantly affect not only passenger comfort, but also result in a change in vehicle behavior when running on a straight track, and when running through a track curve, there is a significant change in the forces acting in the wheel-rail contact. The aim of the authors is to clarify the causes of wear by using simulation analysis of a vehicle ride and subsequent processing of the results in their own software, allowing to plot various parameters of the wheel-rail contact in relation to their location on the wheel profile. The value of the presented parameters is also interpreted in relation to the radius of the curve of the track where they occurred. The paper describes software designed by the authors as a tool for research of causes of wear, presents used algorithms and mathematical-analytical apparatus.

Regenerative Anti-lock Braking System (ABS) is a braking system in vehicle electric (electric vehicle) which can prevent locking on vehicle wheel and do recovery kinetic energy braking into a battery charge. In this paper, regenerative ABS applied in quarter car model approach. Regenerative ABS had many components in it one of them is a sensor. The sensor fault can reduce the safety level of the regenerative ABS. In this paper, Active Fault Tolerant Control (AFTC) scheme is applied to ABS regenerative ABS to accommodate the wheel speed sensor fault to improve system performance. Sliding Mode Controller is used in this regenerative ABS controller with k and epsilon (ɛ) gain parameters 10 and 3 with a maximum overshoot of 18.95%, error steady state 0% and settling time of 0.08 seconds. Then, the AFTC algorithm works by using the residual calculation result (fs^) as the compensation value of the measurement signal. From the results of the response test after being applied the bias and sensitivity fault, the system that equipped with AFTC algorithm able to overcome the sensor fault up to 100%.

The paper aims to numerically reflect mineral-asphalt mixture structure by a standard FEM software. Laboratory test results are presented due to bending tests of circular notched elements. The result scatter is relatively high. An attempt was made to form a random aggregate distribution in order to obtain various results corresponding to laboratory tests. The material structure calibration, its homogenization and finite element dimensioning are the issues decisive for the objective mixture description. The representative volume element (RVE) is investigated here, while it does not precisely reflect the material structure it displays relevant global material parameters. The simulation procedure applied here makes it possible to introduce the name of Monte Carlo simulation-based constitutive model.The paper aims to numerically reflect mineral-asphalt mixture structure by a standard FEM software. Laboratory test results are presented due to bending tests of circular notched elements. The result scatter is relatively high. An attempt was made to form a random aggregate distribution in order to obtain various results corresponding to laboratory tests. The material structure calibration, its homogenization and finite element dimensioning are the issues decisive for the objective mixture description. The representative volume element (RVE) is investigated here, while it does not precisely reflect the material structure it displays relevant global material parameters. The simulation procedure applied here makes it possible to introduce the name of Monte Carlo simulation-based constitutive model.

The multispectral imaging technique has been used for skin analysis, especially for distant mapping of in-vivo two major skin chromophores: melanin and blood. Previously, we have developed a new LED-based MSI system. Our MSI system captures only 11 monoband images of human skin which is too little for providing an accurate diagnostic information. We implemented artificial neural network (ANN) algorithm to retrieve a hyperspectral reflectance cube between 380 and 880 nm with a 5 nm resolution. In this paper, we present the validation results our MSI’s performance in order to estimate melanin and blood content in human skin. Validation is done by comparing the estimation results captured by the MSI system and the spectrometer with diffuse reflectance spectroscopy (DRS) technique. For validation, we used agar-based phantom as object. In addition, we also present the results of in vivo testing in uper human palm skin with 5 samples. The estimation results of melanin content by using MSI system and the spectrometer follows the equation y = 0.9565x with the coefficient of determination (R2) of 0.9934. On the other hand, the estimation result of the blood content follows the equation y = 1.1881x with the coefficient of determination (R2) of 0.9226. The average melanin content estimate results with the MSI system was 1.29% greater than the spectrometer, while the average blood content was 1.06% higher for the same in vivo skin data test. According the results, the LED-based MSI can be used for the direct and noninvasive skin assessment accurately. For example, measurement of melanin content in the skin is the most essential in the skin diagnosis process, especially in cases of hypo-pigmentation and hyper-pigmentation. In other cases, some cancers such as melanoma, basal cell carcinoma (BCC), and the tumor can also be differentiated by measurement of melanin and blood content.The multispectral imaging technique has been used for skin analysis, especially for distant mapping of in-vivo two major skin chromophores: melanin and blood. Previously, we have developed a new LED-based MSI system. Our MSI system captures only 11 monoband images of human skin which is too little for providing an accurate diagnostic information. We implemented artificial neural network (ANN) algorithm to retrieve a hyperspectral reflectance cube between 380 and 880 nm with a 5 nm resolution. In this paper, we present the validation results our MSI’s performance in order to estimate melanin and blood content in human skin. Validation is done by comparing the estimation results captured by the MSI system and the spectrometer with diffuse reflectance spectroscopy (DRS) technique. For validation, we used agar-based phantom as object. In addition, we also present the results of in vivo testing in uper human palm skin with 5 samples. The estimation results of melanin content by using MSI system and the spectro...

Animals including human being are often with others in groups such as people crowds, fish schools, and flocks of birds. In such groups, they are interacting with each other to tell their intentions. By analyzing such collective behavior, we can obtain plenty of information not only for understanding the ecology of animals but also for practical applications including aquaculture and social safety. Hence, collective behavior analysis has been an active research area of both ecology and engineering. In this paper, we will introduce our recent research projects for visual surveillance of collective behavior analysis. First, we will present small object detection based on a deep neural network. The method is specially designed for detecting small swimming fish. Although training deep neural network usually requires a large number of annotated data, our proposed method reduces the cost of manual annotation. Next, we will present social group detection based on multiple instance learning. The multiple instance learning enables us to extract meaningful information from given data. We examined both of the proposed method using actual data to show their performance.Animals including human being are often with others in groups such as people crowds, fish schools, and flocks of birds. In such groups, they are interacting with each other to tell their intentions. By analyzing such collective behavior, we can obtain plenty of information not only for understanding the ecology of animals but also for practical applications including aquaculture and social safety. Hence, collective behavior analysis has been an active research area of both ecology and engineering. In this paper, we will introduce our recent research projects for visual surveillance of collective behavior analysis. First, we will present small object detection based on a deep neural network. The method is specially designed for detecting small swimming fish. Although training deep neural network usually requires a large number of annotated data, our proposed method reduces the cost of manual annotation. Next, we will present social group detection based on multiple instance learning. The multiple instance ...

This paper will use ADAMS software, the robot arm portion of annular parking apparatus statics, kinematics and dynamics analysis. The mechanical part of the robot arm is typically four planar mechanisms that is not only simple, efficient, and also provides effective solutions for the effective horizontal dynamic engine lift and parking manipulator internet. In this thesis research to the problem before using vector graphic method of graphically analysts equation, then the use of ADAMS modeling, simulation, calculation. The dynamic modeling of elastic linkage mechanism is carried out by finite element method. In the process of modeling, the instantaneous structure assumption is discarded and the kinetic energy corresponding to the moment of inertia of component’s distributed mass is not considered. In the strain energy, the effect of shear deformation and the effect of transverse displacement on the strain energy are ignored. Therefore, the model established in this paper is only a simple reflection of the characteristics of the system.

The impacts of disruption caused by transportation breakdown cannot be underestimated as this condition often hinders the actual logistic delivery. Thus, a contingency plan is absolutely necessary. In doing so, some managers propose a strategy to minimize time loss and cost inefficiency. This paper investigates the impacts of combinational disruption in a road freight transportation network. This paper uses the VRPTW model that describes the road freight transportation network. Two kinds of disruption scenario were observed in this model; a single disruption and a combinational disruption. The disruption impact analysis aims to uncover the effects of disruption on transportation cost. The results show that an optimal route strategy that provides minimal cost, which is computed by a numerical experiment, results in route effectiveness under each disruption scenario.

Pattern analysis has been shown to have higher reliability for melanoma and nevus classification. The ABCD method, which is common to be used as a melanoma diagnosis method, has been shown to have inappropriate weighting for each parameter. In addition, pattern analysis has been shown to have a higher success for diagnosing melanoma. In this paper, we choose the Grey Level Co-occurrence Matrix (GLCM) as a texture parameter to represent the pattern of melanoma. We also choose Deep Neural Network (DNN) to retrieve information from the data set. DNN has the capability of analyzing data with a high level of abstraction. Therefore, we choose DNN as a method to classify melanoma and nevus. We use the International Skin Imaging Collaboration (ISIC) archive database as our training and validation data. We use 773 nevi with 870 melanoma images as training data and separate 200 Nevus and 200 Melanoma images as validation data. We achieve 81.75% diagnostic accuracy, 75.5% sensitivity, and 88% specificityPattern analysis has been shown to have higher reliability for melanoma and nevus classification. The ABCD method, which is common to be used as a melanoma diagnosis method, has been shown to have inappropriate weighting for each parameter. In addition, pattern analysis has been shown to have a higher success for diagnosing melanoma. In this paper, we choose the Grey Level Co-occurrence Matrix (GLCM) as a texture parameter to represent the pattern of melanoma. We also choose Deep Neural Network (DNN) to retrieve information from the data set. DNN has the capability of analyzing data with a high level of abstraction. Therefore, we choose DNN as a method to classify melanoma and nevus. We use the International Skin Imaging Collaboration (ISIC) archive database as our training and validation data. We use 773 nevi with 870 melanoma images as training data and separate 200 Nevus and 200 Melanoma images as validation data. We achieve 81.75% diagnostic accuracy, 75.5% sensitivity, and 88% specificity

The paper deals with the kinetic (that is, impact-driven penetration) effect of aircraft (aerial vehicles, AV) colliding with thin metal barriers at high velocities. Investigating this impact-driven penetration effect of AV involves studying the processes of perforation (perforation means that the aircraft emerges fully on the other side of the barrier), which requires not only computational simulations, but also actual experiments, due to how complex these processes are. The objective of our investigation is twofold: first, we want to develop an analytical method for computing the parameters of the impact-driven AV penetration effect, said method correctly taking into account the perforation process specifics; then, we want to verify the computation results obtained. The paper uses a quasi-dynamic approach to computing impact-driven penetration effect of poorly deformable AVs that makes it possible to account for strength and inertial resistance of a thin metal barrier. We present and state an analytical computational method making it possible to estimate the impact-driven penetration effect of AVs that may interact with thin metal barriers either as an emergency situation or as part of their regular functionality (h/d < 0.5). We compared analytical computation results to experimental data (that is, validated our model) for various AVs at velocities of 79.3 to 315 m/s. We used our analytical method to compute impact-driven penetration AV effect on spatially separated thin metal barriers (screens). The results obtained may be used for preliminary estimation when developing requirements for AV components during its regular operation or an emergency. More accurate estimates will involve small-scale physical modelling methods and numerical simulations.

The paper describes the research stand and presents analysis of selected vibrations results of artillery and rocket missiles equipped with a radio proximity sensor.The paper describes the research stand and presents analysis of selected vibrations results of artillery and rocket missiles equipped with a radio proximity sensor.

Combined cycle power plants are often used to produce power. These days prediction of power plant output based on operating parameters is a major concern. This paper presents an approach to using computational intelligence technique to predict the output power of combined cycle power plant. Computational intelligence techniques have been developed and applied to many real world problems. In this paper, tree architectures of fuzzy neural networks are considered to predict the output power. Tree architectures of fuzzy neural networks have an advantage of reducing the number of rules by selecting fuzzy neurons as nodes and relevant inputs as leaves optimally. For the optimization of the networks, two-step optimization method is used. Genetic algorithms optimize the binary structure of the networks by selecting the nodes and leaves as binary, and followed by random signal-based learning further refines the optimized binary connections in the unit interval. To verify the effectiveness of the proposed method, combined cycle power plant dataset obtained from the UCI Machine Learning Repository Database is considered.

Currently the application of Industry 4.0 is being promoted in Indonesia, among others, in systems in industry, medical, transportation, agriculture, and public services. This has encouraged the implementation of The Internet of Things (IoT) technology. The implementation of IoT in the industry there is no price problem, but in the low profit sectors the use of the industry standard IoT system is a problem. Therefore, this paper will provide the results of the study on the use of Low-Cost IoT. The most important parameter of an IoT system is the performance of sending data from the device to the server and reversing from the server to the user. IoT devices use the NodeMCU ESP8266 module on the Ubidots platform for free. Based on the design that has been carried out, the delivery time performance of IoT to Server devices for fiber optic media and 4G cellular operators is 1-2 milliseconds and 2-7 milliseconds respectively. This value according to the standard is still very good even though using unpaid services.Currently the application of Industry 4.0 is being promoted in Indonesia, among others, in systems in industry, medical, transportation, agriculture, and public services. This has encouraged the implementation of The Internet of Things (IoT) technology. The implementation of IoT in the industry there is no price problem, but in the low profit sectors the use of the industry standard IoT system is a problem. Therefore, this paper will provide the results of the study on the use of Low-Cost IoT. The most important parameter of an IoT system is the performance of sending data from the device to the server and reversing from the server to the user. IoT devices use the NodeMCU ESP8266 module on the Ubidots platform for free. Based on the design that has been carried out, the delivery time performance of IoT to Server devices for fiber optic media and 4G cellular operators is 1-2 milliseconds and 2-7 milliseconds respectively. This value according to the standard is still very good even though using unpaid serv...

In honour to Jiři Kunovský, the paper will try to overview his work and his beloved simulation software. The Taylor–Kunovsky Simulation Language (TKSL) is software based on computations where Taylor series are used, to solve various problems by systems of equations. It deals with problems described by non-stiff and even stiff differential equations or systems of linear equations or nonlinear equations in a comparable or faster time than other known softwares. The implemented method is based on variable–step variable–order scheme. The paper will provide test problem and comparison to MATLAB software.

AUV has 6 degrees of freedom derived from a propulsion system that regulates the angular speed of AUV and the fin system that adjusts the angle of the fin and rudder positions. In this paper, an AUV motion control system design for diving was developed, that is, the control system of surge, heave and pitch motions by applying Sliding Mode Control (SMC) method. The AUV specification used in this study was an UNUSAITS AUV with a length of 1.5 meters, a weight of 16 kilograms using controller of arduino mega 2.0. The main contribution of this paper is Control system for nonlinear models of 3-DOF UNUSAITS AUV. The results of simulation showed that the SMC method could be effectively applied as a 3-DOF motion control system with an error of 5% for surge motion and 0.01% for heave motion and 2% for pitch motion.

This paper considers dual channel closed loop supply chain with one manufacture and two retailers. A manufacturer combined the offline channel with a direct online channel in product sales. In this research, we inspected the dual channel closed loop supply chain model by notice delivery lead time for the online channel and price discount contracts. We constructed mathematical models with the profit maximization motive which is determined by three decision variables. Furthermore, we determine the optimal solution of the model. We analyze the effects of delivery lead time and price discount contract on the optimal operation. The results of the study show that delivery lead time strongly influences on the optimal profit system and price discount contract perform better than non-contract scenarios.This paper considers dual channel closed loop supply chain with one manufacture and two retailers. A manufacturer combined the offline channel with a direct online channel in product sales. In this research, we inspected the dual channel closed loop supply chain model by notice delivery lead time for the online channel and price discount contracts. We constructed mathematical models with the profit maximization motive which is determined by three decision variables. Furthermore, we determine the optimal solution of the model. We analyze the effects of delivery lead time and price discount contract on the optimal operation. The results of the study show that delivery lead time strongly influences on the optimal profit system and price discount contract perform better than non-contract scenarios.

A method to create mammography phantoms with radiopaque ink and an inkjet printer was developed. A mammography image was printed on several sheets of bond paper, modulated by a calibration function, creating a phantom image that can emulate the original object in a clinical image. The radiopaque ink on paper was stable, at least, over a month. The representation of the mammography image was visually equivalent, and the limitations of the method come from noise, alignment difficulties, and dynamic range compression.

Aiming at the influence of AC system on DC system, this paper presents a method of region identification which threatens the stable operation of DC system from the perspective of static analysis. Firstly, the directed lossless network model of AC/DC hybrid system is established, and the initial direct network domain is quickly formed based on the power flow downstream tracking method. Secondly, the boundary branch in the initial direct network domain is interrupted and calculate the voltage offset factor at the AC side of the DC system to correct the boundary branch. According to the types of boundary nodes in the initial direct network domain, the scalar function PI is defined by changing the generator output power to correct the boundary generator node. For the boundary load node, this paper correct them based on the static energy function model. Finally, the simulation of IEEE39-bus system verifies the correctness of this method.Aiming at the influence of AC system on DC system, this paper presents a method of region identification which threatens the stable operation of DC system from the perspective of static analysis. Firstly, the directed lossless network model of AC/DC hybrid system is established, and the initial direct network domain is quickly formed based on the power flow downstream tracking method. Secondly, the boundary branch in the initial direct network domain is interrupted and calculate the voltage offset factor at the AC side of the DC system to correct the boundary branch. According to the types of boundary nodes in the initial direct network domain, the scalar function PI is defined by changing the generator output power to correct the boundary generator node. For the boundary load node, this paper correct them based on the static energy function model. Finally, the simulation of IEEE39-bus system verifies the correctness of this method.

Machining is a quite relevant process on industry. However, despite its industrial importance, many parameters of the process are still chosen through empirical testing which is traduced in high time-consuming and costs. Based on that, an alternative approach to empirical methods is needed. Any other approach (numerical, analytical) needs a previous material characterization, which clearly influences on the accuracy of the predictions. This paper studies the effect that material characterization has on fundamental variables predictions, such as cutting forces, temperature and strain rate. A comprehensive analytical study has been carried out, based on Oxley theory and Johnson-Cook material law. Also the contact was considered, qualitatively, based on Coulomb friction law. The final aim of the paper is to present a comprehensive sensitivity study of the flow stress parameters for a widely used aeronautical alloy (Ti-6Al-4V).

The Vertical handover delay is a key performance index for making a decision about vertical handover (VHO) from the LTE network to the target IEEE 802.22 network with an existing IP-address. The application of the IEEE 802.22 standard for wireless regional area network (WRAN) is actual in low population density areas, or in emergencies, or when using of other standards are impossible. The IEEE 802.22 standard is the first standard of cognitive radio, which has the status of international standard. The IEEE 802.22 standard uses so-called «white spaces» in the television (TV) frequency spectrum from 410 MHz to 862 MHz. The paper compares two switching procedures for vertical handover: with the saving of the IP-address and without saving. We used a multistage queueing system with background traffic for the analysis.The Vertical handover delay is a key performance index for making a decision about vertical handover (VHO) from the LTE network to the target IEEE 802.22 network with an existing IP-address. The application of the IEEE 802.22 standard for wireless regional area network (WRAN) is actual in low population density areas, or in emergencies, or when using of other standards are impossible. The IEEE 802.22 standard is the first standard of cognitive radio, which has the status of international standard. The IEEE 802.22 standard uses so-called «white spaces» in the television (TV) frequency spectrum from 410 MHz to 862 MHz. The paper compares two switching procedures for vertical handover: with the saving of the IP-address and without saving. We used a multistage queueing system with background traffic for the analysis.

At present, with the rapid development of Internet technology, the traditional Internet technology is no longer applicable to the current new Internet technology. At present, Internet technology is gradually found in the direction of Internet of Things technology, and gradually appears in people’s production and life. In this paper, the architecture of the current Internet of Things technology is analyzed and discussed, and its key technologies are gradually analyzed. At the same time, this paper also analyses and discusses the problems existing in the current power communication system, and puts forward the application of the current Internet of Things technology in many aspects, such as automation, emergency communication and so on. At the same time, this paper also hopes to promote the vigorous development of smart grid construction in China through the research and discussion of this topic. In addition, this paper mainly from a professional point of view as a starting point, to explore the functional ...

Mobile touch devices enable the use of augmented reality-based applications. Implementation of augmented reality into regular education has been adequately described. The paper discusses the specifics of using augmented reality for teaching students with mental disabilities. It has been proven that augmented reality is not as demanding in terms of students’ graphomotor skills and that it reduces cognitive load. The paper describes the use of the HP Reveal application to help students with abstracting things, terms and curriculum.

This paper presents a detail solution of re-manufacturing of a product in a supply chain model. It is a non-traditional model considering time-dependent quadratic demand, Weibull deterioration, shortages, partial backlogging and re-manufacturing of inventory. This paper mainly focuses on remanufacturing and hence an attempt towards reducing the environmental hazard. The process of remanufacturing is completed within one cycle of replenishment. Trade credit between supplier and retailer also had been discussed. Two cases one of a centralized and the other of decentralization for a finite planning horizon in a supply chain model are discussed. An algorithm has been derived for solving a problem in both the cases. Some managerial insights are talked about on the basis of sensitivity analysis on the parameters considered.

The main purpose of the study above is to analyze the epidemiological model developed in the paper “A Core Group Model for disease transmission” written by K.P. Hadeler and C. Castill-Chavez [K.P. Hadeler and C. Castill-Chavez,“A Core Group Model for Disease Transmission”, Math. Biosci. 128, 41-55 (1995)]”. The paper focuses on the presentation of the model formulation process as well as the mathematical analysis process of the model. What is more the paper also covers the biological aspects emerging from the previous processes and the demographic results obtained after the application of an educational/prophylactics/vaccination program. The S.I.V. epidemiological model introduced here is expressed by a non-linear dynamic system which involves the population groups, the death and birth rate of every group, the disease transmission rate, the recovery and vaccination rate. The paper attempts to determine and explore the threshold conditions for the spread of the disease, the multiple stationary states and the parametric areas where backward bifurcation occurs. Finally, a lot of emphasis is given on the significance of the backward bifurcation phenomena concerning the prophylactics or partially effective vaccination enforced on a population.The main purpose of the study above is to analyze the epidemiological model developed in the paper “A Core Group Model for disease transmission” written by K.P. Hadeler and C. Castill-Chavez [K.P. Hadeler and C. Castill-Chavez,“A Core Group Model for Disease Transmission”, Math. Biosci. 128, 41-55 (1995)]”. The paper focuses on the presentation of the model formulation process as well as the mathematical analysis process of the model. What is more the paper also covers the biological aspects emerging from the previous processes and the demographic results obtained after the application of an educational/prophylactics/vaccination program. The S.I.V. epidemiological model introduced here is expressed by a non-linear dynamic system which involves the population groups, the death and birth rate of every group, the disease transmission rate, the recovery and vaccination rate. The paper attempts to determine and explore the threshold conditions for the spread of the disease, the multiple stationary states and t...

In this paper, the isolated DC-DC converters fly back, forward converter, and hybrid converter topologies are considered for analysis. However, each topology has definite boundaries that are hard to resolve that can be overcome by the hybrid topology. This paper presents a hybrid type of forward, and fly back converter, allocation of the transformer utilization factor a better manner, has exceptionally high voltage gain and high efficiency. Achieving soft switching with control and design is easy. The forward fly back converters are simulated using MATLAB Simulink employing the results are analyzed and compared the efficiencies with theoretical and simulated values. The theoretical analysis of flyback-forward converter using DSPIC30F4011 is verified by comparing the theoretical and simulation results with a prototype of 100W and 2 kHz switching frequency.

The paper deals with the use of a global radial basis function collocation method (Kansa method) to problems described by differential equations with non-continuous coefficients. The derivative of the solution in such problems can possess a jump, which is difficult to capture by global methods. Therefore, to take advantage of the power of this technique, reflecting in very high order of convergence, in the paper, some modifications that allow to apply the method to such problems are introduced. One of these modifications divides the solution domain into subdomains, in which the coefficients are continuous and uses appropriate continuity conditions on the interface, the other one introduces additional degrees of freedom into the interpolant and uses additional interface conditions to increase accuracy of the solution. The approaches are examined by one-dimensional benchmark problems.

Robotic rehabilitation has been developed in many researches as a supportive method in physical rehabilitation to help reduce the effect of paralysis for patients with motoric impairment. This robotic rehabilitation is relatively new for doctors, nurses, and therapists especially in Low/Middle Income Country (LMIC). The development’s objective of this rehabilitation system have to match the needs in LMIC, which can be pretty difficult because of the constraints exist in the country. As we are developing this technology in LMIC, we tried to build a simple rehabilitation robot which able to meet the requirement from the patients with paralysis who need assistance in the rehabilitation process. This paper discusses about 1-DOF assisted-movement-rehabilitation-robot development for flexion extension arm movement using trajectory PI control, with the angle of movement is ranged between 0° – 120°. The PI controller parameter is calculated by using optimal control method and then it was tuned to the best value by considering the critical overshoot response.Robotic rehabilitation has been developed in many researches as a supportive method in physical rehabilitation to help reduce the effect of paralysis for patients with motoric impairment. This robotic rehabilitation is relatively new for doctors, nurses, and therapists especially in Low/Middle Income Country (LMIC). The development’s objective of this rehabilitation system have to match the needs in LMIC, which can be pretty difficult because of the constraints exist in the country. As we are developing this technology in LMIC, we tried to build a simple rehabilitation robot which able to meet the requirement from the patients with paralysis who need assistance in the rehabilitation process. This paper discusses about 1-DOF assisted-movement-rehabilitation-robot development for flexion extension arm movement using trajectory PI control, with the angle of movement is ranged between 0° – 120°. The PI controller parameter is calculated by using optimal control method and then it was tuned to the best value b...

This paper first provides a model and algorithm suitable for dynamic scheduling of RGV cars, and then establishes an evaluation model for the scheduling strategy when the CNC fails. Finally, the simulation proves that the scheduling strategy model provided in this paper has extremely high stability and superiority under fault conditions. This paper creatively proposes the concept of urgency and analyzes a variety of variables that affect urgency. The factors affecting the urgent value mainly include the influence of the CNC itself and the mutual influence of multiple CNCs. For the case of probability of failure: the key to the problem is the given CNC failure rate, so proper handling of the failure rate becomes a top priority. This paper uses the knowledge of probability theory in an ingenious way to build a model based on the Weibull probability distribution. The Weibull probability distribution model is widely used in the judgment of various mechanical faults, so it has high use value for this problem. After obtaining the detailed probability distribution, we use the probabilistic method to judge the weight, and then obtain the system stability evaluation index. Through analysis, we use the MATLAB simulation program to analyze the response results of our established model and selection strategy in the case of faults, and explore the anti-fault indicators of the quantization algorithm.

Aiming at the current reliability research of distribution network, only the N-1 safety criterion is usually considered, and the research on the reliability of power supply under different safety criteria is less the problem. In this paper, a reliability evaluation method combining depth priority search and minimum cut set theory is used to solve the problem of quickly finding the minimum cut set in distribution network. Using the reliability evaluation method of distribution network which optimizes the minimum cut set, the reliability difference of distribution network under different safety criteria and between safety standards at home and abroad is calculated and summarized. By comparing the safety guidelines of various countries, taking China’s DL/T256 and the United Kingdom ER P2/6 as examples, then comparing the N-1 with the N-1-1 two safety criteria. This paper summarizes the influence of dynamic security on static reliability.

High speed vehicle as a vibration system, resonance generated in flight may be harmful to high speed vehicles. It is possible to solve the resonance problem by acquiring the natural frequency of the high-speed aircraft and then taking some measures to avoid the natural frequency of the high speed vehicle. Therefore, In this paper, the modal test of the high speed vehicle was carried out by using the running hammer method and the PolyMAX modal parameter identification method. Firstly, the total frequency response function, coherence function of the high speed vehicle are obtained by the running hammer stimulation test, and through the modal assurance criterion (MAC) to determine the accuracy of the estimated parameters. Secondly, the first three order frequencies, the pole steady state diagram of the high speed vehicles is obtained by the PolyMAX modal parameter identification method. At last, the natural frequency of the vibration system was accurately obtained by the running hammer method.High speed vehicle as a vibration system, resonance generated in flight may be harmful to high speed vehicles. It is possible to solve the resonance problem by acquiring the natural frequency of the high-speed aircraft and then taking some measures to avoid the natural frequency of the high speed vehicle. Therefore, In this paper, the modal test of the high speed vehicle was carried out by using the running hammer method and the PolyMAX modal parameter identification method. Firstly, the total frequency response function, coherence function of the high speed vehicle are obtained by the running hammer stimulation test, and through the modal assurance criterion (MAC) to determine the accuracy of the estimated parameters. Secondly, the first three order frequencies, the pole steady state diagram of the high speed vehicles is obtained by the PolyMAX modal parameter identification method. At last, the natural frequency of the vibration system was accurately obtained by the running hammer method.

The paper deals with suitability of use of the explicit and implicit method in heavily nonlinear seismic analysis and also deals with comparison of response of the Drucker-Prager plastic material model and the modified Mazars damage material model to strong seismic loading. Considering typical time of duration of earthquakes from several seconds to approximately twenty seconds, it would seem that use of the implicit method is definitely more suitable. The shape of accelerograms, however, requires quite short time steps. For the explicit method, on the other hand, very short time steps are required in order to obtain a stable solution. Both methods must be compared with respect to a heavily nonlinear response, typical for seismicity. Massive yielding or damage of the material structure is achieved. Behaviour of both models under the seismic loading is fundamentally different and the paper discusses the differences. Conclusions of the paper are made on the basis of detailed numerical study and may be very useful for practice.