Search results for: work system design.

Authors: A. H. M. Zahirul Alam, Rafiqul Islam, Sheroz Khan

Abstract:

In this paper a tuning fork type structure of Ultra Wideband (UWB) antenna is proposed. The antenna offers excellent performance for UWB system, ranging from 3.7 GHz to 13.8 GHz. The antenna exhibits a 10 dB return loss bandwidth over the entire frequency band. The rectangular patch antenna is designed on FR4 substrate and fed with 50 ohms microstrip line by optimizing the width of partial ground, the width and position of the feedline to operate in UWB. The rectangular patch is then modified to tuning fork structure by maintaining UWB frequency range.

Keywords: Ultra wide band, antenna, microstrip, partial groundplane.

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Authors: Nina Robson, Kenneth John Faller II, Vishalkumar Ahir, Arthur Ricardo Deps Miguel Ferreira, John Buchanan, Amarnath Banerjee

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This paper describes the development of a virtual-reality system ARWED, which will be used in physical rehabilitation of patients with reduced upper extremity mobility to increase limb Active Range of Motion (AROM). The ARWED system performs a symmetric reflection and real-time mapping of the patient’s healthy limb on to their most affected limb, tapping into the mirror neuron system and facilitating the initial learning phase. Using the ARWED, future experiments will test the extension of the action-observation priming effect linked to the mirror-neuron system on healthy subjects and then stroke patients.

Keywords: Physical rehabilitation, mirror neuron, virtual reality, stroke therapy.

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Authors: S. K. Bhullar, J. Ko, F. Ahmed, M. B. G. Jun

Abstract:

The negative Poisson’s ratios can be described in terms of models based on the geometry of the system and the way this geometry changes due to applied loads. As the Poisson’s ratio does not depend on scale hence deformation can take place at the nano to macro level the only requirement is the right combination of the geometry. Our thrust in this paper is to combine our knowledge of tailored enhanced mechanical properties of the materials having negative Poisson’s ratio with the micromachining and electrospining technology to develop a novel stent carrying a drug delivery system. Therefore, the objective of this paper includes (i) fabrication of a micromachined metal sheet tailored with structure having negative Poisson’s ratio through rotating solid squares geometry using femtosecond laser ablation; (ii) rolling fabricated structure and welding to make a tubular structure (iii) wrapping it with nanofibers of biocompatible polymer PCL (polycaprolactone) for drug delivery (iv) analysis of the functional and mechanical performance of fabricated structure analytically and experimentally. Further, as the applications concerned, tubular structures have potential in biomedical for example hollow tubes called stents are placed inside to provide mechanical support to a damaged artery or diseased region and to open a blocked esophagus thus allowing feeding capacity and improving quality of life.

Keywords: Micromachining, electrospining, auxetic materials, enhanced mechanical properties.

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Authors: Jin-Hyeok Kim, Won-Chul Choi, Seung-Ri Jin, Dong-Jo Park

Abstract:

In this paper, an analysis of a target location estimation system using the best linear unbiased estimator (BLUE) for high performance radar systems is presented. In synthetic environments, we are here concerned with three key elements of radar system modeling, which makes radar systems operates accurately in strategic situation in virtual ground. Radar Cross Section (RCS) modeling is used to determine the actual amount of electromagnetic waves that are reflected from a tactical object. Pattern Propagation Factor (PPF) is an attenuation coefficient of the radar equation that contains the reflection from the surface of the earth, the diffraction, the refraction and scattering by the atmospheric environment. Clutter is the unwanted echoes of electronic systems. For the data fusion of output results from radar detection in synthetic environment, BLUE is used and compared with the mean values of each simulation results. Simulation results demonstrate the performance of the radar system.

Keywords: Best linear unbiased estimator (BLUE) , data fusion, radar system modeling, target location estimation

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Authors: Felix Dobslaw

Abstract:

In this paper, a framework for the simplification and standardization of metaheuristic related parameter-tuning by applying a four phase methodology, utilizing Design of Experiments and Artificial Neural Networks, is presented. Metaheuristics are multipurpose problem solvers that are utilized on computational optimization problems for which no efficient problem specific algorithm exist. Their successful application to concrete problems requires the finding of a good initial parameter setting, which is a tedious and time consuming task. Recent research reveals the lack of approach when it comes to this so called parameter-tuning process. In the majority of publications, researchers do have a weak motivation for their respective choices, if any. Because initial parameter settings have a significant impact on the solutions quality, this course of action could lead to suboptimal experimental results, and thereby a fraudulent basis for the drawing of conclusions.

Keywords: Parameter-Tuning, Metaheuristics, Design of Experiments, Artificial Neural Networks.

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Authors: Zheng Zhang, Xin Chen, Guoqing Ding

Abstract:

Electronic apex locators (EAL) has been widely used clinically for measuring root canal working length with high accuracy, which is crucial for successful endodontic treatment. In order to maintain high accuracy in different measurement environments, this study presented a system for root canal length measurement based on multifrequency impedance method. This measuring system can generate a sweep current with frequencies from 100 Hz to 1 MHz through a direct digital synthesizer. Multiple impedance ratios with different combinations of frequencies were obtained and transmitted by an analog-to-digital converter and several of them with representatives will be selected after data process. The system analyzed the functional relationship between these impedance ratios and the distance between the file and the apex with statistics by measuring plenty of teeth. The position of the apical foramen can be determined by the statistical model using these impedance ratios. The experimental results revealed that the accuracy of the system based on multifrequency impedance ratios method to determine the position of the apical foramen was higher than the dual-frequency impedance ratio method. Besides that, for more complex measurement environments, the performance of the system was more stable.

Keywords: Root canal length, apex locator, multifrequency impedance, sweep frequency.

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Authors: Tales H. J. Moreira, Thiago M. R. Dias, Gray F. Moita

Abstract:

The adviser-advised relationship, in addition to the evident propagation of knowledge, can provide an increase in the scientific production of the advisors. Specifically, in post-graduate programs, in which the advised submit diverse papers in different means of publication, these end up boosting the production of their advisor, since in general the advisors appear as co-authors, responsible for instructing and assisting in the development of the work. Therefore, to visualize the orientation process and the scientific production resulting from this relation is another important way of analyzing the scientific collaboration in the different areas of knowledge. In this work, are used the data of orientations and postgraduate supervisions from the Lattes curricula, from the main advisors who work in the Engineering area, to obtain an overview of the process of orientation of this group, and even, to produce Academic genealogical trees, where it is possible to verify how knowledge has spread in the diverse areas of engineering.

Keywords: Academic genealogy, advice, engineering, lattes platform.

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Authors: Gyou-tae Park, Young-gyu Kim, Jeong-rock Kwon, Yongwoo Lee, Hiesik Kim

Abstract:

The gas safety management system using an intelligent gas meter we proposed is to monitor flow and pressure of gas, earthquake, temperature, smoke and leak of methane. Then our system takes safety measures to protect a serious risk by the result of an event, to communicate with a wall-pad including a gateway by zigbee network in buildings and to report the event to user by the safety management program in a server. Also, the inner cutoff valve of an intelligent gas meter is operated if any event occurred or abnormal at each sensor.

Keywords: micom gas-meter, gas safety, zigbee, ubiquitous

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Authors: Roozbeh Keshmiri, Alireza Mohamad Shahri

Abstract:

Fuzzy controllers are potential candidates for the control of nonlinear, time variant and also complicated systems. Anti lock brake system (ABS) which is a nonlinear system, may not be easily controlled by classical control methods. An intelligent Fuzzy control method is very useful for this kind of nonlinear system. A typical antilock brake system (ABS) by sensing the wheel lockup, releases the brakes for a short period of time, and then reapplies again the brakes when the wheel spins up. In this paper, an intelligent fuzzy ABS controller is designed to adjust slipping performance for variety of roads. There are tow major sections in the proposing control system. First section consists of tow Fuzzy-Logic Controllers (FLC) providing optimal brake torque for both front and rear wheels. Second section which is also a FLC provides required amount of slip and torque references properties for different kind of roads. Simulation results of our proposed intelligent ABS for three different kinds of road show more reliable and better performance in compare with two other break systems.

Keywords: Fuzzy Logic Control, ABS, Anti lock BrakingSystem.

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Authors: R. Hajkova, J. Palecek, H. Malachova, A. Oulehlova

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Ensuring of continuity of business is basic strategy of every company. Continuity of organization activities includes comprehensive procedures that help in solving unexpected situations of natural and anthropogenic character (for example flood, blaze, economic situations). Planning of continuity operations is a process that helps identify critical processes and implement plans for the security and recovery of key processes. The aim of this article is to demonstrate application of system approach to managing business continuity called business continuity management systems in military issues. This article describes the life cycle of business continuity management which is based on the established cycle PDCA (Plan- Do-Check-Act). After this is carried out by activities which are making by University of Defence during activation of forces and means of the integrated rescue system in case of emergencies - accidents at a nuclear power plant in Czech Republic. Activities of various stages of deployment earmarked forces and resources are managed and evaluated by using MCMS application (Military Continuity Management System).

Keywords: Business continuity management system, emergency management, military, nuclear safety.

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Authors: N. Ebrahimi-Tofighi, M. ArdebiliPour, M. Shahabadi

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In this paper, the effect of receive and/or transmit antenna spacing on the performance (BER vs. SNR) of multipleantenna systems is determined by using an RCS (Radar Cross Section) channel model. In this physical model, the scatterers existing in the propagation environment are modeled by their RCS so that the correlation of the receive signal complex amplitudes, i.e., both magnitude and phase, can be estimated. The proposed RCS channel model is then compared with classical models.

Keywords: MIMO system, Performance of system, Signalcorrelation, SIMO system, Wireless channel model.

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Authors: Federico Pérez González, Iñaki Goiricelaia Ordorika, Pedro Iriondo Bengoa

Abstract:

A new method for low complexity image coding is presented, that permits different settings and great scalability in the generation of the final bit stream. This coding presents a continuoustone still image compression system that groups loss and lossless compression making use of finite arithmetic reversible transforms. Both transformation in the space of color and wavelet transformation are reversible. The transformed coefficients are coded by means of a coding system in depending on a subdivision into smaller components (CFDS) similar to the bit importance codification. The subcomponents so obtained are reordered by means of a highly configure alignment system depending on the application that makes possible the re-configure of the elements of the image and obtaining different levels of importance from which the bit stream will be generated. The subcomponents of each level of importance are coded using a variable length entropy coding system (VBLm) that permits the generation of an embedded bit stream. This bit stream supposes itself a bit stream that codes a compressed still image. However, the use of a packing system on the bit stream after the VBLm allows the realization of a final highly scalable bit stream from a basic image level and one or several enhance levels.

Keywords: Image compression, wavelet transform, highlyscalable, reversible transform, embedded, subcomponents.

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Authors: Hyun-Jee Yang, Bit-Na Kwon, Yong-Jun Kim, Hyoung-Kyu Song

Abstract:

In the cooperative transmission scheme, both the cellular system and broadcasting system are composed. Two cellular base stations (CBSs) communicating with a user in the cell edge use cooperative transmission scheme in the conventional scheme. In the case that the distance between two CBSs and the user is distant, the conventional scheme does not guarantee the quality of the communication because the channel condition is bad. Therefore, if the distance between CBSs and a user is distant, the performance of the conventional scheme is decreased. Also, the bad channel condition has bad effects on the performance. The proposed scheme uses two relays to communicate well with CBSs when the channel condition between CBSs and the user is poor. Using the relay in the high attenuation environment can obtain both advantages of the high bit error rate (BER) and throughput performance.

Keywords: Cooperative communications, diversity gain, OFDM, interworking system.

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Authors: Fabian Horn, Reinhard Guthke

Abstract:

In molecular biology, microarray technology is widely and successfully utilized to efficiently measure gene activity. If working with less studied organisms, methods to design custom-made microarray probes are available. One design criterion is to select probes with minimal melting temperature variances thus ensuring similar hybridization properties. If the microarray application focuses on the investigation of metabolic pathways, it is not necessary to cover the whole genome. It is more efficient to cover each metabolic pathway with a limited number of genes. Firstly, an approach is presented which minimizes the overall melting temperature variance of selected probes for all genes of interest. Secondly, the approach is extended to include the additional constraints of covering all pathways with a limited number of genes while minimizing the overall variance. The new optimization problem is solved by a bottom-up programming approach which reduces the complexity to make it computationally feasible. The new method is exemplary applied for the selection of microarray probes in order to cover all fungal secondary metabolite gene clusters for Aspergillus terreus.

Keywords: bottom-up approach, gene clusters, melting temperature, metabolic pathway, microarray probe design, probe selection

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Authors: Rosie Borup, Hanifa Shah

Abstract:

This paper aims to describe how student satisfaction is measured for work-based learners as these are non-traditional learners, conducting academic learning in the workplace, typically their curricula have a high degree of negotiation, and whose motivations are directly related to their employers- needs, as well as their own career ambitions. We argue that while increasing WBL participation, and use of SSD are both accepted as being of strategic importance to the HE agenda, the use of WBL SSD is rarely examined, and lessons can be learned from the comparison of SSD from a range of WBL programmes, and increased visibility of this type of data will provide insight into ways to improve and develop this type of delivery. The key themes that emerged from the analysis of the interview data were: learners profiles and needs, employers drivers, academic staff drivers, organizational approach, tools for collecting data and visibility of findings. The paper concludes with observations on best practice in the collection, analysis and use of WBL SSD, thus offering recommendations for both academic managers and practitioners.

Keywords: Student satisfaction data, work based learning, employer engagement, NSS.

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Authors: Hazly Amir, Roime Puniran

Abstract:

This paper will present the implementation of QoS policy based system by utilizing rules on Access Control List (ACL) over Layer 3 (L3) switch. Also presented is the architecture on that implementation; the tools being used and the result were gathered. The system architecture has an ability to control ACL rules which are installed inside an external L3 switch. ACL rules used to instruct the way of access control being executed, in order to entertain all traffics through that particular switch. The main advantage of using this approach is that the single point of failure could be prevented when there are any changes on ACL rules inside L3 switches. Another advantage is that the agent could instruct ACL rules automatically straight away based on the changes occur on policy database without configuring them one by one. Other than that, when QoS policy based system was implemented in distributed environment, the monitoring process can be synchronized easily due to the automate process running by agent over external policy devices.

Keywords: QOS, ACL, L3 Switch.

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Authors: Yu Li, Jingwu He, Yuexi Xiong

Abstract:

The spar layout will affect the wing’s stiffness characteristics, and irrational spar arrangement will reduce the overall bending and twisting resistance capacity of the wing. In this paper, the active structural stiffness design theory is used to match the stiffness-center axis position and load-cases under the corresponding multiple flight conditions, in order to achieve better stiffness properties of the wing. The combination of active stiffness method and principle of stiffness distribution is proved to be reasonable supplying an initial reference for wing designing. The optimized layout of spars is eventually obtained, and the high-aspect-ratio wing will have better stiffness characteristics.

Keywords: Active structural stiffness design theory, high-aspect-ratio wing, flight load cases, layout of spars.

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Authors: Ju-Hong Lee, Yi-Lin Shieh

Abstract:

This paper deals with the optimal design of two-channel recursive parallelogram quadrature mirror filter (PQMF) banks. The analysis and synthesis filters of the PQMF bank are composed of two-dimensional (2-D) recursive digital all-pass filters (DAFs) with nonsymmetric half-plane (NSHP) support region. The design problem can be facilitated by using the 2-D doubly complementary half-band (DC-HB) property possessed by the analysis and synthesis filters. For finding the coefficients of the 2-D recursive NSHP DAFs, we appropriately formulate the design problem to result in an optimization problem that can be solved by using a weighted least-squares (WLS) algorithm in the minimax (L_∞) optimal sense. The designed 2-D recursive PQMF bank achieves perfect magnitude response and possesses satisfactory phase response without requiring extra phase equalizer. Simulation results are also provided for illustration and comparison.

Keywords: Parallelogram Quadrature Mirror Filter Bank, Doubly Complementary Filter, Nonsymmetric Half-Plane Filter, Weighted Least Squares Algorithm, Digital All-Pass Filter.

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Authors: P. S. Rajinikanth, Yeoh Suyu, Sanjay Garg

Abstract:

The present study is aim to prepare and evaluate the selfnanoemulsifying drug delivery (SNEDDS) system of a poorly water soluble drug valsartan in order to achieve a better dissolution rate which would further help in enhancing oral bioavailability. The present research work describes a SNEDDS of valsartan using labrafil M 1944 CS, Tween 80 and Transcutol HP. The pseudoternary phase diagrams with presence and absence of drug were plotted to check for the emulsification range and also to evaluate the effect of valsartan on the emulsification behavior of the phases. The mixtures consisting of oil (labrafil M 1944 CS) with surfactant (tween 80), co-surfactant (Transcutol HP) were found to be optimum formulations. Prepared formulations were evaluated for its particle size distribution, nanoemulsifying properties, robustness to dilution, self emulsication time, turbidity measurement, drug content and invitro dissolution. The optimized formulations are further evaluated for heating cooling cycle, centrifugation studies, freeze thaw cycling, particle size distribution and zeta potential were carried out to confirm the stability of the formed SNEDDS formulations. The prepared formulation revealed t a significant improvement in terms of the drug solubility as compared with marketed tablet and pure drug.

Keywords: Self Emulsifying Drug Delivery System, Valsartan, Bioavailability, poorly soluble drug.

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Authors: Nasser Ghassembaglou, Armin Rahmatfam, Faramarz Ranjbar

Abstract:

Using cold EGR method with variable venturi and turbocharger has a very significant effect on reduction of NOX and grime simultaneously. EGR cooler is one of the most important parts in the cold EGR circuit. In this paper optimum design of cooler for working in different percentages of EGR and for determining optimum temperature of exhausted gases, growth of efficiency, reduction of weight, dimension, expenditures, sediment and also optimum performance by using gasoil which has significant amounts of brimstone are investigated and optimized.

Keywords: Cold EGR, NOX, Cooler.

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Authors: S. Brahmi, S. Aitouche, M. D. Mouss

Abstract:

Every modern company should measure the value of its intellectual capital and to report to complement the traditional annual balance sheets. The purpose of this work is to measure the intellectual capital in an Algerian company (or production system) using the Weightless Wealth Tool Kit (WWTK). The results of the measurement of intellectual capital are supplemented by traditional financial ratios. The measurement was applied to the National Company of Wells Services (ENSP) in Hassi Messaoud city, in the south of Algeria. We calculated the intellectual capital (intangible resources) of the ENSP to help the organization to better capitalize on its potential of workers and their know-how. The intangible value of the ENSP is evaluated at 16,936,173,345 DA in 2015.

Keywords: Financial valuation, intangible capital, intellectual capital, intellectual capital measurement.

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Authors: Ashok Ganguly, Pranjali Arondekar

Abstract:

In the present paper, we use generalized B-Spline curve in trigonometric form on circular domain, to capture the transcendental nature of circle involute curve and uncertainty characteristic of design. The required involute curve get generated within the given tolerance limit and is useful in gear design.

Keywords: Bézier, Circle Involute, NAUT B-Spline, Spur Gear.

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Authors: Li Zong-Cheng

Abstract:

The deviation between the target state variable and the practical state variable should be used to form the state tending factor of complex systems, which can reflect the process for the complex system to tend rationalization. Relating to the system of basic equations of complete factor synergetics consisting of twenty nonlinear stochastic differential equations, the two new models are considered to set, which should be called respectively the rationalizing tendency model and the non- rationalizing tendency model. Therefore we can extend the theory of programming with the objective function & constraint condition suitable only for the realm of man-s activities into the new analysis with the tendency function & constraint condition suitable for all the field of complex system.

Keywords: complex system, complete factor synergetics, basicequation, rationalizing tendency model, non-rationalizing tendencymodel.

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Authors: Sidhartha Panda, N.P.Padhy, R.N.Patel

Abstract:

This paper presents a procedure for modeling and tuning the parameters of Thyristor Controlled Series Compensation (TCSC) controller in a multi-machine power system to improve transient stability. First a simple transfer function model of TCSC controller for stability improvement is developed and the parameters of the proposed controller are optimally tuned. Genetic algorithm (GA) is employed for the optimization of the parameter-constrained nonlinear optimization problem implemented in a simulation environment. By minimizing an objective function in which the oscillatory rotor angle deviations of the generators are involved, transient stability performance of the system is improved. The proposed TCSC controller is tested on a multi-machine system and the simulation results are presented. The nonlinear simulation results validate the effectiveness of proposed approach for transient stability improvement in a multimachine power system installed with a TCSC. The simulation results also show that the proposed TCSC controller is also effective in damping low frequency oscillations.

Keywords: Genetic algorithm, TCSC, transient stability, multimachinepower system.

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Authors: Mujde Turkkan, Nurkan Yagiz

Abstract:

The vibrations, caused by the irregularities of the road surface, are to be suppressed via suspension systems. In this paper, sliding mode control for a half bus model with air suspension system is presented. The bus is modelled as five degrees of freedom (DoF) system. The mathematical model of the half bus is developed using Lagrange Equations. For time domain analysis, the bus model is assumed to travel at certain speed over the bump road. The numerical results of the analysis indicate that the sliding mode controllers can be effectively used to suppress the vibrations and to improve the ride comfort of the busses.

Keywords: Sliding mode control, bus model, air suspension.

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Authors: A. Q. Ahmed, S. Gao

Abstract:

In this paper, the energy saving and human thermal comfort in a typical office room are investigated. The impact of a combined system of exhaust inlet air with light slots located at the ceiling level in a room served by displacement ventilation system is numerically modelled. Previous experimental data are used to validate the Computational Fluid Dynamic (CFD) model. A case study of simulated office room includes two seating occupants, two computers, two data loggers and four lamps. The combined system is located at the ceiling level above the heat sources. A new method of calculation for the cooling coil load in Stratified Air Distribution (STRAD) system is used in this study. The results show that 47.4% energy saving of space cooling load can be achieved by combing the exhaust inlet air with light slots at the ceiling level above the heat sources.

Keywords: Air conditioning, Displacement ventilation, Energy saving, Thermal comfort.

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Authors: Venkatesh Bagaria, Nagesh AS, Varun AV

Abstract:

In the domain of machine vision, the measurement of length is done using cameras where the accuracy is directly proportional to the resolution of the camera and inversely to the size of the object. Since most of the pixels are wasted imaging the entire body as opposed to just imaging the edges in a conventional system, a double aperture system is constructed to focus on the edges to measure at higher resolution. The paper discusses the complexities and how they are mitigated to realize a practical machine vision system.

Keywords: Machine Vision, double aperture camera, accurate length measurement

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Authors: J. T. Manhire

Abstract:

A tax authority wants to take actions it knows will foster the greatest degree of voluntary taxpayer compliance to reduce the “tax gap.” This paper suggests that even if a tax authority could attain a state of complete knowledge, there are constraints on whether and to what extent such actions would result in reducing the macro-level tax gap. These limits are not merely a consequence of finite agency resources. They are inherent in the system itself. To show that this is one possible interpretation of the tax gap data, the paper formulates known results in a different way by analyzing tax compliance as a population with a single covariate. This leads to a standard use of the logistic map to analyze the dynamics of non-compliance growth or decay over a sequence of periods. This formulation gives the same results as the tax gap studies performed over the past fifty years in the U.S. given the published margins of error. Limitations and recommendations for future work are discussed, along with some implications for tax policy.

Keywords: Tax law, tax compliance, tax gap, income tax.

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Authors: Abdallah F. Abd El-Mohsen, Ahmed A. Abdelsamee, Nouby M. Ghazaly

Abstract:

Engine exhaust noise is considered one of the largest sources of vehicle exterior noise. Further reduction of noise from the vehicle exhaust system will be required, as the vehicle exterior noise regulations become stricter. Therefore, the present study has been carried out to illustrate the role of engine operating parameters and exhaust system construction factors on exhaust noise emitted. The measurements carried out using different exhaust systems, which are mainly used in today’s vehicle. The effect of engine speed on the spectra level of exhaust noise is recorded at engine speeds of 900 rpm, 1800 rpm, 2700, rpm 3600 rpm and 4500 rpm. The results indicate that the increase of engine speed causes a significant increase in the spectrum level of exhaust noise. The increase in the number of the outlet of the expansion chamber also reduces the overall level of exhaust noise.

Keywords: Exhaust system, engine speed, expansion chamber.

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Authors: P.-W. Tsai, J.-W. Chen, C.-W. Chen, C.-Y. Chen

Abstract:

In recent years, many researchers are involved in the field of fuzzy theory. However, there are still a lot of issues to be resolved. Especially on topics related to controller design such as the field of robot, artificial intelligence, and nonlinear systems etc. Besides fuzzy theory, algorithms in swarm intelligence are also a popular field for the researchers. In this paper, a concept of utilizing one of the swarm intelligence method, which is called Bacterial-GA Foraging, to find the stabilized common P matrix for the fuzzy controller system is proposed. An example is given in in the paper, as well.

Keywords: Half-circle fuzzy numbers, predictions, swarm intelligence, Lyapunov method.

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