Search results for: Finite Difference methods

Authors: Yali Zheng, Peipei Luo, Shinan Chen, Jiasheng Hao, Hong Cheng

Abstract:

Most of traditional visual indoor navigation algorithms and methods only consider the localization in ordinary daytime, while we focus on the indoor re-localization in low light in the paper. As RGB images are degraded in low light, less discriminative infrared and depth image pairs are taken, as the input, by RGB-D cameras, the most similar candidates, as the output, are searched from databases which is built in the bag-of-word framework. Epipolar constraints can be used to relocalize the query infrared and depth image sequence. We evaluate our method in two datasets captured by Kinect2. The results demonstrate very promising re-localization results for indoor navigation system in low light environments.

Keywords: Indoor navigation, low light, RGB-D camera, vision based.

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Authors: K.Sowmyan, A.Siddarth, D.Menaka

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Several methods have been proposed for color image compression but the reconstructed image had very low signal to noise ratio which made it inefficient. This paper describes a lossy compression technique for color images which overcomes the drawbacks. The technique works on spatial domain where the pixel values of RGB planes of the input color image is mapped onto two dimensional planes. The proposed technique produced better results than JPEG2000, 2DPCA and a comparative study is reported based on the image quality measures such as PSNR and MSE.Experiments on real time images are shown that compare this methodology with previous ones and demonstrate its advantages.

Keywords: Color Image compression, spatial domain, planereduction, root mean square, image restoration

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Authors: Heungsu Lee, Youngseok Kim, Jonghwa Yi, Chul Park

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A landing pier is subjected to safety assessment by visual inspection and design data, but it is difficult to check the damage in real-time. In this study, real - time damage detection and safety evaluation methods were studied. As a result of structural analysis of the arbitrary landing pier structure, the inflection point of deformation and moment occurred at 10%, 50%, and 90% of pile length. The critical value of Fiber Bragg Grating (FBG) sensor was set according to the safety factor, and the FBG sensor application method for real - time safety evaluation was derived.

Keywords: FBG sensor, harbor structure, maintenance, safety evaluation system.

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Authors: Pavel Losak, Tomas Letal, Radek Nejezchleb

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Tubular process equipment is often damaged in industrial processes. The damage occurs both on devices working at high temperatures and also on less exposed devices. In case of sudden damage of key equipment a shutdown of the whole production unit and resulting significant economic losses are imminent. This paper presents a solution of several types of tubular process equipment. The causes of damage and suggestions of correction actions are discussed in all cases. Very important part is the analysis of operational conditions, determination of unfavourable working states decreasing lifetime of devices and suggestions of correction actions. Lately very popular numerical methods are used for analysis of the equipment.

Keywords: creep, damage, fatigue, FEM, FSI, lifetime, tubular equipment

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Authors: I. Davies, O. L. C. Haas

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In this paper, the problem of stability and stabilization for neutral delay-differential systems with infinite delay is investigated. Using Lyapunov method, new delay-independent sufficient condition for the stability of neutral systems with infinite delay is obtained in terms of linear matrix inequality (LMI). Memory-less state feedback controllers are then designed for the stabilization of the system using the feasible solution of the resulting LMI, which are easily solved using any optimization algorithms. Numerical examples are given to illustrate the results of the proposed methods.

Keywords: Infinite delays, Lyapunov method, linear matrix inequality, neutral systems, stability.

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Authors: Oluseun S. Oyelakin, Olalekan W. Olaniyi

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A field experiment was conducted at Ido town in Ido Local Government Area of Oyo state, Nigeria to determine the effects of intercropping maize (Zea mays L.) with Jack bean (Canavalia ensiformis L.) at different spacing and weeding regimes on crops productivity. The treatments were 2 x 2 x 3 factorial arrangement involving two spatial crop arrangements. Spacing of 75 cm x 50 cm and 90 cm x 42 cm (41.667 cm) with two plants per stand resulted in plant population of approximately 53,000 plants/hectare. Also, Randomized Complete Block Design (RCBD) with two cropping patterns (sole and intercrop), three weeding regimes (weedy check, weeds once, and weed twice) with three replicates was used. Data were analyzed with SAS (Statistical Analysis System) and statistical means separated using Least Significant Difference (LSD) (P ≤ 0.05). Intercropping and crop spacing did not have significant influence on the growth parameters and yield parameters. The maize grain yield of 1.11 t/ha obtained under sole maize was comparable to 1.05 t/ha from maize/jack beans. Weeding regime significantly influenced growth and yields of maize in intercropping with Jack beans. Weeding twice resulted in significantly higher growth than that of the other weeding regimes. Plant height at 6 Weeks After Sowing (WAS) under weeding twice regime (3 and 6 WAS) was 83.9 cm which was significantly different from 67.75 cm and 53.47 cm for weeding once (3 WAS) and no weeding regimes respectively. Moreover, maize grain yield of 1.3 t/ha obtained from plots weeded twice was comparable to that of 1.23 t/ha from single weeding and both were significantly higher than 0.71 t/ha maize grain yield obtained from the no weeding control. The dry matter production of Jack beans reduced at some growth stages due to intercropping of maize with Jack beans though with no significance effect on the other growth parameters of the crop. There was no effect on the growth parameters of Jack beans in maize/jack beans intercrop based on cropping spacing while comparable growth and dry matter production in Jack beans were produced in maize/Jack beans mixture with single weeding.

Keywords: Crop spacing, intercropping, growth parameter, weeding regime, sole cropping, week after sowing.

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Authors: Yong-Gyu Lee, Gilwon Yoon

Abstract:

Bleeding in the digestive duct is an important diagnostic parameter for patients. Blood in the endoscopic image can be determined by investigating the color tone of blood due to the degree of oxygenation, under- or over- illumination, food debris and secretions, etc. However, we found that how to pre-process raw images obtained from the capsule detectors was very important. We applied various image process methods suitable for the capsule endoscopic image in order to remove noises and unbalanced sensitivities for the image pixels. The results showed that much improvement was achieved by additional pre-processing techniques on the algorithm of determining bleeding areas.

Keywords: blood detection, capsule endoscopy, image processing.

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Authors: Ε. Giovanis

Abstract:

In this paper we propose and examine an Adaptive Neuro-Fuzzy Inference System (ANFIS) in Smoothing Transition Autoregressive (STAR) modeling. Because STAR models follow fuzzy logic approach, in the non-linear part fuzzy rules can be incorporated or other training or computational methods can be applied as the error backpropagation algorithm instead to nonlinear squares. Furthermore, additional fuzzy membership functions can be examined, beside the logistic and exponential, like the triangle, Gaussian and Generalized Bell functions among others. We examine two macroeconomic variables of US economy, the inflation rate and the 6-monthly treasury bills interest rates.

Keywords: Forecasting, Neuro-Fuzzy, Smoothing transition, Time-series

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Authors: Ł. Januszkiewicz, G. Bacci, H. Gierszal, M. Luise

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In this paper channel estimation techniques are considered as the support methods for OFDM transmission systems based on Non Binary LDPC (Low Density Parity Check) codes. Standard frequency domain pilot aided LS (Least Squares) and LMMSE (Linear Minimum Mean Square Error) estimators are investigated. Furthermore, an iterative algorithm is proposed as a solution exploiting the NB-LDPC channel decoder to improve the performance of the LMMSE estimator. Simulation results of signals transmitted through fading mobile channels are presented to compare the performance of the proposed channel estimators.

Keywords: LDPC codes, LMMSE, OFDM, turbo channelestimation.

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Authors: Abdallah A. Hlayel

Abstract:

Operations research science (OR) deals with good success in developing and applying scientific methods for problem solving and decision-making. However, by using OR techniques, we can enhance the use of computer decision support systems to achieve optimal management for institutions. OR applies comprehensive analysis including all factors that effect on it and builds mathematical modeling to solve business or organizational problems. In addition, it improves decision-making and uses available resources efficiently. The adoption of OR by universities would definitely contributes to the development and enhancement of the performance of OR techniques. This paper provides an understanding of the structures, approaches and models of OR in problem solving and decisionmaking.

Keywords: Best candidates' method, decision making, decision support system, operations research.

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Authors: Arkadiusz Biernacki

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In this paper we present a statistical analysis of Voice over IP (VoIP) packet streams produced by the G.711 voice coder with voice activity detection (VAD). During telephone conversation, depending whether the interlocutor speaks (ON) or remains silent (OFF), packets are produced or not by a voice coder. As index of dispersion for both ON and OFF times distribution was greater than one, we used hyperexponential distribution for approximation of streams duration. For each stage of the hyperexponential distribution, we tested goodness of our fits using graphical methods, we calculated estimation errors, and performed Kolmogorov-Smirnov test. Obtained results showed that the precise VoIP source model can be based on the five-state Markov process.

Keywords: VoIP source modelling, distribution approximation, hyperexponential distribution.

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Authors: Lu Yanhui, Zhang Lizhi, Yin Changchuan, Yue Guangxin

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In this paper, an adaptive radio resource allocation (RRA) algorithm applying to multiple traffic OFDMA system is proposed, which distributes sub-carrier and loading bits among users according to their different QoS requirements and traffic class. By classifying and prioritizing the users based on their traffic characteristic and ensuring resource for higher priority users, the scheme decreases tremendously the outage probability of the users requiring a real time transmission without impact on the spectrum efficiency of system, as well as the outage probability of data users is not increased compared with the RRA methods published.

Keywords: OFDMA, adaptive radio resource allocation, QoS.

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Authors: P. Zakikhani, R. Zahari, M. T. H. Sultan, D. L. Majid

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Natural plant fibres reinforced polymeric composite materials have been used in many fields of our lives to save the environment. Especially, bamboo fibres due to its environmental sustainability, mechanical properties, and recyclability have been utilized as reinforced polymer matrix composite in construction industries. In this review study bamboo structure and three different methods such as mechanical, chemical and combination of mechanical and chemical to extract fibres from bamboo are summarized. Each extraction method has been done base on the application of bamboo. In addition Bamboo fibre is compared with glass fibre from various aspects and in some parts it has advantages over the glass fibre.

Keywords: Bamboo fibres, natural fibres, mechanical extraction, glass fibres.

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Authors: W.M.F. Wan Ishak, N. A. Rowson

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The aim of this study is to compare the effect of the ultrasonic pre treatment on the removal of heavy metals (Iron, Zinc and Copper) from Acid Mine Drainage (AMD) by Denver Cell flotation. Synthetic AMD and individual metal solutions are used in the initial experiments to optimise the process conditions for real AMD. Three different process methods, ultrasound treatment followed by Denver flotation cell, Denver flotation cell alone and ultrasonic treatments run simultaneously with the Denver flotation cell were tested for every sample. Precipitation of the metal solutions by using sodium hydroxide (NaOH) and application of the optimum frother dosage followed by flotation significantly reduced the metal content of the AMD.

Keywords: Ultrasound, Denver cell, Flotation, Heavy metals, AMD

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Authors: B. Vahdani, S. M. Mousavi, R. Tavakkoli-Moghaddam

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Nowadays, the plant location selection has a critical impact on the performance of numerous companies. In this paper, a methodology is presented to solve this problem. The three decision making methods, namely Delphi, AHP and improved VIKOR, are hybridized in order to make the best use of information available based on the decision makers or experts. In this respect, the aim of using Delphi is to select the most influential criteria by a few decision makers. The AHP is utilized to give weights of the selected criteria. Finally, the improved VIKOR method is applied to rank alternatives. At the end of paper, an application example demonstrates the applicability of the proposed methodology.

Keywords: Decision making, Plant location selection, Delphi, AHP, Improved VIKOR.

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Authors: Mehrdad Ahmadi, Mohamad Babaie, Shiva Osouli, Bahareh Salehi, Nadia Kalantaraian

Abstract:

The olive fruit fly, Bactrocera oleae Gmelin (Diptera: Tephritidae), is one of the most serious pests in olive orchards in growing province in Iran. The female lay eggs in green olive fruit and larvae hatch inside the fruit, where they feed upon the fruit matters. One of the main ecologically friendly and species-specific systems of pest control is the sterile insect technique (SIT) which is based on the release of large numbers of sterilized insects. The objective of our work was to develop a SIT against B. oleae by using of gamma radiation for the laboratory and field trial in Iran. Oviposition of female mated by irradiated males is one of the main parameters to determine achievement of SIT. To conclude the sterile dose, pupae were placed under 0 to 160 Gy of gamma radiation. The main factor in SIT is the productivity of females which are mated by irradiated males. The emerged adults from irradiated pupae were mated with untreated adults of the same age by confining them inside the transparent cages. The fecundity of the irradiated males mated with non-irradiated females was decreased with the increasing radiation dose level. It was observed that the number of eggs and also the percentage of the egg hatching was significantly (P < 0.05) affected in either IM x NF crosses compared with NM x NF crosses in F₁ generation at all doses. Also, the statistical analysis showed a significant difference (P < 0.05) in the mean number of eggs laid between irradiated and non-irradiated females crossed with irradiated males, which suggests that the males were susceptible to gamma radiation. The egg hatching percentage declined markedly with the increase of the radiation dose of the treated males in mating trials which demonstrated that egg hatch rate was dose dependent. Our results specified that gamma radiation affects the longevity of irradiated B. oleae larvae (established from irradiated pupae) and significantly increased their larval duration. Results show the gamma radiation, and SIT can be used successfully against olive fruit flies.

Keywords: Fertility, olive fruit fly, radiation, SIT.

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Authors: Girish Kumar Singh, Sonajharia Minz

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Granular computing deals with representation of information in the form of some aggregates and related methods for transformation and analysis for problem solving. A granulation scheme based on clustering and Rough Set Theory is presented with focus on structured conceptualization of information has been presented in this paper. Experiments for the proposed method on four labeled data exhibit good result with reference to classification problem. The proposed granulation technique is semi-supervised imbibing global as well as local information granulation. To represent the results of the attribute oriented granulation a tree structure is proposed in this paper.

Keywords: Granular computing, clustering, Rough sets, datamining.

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Authors: Nidhi Sharma, V. K. Banga

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Nowadays, driving support systems, such as car navigation systems, are getting common, and they support drivers in several aspects. It is important for driving support systems to detect status of driver's consciousness. Particularly, detecting driver's drowsiness could prevent drivers from collisions caused by drowsy driving. In this paper, we discuss the various artificial detection methods for detecting driver's drowsiness processing technique. This system is based on facial images analysis for warning the driver of drowsiness or in attention to prevent traffic accidents.

Keywords: Neuro-Fuzzy Model, Halstead Model, Walston-FelixModel, Bailey-Basili Model, Doty Model, GA Based Model, GeneticAlgorithm.

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Authors: Haibo Hu, Hong Xiang

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Due to its special data structure and manipulative principle, Object-Oriented Database (OODB) has a particular security protection and authorization methods. This paper first introduces the features of security mechanism about OODB, and then talked about authorization checking process of OODB. Implicit authorization mechanism is based on the subject hierarchies, object hierarchies and access hierarchies of the security authorization modes, and simplifies the authorization mode. In addition, to combine with other authorization mechanisms, implicit authorization can make protection on the authorization of OODB expediently and effectively.

Keywords: Object-oriented database(OODB), security protection, authorization mechanism, implicit authorization, authorization check.

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Authors: Maciej Norberciak

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Timetabling problems are often hard and timeconsuming to solve. Most of the methods of solving them concern only one problem instance or class. This paper describes a universal method for solving large, highly constrained timetabling problems from different domains. The solution is based on evolutionary algorithm-s framework and operates on two levels – first-level evolutionary algorithm tries to find a solution basing on given set of operating parameters, second-level algorithm is used to establish those parameters. Tabu search is employed to speed up the solution finding process on first level. The method has been used to solve three different timetabling problems with promising results.

Keywords: Evolutionary algorithms, tabu search, timetabling.

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Authors: Sijie Fu, Pascal-Henry Biwolé, Christian Mathis

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Among modern airflow measurement methods, Particle Image Velocimetry (PIV) and Particle Tracking Velocimetry (PTV), as visualized and non-instructive measurement techniques, are playing more important role. This paper conducts a comparative experimental study for airflow measurement employing both techniques with the same condition. Velocity vector fields, velocity contour fields, voticity profiles and turbulence profiles are selected as the comparison indexes. The results show that the performance of both PIV and PTV techniques for airflow measurement is satisfied, but some differences between the both techniques are existed, it suggests that selecting the measurement technique should be based on a comprehensive consideration.

Keywords: PIV, PTV, airflow measurement.

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Authors: Hadjira Bentoumi, Pascal Gautron, Kadi Bouatouch

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We present a method for fast volume rendering using graphics hardware (GPU). To our knowledge, it is the first implementation on the GPU. Based on the Shear-Warp algorithm, our GPU-based method provides real-time frame rates and outperforms the CPU-based implementation. When the number of slices is not sufficient, we add in-between slices computed by interpolation. This improves then the quality of the rendered images. We have also implemented the ray marching algorithm on the GPU. The results generated by the three algorithms (CPU-based and GPU-based Shear- Warp, GPU-based Ray Marching) for two test models has proved that the ray marching algorithm outperforms the shear-warp methods in terms of speed up and image quality.

Keywords: Volume rendering, graphics processors

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Authors: Bala Dhandayuthapani Veerasamy

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Rapid steps made in the field of Information and Communication Technology (ICT) has facilitated the development of teaching and learning methods and prepared them to serve the needs of an assorted educational institution. In other words, the information age has redefined the fundamentals and transformed the institutions and method of services delivery forever. The vision is the articulation of a desire to transform the method of teaching and learning could proceed through e-learning. E-learning is commonly deliberated to use of networked information and communications technology in teaching and learning practice. This paper deals the general aspects of the e-leaning with its issues, developments, opportunities and challenges, which can the higher institutions own.

Keywords: 2D & 3D Animations, challenges, E-learning, Flash, HTML, issues, Multimedia, opportunities, VRML

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Authors: Zeynep Şahin, Züleyha Yılmaz, Fikret Çankaya

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In today's business world, in which it is difficult to survive, the economic life of products, services or knowledge is considerably reduced. Competitors produce similar products or extra-featured ones instantly. In this environment, the contribution of companies to the social and economic environment is a preferred criterion by consumers alongside products or services. Therefore, consumers need to obtain more detailed information about companies. Besides, this drastic change in the market encourages companies to become sustainable. Sustainable business means the company puts consumed products back. Corporate sustainability, corresponds to sustainability at the level of the company, and gives equal importance to company growth and profitability together with environmental and social issues. The BIST Sustainability Index started to be calculated by the Istanbul Stock Exchange (BIST) in 2014 to evaluate the sustainability performance of companies in Turkey. The main objective of this study is to present the importance of sustainability reports in Turkey. To this aim, the performances of 15 companies in the BIST Sustainability Index were compared the periods before and after entering the index. On the other hand, sustainability reporting practices should be encouraged to increase studies on this issue. In this context, to remain on the agenda of the issue is a further objective of this study. To achieve these objectives, the financial data of the companies in the period before and after entering to the BIST Sustainability Index were analyzed using t-test in Statistical Package for the Social Sciences (SPSS) package. The results of the study showed that no significant difference between the performances of the companies in terms of the net profit margin, the return on assets and equity capital in these periods could be found. Therefore, it can be said that insufficient importance is given to sustainability issues in Turkey. The reasons for this situation might be considered as a lack of awareness due to the recent introduction and calculation of the index. It is expected that the awareness of firms and investors about sustainability will increase, and that they will demonstrate the necessary importance to this issue over time.

Keywords: BIST sustainability index, firm performance, sustainability, sustainability reporting.

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Authors: Myeongjin Park, Ohmin Kwon, Juhyun Park, Sangmoon Lee

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This paper proposes improved delay-dependent stability conditions of the linear time-delay systems of neutral type. The proposed methods employ a suitable Lyapunov-Krasovskii’s functional and a new form of the augmented system. New delay-dependent stability criteria for the systems are established in terms of Linear matrix inequalities (LMIs) which can be easily solved by various effective optimization algorithms. Numerical examples showed that the proposed method is effective and can provide less conservative results.

Keywords: Neutral systems, Time-delay, Stability, Lyapunovmethod, LMI.

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Authors: P. V. V. Rama Rao, M. V. Srikanth, S. Dileep Kumar Varma

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With advances in solid-state power electronic devices and microprocessors, various pulse-width-modulation (PWM) techniques have been developed for industrial applications. This paper presents the comparison of two different PWM techniques, the sinusoidal PWM (SPWM) technique and the space-vector PWM (SVPWM) technique applied to two level VSI for micro grid applications. These two methods are compared by discussing their ease of implementation and by analyzing the output harmonic spectra of various output voltages (line-to-neutral voltages, and line-to-line voltages) and their total harmonic distortion (THD). The SVPWM technique in the under-modulation region can increase the fundamental output voltage by 15.5% over the SPWM technique.

Keywords: SPWM, SVPWM, VSI, Modulation Index.

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Authors: Srisuwan Kasemsawat

Abstract:

This is a survey research using quantitative and qualitative methodology. There were three objectives: 1) To study participatory level of community in water and waste environment management. 2) To study the affecting factors for community participation in water and waste environment management in Ampawa District, Samut Songkram Province. 3) To search for the participatory patterns in water and waste management. The population sample for the quantitative research was 1,364 people living in Ampawa District. The methodology was simple random sampling. Research instrument was a questionnaire and the qualitative research used purposive sampling in 6 Sub Districts which are Ta Ka, Suanluang, Bangkae, Muangmai, Kwae-om, and Bangnanglee Sub District Administration Organization. Total population is 63. For data analysis, the study used content analysis from quantitative research to synthesize and build question frame from the content for interview and conducting focus group interview. The study found that the community participatory in the issue of level in water and waste management are moderate of planning, operation, and evaluation. The issue of being beneficial is at low level. Therefore, the overall participatory level of community in water and waste environment management is at a medium level. The factors affecting the participatory of community in water and waste management are age, the period dwelling in the community and membership in which the mean difference is statistic significant at 0.05 in area of operation, being beneficial, and evaluation. For patterns of community participation, there is the correlation with water and waste management in 4 concerns which are 1) Participation in planning 2) Participation in operation 3) Participation in being beneficial both directly and indirectly benefited 4) Participation in evaluation and monitoring. The recommendation from this study is the need to create conscious awareness in order to increase participation level of people by organizing activities that promote participation with volunteer spirit. Government should open opportunities for people to participate in sharing ideas and create the culture of living together with equality which would build more concrete participation.

Keywords: Participation, Participatory Patterns, Water and Waste Management, Environmental Management.

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Authors: Liang Wang, Wei Zhang

Abstract:

Nowadays sustainable development has increasingly become an important research topic of engineering education all over the world. Engineering Education for Sustainable Development (EESD) highlighted the importance of addressing sustainable development in engineering practice. However, whether and how the professional engineering learning and experience affect those perceptions is an interesting research topic especially in Chinese context. Our study fills this gap by investigating perceptions bias of EESD among first-grade engineering students, fourth-grade engineering students and experienced engineers using a triple-dimensional model. Our goal is to find the effect of engineering learning and experience on sustainable development and make these learning and experiences more accessible for students and engineers in school and workplace context. The data (n = 138) came from a Likert questionnaire based on the triple-dimensional model of EESD adopted from literature reviews and the data contain 48 first-grade students, 56 fourth-grade students and 34 engineers with rich working experience from Environmental Engineering, Energy Engineering, Chemical Engineering and Civil Engineering in or graduated from Zhejiang University, China. One-way ANOVA analysis was used to find the difference in different dimensions among the three groups. The statistical results show that both engineering students and engineers have a well understanding of sustainable development in ecology dimension of EESD while there are significant differences among three groups as to the socio-economy and value rationality dimensions of EESD. The findings provide empirical evidence that both engineering learning and professional engineering experience are helpful to cultivate the cognition and perception of sustainable development in engineering education. The results of this work indicate that more practical content should be added to students’ engineering education while more theoretical content should be added to engineers’ training in order to promote the engineering students’ and engineers’ perceptions of sustainable development. In addition, as to the design of engineering courses and professional practice system for sustainable development, we should not only pay attention to the ecological aspects, but also emphasize the coordination of ecological, socio-economic and human-centered sustainable development (e.g., engineer's ethical responsibility).

Keywords: Engineering education, sustainable development, experienced engineers, engineering students.

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Authors: Kozak K, M. Kozak, K. Stapor

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The k-nearest neighbors (knn) is a simple but effective method of classification. In this paper we present an extended version of this technique for chemical compounds used in High Throughput Screening, where the distances of the nearest neighbors can be taken into account. Our algorithm uses kernel weight functions as guidance for the process of defining activity in screening data. Proposed kernel weight function aims to combine properties of graphical structure and molecule descriptors of screening compounds. We apply the modified knn method on several experimental data from biological screens. The experimental results confirm the effectiveness of the proposed method.

Keywords: biological screening, kernel methods, KNN, QSAR

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Authors: J.Zouhair, D.Ellison

Abstract:

This paper includes a review of three physics simulation packages that can be used to provide researchers with a virtual ground for modeling, implementing and simulating complex models, as well as testing their control methods with less cost and time of development. The inverted pendulum model was used as a test bed for comparing ODE, DANCE and Webots, while Linear State Feedback was used to control its behavior. The packages were compared with respect to model creation, solving systems of differential equation, data storage, setting system variables, control the experiment and ease of use. The purpose of this paper is to give an overview about our experience with these environments and to demonstrate some of the benefits and drawbacks involved in practice for each package.

Keywords: DANCE, Inverted Pendulum, ODE, Simulation Packages, Webots.

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