Search results for: electric power system

Authors: Sayed Abdul Rahman Sadaat, Nsenda Lukumwena

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Traffic congestion is a worldwide issue, especially in developing countries. This is also the case of Afghanistan, especially in Kabul-the capital city, whose rapid population growth makes it the fifth fastest growing city in the world. Traffic congestion affects not only the mobility of people and goods but also the air quality that leads to numerous deaths (3000 people) every year. There are many factors that contribute to traffic congestion. The insufficiency and inefficiency of public transportation system along with the increase of private vehicles can be considered among the most important contributing factors. This paper addresses the traffic congestion and attempts to suggest possible solutions that can help improve the current public transportation system in Kabul. To this end, the methodology used in this paper includes field work conducted in Kabul city and literature review. The outcome suggests that improving the public transportation system is likely to contribute to the reduction of traffic congestion and the improvement of air quality, thereby reducing the number of death related to air quality.

Keywords: Air quality, Kabul, Afghanistan, public transportation system, improvements, traffic congestion.

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Authors: Naeem Muhammad, Yves Vandewoude, Yolande Berbers, Robert Feldt

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The Requirements Abstraction Model (RAM) helps in managing abstraction in requirements by organizing them at four levels (product, feature, function and component). The RAM is adaptable and can be tailored to meet the needs of the various organizations. Because software requirements are an important source of information for developing high-level tests, organizations willing to adopt the RAM model need to know the suitability of the RAM requirements for developing high-level tests. To investigate this suitability, test cases from twenty randomly selected requirements were developed, analyzed and graded. Requirements were selected from the requirements document of a Course Management System, a web based software system that supports teachers and students in performing course related tasks. This paper describes the results of the requirements document analysis. The results show that requirements at lower levels in the RAM are suitable for developing executable tests whereas it is hard to develop from requirements at higher levels.

Keywords: Market-driven requirements engineering, requirements abstraction model, requirements abstraction, system testing.

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Authors: M. Hosseinnezhad, K. Gharanjig

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Natural dyes, extracted from black carrot and bramble, were utilized as photosensitizers to prepare dye-sensitized solar cells (DSSCs). Spectrophotometric studies of the natural dyes in solution and on a titanium dioxide substrate were carried out in order to assess changes in the status of the dyes. The results show that the bathochromic shift is seen on the photo-electrode substrate. The chemical binding of the natural dyes at the surface photo-electrode were increased by the chelating effect of the Ti(IV) ions. The cyclic voltammetry results showed that all extracts are suitable to be performed in DSSCs. Finally, photochemical performance and stability of DSSCs based on natural dyes were studied. The DSSCs sensitized by black carrot extract have been reported to achieve up to Jsc=1.17 mAcm^-2, Voc= 0.55 V, FF= 0.52, η=0.34%, whereas Bramble extract can obtain up to Jsc=2.24 mAcm^-2, Voc= 0.54 V, FF= 0.57, η=0.71%. The power conversion efficiency was obtained from the mixed dyes in DSSCs. The power conversion efficiency of dye-sensitized solar cells using mixed Black carrot and Bramble dye is the average of the their efficiency in single DSSCs.

Keywords: Anthocyanin, dye-sensitized solar cells, green energy, optical materials.

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Authors: W. Kiamouche, S. Lasmari, M. Benslama

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In order to derive important parameters concerning mobile subscriber MS with ongoing calls in Low Earth Orbit Mobile Satellite Systems LEO MSSs, a positioning system had to be integrated into MSS in order to localize mobile subscribers MSs and track them during the connection. Such integration is regarded as a complex implementation. We propose in this paper a novel method based on advantages of mobility model of Low Earth Orbit Mobile Satellite System LEO MSS which allows the evaluation of instant of subsequent handover of a MS even if its location is unknown. This method is utilized to propose a Dynamic Channel Reservation DCRlike scheme based on the DCR scheme previously proposed in literature. Results presented show that DCR-like technique gives different QoS performance than DCR. Indeed, an improve in handover blocking probability and an increase in new call blocking probability are observed for the DCR-like technique.

Keywords: cellular layout, DCR, LEO mobile satellite system, mobility model, positioning system

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Authors: Iliana Marinova, Valentin Mateev

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For investigations of electromagnetic field distributions in biological structures by Finite Element Method (FEM), a method for automatic 3D model building of human anatomical objects is developed. Models are made by meshed structures and specific electromagnetic material properties for each tissue type. Mesh is built according to specific FEM criteria for achieving good solution accuracy. Several FEM models of anatomical objects are built. Formulation using magnetic vector potential and scalar electric potential (A-V, A) is used for modeling of electromagnetic fields in human tissue objects. The developed models are suitable for investigations of electromagnetic field distributions in human tissues exposed in external fields during magnetic stimulation, defibrillation, impedance tomography etc.

Keywords: electromagnetic field, finite element method, humantissue.

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Authors: Sheren H. Salah, Ahmed Y. Ben Sasi

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The inverted pendulum system is a classic control problem that is used in universities around the world. It is a suitable process to test prototype controllers due to its high non-linearities and lack of stability. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. This paper presents the possibility of balancing an inverted pendulum system using sliding mode control (SMC). The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart's position. Therefore, proportional-integral-derivative (PID) is used for comparison. Results have proven SMC control produced better response compared to PID control in both normal and noisy systems.

Keywords: Inverted pendulum (IP) proportional-integralderivative (PID), sliding mode control (SMC).

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Authors: Zundong Zhang, Limin Jia, Yuanyuan Chai

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Control of complex systems is one of important files in complex systems, that not only relies on the essence of complex systems which is denoted by the core concept – emergence, but also embodies the elementary concept in control theory. Aiming at giving a clear and self-contained description of emergence, the paper introduces a formal way to completely describe the formation and dynamics of emergence in complex systems. Consequently, this paper indicates the Emergence-Oriented Control methodology that contains three kinds of basic control schemes: the direct control, the system re-structuring and the system calibration. As a universal ontology, the Emergence-Oriented Control provides a powerful tool for identifying and resolving control problems in specific systems.

Keywords: Complex System Control, Emergence, Emergence- Oriented Control Methodology.

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Authors: Brett E. Shelton, Joel Duffin, Yuxuan Wang, Justin Ball

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With a growing number of digital libraries and other open education repositories being made available throughout the world, effective search and retrieval tools are necessary to access the desired materials that surpass the effectiveness of traditional, allinclusive search engines. This paper discusses the design and use of Folksemantic, a platform that integrates OpenCourseWare search, Open Educational Resource recommendations, and social network functionality into a single open source project. The paper describes how the system was originally envisioned, its goals for users, and data that provides insight into how it is actually being used. Data sources include website click-through data, query logs, web server log files and user account data. Based on a descriptive analysis of its current use, modifications to the platform's design are recommended to better address goals of the system, along with recommendations for additional phases of research.

Keywords: Digital libraries, open education, recommendation system, social networks

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Authors: Amandeep Kaur, Satwinder Singh, Dr. K. S. Kahlon

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The impact of OO design on software quality characteristics such as defect density and rework by mean of experimental validation. Encapsulation, inheritance, polymorphism, reusability, Data hiding and message-passing are the major attribute of an Object Oriented system. In order to evaluate the quality of an Object oriented system the above said attributes can act as indicators. The metrics are the well known quantifiable approach to express any attribute. Hence, in this paper we tried to formulate a framework of metrics representing the attributes of object oriented system. Empirical Data is collected from three different projects based on object oriented paradigms to calculate the metrics.

Keywords: Object Oriented, Software metrics, Methods, Attributes, cohesion, coupling, Inheritance.

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Authors: Z. Bottyán, F. Wantuch, A. Z. Gyöngyösi, Z. Tuba, K. Hadobács, P. Kardos, R. Kurunczi

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The sensitivity of UAVs to the atmospheric effects are apparent. All the same the meteorological support for the UAVs missions is often non-adequate or partly missing. In our paper we show a new complex meteorological support system for different types of UAVs pilots, specialists and decision makers, too. The mentioned system has two important parts with different forecasts approach such as the statistical and dynamical ones. The statistical prediction approach is based on a large climatological data base and the special analog method which is able to select similar weather situations from the mentioned data base to apply them during the forecasting procedure. The applied dynamic approach uses the specific WRF model runs twice a day and produces 96 hours, high resolution weather forecast for the UAV users over the Hungary. An easy to use web-based system can give important weather information over the Carpathian basin in Central-Europe. The mentioned products can be reached via internet connection.

Keywords: Aviation meteorology, statistical weather prediction, unmanned aerial systems, WRF.

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Authors: Fadi Awawdeh, O. Alsayyed

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New exact three-wave solutions including periodic two-solitary solutions and doubly periodic solitary solutions for the (2+1)-dimensional asymmetric Nizhnik-Novikov- Veselov (ANNV) system are obtained using Hirota's bilinear form and generalized three-wave type of ansatz approach. It is shown that the generalized three-wave method, with the help of symbolic computation, provides an e¤ective and powerful mathematical tool for solving high dimensional nonlinear evolution equations in mathematical physics.

Keywords: Soliton Solution, Hirota Bilinear Method, ANNV System.

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Authors: Rayeheh Khatami, Toktam Hanaei, Mohammad Reza Mansouri Daneshvar

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Today, many local and national governments are developing urban agriculture as an effective tool in responding to challenges such as food security, poverty and environmental problems. In fact, urban agriculture plays an important role in food system, which can provide citizens' income and become one of the components of economic, social and environmental systems. The purpose of this paper is to analyze the urban agriculture and urban food systems in order to understand the impact of urban foods production on environmental planning in non-western city region context. To achieve such objective, we carry out a case study in Mashhad city of Iran by using qualitative approaches. A survey on documentary studies and planning tools integrate with face to face interview with experts which explain the role of food system in environmental planning process. The paper extends the use of food in the environmental planning, specifically to examine this role to create agricultural garden as a mean to improve agricultural system in non-western country. The paper is concluded with a set of recommendations for researchers and policymakers who seek to create spaces in order to implement urban agriculture in cities for food justice.

Keywords: Urban agriculture, food system, environmental planning, agricultural garden, Mashhad.

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Authors: Ben Richard Hughes, Hassam Nasarullah Chaudhry

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The main aim of this work is to establish the capabilities of new green buildings to ascertain off-grid electricity generation based on the integration of wind turbines in the conceptual model of a rotating tower [2] in Dubai. An in depth performance analysis of the WinWind 3.0MW [3] wind turbine is performed. Data based on the Dubai Meteorological Services is collected and analyzed in conjunction with the performance analysis of this wind turbine. The mathematical model is compared with Computational Fluid Dynamics (CFD) results based on a conceptual rotating tower design model. The comparison results are further validated and verified for accuracy by conducting experiments on a scaled prototype of the tower design. The study concluded that integrating wind turbines inside a rotating tower can generate enough electricity to meet the required power consumption of the building, which equates to a wind farm containing 9 horizontal axis wind turbines located at an approximate area of 3,237,485 m2 [14].

Keywords: computational fluid dynamics, green building, horizontal axis wind turbine, rotating tower, velocity gradient.

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Authors: Lochan Basyal

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Global Automation is an emerging technology of today’s era and is based on Internet of Things (IoT). Global automation deals with the controlling of electrical appliances throughout the world. The fabrication of this system has been carried out with interfacing an electrical control system module to Raspberry Pi. An electrical control system module includes a relay driver mechanism through which appliances are controlled automatically in respective condition. In this research project, one email ID has been assigned to Raspberry Pi, and the users from different location having different email ID can mail to Raspberry Pi on assigned email address “[email protected]” with subject heading “Device Control” with predefined command on compose email line. Also, a notification regarding current working condition of this system has been updated on respective user email ID. This approach is an innovative way of implementing smart automation system through which a user can control their electrical appliances like light, fan, television, refrigerator, etc. in their home with the use of email facility. The development of this project helps to enhance the concept of smart home application as well as industrial automation.

Keywords: Control circuit, email, global automation, internet of things, Raspberry Pi.

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Authors: Z. Pavlík, J. Kočí, M. Pavlíková, R. Černý

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Combined experimental and computational analysis of hygrothermal performance of an interior thermal insulation system applied on a brick wall is presented in the paper. In the experimental part, the functionality of the insulation system is tested at simulated difference climate conditions using a semi-scale device. The measured temperature and relative humidity profiles are used for the calibration of computer code HEMOT that is finally applied for a long-term hygrothermal analysis of the investigated structure.

Keywords: Additional thermal insulation, hygrothermal analysis, semi-scale testing, long-term computational analysis

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Authors: A. B. Adehor, P. R. Burrell

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The Integrated Management of Child illnesses (IMCI) and the surveillance Health Information Systems (HIS) are related strategies that are designed to manage child illnesses and community practices of diseases. However, both strategies do not function well together because of classification incompatibilities and, as such, are difficult to use by health care personnel in rural areas where a majority of people lack the basic knowledge of interpreting disease classification from these methods. This paper discusses a single approach on how a stand-alone expert system can be used as a prompt diagnostic tool for all cases of illnesses presented. The system combines the action-oriented IMCI and the disease-oriented HIS approaches to diagnose malaria and typhoid fever in the rural areas of the Niger-delta region.

Keywords: Differential diagnosis, Health Information System(HIS), Integrated Management of Child Illnesses (IMCI), Malaria andTyphoid fever.

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Authors: K. N. Penna, J. P. English

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The destruction of the Juukan Gorge rock shelters in 2020 has catalysed impetus within Australian society for a significant change in engagement with Indigenous Peoples, and the approach to Indigenous cultural heritage, both within the Pilbara region and more broadly across Australia. Culture-based and people-centred approaches are inherent to inclusive sustainable development and Free, Prior, Informed Consent, outcomes encouraged by international and local recommendations on the human rights and cultural heritage preservation of Indigenous peoples. In this paper, we present an interpretive model of an evolved process for mining project development, incorporating culture-based and people-centred approaches, based on the Theory U system change method. The evolved process advocates a change in organisational mindset and culture, and a comprehensive understanding of Indigenous Peoples’ culture and values, as the foundations for increasing their influence and achieving mutually beneficial developments.

Keywords: Indigenous Engagement, mining industry, culture-based approach, people-centred approach, Theory U.

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Authors: A. R. Abdul Syukor, A. W. Zularisam, Z. Ideris, M. S. Mohd Ismid, H. M. Nakmal, S. Sulaiman, A. H. Hasmanie, M. R. Siti Norsita, M. Nasrullah

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In this study, the effectiveness of an integrated aquatic plants in phytogreen zone was studied and statistical analysis for the promotional integrated phytogreen system approached was discussed. It was found that's the effectiveness of using aquatic plant such as Typha angustifolia sp., Lepironia articulata sp., Limnocharis flava sp., Monochoria vaginalis sp., Pistia stratiotes sp., and Eichhornia crassipes sp., in the conventional oxidation pond process in order to comply the standard A according to Malaysia Environmental Quality Act 1974 (Act 127); Environmental Quality (Sewage) Regulation 2009 for effluent discharge into inland water near the residential area was successfully shown. It was concluded that the integrated phtogreen system developed in this study has great potential for refurbishment wastewater in conventional oxidation pond.

Keywords: Phytoremediation, integrated phytogreen system, sewage treatment plant, oxidation pond, aquatic plants.

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Authors: Hongkun Zhang, Hermann Winner, Wenjun Li

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This paper describes the development, modeling, and testing of skyhook and MiniMax control strategies of semi-active suspension. The control performances are investigated using Matlab/Simulink [1], with a two-degree-of-freedom quarter car semiactive suspension system model. The comparison and evaluation of control result are made using software-in-the-loop simulation (SILS) method. This paper also outlines the development of a hardware-inthe- loop simulation (HILS) system. The simulation results show that skyhook strategy can significantly reduce the resonant peak of body and provide improvement in vehicle ride comfort. Otherwise, MiniMax strategy can be employed to effectively improve drive safety of vehicle by influencing wheel load. The two strategies can be switched to control semi-active suspension system to fulfill different requirement of vehicle in different stages.

Keywords: Hardware-in-the-loop simulation, Semi-active suspension, Skyhook control, MiniMax control.

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Authors: Harun Gülan, Muhsin Tunay Gencoglu, Mehmet Cebeci

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The main function of the insulators used in high voltage (HV) transmission lines is to insulate the energized conductor from the pole and hence from the ground. However, when the insulators fail to perform this insulation function due to various effects, failures occur. The deterioration of the insulation results either from breakdown or surface flashover. The surface flashover is caused by the layer of pollution that forms conductivity on the surface of the insulator, such as salt, carbonaceous compounds, rain, moisture, fog, dew, industrial pollution and desert dust. The source of the majority of failures and interruptions in HV lines is surface flashover. This threatens the continuity of supply and causes significant economic losses. Pollution flashover in HV insulators is still a serious problem that has not been fully resolved. In this study, a water jet test system has been established in order to investigate the behavior of insulators under dirty conditions and to determine their flashover performance. Flashover behavior of the insulators is examined by applying impulse voltages in the test system. This study aims to investigate the insulator behaviour under high impulse voltages. For this purpose, a water jet test system was installed and experimental results were obtained over a real system and analyzed. By using the water jet test system instead of the actual insulator, the damage to the insulator as a result of the flashover that would occur under impulse voltage was prevented. The results of the test system performed an important role in determining the insulator behavior and provided predictability.

Keywords: Insulator, pollution flashover, high impulse voltage, water jet model.

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Authors: Seni Karnchanawong, Wachara Phajee

Abstract:

The effects of upflow liquid velocity (ULV) on performance of expanded granular sludge bed (EGSB) system were investigated. The EGSB reactor, made from galvanized steel pipe 0.10 m diameter and 5 m height, had been used to treat piggery wastewater, after passing through acidification tank. It consisted of 39.3 l working volume in reaction zone and 122 l working volume in sedimentation zone, at the upper part. The reactor was seeded with anaerobically digested sludge and operated at the ULVs of 4, 8, 12 and 16 m/h, consecutively, corresponding to organic loading rates of 9.6 – 13.0 kg COD/ (m3.d). The average COD concentrations in the influent were 9,601 – 13,050 mg/l. The COD removal was not significantly different, i.e. 93.0% - 94.0%, except at ULV 12 m/h where SS in the influent was exceptionally high so that VSS washout had occurred, leading to low COD removal. The FCOD and VFA concentrations in the effluent of all experiments were not much different, indicating the same range of treatment performance. The biogas production decreased at higher ULV and ULV of 4 m/h is suggested as design criterion for EGSB system.

Keywords: Expanded granular sludge bed system, piggery wastewater, upflow liquid velocity

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Authors: Wen-Yuh Jywe, Bor-Jeng Lin, Jing-Chung Shen, Jeng-Dao Lee, Hsueh-Liang Huang, Tung-Hsien Hsieh

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In this study, a simple 2-D measurement system based on optical design was developed to measure the motion errors of the linear guideway. Compared with the transitional methods about the linear guideway for measuring the motion errors, our proposed 2-D optical measurement system can simultaneously measure horizontal and vertical running straightness errors for the linear guideway.

The performance of the 2-D optical measurement system is verified by experimental results. The standard deviation of the 2-D optical measurement system is about 0.4μm in the measurement range of 100 mm. The maximum measuring speed of the proposed automatic measurement instrument is 1 m/sec.

Keywords: 2-D measurement, linear guideway, motion errors, running straightness.

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Authors: Ma Shidong, He Yuncheng, Wang Zhong, Yang Guoqing

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In this paper, enhanced ground proximity warning simulation and validation system is designed and implemented. First, based on square grid and sub-grid structure, the global digital terrain database is designed and constructed. Terrain data searching is implemented through querying the latitude and longitude bands and separated zones of global terrain database with the current aircraft position. A combination of dynamic scheduling and hierarchical scheduling is adopted to schedule the terrain data, and the terrain data can be read and delete dynamically in the memory. Secondly, according to the scope, distance, approach speed information etc. to the dangerous terrain in front, and using security profiles calculating method, collision threat detection is executed in real-time, and provides caution and warning alarm. According to this scheme, the implementation of the enhanced ground proximity warning simulation system is realized. Simulations are carried out to verify a good real-time in terrain display and alarm trigger, and the results show simulation system is realized correctly, reasonably and stable.

Keywords: enhanced ground proximity warning system, digital terrain, look-ahead terrain alarm, terrain display, simulation and validation

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Authors: Aziz Sezgin, Yuksel Hacioglu, Nurkan Yagiz

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Sliding mode controller for a vehicle active suspension system is designed in this study. The widely used quarter car model is preferred and it is aimed to improve the ride comfort of the passengers. The effect of the actuator time delay, which may arise due to the information processing, sensors or actuator dynamics, is also taken into account during the design of the controller. A sliding mode controller was designed that has taken into account the actuator time delay by using Smith predictor. The successful performance of the designed controller is confirmed via numerical results.

Keywords: Sliding mode control, active suspension system, actuator time delay.

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Authors: C. S. Tsai, Yung-Chang Lin

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In order to upgrade the seismic resistibility of structures and enhance the functionality of an isolator, a new base isolator called the multiple trench friction pendulum system (MTFPS) is proposed in this study. The proposed MTFPS isolator is composed of a trench concave surface and several intermediate sliding plates in two orthogonal directions. Mathematical formulations have been derived to examine the characteristics of the proposed MTFPS isolator possessing multiple intermediate sliding plates. By means of mathematical formulations, it can be inferred that the natural period and damping effect of the MTFPS isolator with several intermediate sliding plates can be altered continually and controllably during earthquakes. Furthermore, results obtained from shaking table tests demonstrate that the proposed isolator provides good protection to structures for prevention of damage from strong earthquakes.

Keywords: Friction Pendulum System, Multiple Friction Pendulum System, Base Isolation, Earthquake Engineering

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Authors: Chang-Guk Sun, Jin-Soo Shin

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In this study, an inland metropolitan area, Gwangju, in Korea was selected to assess the amplification potential of earthquake motion and provide the information for regional seismic countermeasure. A geographic information system-based expert system was implemented for reliably predicting the spatial geotechnical layers in the entire region of interesting by building a geo-knowledge database. Particularly, the database consists of the existing boring data gathered from the prior geotechnical projects and the surface geo-knowledge data acquired from the site visit. For practical application of the geo-knowledge database to estimate the earthquake hazard potential related to site amplification effects at the study area, seismic zoning maps on geotechnical parameters, such as the bedrock depth and the site period, were created within GIS framework. In addition, seismic zonation of site classification was also performed to determine the site amplification coefficients for seismic design at any site in the study area. KeywordsEarthquake hazard, geo-knowledge, geographic information system, seismic zonation, site period.

Keywords: Earthquake hazard, geo-knowledge, geographic information system, seismic zonation, site period.

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Authors: Zaihisma C. Cob, Alicia Y.C. Tang, Sharifah J. Syed Aziz

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This paper proposes a new model to support user queries on postgraduate research information at Universiti Tenaga Nasional. The ontology to be developed will contribute towards shareable and reusable domain knowledge that makes knowledge assets intelligently accessible to both people and software. This work adapts a methodology for ontology development based on the framework proposed by Uschold and King. The concepts and relations in this domain are represented in a class diagram using the Protégé software. The ontology will be used to support a menudriven query system for assisting students in searching for information related to postgraduate research at the university.

Keywords: Ontology, Protégé, postgraduate program, query system.

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Authors: Toshiyuki Satoh, Hiroki Hara, Naoki Saito, Jun-ya Nagase, Norihiko Saga

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This paper addresses a control system design for a table drive system based on the disturbance observer (DOB)-based predictive functional critical control (PFCC). To empower the previously developed DOB-based PFC to handle constraints on controlled outputs, we propose to take a critical control approach. To this end, we derive the transfer function representation of the PFC controller and yield a detailed design procedure. The effectiveness of the proposed method is confirmed through an experimental evaluation.

Keywords: Critical control, disturbance observer, mechatronics, motion control, predictive functional control, table drive systems.

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Authors: Kang-Le Guan, Seung-Jae Lee, Myeon-Song Choi

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The protection issues in distribution systems with open and closed-loop are studied, and a generalized protection setting scheme based on the traditional over current protection theories is proposed to meet the new requirements. The setting method is expected to be easier realized using computer program, so that the on-line adaptive setting for coordination in distribution system can be implemented. An automatic setting program is created and several cases are taken into practice. The setting results are verified by the coordination curves of the protective devices which are plotted using MATLAB.

Keywords: protection setting, on-line system analysis, over current protection, closed-loop distribution system

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Authors: A. Bagherzadhalimi, E. Di Maria

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The feedbacks obtained regarding the sense of presence from pilot users operating a Mobile Robotic presence (MRP) system to visit a simulated museum are reported in this paper. The aim is to investigate how much the perception of system’s usefulness and ease of use is affected by operators’ sense of social telepresence (presence) in the remote location. Therefore, scenarios of visiting a museum are simulated and the user operators are supposed to perform some regular tasks inside the remote environment including interaction with local users, navigation and visiting the artworks. Participants were divided into two groups, those who had previous experience of operation and interaction with a MRP system and those who never had experience. Based on the results, both groups provided different feedbacks. Moreover, there was a significant association between user’s sense of presence and their perception of system usefulness and ease of use.

Keywords: Mobile Robotic Telepresence, Museum, Social Telepresence, Usability test.

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