Search results for: Ahmed Mohamed Alteer
2343 An Excel-Based Educational Platform for Design Analyses of Pump-Pipe Systems
Authors: Mohamed M. El-Awad
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This paper describes an educational platform for design analyses of pump-pipe systems by using Microsoft Excel, its Solver add-in, and the associated VBA programming language. The paper demonstrates the capabilities of the Excel-based platform that suits the iterative nature of the design process better than the use of design charts and data tables. While VBA is used for the development of a user-defined function for determining the standard pipe diameter, Solver is used for optimising the pipe diameter of the pipeline and for determining the operating point of the selected pump.Keywords: design analyses, pump-pipe systems, Excel, solver, VBA
Procedia PDF Downloads 1672342 Chemical Variability in the Essential Oils from the Leaves and Buds of Syzygium Species
Authors: Rabia Waseem, Low Kah Hin, Najihah Mohamed Hashim
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The variability in the chemical components of the Syzygium species essential oils has been evaluated. The leaves of Syzygium species have been collected from Perak, Malaysia. The essential oils extracted by using the conventional Hydro-distillation extraction procedure and analyzed by using Gas chromatography System attached with Mass Spectrometry (GCMS). Twenty-seven constituents were found in Syzygium species in which the major constituents include: α-Pinene (3.94%), α-Thujene (2.16%), α-Terpineol (2.95%), g-Elemene (2.89%) and D-Limonene (14.59%). The aim of this study was the comparison between the evaluated data and existing literature to fortify the major variability through statistical analysis.Keywords: chemotaxonomy, cluster analysis, essential oil, medicinal plants, statistical analysis
Procedia PDF Downloads 3142341 Harmony Search-Based K-Coverage Enhancement in Wireless Sensor Networks
Authors: Shaimaa M. Mohamed, Haitham S. Hamza, Imane A. Saroit
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Many wireless sensor network applications require K-coverage of the monitored area. In this paper, we propose a scalable harmony search based algorithm in terms of execution time, K-Coverage Enhancement Algorithm (KCEA), it attempts to enhance initial coverage, and achieve the required K-coverage degree for a specific application efficiently. Simulation results show that the proposed algorithm achieves coverage improvement of 5.34% compared to K-Coverage Rate Deployment (K-CRD), which achieves 1.31% when deploying one additional sensor. Moreover, the proposed algorithm is more time efficient.Keywords: Wireless Sensor Networks (WSN), harmony search algorithms, K-Coverage, Mobile WSN
Procedia PDF Downloads 5272340 An Investigation of E-Government by Using GIS and Establishing E-Government in Developing Countries Case Study: Iraq
Authors: Ahmed M. Jamel
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Electronic government initiatives and public participation to them are among the indicators of today's development criteria of the countries. After consequent two wars, Iraq's current position in, for example, UN's e-government ranking is quite concerning and did not improve in recent years, either. In the preparation of this work, we are motivated with the fact that handling geographic data of the public facilities and resources are needed in most of the e-government projects. Geographical information systems (GIS) provide most common tools not only to manage spatial data but also to integrate such type of data with nonspatial attributes of the features. With this background, this paper proposes that establishing a working GIS in the health sector of Iraq would improve e-government applications. As the case study, investigating hospital locations in Erbil is chosen.Keywords: e-government, GIS, Iraq, Erbil
Procedia PDF Downloads 3902339 Intelligent Driver Safety System Using Fatigue Detection
Authors: Samra Naz, Aneeqa Ahmed, Qurat-ul-ain Mubarak, Irum Nausheen
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Driver safety systems protect driver from accidents by sensing signs of drowsiness. The paper proposes a technique which can detect the signs of drowsiness and make corresponding decisions to make the driver alert. This paper presents a technique in which the driver will be continuously monitored by a camera and his eyes, head and mouth movements will be observed. If the drowsiness signs are detected on the basis of these three movements under the predefined criteria, driver will be declared as sleepy and he will get alert with the help of alarms. Three robust techniques of drowsiness detection are combined together to make a robust system that can prevent form accident.Keywords: drowsiness, eye closure, fatigue detection, yawn detection
Procedia PDF Downloads 2932338 Mechanical Ventilation: Relationship between Body Mass Index and Selected Patients' Outcomes at a University Hospital in Cairo
Authors: Mohamed Mamdouh Al-Banna, Warda Youssef Mohamed Morsy, Hanaa Ali El-Feky, Ashraf Hussein Abdelmohsen
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Background: The mechanically ventilated patients need a special nursing care with continuous closed observation. The patients’ body mass index may affect their prognosis or outcomes. Aim of the study: to investigate the relationship between BMI and selected outcomes of critically ill mechanically ventilated patients. Research Design: A descriptive correlational research design was utilized Research questions: a) what is the BMI profile of mechanically ventilated patients admitted to critical care units over a period of six months? b) What is the relationship between body mass index and frequency of organ dysfunction, length of ICU stay, weaning from mechanical ventilation, and the mortality rate among adult critically ill mechanically ventilated patients? Setting: different intensive care units of Cairo University Hospitals. Sample: A convenience sample of 30 mechanically ventilated patients for at least 72 hours. Tools of data collection: Three tools were utilized to collect data pertinent to the current study: tool 1: patients’ sociodemographic and medical data sheet, tool 2: BURNS Wean Assessment Program (BWAP) checklist, tool 3: Sequential organ failure assessment (SOFA score) sheet. Results: The majority of the studied sample (77%) was males, and (26.7 %) of the studied sample were in the age group of 18-28 years old, and (26.7 %) were in the age group of 40-50 years old. Moreover, two thirds (66.7%) of the studied sample were within normal BMI. No significant statistical relationship between BMI category and ICU length of stay or the mortality rate among the studied sample, (X² = 11.31, P value = 0.79), (X² = 0.15, P value = 0.928) respectively. No significant statistical relationship between BMI category and the weaning trials from mechanical ventilation among the studied sample, (X² = 0.15, P value = 0.928). No significant statistical relationship was found between BMI category and the occurrence of organ dysfunction among the studied sample, (X² = 2.54, P value = 0.637). Conclusion: No relationship between the BMI categories and the selected patients’ outcomes (weaning from MV, length of ICU stay, occurrence of organ dysfunction, mortality rate). Recommendations: Replication of this study on a larger sample from different geographical locations in Arab Republic of Egypt, conducting farther studies to assess the effect of the quality of nursing care on the mechanically ventilated patients’ outcomes.Keywords: mechanical ventilation, body mass index, outcomes of mechanically ventilated patient, organ failure
Procedia PDF Downloads 2532337 Effect of Aryl Imidazolium Ionic Liquids as Asphaltene Dispersants
Authors: Raghda Ahmed El-Nagar
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Oil spills are one of the most serious environmental issues that have occurred during the production and transportation of petroleum crude oil. Chemical asphaltene dispersants are hazardous to the marine environment, so Ionic liquids (ILs) as asphaltene dispersants are a critical area of study. In this work, different aryl imidazolium ionic liquids were synthesized with high yield and elucidated via tools of analysis (Elemental analysis, FT-IR, and 1H-NMR). Thermogravimetric analysis confirmed that the prepared ILs posses high thermal stability. The critical micelle concentration (CMC), surface tension, and emulsification index were investigated. Evaluation of synthesized ILs as asphaltene dispersants were assessed at various concentrations, and data reveals high dispersion efficiency.Keywords: ionic liquids, oil spill, asphaltene dispersants, CMC, efficiency
Procedia PDF Downloads 1942336 Calculation of Lungs Physiological Lung Motion in External Lung Irradiation
Authors: Yousif Mohamed Y. Abdallah, Khalid H. Eltom
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This is an experimental study deals with measurement of the periodic physiological organ motion during lung external irradiation in order to reduce the exposure of healthy tissue during radiation treatments. The results showed for left lung displacement reading (4.52+1.99 mm) and right lung is (8.21+3.77 mm) which the radiotherapy physician should take suitable countermeasures in case of significant errors. The motion ranged between 2.13 mm and 12.2 mm (low and high). In conclusion, the calculation of tumour mobility can improve the accuracy of target areas definition in patients undergo Sterostatic RT for stage I, II and III lung cancer (NSCLC). Definition of the target volume based on a high resolution CT scan with a margin of 3-5 mm is appropriate.Keywords: physiological motion, lung, external irradiation, radiation medicine
Procedia PDF Downloads 4182335 Industrial Engineering Higher Education in Saudi Arabia: Assessing the Current Status
Authors: Mohammed Alkahtani, Ahmed El-Sherbeeny
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Industrial engineering is among engineering disciplines that have been introduced relatively recently to higher education in Saudi Arabian engineering colleges. The objective of this paper is to shed light on the history and status of IE higher education in different Saudi universities, including statistics comparing student enrollment and graduation in different Saudi public and private universities. This paper then proposes how industrial engineering programs could participate successfully in the Saudi Vision 2030. Finally, the authors show the results of a survey conducted on a number of IE students evaluating various academic and administrative aspects of the IE program at King Saud University.Keywords: higher education, history, industrial engineering, Vision 2030
Procedia PDF Downloads 3212334 The Effect of the Crystal Field Interaction on the Critical Temperatures and the Sublattice Magnetizations of a Mixedspin-3/2 and Spin-5/2 Ferromagnetic System
Authors: Fathi Abubrig, Mohamed Delfag, Suad Abuzariba
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The influence of the crystal field interactions on the mixed spin-3/2 and spin-5/2 ferromagnetic Ising system is considered by using the mean field theory based on Bogoliubov inequality for the Gibbs free energy. The ground-state phase diagram is constructed, the phase diagrams of the second-order critical temperatures are obtained, and the thermal variation of the sublattice magnetizations is investigated in detail. We find some interesting phenomena for the sublattice magnetizations at particular values of the crystal field interactions.Keywords: crystal field, Ising system, ferromagnetic, magnetization, phase diagrams
Procedia PDF Downloads 4882333 QSAR Study and Haptotropic Rearrangement in Estradiol Derivatives
Authors: Mohamed Abd Esselem Dems, Souhila Laib, Nadjia Latelli, Nadia Ouddai
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In this work, we have developed QSAR model for Relative Binding Affinity (RBA) of a large diverse set of estradiol among these derivatives, the organometallic derivatives. By dividing the dataset into a training set of 24 compounds and a test set of 6 compounds. The DFT method was used to calculate quantum chemical descriptors and physicochemical descriptors (MR and MLOGP) were performed using E-Dragon. All the validations indicated that the QSAR model built was robust and satisfactory (R2 = 90.12, Q2LOO = 86.61, RMSE = 0.272, F = 60.6473, Q2ext =86.07). We have therefore apply this model to predict the RBA, for two isomers β and α wherein Mn(CO)3 complex with the aromatic ring of estradiol, and the two isomers show little appreciation for the estrogenic receptor (RBAβ = 1.812 and RBAα = 1.741).Keywords: DFT, estradiol, haptotropic rearrangement, QSAR, relative binding affinity
Procedia PDF Downloads 2952332 Geometrical Based Unequal Droplet Splitting Using Microfluidic Y-Junction
Authors: Bahram Talebjedi, Amirmohammad Sattari, Ahmed Zoher Sihorwala, Mina Hoorfar
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Among different droplet manipulations, controlled droplet-splitting is of great significance due to its ability to increase throughput and operational capability. Furthermore, unequal droplet-splitting can provide greater flexibility and a wider range of dilution factors. In this study, we developed two-dimensional, time-dependent complex fluid dynamics simulations to model droplet formation in a flow focusing device, followed by splitting in a Y-shaped junction with sub-channels of unequal widths. From the results obtained from the numerical study, we correlated the diameters of the droplets in the sub-channels to the Weber number, thereby demarcating the droplet splitting and non-splitting regimes.Keywords: microfluidics, unequal droplet splitting, two phase flow, flow focusing device
Procedia PDF Downloads 1692331 Qualitative Risk Assessment of Rift Valley Fever Vaccine Production
Authors: Mohammed E. Mansour, Tamador M. A. Elhassan, Nahid A. Ibrahim, Awatif A. Ahmed, Manal A. Abdalla
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Rift valley fever (RVF) is mosquito-borne disease. RVF is transboundary zoonotic disease. It has socioeconomic and public health importance. This paper describes qualitative risk of the RVF vaccine production. RVF is endemic in the Sudan. It has been reported in Sudan due to abundance of Ades Eqytie. Thus, there is huge effort to control it. Vaccination practices had significant role to control and manage RVF. The risk assessment explains the likelihood of a risk as likely. Thus, insecticides and repellents synergize the effort of the vaccination.Keywords: qualitative analysis, risk assessment, rift valley fever vaccine, quality control
Procedia PDF Downloads 5152330 Conformational Switch of hRAGE upon Self-Association
Authors: Ikhlas Ahmed, Jamillah Zamoon
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The human receptor for advanced glycation end product is a plasma membrane receptor with an intrinsically disordered region. The protein consists of three extracellular domains, a single membrane spanning transmembrane domain, and a cytosolic domain which is intrinsically disordered and responsible for signaling. The disordered nature of the cytosolic domain allows it to be dynamic in solution. This receptor self-associates to higher forms. The association is triggered by ligand, metal or by the extracellular domain. Fluorescence spectroscopy technique is used to test the self-association of the different concentrations of the cytosolic domain. This work has concluded that the cytosolic domain of this receptor also self-associates. Moreover, the self-association does not require ligand or metal.Keywords: fluorescence spectroscopy, hRAGE, IDP, Self-association
Procedia PDF Downloads 3612329 Experimental Investigation and Numerical Simulations of the Cylindrical Machining of a Ti-6Al-4V Tree
Authors: Mohamed Sahli, David Bassir, Thierry Barriere, Xavier Roizard
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Predicting the behaviour of the Ti-6Al-4V alloy during the turning operation was very important in the choice of suitable cutting tools and also in the machining strategies. In this study, a 3D model with thermo-mechanical coupling has been proposed to study the influence of cutting parameters and also lubrication on the performance of cutting tools. The constants of the constitutive Johnson-Cook model of Ti-6Al-4V alloy were identified using inverse analysis based on the parameters of the orthogonal cutting process. Then, numerical simulations of the finishing machining operation were developed and experimentally validated for the cylindrical stock removal stage with the finishing cutting tool.Keywords: titanium turning, cutting tools, FE simulation, chip
Procedia PDF Downloads 1742328 Security in Resource Constraints: Network Energy Efficient Encryption
Authors: Mona Almansoori, Ahmed Mustafa, Ahmad Elshamy
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Wireless nodes in a sensor network gather and process critical information designed to process and communicate, information flooding through such network is critical for decision making and data processing, the integrity of such data is one of the most critical factors in wireless security without compromising the processing and transmission capability of the network. This paper presents mechanism to securely transmit data over a chain of sensor nodes without compromising the throughput of the network utilizing available battery resources available at the sensor node.Keywords: hybrid protocol, data integrity, lightweight encryption, neighbor based key sharing, sensor node data processing, Z-MAC
Procedia PDF Downloads 1452327 Macro Corruption: A Conceptual Analysis of Its Dimensions and Forward and Backward Linkages
Authors: Ahmed Sakr Ashour, Hoda Saad AboRemila
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An attempt was made to fill the gap in the macro analysis of corruption by suggesting a conceptual framework that differentiates four types of macro corruption: state capture, political, bureaucratic and financial/corporate. The economic consequences or forward linkages (growth, inclusiveness and sustainability of development) and macro institutional determinants constituting the backward linkages of each type were delineated. The research implications of the macro perspective and proposed framework were discussed. Implications of the findings for theory, research and reform policies addressing macro corruption issues were discussed.Keywords: economic growth, inclusive growth, macro corruption, sustainable development
Procedia PDF Downloads 1902326 Evaluation of Musical Conductor Exposure to Noise
Authors: Ahmed Saleh Summan
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This article presents the results of a technical report on the evaluation of occupational noise exposures among a musical conductor in a musical rehearsal hall (party–center). A calibrated noise dosimeter was used to measure the personal exposure of a music teacher/conductor for 8 hours in two days of rehearsal involving 90 players. Results showed that noise exposure levels were much higher than the permissible levels regulated 85dBA/8hr by NIOSH. In fact, the first day of measurements recorded the highest exposure levels (91 dBA). A number of factors contributed to these results, such as players number, types of instruments used, and activities. Noise control measures were recommended to solve this situation.Keywords: noise exposure, music conductors, occupational noise, noise in rooms
Procedia PDF Downloads 1152325 Enhancing the Performance of Vapor Compression Refrigeration Systems Using HFC134a by Nanoparticles Suspensions
Authors: Hafsi Khebab, Zirari Mounir, Mohamed Nadjib Bouaziz
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High Global Warming Potential refrigerants (HydroFluroCarbons) are one of the worst greenhouse gases used in a wide variety of applications, including refrigeration and air-conditioning. Nanotechnology is a promising field in sustainable energy to reduce energy and ecological resource consumption for HVACR (heat, ventilation, air conditioning, and refrigeration) systems. Most researchers reported an improvement in heat transfer coefficient, Coefficient of performance. In this report, a brief summary has been done on the performance enhancement of the Vapor Compression Refrigeration system using HFC134a with nano refrigerants.Keywords: nanorefrigerant, HFCs, greenhouse gases, GWP, HVACR systems, energy saving
Procedia PDF Downloads 852324 Investigation of Operational Conditions for Treatment of Industrial Wastewater Contaminated with Pesticides Using Electro-Fenton Process
Authors: Mohamed Gar Alalm
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This study aims to investigate various operating conditions that affect the performance of the electro-Fenton process for degradation of pesticides. Stainless steel electrodes were utilized in the electro-Fenton cell due to their relatively low cost. The favored conditions of current intensity, pH, iron loading, and pesticide concentration were deeply discussed. Complete removal of pesticide was attained at the optimum conditions. The degradation kinetics were described by pseudo- first-order pattern. In addition, a response surface model was developed to describe the performance of electro-Fenton process under different operational conditions. The model indicated that the coefficient of determination was (R² = 0.995).Keywords: electro-Fenton, stainless steel, pesticide, wastewater
Procedia PDF Downloads 1412323 Bullous Pyoderma Gangrenosum in a Patient with Anti-Phospholipid Syndrome: A Case Report and Literature Review
Authors: Yousef Alwashahi, Ahmed Almoqbali, Mayar Albahrani, Asma Alajmi
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We report a rare case of a 49-year-old Omani woman who is a known case of primary anti-phospholipid syndrome, glucose-6-phosphate dehydrogenase deficiency, and iron deficiency anaemia. During cannulation, she was found to develop bulla that progressed to ulcerations. With chronicity and recurrent abscess formation that usually increase after surgical intervention, a pathergy phenomenon was postulated. High suspicion of pyoderma gangrenosum was considered. Fortunately, the rapid progression of the disease was slowed down with corticosteroids, cyclosporin, and biological agents.Keywords: anti-phospholipid syndrome, pyoderma gangrenosum, bullous pyoderma gangrenosum, pathergy, pathergy phenomenon
Procedia PDF Downloads 912322 Numerical Analysis of a Reaction Diffusion System of Lambda-Omega Type
Authors: Hassan J. Al Salman, Ahmed A. Al Ghafli
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In this study, we consider a nonlinear in time finite element approximation of a reaction diffusion system of lambda-omega type. We use a fixed-point theorem to prove existence of the approximations at each time level. Then, we derive some essential stability estimates and discuss the uniqueness of the approximations. In addition, we employ Nochetto mathematical framework to prove an optimal error bound in time for d= 1, 2 and 3 space dimensions. Finally, we present some numerical experiments to verify the obtained theoretical results.Keywords: reaction diffusion system, finite element approximation, stability estimates, error bound
Procedia PDF Downloads 4312321 Production Cement Mortar and Concrete by Using Nano Clay
Authors: Mohammad Ashraf, Kawther Mohamed
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This research tackles a new kind of additions (Nano Clay) and its effect on the features of concrete and both fresh and hardened cement mortar, as well as setting an optimal percentage of adding it to achieve the desired results and obtain on a strong concrete and mortar can be used for skyscrapers. The cementations additions are mineral materials in the form of a fine powder, added to concrete or cement mortar as partly cement substitutes, which means to be added instead of an equivalent amount of cement in order to improve and enhance some features of concrete or both the newly made and hardened cementations materials.Keywords: nano clay in structure engineering, nanotechnology in construction industry, advanced additions in concrete, special concrete for skyscrapers
Procedia PDF Downloads 3342320 Nurse-Patient Assignment: Case of Pediatrics Department
Authors: Jihene Jlassi, Ahmed Frikha, Wazna Kortli
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The objectives of Nurse-Patient Assignment are the minimization of the overall hospital cost and the maximization of nurses ‘preferences. This paper aims to assess nurses' satisfaction related to the implementation of patient acuity tool-based assignments. So, we used an integer linear program that assigns patients to nurses while balancing nurse workloads. Then, the proposed model is applied to the Paediatrics Department at Kasserine Hospital Tunisia. Where patients need special acuities and high-level nursing skills and care. Hence, numerical results suggested that proposed nurse-patient assignment models can achieve a balanced assignmentKeywords: nurse-patient assignment, mathematical model, logistics, pediatrics department, balanced assignment
Procedia PDF Downloads 1482319 Current Environmental Accounting Disclosure Requirements and Compliance by Nigerian Oil Companies
Authors: Amina Jibrin Ahmed
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The environment is mankind's natural habitat. Industrial activities over time have taken their toll on it in the form of deterioration and degradation. The petroleum industry is particularly notorious for its negative impact on its host environments. The realization that this poses a threat to sustainability led to the increased awareness and subsequent recognition of the importance of environmental disclosure in financial statements. This paper examines the laws and regulations put in place by the Nigerian Government to mitigate this impact, and the level of compliance by Shell Nigeria, the pioneer and largest oil company in the country. Based on the disclosure made, this paper finds there is indeed a high level of compliance by that company, and voluntary disclosure moreover.Keywords: environmental accounting, legitimacy theory, environmental impact assessment, environmental disclosure, host communities
Procedia PDF Downloads 5192318 Ophelia and the Last Supper: The Brazen Reality in the midst of Aesthetic Beauty When Seen through Thackeray's Vanity Fair
Authors: Irene Ahmed
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This is a research manuscript that lay vehemence upon the brazen reality behind the façade of aestheticism of the society. The journal is a conglomeration of a critical analysis of artistic portrait of The Ophelia and The Last Supper and the literary portrait of W.M.Thackeray’s Vanity Fair singularizing the theme of the paper. The portrait Last Supper highlights the morality of Jesus to be in a possession of a super-human quality of forgiving everybody and to know the foregone destiny. But how is it possible that he is not taking any step to avoid the dismal future despite it is known much earlier? Similarly, how is it possible that Ophelia is drowning and she is not aware of the fact? The answers are found in literary portrait of Vanity Fair, where vanity is given the utmost importance keeping aside all other subjects and my subject of research orbs around it.Keywords: acrimonious, brazen reality, vanity fair, Ophelia and the Last Supper
Procedia PDF Downloads 4732317 Simulation and Optimization of Hybrid Energy System Autonomous PV-Diesel-Wind Power with Battery Storage for Relay Antenna Telecommunication
Authors: Tahri Toufik, Bouchachia Mohamed, Braikia Oussama
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The objective of this work is the design and optimization of a hybrid PV-Diesel-Wind power system with storage in order to power a relay antenna telecommunication isolated in Chlef region. The aim of the simulation of this hybrid system by the HOMER software is to determine the size and the number of each element of the system and to determine the optimal technical and economic configuration using monthly average values per year for a fixed charge antenna relay telecommunication of 22kWh/d.Keywords: HOMER, hybrid, PV-diesel-wind system, relay antenna telecommunication
Procedia PDF Downloads 5192316 Fair Value Accounting and Evolution of the Ohlson Model
Authors: Mohamed Zaher Bouaziz
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Our study examines the Ohlson Model, which links a company's market value to its equity and net earnings, in the context of the evolution of the Canadian accounting model, characterized by more extensive use of fair value and a broader measure of performance after IFRS adoption. Our hypothesis is that if equity is reported at its fair value, this valuation is closely linked to market capitalization, so the weight of earnings weakens or even disappears in the Ohlson Model. Drawing on Canada's adoption of the International Financial Reporting Standards (IFRS), our results support our hypothesis that equity appears to include most of the relevant information for investors, while earnings have become less important. However, the predictive power of earnings does not disappear.Keywords: fair value accounting, Ohlson model, IFRS adoption, value-relevance of equity and earnings
Procedia PDF Downloads 1912315 Mathematical and Numerical Analysis of a Reaction Diffusion System of Lambda-Omega Type
Authors: Hassan Al Salman, Ahmed Al Ghafli
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In this study we consider a nonlinear in time finite element approximation of a reaction diffusion system of lambda-omega type. We use a fixed point theorem to prove existence of the approximations. Then, we derive some essential stability estimates and discuss the uniqueness of the approximations. Also, we prove an optimal error bound in time for d=1, 2 and 3 space dimensions. Finally, we present some numerical experiments to verify the theoretical results.Keywords: reaction diffusion system, finite element approximation, fixed point theorem, an optimal error bound
Procedia PDF Downloads 5342314 Multi Objective Near-Optimal Trajectory Planning of Mobile Robot
Authors: Amar Khoukhi, Mohamed Shahab
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This paper presents the optimal control problem of mobile robot motion as a nonlinear programming problem (NLP) and solved using a direct method of numerical optimal control. The NLP is initialized with a B-Spline for which node locations are optimized using a genetic search. The system acceleration inputs and sampling periods are considered as optimization variables. Different scenarios with different objectives weights are implemented and investigated. Interesting results are found in terms of complying with the expected behavior of a mobile robot system and time-energy minimization.Keywords: multi-objective control, non-holonomic systems, mobile robots, nonlinear programming, motion planning, B-spline, genetic algorithm
Procedia PDF Downloads 370