Search results for: Online flood prediction system

Authors: Said Elkassimi, Said Safi, B. Manaut

Abstract:

In recent years, multi-antenna techniques are being considered as a potential solution to increase the flow of future wireless communication systems. The objective of this article is to study the emission and reception system MIMO (Multiple Input Multiple Output), and present the different reception decoding techniques. First we will present the least complex technical, linear receivers such as the zero forcing equalizer (ZF) and minimum mean squared error (MMSE). Then a nonlinear technique called ordered successive cancellation of interferences (OSIC) and the optimal detector based on the maximum likelihood criterion (ML), finally, we simulate the associated decoding algorithms for MIMO system such as ZF, MMSE, OSIC and ML, thus a comparison of performance of these algorithms in MIMO context.

Keywords: Multiple Input Multiple Outputs (MIMO), ZF, MMSE, Ordered Interference Successive Cancellation (OSIC), ML, Interference Successive Cancellation (SIC).

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Authors: M. F. Chow, M. F. Abu Bakar

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Green roof system is considered a relatively new concept in Malaysia even though it has been implemented widely in the developed countries. Generally, green roofs provide many benefits such as enhancing aesthetical quality of the built environment, reduce urban heat island effect, reduce energy consumption, improve stormwater attenuation, and reduce noise pollution. A better understanding on the implementation of green roof system in Malaysia is crucial, as Malaysia’s climate is different if compared with the climate in temperate countries where most of the green roof studies have been conducted. This study has concentrated on the technical aspect of green roof system which focuses on i) types of plants and method of planting; ii) engineering design for green roof system; iii) its hydrological performance on reducing stormwater runoff; and iv) benefits of green roofs with respect to energy. Literature review has been conducted to identify the development and obstacles associated with green roofs systems in Malaysia. The study had identified the challenges and potentials of green roofs development in Malaysia. This study also provided the recommendations on standard design and strategies on the implementation of green roofs in Malaysia in the near future.

Keywords: Engineering design, green roof, sustainable development, tropical countries.

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Authors: Sofia Stoica

Abstract:

In this paper, we use historical data to predict the stock price of a tech company. To this end, we use a dataset consisting of the stock prices over the past five years of 10 major tech companies: Adobe, Amazon, Apple, Facebook, Google, Microsoft, Netflix, Oracle, Salesforce, and Tesla. We implemented and tested three models – a linear regressor model, a k-nearest neighbor model (KNN), and a sequential neural network – and two algorithms – Multiplicative Weight Update and AdaBoost. We found that the sequential neural network performed the best, with a testing error of 0.18%. Interestingly, the linear model performed the second best with a testing error of 0.73%. These results show that using historical data is enough to obtain high accuracies, and a simple algorithm like linear regression has a performance similar to more sophisticated models while taking less time and resources to implement.

Keywords: Finance, machine learning, opening price, stock market.

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Authors: Siti Norul Huda Sheikh Abdullah, Farshid Pirahan Siah, Nor Hanisah Haji Zainal Abidin, Shahnorbanun Sahran

Abstract:

The objective of this paper is to propose an adaptive multi threshold for image segmentation precisely in object detection. Due to the different types of license plates being used, the requirement of an automatic LPR is rather different for each country. The proposed technique is applied on Malaysian LPR application. It is based on Multi Layer Perceptron trained by back propagation. The proposed adaptive threshold is introduced to find the optimum threshold values. The technique relies on the peak value from the graph of the number object versus specific range of threshold values. The proposed approach has improved the overall performance compared to current optimal threshold techniques. Further improvement on this method is in progress to accommodate real time system specification.

Keywords: Multi-threshold approach, license plate recognition system.

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Authors: Dilavar Khan, Z. Ahmad

Abstract:

Riprap is mostly used to prevent erosion by flows down the steep slopes in river engineering. A total of 53 stability tests performed on angular riprap with a median stone size ranging from 15 to 278 mm and slope ranging from 1 to 40% are used in this study. The existing equations for the prediction of medium size of angular stones are checked for their accuracy using the available data. Predictions of median size using these equations are not satisfactory and results show deviation by more than ±20% from the observed values. A multivariable power regression analysis is performed to propose a new equation relating the median size with unit discharge, bed slope, riprap thickness and coefficient of uniformity. The proposed relationship satisfactorily predicts the median angular stone size with ±20% error. Further, the required size of the rounded stone is more than the angular stone for the same unit discharge and the ratio increases with unit discharge and also with embankment slope of the riprap.

Keywords: Angularity, Gradation, Riprap, Stabilization

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Authors: P. Johansson, S. Mardh

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The present study proposes a usability test method, Atmosphere, to assess the fitness of components and interaction patterns of design systems. The method covers the user’s perception of the components of the system, the efficiency of the logic of the interaction patterns, perceived ease of use as well as the user’s understanding of the intended outcome of interactions. These aspects are assessed by combining measures of first impression, visual affordance and expectancy. The method was applied to a design system developed for the design of an electronic health record system. The study was conducted involving 15 healthcare personnel. It could be concluded that the Atmosphere method provides tangible data that enable human-computer interaction practitioners to analyze and categorize components and patterns based on perceived usability, success rate of identifying interactive components and success rate of understanding components and interaction patterns intended outcome.

Keywords: atomic design, atmosphere methodology, design system, expectancy testing, first impression testing, usability testing, visual affordance testing

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Authors: Justin D. Olmanson, Katrina S. Kennett, Bill Cope

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In educational technology, the idea of innovation is usually tethered to contemporary technological inventions and emerging technologies. Yet, using long-known technologies in ways that are pedagogically or experimentially new can reposition them as emerging educational technologies. In this study we explore how a subtle pivot in pedagogical thinking led to an innovative education technology. We describe the design and implementation of an online writing tool that scaffolds students in the evaluation of their own informational texts. We think about how pathways to innovation can emerge from pivots, namely a leveraging of longstanding practices in novel ways has the potential to cultivate new opportunities for learning. We first unpack Infowriter in terms of its design, then we describe some results of a study in which we implemented an intervention which included our designed application.

Keywords: Design, innovation, learning, technology, writing.

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Authors: Herti Utami, Sutijan, Roto, Wahyudi Budi Sediawan

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α-Pinene is the main component of the most turpentine oils. The hydration of α-pinene with acid catalysts leads to a complex mixture of monoterpenes. In order to obtain more valuable products, the α-pinene in the turpentine can be hydrated in dilute mineral acid solutions to produce α-terpineol. The design of separation processes requires information on phase equilibrium and related thermodynamic properties. This paper reports the results of study on liquid-liquid equilibrium (LLE) of system containing α- pinene + water and α-terpineol + water. Binary LLE for α-pinene + water system, and α-terpineol + water systems were determined by experiment at 301K and atmospheric pressure. The two component mixture was stirred for about 30min, then the mixture was left for about 2h for complete phase separation. The composition of both phases was analyzed by using a Gas Chromatograph. The experimental data were correlated by considering both NRTL and UNIQUAC activity coefficient models. The LLE data for the system of α-pinene + water and α-terpineol + water were correlated successfully by the NRTL model. The experimental data were not satisfactorily fitted by the UNIQUAC model. The NRTL model (α =0.3) correlates the LLE data for the system of α-pinene + water at 301K with RMSD of 0.0404%. And the NRTL model (α =0.61) at 301K with RMSD of 0.0058 %. The NRTL model (α =0.3) correlates the LLE data for the system of α- terpineol + water at 301K with RMSD of 0.1487% and the NRTL model (α =0.6) at 301K with RMSD of 0.0032%, between the experimental and calculated mole fractions.

Keywords: α-Pinene, α-Terpineol, Liquid-liquid Equilibrium, NRTL model, UNIQUAC model

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Authors: Yukiko Sasaki Alam

Abstract:

This research aims at finding out the causes that led to wrong lexical selections in machine translation (MT) rather than categorizing lexical errors, which has been a main practice in error analysis. By manually examining and analyzing lexical errors outputted by a MT system, it suggests what knowledge would help the system reduce lexical errors.

Keywords: Error analysis, causes of errors, machine translation, outputs evaluation.

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Authors: Jan Busch, Sebastian Schneider, Konja Knüppel, Peter Nyhuis

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In production processes, assembly conceals a considerable potential for increased efficiency in terms of lowering production costs. Due to the individualisation of customer requirements, product variants have increased in recent years. Simultaneously, the portion of automated production systems has increased. A challenge is to adapt the flexibility and adaptability of automated systems to these changes. The Institute for Production Systems and Logistics developed an aerodynamic orientation system for feeding technology. When changing to other components, only four parameters must be adjusted. The expenditure of time for setting parameters is high. An objective therefore is developing an optimisation algorithm for automatic parameter configuration. Know how regarding the interaction of the four parameters and their effect on the sizes to be optimised is required in order to be able to develop a more efficient algorithm. This article introduces an analysis of the interactions between parameters and their influence on the quality of feeding.

Keywords: Aerodynamic feeding system, design of experiments, interactions between parameters.

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Authors: Hamed Vahdat Nejad, Hameed Reza Pourreza, Hasan Ebrahimi

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A new fuzzy filter is presented for noise reduction of images corrupted with additive noise. The filter consists of two stages. In the first stage, all the pixels of image are processed for determining noisy pixels. For this, a fuzzy rule based system associates a degree to each pixel. The degree of a pixel is a real number in the range [0,1], which denotes a probability that the pixel is not considered as a noisy pixel. In the second stage, another fuzzy rule based system is employed. It uses the output of the previous fuzzy system to perform fuzzy smoothing by weighting the contributions of neighboring pixel values. Experimental results are obtained to show the feasibility of the proposed filter. These results are also compared to other filters by numerical measure and visual inspection.

Keywords: Additive noise, Fuzzy logic, Image processing, Noise reduction.

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Authors: Said Rabah Azzam, Laura Carolina Arias, Shikun Zhou

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A product goes through various processes in a production flow which is also known as assembly line in manufacturing process management. Toyota created a new concept which is known as lean concept in manufacturing industry. Today it is the leading model in manufacturing plants through the globe. The linear walking worker assembly line is a flexible assembly system where each worker travels down the line carrying out each assembly task at each station; and each worker accomplishes the assembly of a unit from start to finish. This paper attempts to combine the flexibility of the walking worker and lean in order to quantify the benefits from applying the shop floor principles of lean management.

Keywords: Toyota Production System, TPS, LeanManufacturing, Walking Worker, Lean Management, Management, Linear Assembly Lines, U-shaped Assembly Lines, Shop FloorManagement

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Authors: Abdulsalam. I. Rafida, Ehae. Abo-Jnha, Kald. Tainah

Abstract:

This study mainly aims at assessing the level of microbial pollution of the water used in the chair system in dental clinics. For this purpose 36 samples have been randomly collected from a number of dental surgeries in the city of Tripoli in Libya. However, 32 of the samples have tested positive to microbial pollution including 13 of the samples, which have tested positives to Pseudomonas aeruginosa. Based on the results of the test a further investigation of the biofilms incorporated within the dental chair system has been conducted. The laboratory tests of biofilms with similar design to those found in dental chairs have proved that bacterial pollution takes place through saliva of the patients who use the chairs, and that this saliva is rich with nutrients which provides a suitable breeding ground for all types of bacteria.

Keywords: Pseudomonas aeruginosa, Biofilm.

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Authors: Wael I. Alnahhal

Abstract:

It is a major challenge to build a bridge superstructure that has long-term durability and low maintenance requirements. A solution to this challenge may be to use new materials or to implement new structural systems. Fiber Reinforced Polymer (FRP) composites have continued to play an important role in solving some of persistent problems in infrastructure applications because of its high specific strength, light weight, and durability. In this study, the concept of the hybrid FRP-concrete structural systems is applied to a bridge superstructure. The hybrid FRP-concrete bridge superstructure is intended to have durable, structurally sound, and cost effective hybrid system that will take full advantage of the inherent properties of both FRP materials and concrete. In this study, two hybrid FRP-concrete bridge systems were investigated. The first system consists of trapezoidal cell units forming a bridge superstructure. The second one is formed by arch cells. The two systems rely on using cellular components to form the core of the bridge superstructure, and an outer shell to warp around those cells to form the integral unit of the bridge. Both systems were investigated analytically by using finite element (FE) analysis. From the rigorous FE studies, it was concluded that first system is more efficient than the second.

Keywords: Bridge superstructure, hybrid system, fiber reinforced polymer, finite element analysis.

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Authors: Giovanni Aloisio, Lucio T. De Paolis, Luciana Provenzano, Lucio Colizzi, Gianluca Pantile

Abstract:

One of the essential requirements in order to have a realistic surgical simulator is real-time interaction by means of a haptic interface is. In fact, reproducing haptic sensations increases the realism of the simulation. However, the interaction need to be performed in real-time, since a delay between the user action and the system reaction reduces the user immersion. In this paper, we present a prototype of the coronary stent implant simulator developed in the HERMES Project; this system allows real-time interactions with a artery by means of a specific haptic device; thus the user can interactively navigate in a reconstructed artery and force feedback is produced when contact occurs between the artery walls and the medical instruments

Keywords: Collision Detection, Haptic Interface, Real-Time Interaction, Surgical Simulator.

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Authors: Zahra Gharineiat, Malik Khalfan

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The significance of emissions from the road transport sector (such as air pollution, noise, etc) has grown considerably in recent years. In Australia, 14.3% of national greenhouse gas emissions in 2000 were the transport sector-s share which 12.9% of net national emissions were related to a road transport alone. Considering the growing attention to the green house gas(GHG) emissions, this paper attempts to provide air pollution modeling aspects of environmental consequences of the road transport by using one of the best computer based tools including the Geographic Information System (GIS). In other word, in this study, GIS and its applications is explained, models which are used to model air pollution and GHG emissions from vehicles are described and GIS is applied in real case study that attempts to forecast GHG emission from people who travel to work by car in 2031 in Melbourne for analysing results as thematic maps.

Keywords: Geographic Information System (GIS), Green HouseGas(GHG) emission, sustainable development, transportation

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Authors: S. Yaman, S. Rostami

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In this study, a black box modeling of the coupled-tank system is obtained by using fuzzy sets. The derived model is tested via adaptive neuro fuzzy inference system (ANFIS). In order to achieve a better control performance, the parameters of three different controller types, classical proportional integral controller (PID), fuzzy PID and function tuner method, are tuned by one of the evolutionary computation method, genetic algorithm. All tuned controllers are applied to the fuzzy model of the coupled-tank experimental setup and analyzed under the different reference input values. According to the results, it is seen that function tuner method demonstrates better robust control performance and guarantees the closed loop stability.

Keywords: Function tuner method, fuzzy modeling, fuzzy PID controller, genetic algorithm.

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Authors: P. Chockalingam, C. K. Kok, T. R. Vijayaram

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Glass fiber reinforced polymer (GFRP) laminates have been widely used because of their unique mechanical and physical properties such as high specific strength, stiffness and corrosive resistance. Accordingly, the demand for precise grinding of composites has been increasing enormously. Grinding is the one of the obligatory methods for fabricating products with composite materials and it is usually the final operation in the assembly of structural laminates. In this experimental study, an attempt has been made to develop an empirical model to predict the surface roughness of ground GFRP composite laminate with respect to the influencing grinding parameters by factorial design approach of design of experiments (DOE). The significance of grinding parameters and their three factor interaction effects on grinding of GFRP composite have been analyzed in detail. An empirical equation has been developed to attain minimum surface roughness in GFRP laminate grinding.

Keywords: GFRP Laminates, Grinding, Surface Roughness, Factorial Design.

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Authors: P. Suryakumari, P. Kantarao

Abstract:

Optimal Power Flow (OPF) problem in electrical power system is considered as a static, non-linear, multi-objective or a single objective optimization problem. This paper presents an algorithm for solving the voltage stability objective reactive power dispatch problem in a power system .The proposed approach employs cat swarm optimization algorithm for optimal settings of RPD control variables. Generator terminal voltages, reactive power generation of the capacitor banks and tap changing transformer setting are taken as the optimization variables. CSO algorithm is tested on standard IEEE 30 bus system and the results are compared with other methods to prove the effectiveness of the new algorithm. As a result, the proposed method is the best for solving optimal reactive power dispatch problem.

Keywords: RPD problem, voltage stability enhancement, CSO algorithm.

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Authors: Mahdi Shaneh, Azizollah Taheri

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The goal of this project is to design a system to recognition voice commands. Most of voice recognition systems contain two main modules as follow “feature extraction" and “feature matching". In this project, MFCC algorithm is used to simulate feature extraction module. Using this algorithm, the cepstral coefficients are calculated on mel frequency scale. VQ (vector quantization) method will be used for reduction of amount of data to decrease computation time. In the feature matching stage Euclidean distance is applied as similarity criterion. Because of high accuracy of used algorithms, the accuracy of this voice command system is high. Using these algorithms, by at least 5 times repetition for each command, in a single training session, and then twice in each testing session zero error rate in recognition of commands is achieved.

Keywords: MFCC, Vector quantization, Vocal tract, Voicecommand.

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Authors: Marzuki Khalid, RubiyahYusof, AnisSalwaMohdKhairuddin

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An automated wood recognition system is designed to classify tropical wood species.The wood features are extracted based on two feature extractors: Basic Grey Level Aura Matrix (BGLAM) technique and statistical properties of pores distribution (SPPD) technique. Due to the nonlinearity of the tropical wood species separation boundaries, a pre classification stage is proposed which consists ofKmeans clusteringand kernel discriminant analysis (KDA). Finally, Linear Discriminant Analysis (LDA) classifier and KNearest Neighbour (KNN) are implemented for comparison purposes. The study involves comparison of the system with and without pre classification using KNN classifier and LDA classifier.The results show that the inclusion of the pre classification stage has improved the accuracy of both the LDA and KNN classifiers by more than 12%.

Keywords: Tropical wood species, nonlinear data, featureextractors, classification

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Authors: V. Venkatachalam, S. Selvan

Abstract:

The security of computer networks plays a strategic role in modern computer systems. Intrusion Detection Systems (IDS) act as the 'second line of defense' placed inside a protected network, looking for known or potential threats in network traffic and/or audit data recorded by hosts. We developed an Intrusion Detection System using LAMSTAR neural network to learn patterns of normal and intrusive activities, to classify observed system activities and compared the performance of LAMSTAR IDS with other classification techniques using 5 classes of KDDCup99 data. LAMSAR IDS gives better performance at the cost of high Computational complexity, Training time and Testing time, when compared to other classification techniques (Binary Tree classifier, RBF classifier, Gaussian Mixture classifier). we further reduced the Computational Complexity of LAMSTAR IDS by reducing the dimension of the data using principal component analysis which in turn reduces the training and testing time with almost the same performance.

Keywords: Binary Tree Classifier, Gaussian Mixture, IntrusionDetection System, LAMSTAR, Radial Basis Function.

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Authors: Xia Liu, Marek E. Bialkowski

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This paper reports on investigations into capacity of a Multiple Input Multiple Output (MIMO) wireless communication system employing a uniform linear array (ULA) at the transmitter and either a uniform linear array (ULA) or a uniform circular array (UCA) antenna at the receiver. The transmitter is assumed to be surrounded by scattering objects while the receiver is postulated to be free from scattering objects. The Laplacian distribution of angle of arrival (AOA) of a signal reaching the receiver is postulated. Calculations of the MIMO system capacity are performed for two cases without and with the channel estimation errors. For estimating the MIMO channel, the scaled least square (SLS) and minimum mean square error (MMSE) methods are considered.

Keywords: MIMO, channel capacity, channel estimation, ULA, UCA, spatial correlation

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Authors: Alireza Dehghani Pilehvarani, Mojtaba Hakimzadeh, Mohammad Jafari Far, Reza Sedaghati

Abstract:

Distributed Generation (DG) can help in reducing the cost of electricity to the costumer, relieve network congestion and provide environmentally friendly energy close to load centers. Its capacity is also scalable and it provides voltage support at distribution level. Hence, DG placement and penetration level is an important problem for both the utility and DG owner. DG allocation and capacity determination is a nonlinear optimization problem. The objective function of this problem is the minimization of the total loss of the distribution system. Also high levels of penetration of DG are a new challenge for traditional electric power systems. This paper presents a new methodology for the optimal placement of DG and penetration level of DG in distribution system based on General Algebraic Modeling System (GAMS) and Genetic Algorithm (GA).

Keywords: Distributed Generation, Location, Loss Reduction, Distribution Network, GA, GAMS.

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Authors: Zhaojun Wang, Zongdi Sun, Zhiyuan Liu

Abstract:

First of all, the carbon trading price and trading volume in Shanghai are transformed by Fourier transform, and the frequency response diagram is obtained. Then, the frequency response diagram is analyzed and the Blackman filter is designed. The Blackman filter is used to filter, and the carbon trading time domain and frequency response diagram are obtained. After wavelet analysis, the carbon trading data were processed; respectively, we got the average value for each 5 days, 10 days, 20 days, 30 days, and 60 days. Finally, the data are used as input of the Back Propagation Neural Network model for prediction.

Keywords: Shanghai carbon trading, carbon trading price, carbon trading volume, wavelet analysis, BP neural network model.

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Authors: Zhengyu Yan, Yan Yu, Jianqiu Chen

Abstract:

A novel sensing system has been designed for naphthalene detection based on the quenched fluorescence signal of CdS quantum dots. The fluorescence intensity of the system reduced significantly after adding CdS quantum dots to the water pollution model because of the fluorescent static quenching f mechanism. Herein, we have demonstrated the facile methodology can offer a convenient and low analysis cost with the recovery rate as 97.43%-103.2%, which has potential application prospect.

Keywords: CdS quantum dots, modification, detection, naphthalene.

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Authors: H. Soleimanimehr, M. J. Nategh , S. Amini

Abstract:

Development of artificial neural network (ANN) for prediction of aluminum workpieces' surface roughness in ultrasonicvibration assisted turning (UAT) has been the subject of the present study. Tool wear as the main cause of surface roughness was also investigated. ANN was trained through experimental data obtained on the basis of full factorial design of experiments. Various influential machining parameters were taken into consideration. It was illustrated that a multilayer perceptron neural network could efficiently model the surface roughness as the response of the network, with an error less than ten percent. The performance of the trained network was verified by further experiments. The results of UAT were compared with the results of conventional turning experiments carried out with similar machining parameters except for the vibration amplitude whence considerable reduction was observed in the built-up edge and the surface roughness.

Keywords: Aluminum, Artificial Neural Network (ANN), BuiltupEdge, Surface Roughness, Tool Wear, Ultrasonic VibrationAssisted Turning (UAT).

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Authors: M. Derakhshanfar, B. Minaei-Bidgoli

Abstract:

Spatial trends are one of the valuable patterns in geo databases. They play an important role in data analysis and knowledge discovery from spatial data. A spatial trend is a regular change of one or more non spatial attributes when spatially moving away from a start object. Spatial trend detection is a graph search problem therefore heuristic methods can be good solution. Artificial immune system (AIS) is a special method for searching and optimizing. AIS is a novel evolutionary paradigm inspired by the biological immune system. The models based on immune system principles, such as the clonal selection theory, the immune network model or the negative selection algorithm, have been finding increasing applications in fields of science and engineering. In this paper, we develop a novel immunological algorithm based on clonal selection algorithm (CSA) for spatial trend detection. We are created neighborhood graph and neighborhood path, then select spatial trends that their affinity is high for antibody. In an evolutionary process with artificial immune algorithm, affinity of low trends is increased with mutation until stop condition is satisfied.

Keywords: Spatial Data Mining, Spatial Trend Detection, Heuristic Methods, Artificial Immune System, Clonal Selection Algorithm (CSA)

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Authors: Jorge Maestre Vidal, Ana Lucila Sandoval Orozco, Luis Javier García Villalba

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With the increase in popularity of mobile devices, new and varied forms of malware have emerged. Consequently, the organizations for cyberdefense have echoed the need to deploy more effective defensive schemes adapted to the challenges posed by these recent monitoring environments. In order to contribute to their development, this paper presents a malware detection strategy for mobile devices based on sequence alignment algorithms. Unlike the previous proposals, only the system calls performed during the startup of applications are studied. In this way, it is possible to efficiently study in depth, the sequences of system calls executed by the applications just downloaded from app stores, and initialize them in a secure and isolated environment. As demonstrated in the performed experimentation, most of the analyzed malicious activities were successfully identified in their boot processes.

Keywords: Android, information security, intrusion detection systems, malware, mobile devices.

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Authors: Abdul Rashid Husain, Mohamad Noh Ahmad, Abdul Halim Mohd Yatim

Abstract:

In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respectively, while the chattering effect in the input is attenuated. This is proven to be advantageous for AMB system since minimization of chattering results in optimized control effort. The performance of each controller is demonstrated via result of simulation in which the measurement of the total consumed energy and maximum control magnitude of each controller illustrates the effectiveness of the proposed controllers.

Keywords: Active Magnetic Bearing (AMB), Sliding Mode Control (SMC), chattering-free SMC.

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