Search results for: Flexible alternating current transmission system (FACTS)

Authors: Chao Qi, Fuyang Peng, Bo Deng, Xiaoyan Su

Abstract:

In the upgrade process of enterprise information systems, whether new systems will be success and their development will be efficient, depends on how to deal with and utilize those legacy systems. We propose an evaluation system, which comprehensively describes the capacity of legacy information systems in five aspects. Then a practical legacy systems evaluation method is scripted. Base on the evaluation result, we put forward 4 kinds of migration strategy: eliminated, maintenance, modification, encapsulating. The methods and strategies play important roles in practice.

Keywords: Legacy Systems, Evaluation Method, Migration Strategy.

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Authors: N. Rugthaicharoencheep, S. Auchariyamet

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Distributed Generation (DG) in the form of renewable power generation systems is currently preferred for clean power generation. It has a significant impact on the distribution systems. This impact may be either positively or negatively depending on the distribution system, distributed generator and load characteristics. In this works, an overview of DG is briefly introduced. The technology of DG is also listed while the technical impacts and economic impacts are explained.

Keywords: Distributed Generation, Technical Impacts, Economic Impacts.

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Authors: Muhamad S., Norasrudin S, Rahmat A.

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The objective of current study is to investigate the differences of winning and losing teams in terms of goal scoring and passing sequences. Total of 31 matches from UEFA-EURO 2012 were analyzed and 5 matches were excluded from analysis due to matches end up drawn. There are two groups of variable used in the study which is; i. the goal scoring variable and: ii. passing sequences variable. Data were analyzed using Wilcoxon matched pair rank test with significant value set at p < 0.05. Current study found the timing of goal scored was significantly higher for winning team at 1st half (Z=-3.416, p=.001) and 2nd half (Z=-3.252, p=.001). The scoring frequency was also found to be increase as time progressed and the last 15 minutes of the game was the time interval the most goals scored. The indicators that were significantly differences between winning and losing team were the goal scored (Z=-4.578, p=.000), the head (Z=-2.500, p=.012), the right foot (Z=-3.788,p=.000), corner (Z=-.2.126,p=.033), open play (Z=-3.744,p=.000), inside the penalty box (Z=-4.174, p=.000) , attackers (Z=-2.976, p=.003) and also the midfielders (Z=-3.400, p=.001). Regarding the passing sequences, there are significance difference between both teams in short passing sequences (Z=-.4.141, p=.000). While for the long passing, there were no significance difference (Z=-.1.795, p=.073). The data gathered in present study can be used by the coaches to construct detailed training program based on their objectives.

Keywords: Football, goals scored, passing, timing.

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Authors: Amir Badkoubeh, Guchuan Zhu

Abstract:

This paper addresses the problem of asymptotic tracking control of a linear parabolic partial differential equation with indomain point actuation. As the considered model is a non-standard partial differential equation, we firstly developed a map that allows transforming this problem into a standard boundary control problem to which existing infinite-dimensional system control methods can be applied. Then, a combination of energy multiplier and differential flatness methods is used to design an asymptotic tracking controller. This control scheme consists of stabilizing state-feedback derived from the energy multiplier method and feed-forward control based on the flatness property of the system. This approach represents a systematic procedure to design tracking control laws for a class of partial differential equations with in-domain point actuation. The applicability and system performance are assessed by simulation studies.

Keywords: Tracking Control, In-domain point actuation, PartialDifferential Equations.

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Authors: Ahd Aljarf, Saad Amin

Abstract:

Images are important source of information used as evidence during any investigation process. Their clarity and accuracy is essential and of the utmost importance for any investigation. Images are vulnerable to losing blocks and having noise added to them either after alteration or when the image was taken initially, therefore, having a high performance image processing system and it is implementation is very important in a forensic point of view. This paper focuses on improving the quality of the forensic images. For different reasons packets that store data can be affected, harmed or even lost because of noise. For example, sending the image through a wireless channel can cause loss of bits. These types of errors might give difficulties generally for the visual display quality of the forensic images. Two of the images problems: noise and losing blocks are covered. However, information which gets transmitted through any way of communication may suffer alteration from its original state or even lose important data due to the channel noise. Therefore, a developed system is introduced to improve the quality and clarity of the forensic images.

Keywords: Image Filtering, Image Reconstruction, Image Processing, Forensic Images.

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Authors: Sabrina Azzi, Michal Iglewski, Véronique Nabelsi

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Diagnosis error problem is frequent and one of the most important safety problems today. One of the main objectives of our work is to propose an ontological representation that takes into account the diagnostic criteria in order to improve the diagnostic. We choose pneumonia disease since it is one of the frequent diseases affected by diagnosis errors and have harmful effects on patients. To achieve our aim, we use a semi-automated method to integrate diverse knowledge sources that include publically available pneumonia disease guidelines from international repositories, biomedical ontologies and electronic health records. We follow the principles of the Open Biomedical Ontologies (OBO) Foundry. The resulting ontology covers symptoms and signs, all the types of pneumonia, antecedents, pathogens, and diagnostic testing. The first evaluation results show that most of the terms are covered by the ontology. This work is still in progress and represents a first and major step toward a development of a diagnosis decision support system for pneumonia.

Keywords: Clinical decision support system, diagnostic errors, ontology, pneumonia.

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Authors: Chunshien Li, Jhao-Wun Hu, Tai-Wei Chiang, Tsunghan Wu

Abstract:

Time series forecasting is an important and widely popular topic in the research of system modeling. This paper describes how to use the hybrid PSO-RLSE neuro-fuzzy learning approach to the problem of time series forecasting. The PSO algorithm is used to update the premise parameters of the proposed prediction system, and the RLSE is used to update the consequence parameters. Thanks to the hybrid learning (HL) approach for the neuro-fuzzy system, the prediction performance is excellent and the speed of learning convergence is much faster than other compared approaches. In the experiments, we use the well-known Mackey-Glass chaos time series. According to the experimental results, the prediction performance and accuracy in time series forecasting by the proposed approach is much better than other compared approaches, as shown in Table IV. Excellent prediction performance by the proposed approach has been observed.

Keywords: forecasting, hybrid learning (HL), Neuro-FuzzySystem (NFS), particle swarm optimization (PSO), recursiveleast-squares estimator (RLSE), time series

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Authors: P. Meesuk, T. Kulworawanichpong, P. Pao-la-or

Abstract:

This paper proposes a set of quasi-static mathematical model of magnetic fields caused by high voltage conductors of distribution transformer by using a set of second-order partial differential equation. The modification for complex magnetic field analysis and time-harmonic simulation are also utilized. In this research, transformers were study in both balanced and unbalanced loading conditions. Computer-based simulation utilizing the threedimensional finite element method (3-D FEM) is exploited as a tool for visualizing magnetic fields distribution volume a distribution transformer. Finite Element Method (FEM) is one among popular numerical methods that is able to handle problem complexity in various forms. At present, the FEM has been widely applied in most engineering fields. Even for problems of magnetic field distribution, the FEM is able to estimate solutions of Maxwell-s equations governing the power transmission systems. The computer simulation based on the use of the FEM has been developed in MATLAB programming environment.

Keywords: Distribution Transformer, Magnetic Field, Load Unbalance, 3-D Finite Element Method (3-D FEM)

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Authors: Chen-Chien Hsu, Chun-Hui Gao

Abstract:

In this paper, a PSO-based approach is proposed to derive a digital controller for redesigned digital systems having an interval plant based on resemblance of the extremal gain/phase margins. By combining the interval plant and a controller as an interval system, extremal GM/PM associated with the loop transfer function can be obtained. The design problem is then formulated as an optimization problem of an aggregated error function revealing the deviation on the extremal GM/PM between the redesigned digital system and its continuous counterpart, and subsequently optimized by a proposed PSO to obtain an optimal set of parameters for the digital controller. Computer simulations have shown that frequency responses of the redesigned digital system having an interval plant bare a better resemblance to its continuous-time counter part by the incorporation of a PSO-derived digital controller in comparison to those obtained using existing open-loop discretization methods.

Keywords: Digital redesign, Extremal systems, Particle swarm optimization, Uncertain interval systems

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Authors: P. Varzakas

Abstract:

In this paper, the problem of estimating the optimal radio capacity of a single-cell spread spectrum (SS) multiple-inputmultiple- output (MIMO) system operating in a Rayleigh fading environment is examined. The optimisation between the radio capacity and the theoretically achievable average channel capacity (in the sense of information theory) per user of a MIMO single-cell SS system operating in a Rayleigh fading environment is presented. Then, the spectral efficiency is estimated in terms of the achievable average channel capacity per user, during the operation over a broadcast time-varying link, and leads to a simple novel-closed form expression for the optimal radio capacity value based on the maximization of the achieved spectral efficiency. Numerical results are presented to illustrate the proposed analysis.

Keywords: Channel capacity, MIMO systems, Radio capacity, Rayleigh fading, Spectral efficiency.

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Authors: Pil Woo Heo

Abstract:

Water contains dissolved oxygen that a fish needs to breathe. It is important to increase the amounts of separation of dissolved oxygen from water for diverse applications using the separation system. In this paper, a separation system of dissolved gases from water concurrently variable mixed with the exhalations using a compressor is proposed. This system takes use of exhalations to increase the amounts of separation of dissolved oxygen from water. A compressor with variable off-time and on-time is used to control the exhalations mixed with inlet water. Exhalations contain some portion of carbon dioxide, oxygen, and nitrogen. Separation of dissolved gases containing dissolved oxygen is enhanced by using exhalations. The amounts of separation and the compositions of carbon dioxide and oxygen are measured. Higher amounts of separation can make the size of the separation device smaller, and then, application areas are diversified.

Keywords: Concurrently, variable mixed, exhalations, separation, hollow fiber.

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Authors: S.M. Bahri, F.T. Bendimerad

Abstract:

We propose a downlink multiple-input multipleoutput (MIMO) multi-carrier code division multiple access (MCCDMA) system with adaptive beamforming algorithm for smart antennas. The algorithm used in this paper is based on the Least Mean Square (LMS), with pilot channel estimation (PCE) and the zero forcing equalizer (ZFE) in the receiver, requiring reference signal and no knowledge channel. MC-CDMA is studied in a multiple antenna context in order to efficiently exploit robustness against multipath effects and multi-user flexibility of MC-CDMA and channel diversity offered by MIMO systems for radio mobile channels. Computer simulations, considering multi-path Rayleigh Fading Channel, interference inter symbol and interference are presented to verify the performance. Simulation results show that the scheme achieves good performance in a multi-user system.

Keywords: Adaptive Beamforming, LMS Algorithm, MCCDMA, MIMO System, Smart Antenna.

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Authors: Nicolò Vaiana, Mariacristina Spizzuoco, Giorgio Serino

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In this paper, the results of experimental tests performed on a Helical Wire Rope Isolator (HWRI) are presented in order to describe the dynamic and static behavior of the selected metal device in three different displacements ranges, namely small, relatively large, and large displacements ranges, without and under the effect of a vertical load. A testing machine, allowing to apply horizontal displacement or load histories to the tested bearing with a constant vertical load, has been adopted to perform the dynamic and static tests. According to the experimental results, the dynamic behavior of the tested device depends on the applied displacement amplitude. Indeed, the HWRI displays a softening and a hardening stiffness at small and relatively large displacements, respectively, and a stronger nonlinear stiffening behavior at large displacements. Furthermore, the experimental tests reveal that the application of a vertical load allows to have a more flexible device with higher damping properties and that the applied vertical load affects much less the dynamic response of the metal device at large displacements. Finally, a decrease in the static to dynamic effective stiffness ratio with increasing displacement amplitude has been observed.

Keywords: Base isolation, earthquake engineering, experimental hysteresis loops, wire rope isolators.

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Authors: M. Elsisi, M. Soliman, M. A. S. Aboelela, W. Mansour

Abstract:

This paper considers the design of Dual Proportional- Integral (DPI) Load Frequency Control (LFC), using gravitational search algorithm (GSA). The design is carried out for nonlinear hydrothermal power system where generation rate constraint (GRC) and governor dead band are considered. Furthermore, time delays imposed by governor-turbine, thermodynamic process, and communication channels are investigated. GSA is utilized to search for optimal controller parameters by minimizing a time-domain based objective function. GSA-based DPI has been compared to Ziegler- Nichols based PI, and Genetic Algorithm (GA) based PI controllers in order to demonstrate the superior efficiency of the proposed design. Simulation results are carried for a wide range of operating conditions and system parameters variations.

Keywords: Gravitational Search Algorithm (GSA), Load Frequency Control (LFC), Dual Proportional-Integral (DPI) controller.

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Authors: Kyu Han Kim, Soon Kyu Kwon, Heung Sun Yoon, Jong Tae Kim

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In this paper, we demonstrate the adaptive least-mean-square (LMS) filter modeling using SystemC. SystemC is a modeling language that allows designer to model both hardware and software component and makes it possible to design from high level system of abstraction to low level system of abstraction. We produced five adaptive least-mean-square filter models that are classed as five abstraction levels using SystemC proceeding from the abstract model to the more concrete model.

Keywords: Adaptive Filter, Least-Mean-Square Algorithm, SystemC, Transversal Fir Filter.

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Authors: Peerapong Uthansakul, Monthippa Uthansakul

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WLAN Positioning has been presented by many approaches in literatures using the characteristics of Received Signal Strength (RSS), Time of Arrival (TOA) or Time Difference of Arrival (TDOA), Angle of Arrival (AOA) and cell ID. Among these, RSS approach is the simplest method to implement because there is no need of modification on both access points and client devices whereas its accuracy is terrible due to physical environments. For TOA or TDOA approach, the accuracy is quite acceptable but most researches have to modify either software or hardware on existing WLAN infrastructure. The scales of modifications are made on only access card up to the changes in protocol of WLAN. Hence, it is an unattractive approach to use TOA or TDOA for positioning system. In this paper, the new concept of merging both RSS and TOA positioning techniques is proposed. In addition, the method to achieve TOA characteristic for positioning WLAN user without any extra modification necessarily appended in the existing system is presented. The measurement results confirm that the proposed technique using both RSS and TOA characteristics provides better accuracy than using only either RSS or TOA approach.

Keywords: Received signal strength, Time of arrival, Positioning system, WLAN, Measurement.

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Authors: Ingu Kim, Shangmun Shin, Yongsun Choi, Nguyen Manh Thang, Edwin R. Ramos, Won-Joo Hwang

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Project selection problems on management information system (MIS) are often considered a multi-criteria decision-making (MCDM) for a solving method. These problems contain two aspects, such as interdependencies among criteria and candidate projects and qualitative and quantitative factors of projects. However, most existing methods reported in literature consider these aspects separately even though these two aspects are simultaneously incorporated. For this reason, we proposed a hybrid method using analytic network process (ANP) and fuzzy logic in order to represent both aspects. We then propose a goal programming model to conduct an optimization for the project selection problems interpreted by a hybrid concept. Finally, a numerical example is conducted as verification purposes.

Keywords: Analytic Network Process (ANP), Multi-Criteria Decision-Making (MCDM), Fuzzy Logic, Information System Project Selection, Goal Programming.

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Authors: Ameleh Aghajanloo, Moharam Dolatshahi Pirouz, Masoud Montazeri Namin

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In this paper, a two-dimensional (2D) numerical model for the tidal currents simulation in Persian Gulf is presented. The model is based on the depth averaged equations of shallow water which consider hydrostatic pressure distribution. The continuity equation and two momentum equations including the effects of bed friction, the Coriolis effects and wind stress have been solved. To integrate the 2D equations, the Alternative Direction Implicit (ADI) technique has been used. The base of equations discritization was finite volume method applied on rectangular mesh. To evaluate the model validation, a dam break case study including analytical solution is selected and the comparison is done. After that, the capability of the model in simulation of tidal current in a real field is represented by modeling the current behavior in Persian Gulf. The tidal fluctuations in Hormuz Strait have caused the tidal currents in the area of study. Therefore, the water surface oscillations data at Hengam Island on Hormoz Strait are used as the model input data. The check point of the model is measured water surface elevations at Assaluye port. The comparison between the results and the acceptable agreement of them showed the model ability for modeling marine hydrodynamic.

Keywords: Persian Gulf, Tidal Currents, Shallow Water Equations, Finite Volumes

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Authors: Ehsan Hassankhan, Davood A. Khaburi

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Direct Torque Control is a control technique in AC drive systems to obtain high performance torque control. The conventional DTC drive contains a pair of hysteresis comparators. DTC drives utilizing hysteresis comparators suffer from high torque ripple and variable switching frequency. The most common solution to those problems is to use the space vector depends on the reference torque and flux. In this Paper The space vector modulation technique (SVPWM) is applied to 2 level inverter control in the proposed DTC-based induction motor drive system, thereby dramatically reducing the torque ripple. Then the controller based on space vector modulation is designed to be applied in the control of Induction Motor (IM) with a three-level Inverter. This type of Inverter has several advantages over the standard two-level VSI, such as a greater number of levels in the output voltage waveforms, Lower dV/dt, less harmonic distortion in voltage and current waveforms and lower switching frequencies. This paper proposes a general SVPWM algorithm for three-level based on standard two-level SVPWM. The proposed scheme is described clearly and simulation results are reported to demonstrate its effectiveness. The entire control scheme is implemented with Matlab/Simulink.

Keywords: Direct torque control, space vector Pulsewidthmodulation(SVPWM), neutral point clamped(NPC), two-levelinverter.

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Authors: F. Urem, K. Fertalj, Ž. Mikulić

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This paper presents the possibilities of using Weibull statistical distribution in modeling the distribution of defects in ERP systems. There follows a case study, which examines helpdesk records of defects that were reported as the result of one ERP subsystem upgrade. The result of the applied modeling is in modeling the reliability of the ERP system from a user perspective with estimated parameters like expected maximum number of defects in one day or predicted minimum of defects between two upgrades. Applied measurement-based analysis framework is proved to be suitable in predicting future states of the reliability of the observed ERP subsystems.

Keywords: ERP, reliability, Weibull

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Authors: Mohammad Ali Tabarzad, Caro Lucas, Ali Hamzeh

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Generalization is one of the most challenging issues of Learning Classifier Systems. This feature depends on the representation method which the system used. Considering the proposed representation schemes for Learning Classifier System, it can be concluded that many of them are designed to describe the shape of the region which the environmental states belong and the other relations of the environmental state with that region was ignored. In this paper, we propose a new representation scheme which is designed to show various relationships between the environmental state and the region that is specified with a particular classifier.

Keywords: Classifier Systems, Reinforcement Learning, Relational Representation, XCSF.

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Authors: Kozo Tanigawa, Tappei Yotsumoto, Kenichi Takahashi, Takao Kawamura, Kazunori Sugahara

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A automatic human tracking system using mobile agent technology is realized because a mobile agent moves in accordance with a migration of a target person. In this paper, we propose a method for determining the neighbor node in consideration of the imaging range of cameras.

Keywords: Human tracking, Mobile agent, Pan/Tilt/Zoom, Neighbor relation.

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Authors: Ahmad Ghayoumi, Mehdi Ghayoumi

Abstract:

Intelligent schools are those which use IT devices and technologies as media software, hardware and networks to improve learning process. On the other hand management improvement is best described as the process from which managers learn and improve their skills not only to benefit themselves but also their employing organizations Here, we present a model Management improvement System that has been applied on some schools and have made strict improvement.

Keywords: Intelligent school, Management development system, Learning station, Teaching station

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Authors: Harsha Gopalakrishnan, Srijanani Anurag Prasad

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Quadrilateral Labyrinth Fractals are a type of fractals presented in this paper. They belong to a unique class of fractals on any plane quadrilateral. The previously researched labyrinth fractals on the unit square and triangle inspire this form of fractal. This work describes how to construct a quadrilateral labyrinth fractal and looks at the circumstances in which it can be understood as the attractor of an iterated function system. Furthermore, some of its topological properties and the Hausdorff and box-counting dimensions of the quadrilateral labyrinth fractals are studied.

Keywords: Fractals, labyrinth fractals, dendrites, iterated function system, non-self similar, non-self affine, connected, path connected.

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Authors: Sachin Bhalekar, Varsha Daftardar-Gejji

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In the present paper, we present a modification of the New Iterative Method (NIM) proposed by Daftardar-Gejji and Jafari [J. Math. Anal. Appl. 2006;316:753–763] and use it for solving systems of nonlinear functional equations. This modification yields a series with faster convergence. Illustrative examples are presented to demonstrate the method.

Keywords: Caputo fractional derivative, System of nonlinear functional equations, Revised new iterative method.

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Authors: Biao Wang, Tao Li, Qi-wen Sun, Wei-yong Ying, Ding-ye Fang

Abstract:

Methanol-to-olefins (MTO) coupled with transformation of coal or natural gas to methanol gives an interesting and promising way to produce ethylene and propylene. To investigate solid concentration in gas-solid fluidized bed for methanol-to-olefins process catalyzed by SAPO-34, a cold model experiment system is established in this paper. The system comprises a gas distributor in a 300mm internal diameter and 5000mm height acrylic column, the fiber optic probe system and series of cyclones. The experiments are carried out at ambient conditions and under different superficial gas velocity ranging from 0.3930m/s to 0.7860m/s and different initial bed height ranging from 600mm to 1200mm. The effects of radial distance, axial distance, superficial gas velocity, initial bed height on solid concentration in the bed are discussed. The effects of distributor shape and porosity on solid concentration are also discussed. The time-averaged solid concentration profiles under different conditions are obtained.

Keywords: Branched pipe distributor, distributor porosity, gas-solid fluidized bed, solid concentration.

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Authors: Ichihan Tai, Bill Olson, Paul Blessner

Abstract:

Traditional early warning systems that alarm against crisis are generally based on structured or numerical data; therefore, a system that can make predictions based on unstructured textual data, an uncorrelated data source, is a great complement to the traditional early warning systems. The Chicago Board Options Exchange (CBOE) Volatility Index (VIX), commonly referred to as the fear index, measures the cost of insurance against market crash, and spikes in the event of crisis. In this study, news data is consumed for prediction of whether there will be a market-wide crisis by predicting the movement of the fear index, and the historical references to similar events are presented in an unsupervised manner. Topic modeling-based prediction and representation are made based on daily news data between 1990 and 2015 from The Wall Street Journal against VIX index data from CBOE.

Keywords: Early Warning System, Knowledge Management, Topic Modeling, Market Prediction.

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Authors: Shou-Chen Lo, Chia-Ching Lin, Chieh-Chen Huang

Abstract:

To decompose organochlorides by bioremediation, co-culture biohydrogen producer and dehalogenation microorganisms is a useful method. In this study, we combined these two characteristics from a biohydrogen producer, Rhodopseudomonas palustris, and a dehalogenation microorganism, Pseudomonas putida, to enchance halorespiration in R. palustris. The genes encoding cytochrome P450cam system (camC, camA, and camB) from P. putida were expressed in R. palustris with designated expression plasmid. All tested strains were cultured to log phase then presented pentachloroethane (PCA) in media. The vector control strain could degrade PCA about 78% after 16 hours, however, the cytochrome P450cam system expressed strain, CGA-camCAB, could completely degrade PCA in 12 hours. While taking chlorinated aromatic, 3-chlorobenzoate, as sole carbon source or present benzoate as co-substrate, CGA-camCAB presented faster growth rate than vector control strain.

Keywords: cytochrome P450, halorespiration, nitrogen fixation, Rhodopseudomonas palustris CGA009

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Authors: Wennan Long, Yuhao Nie, Yunan Li, Adam Brandt

Abstract:

To fight against climate change, California government issued the Senate Bill No. 100 (SB-100) in 2018 September, which aims at achieving a target of 100% renewable electricity by the end of 2045. A capacity expansion problem is solved in this case study using a binary quadratic programming model. The optimal locations and capacities of the potential renewable power plants (i.e., solar, wind, biomass, geothermal and hydropower), the phase-out schedule of existing fossil-based (nature gas) power plants and the transmission of electricity across the entire network are determined with the minimal total annualized cost measured by net present value (NPV). The results show that the renewable electricity contribution could increase to 85.9% by 2030 and reach 100% by 2035. Fossil-based power plants will be totally phased out around 2035 and solar and wind will finally become the most dominant renewable energy resource in California electricity mix.

Keywords: 100% renewable electricity, California, capacity expansion, binary quadratic programming.

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Authors: Vikas Pandey, T. L. Joshy, Vyshak Vijayan, N. Babu

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A new and cost effective robotic device was designed for remote tele surgery using dual tone multi frequency technology (DTMF). Tele system with Dual Tone Multiple Frequency has a large capability in sending and receiving of data in hardware and software. The robot consists of DC motors for arm movements and it is controlled manually through a mobile phone through DTMF Technology. The system enables the surgeon from base station to send commands through mobile phone to the patient’s robotic system which includes two robotic arms that translate the input into actual instrument manipulation. A mobile phone attached to the microcontroller 8051 which can activate robot through relays. The Remote robot-assisted tele surgery eliminates geographic constraints for getting surgical expertise where it is needed and allows an expert surgeon to teach or proctor the performance of surgical technique by real-time intervention.

Keywords: Robot, Microcontroller, DTMF, Tele surgery.

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