Search results for: robust multivariable feedback control design.

Authors: Paul W. Murray, Marco Barajas

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Recent changes in supply chains, especially globalization and collaboration, have created new risks for enterprises of all sizes. A variety of complex frameworks, often based on enterprise risk management strategies have been presented under the heading of Supply Chain Risk Management (SCRM). The literature on promotes the benefits of a robust SCRM strategy; however, implementing SCRM is difficult and resource demanding for Large Enterprises (LEs), and essentially out of reach for Small & Medium Enterprises (SMEs). This research debunks the idea that SCRM is necessary for all enterprises and instead proposes a simple and effective Vendor Selection Template (VST). Empirical testing and a survey of supply chain practitioners provide a measure of validation to the VST. The resulting VSTis a valuable contribution because is easy to use, provides practical results, and is sufficiently flexible to be universally applied to SMEs.

Keywords: Multiple Regression Analysis, Supply Chain Management, Risk Assessment, Vendor Selection.

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Authors: S. V. Yendiyarov

Abstract:

Pattern discovery from time series is of fundamental importance. Particularly, when information about the structure of a pattern is not complete, an algorithm to discover specific patterns or shapes automatically from the time series data is necessary. The dynamic time warping is a technique that allows local flexibility in aligning time series. Because of this, it is widely used in many fields such as science, medicine, industry, finance and others. However, a major problem of the dynamic time warping is that it is not able to work with structural changes of a pattern. This problem arises when the structure is influenced by noise, which is a common thing in practice for almost every application. This paper addresses this problem by means of developing a novel technique called adaptive dynamic time warping.

Keywords: Pattern recognition, optimal control, quadratic programming, dynamic programming, dynamic time warping, sintering control.

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Authors: Mostafa.A. Fellani, Daw .E. Abaid

Abstract:

This paper deals with stability analysis for synchronous reluctance motors drive. Special attention is paid to the transient performance with variations in motor's parameters such as Ld and Rs. A study of the dynamic control using d-q model is presented first in order to clarify the stability of the motor drive system. Based on the experimental parameters of the synchronous reluctance motor, this paper gives some simulation results using MATLAB/SIMULINK software packages. It is concluded that the motor parameters, especially Ld, affect the estimator stability and hence the whole drive system.

Keywords: Dynamic Simulation, MATLAB, PWM-inverter, Reluctance Machine, Sensorless Control

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Authors: Zaouche Mohamed, Amini Mohamed, Foughali Khaled, Aitkaid Souhila, Bouchiha Nihad Sarah

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The aerodynamic coefficients are important in the evaluation of an aircraft performance and stability-control characteristics. These coefficients also can be used in the automatic flight control systems and mathematical model of flight simulator. The study of the aerodynamic aspect of flying systems is a reserved domain and inaccessible for the developers. Doing tests in a wind tunnel to extract aerodynamic forces and moments requires a specific and expensive means. Besides, the glaring lack of published documentation in this field of study makes the aerodynamic coefficients determination complicated. This work is devoted to the identification of an aerodynamic model, by using an aircraft in virtual simulated environment. We deal with the identification of the system, we present an environment framework based on Software In the Loop (SIL) methodology and we use Microsoft^TM Flight Simulator (FS-2004) as the environment for plane simulation. We propose The Total Least Squares Estimation technique (TLSE) to identify the aerodynamic parameters, which are unknown, variable, classified and used in the expression of the piloting law. In this paper, we define each aerodynamic coefficient as the mean of its numerical values. All other variations are considered as modeling uncertainties that will be compensated by the robustness of the piloting control.

Keywords: Aircraft aerodynamic model, Microsoft flight simulator, MQ-1 Predator, total least squares estimation, piloting the aircraft.

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Authors: Tarek M. Alguhane, Ayman H. Khalil, M. N. Fayed, Ayman M. Ismail

Abstract:

The retrofitting of existing buildings to resist the seismic loads is very important to avoid losing lives or financial disasters. The aim at retrofitting processes is increasing total structure strength by increasing stiffness or ductility ratio. In addition, the response modification factors (R) have to satisfy the code requirements for suggested retrofitting types. In this study, two types of jackets are used, i.e. full reinforced concrete jackets and surrounding steel plate jackets. The study is carried out on an existing building in Madinah by performing static pushover analysis before and after retrofitting the columns. The selected model building represents nearly all-typical structure lacks structure built before 30 years ago in Madina City, KSA. The comparison of the results indicates a good enhancement of the structure respect to the applied seismic forces. Also, the response modification factor of the RC building is evaluated for the studied cases before and after retrofitting. The design of all vertical elements (columns) is given. The results show that the design of retrofitted columns satisfied the code's design stress requirements. However, for some retrofitting types, the ductility requirements represented by response modification factor do not satisfy KSA design code (SBC- 301).

Keywords: Concrete jackets, steel jackets, RC buildings pushover analysis, non-linear analysis.

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Authors: W. Mughees, M. Al-Ahmad, M. Naeem

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This research involves the design and analysis of pinch-based water/wastewater networks to minimize water utility in the petrochemical and petroleum industries. A study has been done on Tehran Oil Refinery to analyze feasibilities of regeneration, reuse and recycling of water network. COD is considered as a single key contaminant. Amount of freshwater was reduced about 149m3/h (43.8%) regarding COD. Re-design (or retrofitting) of water allocation in the networks was undertaken. The results were analyzed through graphical method and mathematical programming technique which clearly demonstrated that amount of required water would be determined by mass transfer of COD.

Keywords: Minimization, Water Pinch, Water Management, Pollution Prevention.

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Authors: Byung-Ju Kim, Jong-Jin Shin, Hwa-Jin Nam, Jin-Soo Kim

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Skyline extraction in mountainous images can be used for navigation of vehicles or UAV(unmanned air vehicles), but it is very hard to extract skyline shape because of clutters like clouds, sea lines and field borders in images. We developed the edge-based skyline extraction algorithm using a proposed multistage edge filtering (MEF) technique. In this method, characteristics of clutters in the image are first defined and then the lines classified as clutters are eliminated by stages using the proposed MEF technique. After this processing, we select the last line using skyline measures among the remained lines. This proposed algorithm is robust under severe environments with clutters and has even good performance for infrared sensor images with a low resolution. We tested this proposed algorithm for images obtained in the field by an infrared camera and confirmed that the proposed algorithm produced a better performance and faster processing time than conventional algorithms.

Keywords: MEF, mountainous image, navigation, skyline

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Authors: Agung Budi Muljono, I Made Ginarsa, I Made Ari Nrartha

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A large-scale power system (LSPS) consists of two or more sub-systems connected by inter-connecting transmission. Loading pattern on an LSPS always changes from time to time and varies depend on consumer need. The serious instability problem is appeared in an LSPS due to load fluctuation in all of the bus. Adaptive neuro-fuzzy inference system (ANFIS)-based power system stabilizer (PSS) is presented to cover the stability problem and to enhance the stability of an LSPS. The ANFIS control is presented because the ANFIS control is more effective than Mamdani fuzzy control in the computation aspect. Simulation results show that the presented PSS is able to maintain the stability by decreasing peak overshoot to the value of −2.56 × 10−5 pu for rotor speed deviation Δω2−3. The presented PSS also makes the settling time to achieve at 3.78 s on local mode oscillation. Furthermore, the presented PSS is able to improve the peak overshoot and settling time of Δω3−9 to the value of −0.868 × 10−5 pu and at the time of 3.50 s for inter-area oscillation.

Keywords: ANFIS, large-scale, power system, PSS, stability enhancement.

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Authors: A. Alsaadi, B. Gholami

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An effective approach for unbalanced three-phase distribution power flow solutions is proposed in this paper. The special topological characteristics of distribution networks have been fully utilized to make the direct solution possible. Two matrices–the bus-injection to branch-current matrix and the branch-current to busvoltage matrix– and a simple matrix multiplication are used to obtain power flow solutions. Due to the distinctive solution techniques of the proposed method, the time-consuming LU decomposition and forward/backward substitution of the Jacobian matrix or admittance matrix required in the traditional power flow methods are no longer necessary. Therefore, the proposed method is robust and time-efficient. Test results demonstrate the validity of the proposed method. The proposed method shows great potential to be used in distribution automation applications.

Keywords: Distribution power flow, distribution automation system, radial network, unbalanced networks.

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Authors: M. A. Serag-Eldin

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The paper presents the results of simple measurements conducted on a model of a wind-driven venturi-type room ventilator. The ventilator design is new and was developed employing mathematical modeling. However, the computational model was not validated experimentally for the particular application considered. The paper presents the performance of the ventilator model under laboratory conditions, for five different wind tunnel speeds. The results are used to both demonstrate the effectiveness of the new design and to validate the computational model employed to develop it.

Keywords: Venturi-flow, ventilation, Wind-energy, Wind flow.

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Authors: Amar Partap Singh Pharwaha, Shweta Rani

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To develop a reliable and cost effective communication platform for the telemedicine applications, novel antenna design has been presented using bacterial foraging optimization (BFO) technique. The proposed antenna geometry is achieved by etching a modified Koch curve fractal shape at the edges and a square shape slot at the center of the radiating element of a patch antenna. It has been found that the new antenna has achieved 43.79% size reduction and better resonating characteristic than the original patch. Representative results for both simulations and numerical validations are reported in order to assess the effectiveness of the developed methodology.

Keywords: BFO, electrical permittivity, fractals, Koch curve.

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Authors: Hanane Ondella, Pierre Ladet, David Ferrand, Pat Sloan

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In the micro and nano-technology industry, the «clean-rooms» dedicated to manufacturing chip, are equipped with the most sophisticated equipment-tools. There use a large number of resources in according to strict specifications for an optimum working and result. The distribution of «utilities» to the production is assured by teams who use a supervision tool. The studies show the interest to control the various parameters of production or/and distribution, in real time, through a reliable and effective supervision tool. This document looks at a large part of the functions that the supervisor must assure, with complementary functionalities to help the diagnosis and simulation that prove very useful in our case where the supervised installations are complexed and in constant evolution.

Keywords: Control-Command, evolution, non regression, performances, real time, simulation, supervision.

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Authors: Fiona Wahr, Sitalakshmi Venkatraman

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Industry employers require new graduates to bring with them a range of knowledge, skills and abilities which mean these new employees can immediately make valuable work contributions. These will be a combination of discipline and professional knowledge, skills and abilities which give graduates the technical capabilities to solve practical problems whilst interacting with a range of stakeholders. Underpinning the development of these disciplines and professional knowledge, skills and abilities, are “enabling” knowledge, skills and abilities which assist students to engage in learning. These are academic and learning skills which are essential to common starting points for both the learning process of students entering the course as well as forming the foundation for the fully developed graduate knowledge, skills and abilities. This paper reports on a project created to introduce and strengthen these enabling skills into the first semester of a Bachelor of Information Technology degree in an Australian polytechnic. The project uses an action research approach in the context of ongoing continuous improvement for the course to enhance the overall learning experience, learning sequencing, graduate outcomes, and most importantly, in the first semester, student engagement and retention. The focus of this is implementing the new curriculum in first semester subjects of the course with the aim of developing the “enabling” learning skills, such as literacy, research and numeracy based knowledge, skills and abilities (KSAs). The approach used for the introduction and embedding of these KSAs, (as both enablers of learning and to underpin graduate attribute development), is presented. Building on previous publications which reported different aspects of this longitudinal study, this paper recaps on the rationale for the curriculum redevelopment and then presents the quantitative findings of entering students’ reading literacy and numeracy knowledge and skills degree as well as their perceived research ability. The paper presents the methodology and findings for this stage of the research. Overall, the cohort exhibits mixed KSA levels in these areas, with a relatively low aggregated score. In addition, the paper describes the considerations for adjusting the design and delivery of the new subjects with a targeted learning experience, in response to the feedback gained through continuous monitoring. Such a strategy is aimed at accommodating the changing learning needs of the students and serves to support them towards achieving the enabling learning goals starting from day one of their higher education studies.

Keywords: Enabling skills, student retention, embedded learning support, continuous improvement.

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Authors: R. Haoui

Abstract:

The aim of this work is to determine the supersonic nozzle profiles used in propulsion, for the launchers or embarked with the satellites. This design has as a role firstly, to give a important propulsion, i.e. with uniform and parallel flow at exit, secondly to find a short length profiles without modification of the flow in the nozzle. The first elaborate program is used to determine the profile of divergent by using the characteristics method for an axisymmetric flow. The second program is conceived by using the finite volume method to determine and test the profile found connected to a convergent.

Keywords: Characteristic method, nozzles, supersonic flow, propellers.

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Authors: Y.C. Yeh, Y.S. Tsay, C.M. Chiang

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A good green building design project, designers should consider not only energy consumption, but also healthy and comfortable needs of inhabitants. In recent years, the Taiwan government paid attentions on both carbon reduction and indoor air quality issues, which be presented in the legislation of Building Codes and other regulations. Taiwan located in hot and humid climates, dampness in buildings leads to significant microbial pollution and building damage. This means that the high temperature and humidity present a serious indoor air quality issue. The interactions between vapor transfers and energy fluxes are essential for the whole building Heat Air and Moisture (HAM) response. However, a simulation tool with short calculation time, property accuracy and interface is needed for practical building design processes. In this research, we consider the vapor transfer phenomenon of building materials as well as temperature and humidity and energy consumption in a building space. The simulation bases on the EMPD method, which was performed by EnergyPlus, a simulation tool developed by DOE, to simulate the indoor moisture variation in a one-zone residential unit based on the Effective Moisture Penetration Depth Method, which is more suitable for practical building design processes.

Keywords: Effective Moisture Penetration Depth Method, Moisture Buffering Effect, Interior Material, Green Material, EnergyPlus

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Authors: Jelena R. Pejović, Nina N. Serdar

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This paper presents an analysis of the “Performance-Based” seismic design method, in order to overcome the perceived disadvantages and limitations of the existing seismic design approach based on force, in engineering practice. Bearing in mind, the specificity of the earthquake as a load and the fact that the seismic resistance of the structures solely depends on its behaviour in the nonlinear field, traditional seismic design approach based on force and linear analysis is not adequate. “Performance-Based” seismic design method is based on nonlinear analysis and can be used in everyday engineering practice. This paper presents the application of this method to eight-story high reinforced concrete building with combined structural system (reinforced concrete frame structural system in one direction and reinforced concrete ductile wall system in other direction). The nonlinear time-history analysis is performed on the spatial model of the structure using program Perform 3D, where the structure is exposed to forty real earthquake records. For considered building, large number of results were obtained. It was concluded that using this method we could, with a high degree of reliability, evaluate structural behavior under earthquake. It is obtained significant differences in the response of structures to various earthquake records. Also analysis showed that frame structural system had not performed well at the effect of earthquake records on soil like sand and gravel, while a ductile wall system had a satisfactory behavior on different types of soils.

Keywords: Ductile wall, frame system, nonlinear time-history analysis, performance-based methodology, RC building.

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Authors: Cristian F.T. Montenegro, Luís F. N. Lourenço, Maurício B. C. Salles, Renato M. Monaro

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More PV systems have been connected to the electrical network each year. As the number of PV systems increases, some issues affecting grid operations have been identified. This paper studied the impacts related to changes in solar irradiance on a distribution/sub-transmission network, considering variations due to moving clouds and daily cycles. Using MATLAB/Simulink software, a solar farm of 30 MWp was built and then implemented to a test network. From simulations, it has been determined that irradiance changes can have a significant impact on the grid by causing voltage fluctuations outside the allowable thresholds. This work discussed some local control strategies and grid reinforcements to mitigate the negative effects of the irradiance changes on the grid.

Keywords: Utility-scale PV systems, reactive power control, solar irradiance, voltage fluctuation.

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Authors: Muhammad R. Ahmed, Xu Huang, Dharmendra Sharma

Abstract:

Despite extensive study on wireless sensor network security, defending internal attacks and finding abnormal behaviour of the sensor are still difficult and unsolved task. The conventional cryptographic technique does not give the robust security or detection process to save the network from internal attacker that cause by abnormal behavior. The insider attacker or abnormally behaved sensor identificationand location detection framework using false massage detection and Time difference of Arrival (TDoA) is presented in this paper. It has been shown that the new framework can efficiently identify and detect the insider attacker location so that the attacker can be reprogrammed or subside from the network to save from internal attack.

Keywords: Insider Attaker identification, Abnormal Behaviour, Location detection, Time difference of Arrival (TDoA), Wireless sensor network

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Authors: Konghe Xie

Abstract:

Two consensus problems are considered in this paper. One is the consensus of linear multi-agent systems with weakly connected directed communication topology. The other is the consensus of nonlinear multi-agent systems with strongly connected directed communication topology. For the first problem, a simplified consensus protocol is designed: Each child agent can only communicate with one of its neighbors. That is, the real communication topology is a directed spanning tree of the original communication topology and without any cycles. Then, the necessary and sufficient condition is put forward to the multi-agent systems can be reached consensus. It is worth noting that the given conditions do not need any eigenvalue of the corresponding Laplacian matrix of the original directed communication network. For the second problem, the feedback gain is designed in the nonlinear consensus protocol. Then, the sufficient condition is proposed such that the systems can be achieved consensus. Besides, the consensus interval is introduced and analyzed to solve the consensus problem. Finally, two numerical simulations are included to verify the theoretical analysis.

Keywords: Consensus, multi-agent systems, directed spanning tree, the Laplacian matrix.

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Authors: Yasmeen Bassas, Sandra Kuebler, Allen Riddell

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Native Language Identification is one of the growing subfields in Natural Language Processing (NLP). The task of Native Language Identification (NLI) is mainly concerned with predicting the native language of an author’s writing in a second language. In this paper, we investigate the performance of two types of features; content-based features vs. content independent features when they are evaluated on a different corpus (using social media data “Reddit”). In this NLI task, the predefined models are trained on one corpus (TOEFL) and then the trained models are evaluated on a different data using an external corpus (Reddit). Three classifiers are used in this task; the baseline, linear SVM, and Logistic Regression. Results show that content-based features are more accurate and robust than content independent ones when tested within corpus and across corpus.

Keywords: NLI, NLP, content-based features, content independent features, social media corpus, ML.

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Authors: Eileen Chih-Ying Yang, Liang-Han Wu, Chieh-Min Chang

Abstract:

The design of an active leg orthosis for tumble protection is proposed in this paper. The orthosis would be applied to assist elders or invalids in rebalancing while they fall unexpectedly. We observe the regain balance motion of healthy and youthful people, and find the difference to elders or invalids. First, the physical model of leg would be established, and we consider the leg motions are achieve through four joints (phalanx stem, ankle, knee, and hip joint) and five links (phalanges, talus, tibia, femur, and hip bone). To formulate the dynamic equations, the coordinates which can clearly describe the position in 3D space are first defined accordance with the human movement of leg, and the kinematics and dynamics of the leg movement can be formulated based on the robotics. For the purpose, assisting elders and invalids in avoiding tumble, the posture variation of unbalance and regaining balance motion are recorded by the motion-capture image system, and the trajectory is taken as the desire one. Then we calculate the force and moment of each joint based on the leg motion model through programming MATLAB code. The results would be primary information of the active leg orthosis design for tumble protection.

Keywords: Active leg orthosis, Tumble protection

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Authors: Y. K. Chen, K. C. Chiou, C. Y. Chen

Abstract:

The cumulative conformance count (CCC) charts are widespread in process monitoring of high-yield manufacturing. Recently, it is found the use of variable sampling interval (VSI) scheme could further enhance the efficiency of the standard CCC charts. The average time to signal (ATS) a shift in defect rate has become traditional measure of efficiency of a chart with the VSI scheme. Determining the ATS is frequently a difficult and tedious task. A simple method based on a finite Markov Chain approach for modeling the ATS is developed. In addition, numerical results are given.

Keywords: Cumulative conformance count, variable sampling interval, Markov Chain, average time to signal, control chart.

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Authors: H. Lang, M. Bader, A. Buchroithner

Abstract:

Holistic methods covering the development process as a whole – e.g. systems engineering – have established themselves in product design. However, technical product optimization, representing improvements in efficiency and/or minimization of loss, usually applies to single components of a system. A holistic approach is being defined based on a hierarchical point of view of systems engineering. This is subsequently presented using the example of an electromechanical flywheel energy storage system for automotive applications.

Keywords: Design, product development, product optimization, systems engineering, flywheel energy storage.

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Authors: Adrià Arbués-Sangüesa, Coloma Ballester, Gloria Haro

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Tracking sports players is a widely challenging scenario, specially in single-feed videos recorded in tight courts, where cluttering and occlusions cannot be avoided. This paper presents an analysis of several geometric and semantic visual features to detect and track basketball players. An ablation study is carried out and then used to remark that a robust tracker can be built with Deep Learning features, without the need of extracting contextual ones, such as proximity or color similarity, nor applying camera stabilization techniques. The presented tracker consists of: (1) a detection step, which uses a pretrained deep learning model to estimate the players pose, followed by (2) a tracking step, which leverages pose and semantic information from the output of a convolutional layer in a VGG network. Its performance is analyzed in terms of MOTA over a basketball dataset with more than 10k instances.

Keywords: Basketball, deep learning, feature extraction, single-camera, tracking.

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Authors: Soroosh Rezazadeh, Mehran Yazdi

Abstract:

In this paper, a robust digital image watermarking scheme for copyright protection applications using the singular value decomposition (SVD) is proposed. In this scheme, an entropy masking model has been applied on the host image for the texture segmentation. Moreover, the local luminance and textures of the host image are considered for watermark embedding procedure to increase the robustness of the watermarking scheme. In contrast to all existing SVD-based watermarking systems that have been designed to embed visual watermarks, our system uses a pseudo-random sequence as a watermark. We have tested the performance of our method using a wide variety of image processing attacks on different test images. A comparison is made between the results of our proposed algorithm with those of a wavelet-based method to demonstrate the superior performance of our algorithm.

Keywords: Watermarking, copyright protection, singular value decomposition, entropy masking, texture segmentation.

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Authors: Ramli Nazir, Hossein Moayedi

Abstract:

Soil confinement systems serve as effective solutions to any erosion control project. Various confinements systems, namely triangular, circular and rectangular with the size of 50, 100, and 150 mm, and with a depth of 10 mm, were embedded in soil samples at slope angle of 60°. The observed soil mass losses for the confined soil systems were much smaller than those from unconfined system. As a result, the size of confinement and rainfall intensity have a direct effect on the soil mass loss. The triangular and rectangular confinement systems showed the lowest and highest soil loss masses, respectively. The slopes also failed much faster in the unconfined system than in the confined slope.

Keywords: Erosion control, Soil confinement, Soil erosion, Slope stability.

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Authors: Christoph Mayer, Dominik Holzmann

Abstract:

This paper presents the development of a compact, portable and easy to handle solar cell characterization device. The presented device reduces the effort and cost of single solar cell characterization to a minimum. It enables realistic characterization of cells under sunlight within minutes. In the field of photovoltaic research the common way to characterize a single solar cell or a module is, to measure the current voltage curve. With this characteristic the performance and the degradation rate can be defined which are important for the consumer or developer. The paper consists of the system design description, a summary of the measurement results and an outline for further developments.

Keywords: Solar cell, photovoltaics, PV, characterization.

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Authors: Gergely Géczi

Abstract:

In the modern world, ice-hockey (and in a broader sense, team sports) is becoming an increasingly popular field of entertainment. Although the main element is most likely perceived as the show itself, winning is an inevitable part of the successful operation of any sports team. In this paper, the author creates a research design allowing to develop and validate an ice-hockey team-focused diagnostics scale, which enables researchers and practitioners to identify the problems associated with underperforming teams. The construction of the scale starts with personal interviews with experts of the field, carefully chosen from Hungarian ice-hockey sector. Based on the interviews, the author is shown to be in the position to create the categories and the relevant items for the scale. When constructed, the next step is the validation process on a Hungarian sample. Data for validation are acquired through reaching the licensed database of the Hungarian Ice-Hockey Federation involving Hungarian ice-hockey coaches and players. The Ice-Hockey Team Diagnostics Scale is to be created to orientate practitioners in understanding both effective and underperforming team work.

Keywords: Diagnostics Scale, effective versus underperforming team work, ice-hockey, research design.

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Authors: Caixia Kang, Takahiro Kuba, Aimin Hao, Yasushi Iseri, Chunjie Li, Zhenjia Zhang

Abstract:

To improve the water quality of lakes and control algae blooms, the effects of Vallisneria asiatica which is one of aquatic plants spread over Lake Taihu, with different biomasses on the water quality and algae communities were researched. The results indicated that V. asiatica could control an excess of Microcystis spp. when the V. asiatica biomass was larger than 50g in the tank with 30L solution in the laboratory. Planktonic and epiphytic algae responded differently to V. asiatica. The presence of macrophyte V. asiatica in eutrophic waters has a positive effect on algae compositions because of different sensitivities of algae species to allelopathic substances released by macrophyte V. asiatica. That is, V. asiatica could inhibit the growth of Microcystis spp. effectively and was benefited to the diatom on the condition in the laboratory.

Keywords: Algae bloom, algae community, Microcystis spp., Vallisneria asiatica.

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Authors: R. Dariani, S. Schmidt, R. Kasper

Abstract:

Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulation of the autonomous driving allows taking decision on undefined situation such as lane change or obstacle avoidance. Based on position of the vehicle, lane situation and obstacle position, the optimization problem is reformulated in real-time to avoid the obstacle and any car crash.

Keywords: Autonomous driving, Obstacle avoidance, Optimal control, Path planning.

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