The influence of baking fuel on residues of polycyclic aromatic hydrocarbons and heavy metals in bread

The influence of fuel type used to bake bread on the spectrum and concentrations of some polycyclic aromatic hydrocarbons and heavy metals in baked bread was assessed. Bread samples were collected from different bakeries operated by either electricity, solar, mazot or solid waste and their residue content of PAHs and heavy metals was assessed. The total concentration of PAHs detected in mazot, solar, solid waste and electricity operated bakeries had an average of 320.6, 158.4, 317.3 and 25.5 μg kg⁻¹, respectively. Samples collected from mazot, solar and solid waste operated bakeries have had a wide spectrum of PAHs, in comparison to that detected in bread samples collected from electricity operated bakeries. Lead had the highest concentrations in the four group of bread samples, followed by nickel, while the concentrations of zinc and cadmium were the least. The concentration of lead detected in bread samples produced from mazot, solar, solid waste and electricity fueled bakeries were 1375.5, 1114, 1234, and 257.3 μg kg⁻¹, respectively. Estimated daily intake of PAHs based on bread consumption were 48.2, 28.5, 80.1, and 4.8 μg per person per day for bread produced in bakeries using mazot, solar, solid waste and electricity, respectively. Meanwhile, the estimated daily intake of benzo (a) pyrene were 3.69, 2.65, 8.1, and 0.81 μg per person per day for bread sample baked with mazot, solar, solid waste and electricity, respectively. The daily intake of lead, based on bread consumption was 291, 200.5, 222, and 46.31 μg per person per day for bread sample baked with mazot, solar, solid waste and electricity, respectively. The present work has indicated the comparatively high level of daily intake of benzo (a) pyrene and lead in comparison to levels reported from many other countries and those recommended by international regulatory bodies. It is probable that residues detected in bread samples are partially cereal-borne but there is strong evidence that the process of baking and the gases emitted are responsible for most of the contamination load.     

Design equations for prediction of pressuremeter soil deformation moduli utilizing expression programming systems

Providing precise estimations of soil deformation modulus is very difficult due to its dependence on many factors. In this study, gene expression programming (GEP) and multi-expression programming (MEP) systems are presented to derive empirical equations for the prediction of the pressuremeter soil deformation modulus. The employed expression programming (EP) systems formulate the soil deformation modulus in terms of the soil physical properties. Selection of the best models is on the basis of developing and controlling several models with different combinations of the affecting parameters. The proposed EP-based models are established upon 114 pressuremeter tests on different soil types conducted in this study. The generalization capabilities of the models are verified using several statistical criteria. Contributions of the variables influencing the soil modulus are evaluated through a sensitivity analysis. The GEP and MEP approaches accurately characterize the soil deformation modulus resulting in a very good prediction performance. The result indicates that moisture content and soil dry unit weight can efficiently represent the initial state and consolidation history of soil for determining its modulus.     

Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter

This paper addresses the problem of Faut Detection and Diagnosis (FDD) of a quadrotor helicopter system in the presence of actuator faults. To this end a Two-Stage Kalman Filter (TSKF) is used to simultaneously estimate and isolate possible faults in each actuator. The faults are modelled as losses in control effectiveness of rotors. Three fault scenarios are investigated: loss of control effectiveness in one single actuator, simultaneous loss of control effectiveness in all motors, and loss of control effectiveness in three motors with different magnitudes. The developed FDD algorithm is evaluated through experimental application to an unmanned quadrotor helicopter testbed available at the Department of Mechanical and Industrial Engineering of Concordia University, called Qball-X4. The obtained results show the effectiveness of the proposed FDD method.     

PASTA: a power-aware solution to scheduling of precedence-constrained tasks on heterogeneous computing resources

Power efficiency is one of the main challenges in large-scale distributed systems such as datacenters, Grids, and Clouds. One can study the scheduling of applications in such large-scale distributed systems by representing applications as a set of precedence-constrained tasks and modeling them by a Directed Acyclic Graph. In this paper we address the problem of scheduling a set of tasks with precedence constraints on a heterogeneous set of Computing Resources (CRs) with the dual objective of minimizing the overall makespan and reducing the aggregate power consumption of CRs. Most of the related works in this area use Dynamic Voltage and Frequency Scaling (DVFS) approach to achieve these objectives. However, DVFS requires special hardware support that may not be available on all processors in large-scale distributed systems. In contrast, we propose a novel two-phase solution called PASTA that does not require any special hardware support. In its first phase, it uses a novel algorithm to select a subset of available CRs for running an application that can balance between lower overall power consumption of CRs and shorter makespan of application task schedules. In its second phase, it uses a low-complexity power-aware algorithm that creates a schedule for running application tasks on the selected CRs. We show that the overall time complexity of PASTA is $O(p.v^{2})$ where $p$ is the number of CRs and $v$ is the number of tasks. By using simulative experiments on real-world task graphs, we show that the makespan of schedules produced by PASTA are approximately 20 % longer than the ones produced by the well-known HEFT algorithm. However, the schedules produced by PASTA consume nearly 60 % less energy than those produced by HEFT. Empirical experiments on a physical test-bed confirm the power efficiency of PASTA in comparison with HEFT too.     

VANET QoS-OLSR: QoS-based clustering protocol for Vehicular Ad hoc Networks

In this paper, we address the problem of clustering in Vehicular Ad hoc Networks (VANETs) using Quality of Service Optimized Link State Routing (QoS-OLSR) protocol. Several clustering algorithms have been proposed for VANET and MANET. However, the mobility-based algorithms ignore the Quality of Service requirements that are important for VANET safety, emergency, and multimedia services while the QoS-based algorithms ignore the high speed mobility constraints since they are dedicated for Mobile Ad hoc Networks (MANETs). Our solution is a new QoS-based clustering algorithm that considers a tradeoff between QoS requirements and high speed mobility constraints. The goal is to form stable clusters and maintain the stability during communications and link failures while satisfying the Quality of Service requirements. This is achieved by: (1) considering the high mobility metrics while computing the QoS, (2) using Ant Colony Optimization for MPRs selection, and (3) using MPR recovery algorithm able to select alternatives and keep the network connected in case of link failures. Performance analysis and simulation results show that the proposed model can maintain the network stability, reduce the end-to-end delay, increase the packet delivery ratio, and reduce the communications overhead.     

Scheduling with an outsourcing option on both manufacturer and subcontractors

This paper addresses a single-stage scheduling problem with outsourcing allowed where each job can be either scheduled for in-house production or outsourced to one of the outside subcontractors available. The manufacturer has an unrelated parallel machine system, and each subcontractor has its own single machine. Subcontractors are capable to process all the jobs. Unlike most of past research, our study considers the joint scheduling of both in-house and outsourced jobs simultaneously. The objective is to minimize sum of the total weighted completion time and total outsourcing cost. An integer programming formulation is presented and then improved through an optimality property on job orders. A heuristic algorithm is also introduced to decompose the problem into smaller and easier subproblems and solve them to optimality.     

Memory-efficient real-time map building using octree of planes and points

This paper presents an octree-based map building algorithm for mobile home-service robots. The robot is equipped with a time-of-flight camera, which produces point clouds of the environment surfaces. Given the successive input of point clouds, a 3D map is incrementally computed in real time. The map is accurate and memory-efficient because the octree nodes containing points on a plane are merged and represented simply by an index to the plane. The real-time performance is achieved largely due to the parallel processing capability of the many-core Graphics Processing Unit used for plane extraction.     

Solving the Problem of Forbidden States in Discrete Event Systems: A Novel Systematic Method for Reducing the Number of Control Places

This paper deals with the problem of forbidden states in Discrete Event Systems modelled by non‐safe Petri Nets. To avoid these states, some Generalized Mutual Exclusion Constraints can be assigned to them. These constraints limit the weight sum of tokens in some places and can be enforced on the system using control places. When the number of these constraints is large, a large number of control places should be added to the system. In this paper, a method is presented to assign the small number of constraints to forbidden states using some states which cover the forbidden states. So, a small number of control places are added to the system leading to obtaining a maximally permissive controller.