Search results for: computernetwork performance

Authors: Y. Harold Robinson, E. Golden Julie

Abstract:

Dynamic Routing in Wireless Sensor Networks (WSNs) has played a significant task in research for the recent years. Energy consumption and data delivery in time are the major parameters with the usage of sensor nodes that are significant criteria for these networks. The location of sensor nodes must not be prearranged. Clustering in WSN is a key methodology which is used to enlarge the life-time of a sensor network. It consists of numerous real-time applications. The features of WSNs are minimized the consumption of energy. Soft computing techniques can be included to accomplish improved performance. This paper surveys the modern trends in routing enclose fuzzy logic and Neuro-fuzzy logic based on the clustering techniques and implements a comparative study of the numerous related methodologies.

Keywords: Wireless sensor networks, clustering, fuzzy logic, neuro-fuzzy logic, energy efficiency.

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Authors: Abdul Rashid Husain, Mohamad Noh Ahmad, Abdul Halim Mohd. Yatim

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In this paper, application of Sliding Mode Control (SMC) technique for an Active Magnetic Bearing (AMB) system with varying rotor speed is considered. The gyroscopic effect and mass imbalance inherited in the system is proportional to rotor speed in which this nonlinearity effect causes high system instability as the rotor speed increases. Transformation of the AMB dynamic model into regular system shows that these gyroscopic effect and imbalance lie in the mismatched part of the system. A H2-based sliding surface is designed which bound the mismatched parts. The solution of the surface parameter is obtained using Linear Matrix Inequality (LMI). The performance of the controller applied to the AMB model is demonstrated through simulation works under various system conditions.

Keywords: Active magnetic bearing, sliding mode control, linear matrix inequality, mismatched uncertainty and imbalance.

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Authors: Mohammad Taha, Dia abu al Nadi

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In this paper, the phase control antenna array synthesis is presented. The problem is formulated as a constrained optimization problem that imposes nulls with prescribed level while maintaining the sidelobe at a prescribed level. For efficient use of the algorithm memory, compared to the well known Particle Swarm Optimization (PSO), the Accelerated Particle Swarm Optimization (APSO) is used to estimate the phase parameters of the synthesized array. The objective function is formed using a main objective and set of constraints with penalty factors that measure the violation of each feasible solution in the search space to each constraint. In this case the obtained feasible solution is guaranteed to satisfy all the constraints. Simulation results have shown significant performance increases and a decreased randomness in the parameter search space compared to a single objective conventional particle swarm optimization.

Keywords: Array synthesis, Sidelobe level control, Constrainedoptimization, Accelerated Particle Swarm Optimization.

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Authors: Cha-Hwa Lin, Je-Wei Hu

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The conventional GA combined with a local search algorithm, such as the 2-OPT, forms a hybrid genetic algorithm(HGA) for the traveling salesman problem (TSP). However, the geometric properties which are problem specific knowledge can be used to improve the search process of the HGA. Some tour segments (edges) of TSPs are fine while some maybe too long to appear in a short tour. This knowledge could constrain GAs to work out with fine tour segments without considering long tour segments as often. Consequently, a new algorithm is proposed, called intelligent-OPT hybrid genetic algorithm (IOHGA), to improve the GA and the 2-OPT algorithm in order to reduce the search time for the optimal solution. Based on the geometric properties, all the tour segments are assigned 2-level priorities to distinguish between good and bad genes. A simulation study was conducted to evaluate the performance of the IOHGA. The experimental results indicate that in general the IOHGA could obtain near-optimal solutions with less time and better accuracy than the hybrid genetic algorithm with simulated annealing algorithm (HGA(SA)).

Keywords: Traveling salesman problem, hybrid geneticalgorithm, priority selection, 2-OPT.

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Authors: S. Shaaban, T. McNamara, S. Hudson

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This paper investigates the benefits of deliberately unbalancing both operation time means (MTs) and unreliability (failure and repair rates) for non-automated production lines. The lines were simulated with various line lengths, buffer capacities, degrees of imbalance and patterns of MT and unreliability imbalance. Data on two performance measures, namely throughput (TR) and average buffer level (ABL) were gathered, analyzed and compared to a balanced line counterpart. A number of conclusions were made with respect to the ranking of configurations, as well as to the relationships among the independent design parameters and the dependent variables. It was found that the best configurations are a balanced line arrangement and a monotone decreasing MT order, coupled with either a decreasing or a bowl unreliability configuration, with the first generally resulting in a reduced TR and the second leading to a lower ABL than those of a balanced line.

Keywords: Average buffer level, throughput, unbalanced failure and repair rates, unequal mean operation times, unreliable production lines.

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Authors: Ajay Verma, Nitin Seth

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The purpose of this paper is to highlight the importance of the concept of competitiveness in the supply chain and to present a conceptual framework for Supply Chain Competitiveness (SCC). The framework is based on supply chain activities, which are inputs, necessary for SCC and the benefits which are the outputs of SCC. A literature review is conducted on key supply chain competitiveness issues, its determinants, its various dimensions followed by exploration for SCC. Based on the insights gained, a conceptual framework for SCC is presented based on activities for SCC, SCC environment and outcomes of SCC. The information flow in the conceptual framework is bi-directional at all levels and the activities are interrelated in a global competitive environment. The activities include the activities of suppliers, manufacturers and distributors, giving more emphasis on manufacturers- activities. Further, implications of various factors such as economic, politicolegal, technical, socio-cultural, competition, demographic etc. are also highlighted. The SCC framework is an attempt to cover the relatively less explored area of supply chain competitiveness. It is expected that this work will further motivate researchers, academicians and practitioners to work in this area and offers conceptual help in providing a directions for supply chain competitiveness which leads to improvement in the supply chain and supply chain performance.

Keywords: Competitive advantage, supply chain, SCC, supplychain management.

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Authors: Liu Xuedong, Liu Hanpeng, Zhou Ling

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Study fluid flow and heat transfer characteristics of microchannel in a primary Cross-corrugated(CC) surface recuperators with corrugations and without corrugations, using CFD method. The pitch-over-height ratios P/H of Cross-corrugated (CC) surface is from 1.5 to 4.0, included angles β=75º. The study was performed using CFD software FLUENT to create unit model and simulate fluid temperature, velocity, heat transfer coefficient and other parameters. The results from these simulations were compared to experimental data. It is concluded that, when the Reynolds number is constant, if increase P/H, j/f will decrease, also the decreasing trend will become weak. Under the condition of P/H=2.2, if increase the inlet velocity j/f will decrease; in addition, the heat transfer performance in surface with corrugation will increase 10% compared to that without corrugation. The study results can provide the basis to optimize the design, select the type of heat transfer surface, the scale structure, and heat-transfer surface arrangement for recuperators.

Keywords: Cross-corrugated surface, Primary surface, Numerical simulation, Heat transfer.

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Authors: Sae-Rom Pak, Seung Hwan Park, Jeong Ho Cho, Daewoong An, Cheong-Sool Park, Jun Seok Kim, Jun-Geol Baek

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It is important to predict yield in semiconductor test process in order to increase yield. In this study, yield prediction means finding out defective die, wafer or lot effectively. Semiconductor test process consists of some test steps and each test includes various test items. In other world, test data has a big and complicated characteristic. It also is disproportionably distributed as the number of data belonging to FAIL class is extremely low. For yield prediction, general data mining techniques have a limitation without any data preprocessing due to eigen properties of test data. Therefore, this study proposes an under-sampling method using support vector machine (SVM) to eliminate an imbalanced characteristic. For evaluating a performance, randomly under-sampling method is compared with the proposed method using actual semiconductor test data. As a result, sampling method using SVM is effective in generating robust model for yield prediction.

Keywords: Yield Prediction, Semiconductor Test Process, Support Vector Machine, Under Sampling

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Authors: Arun Goel

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Prediction of maximum local scour is necessary for the safety and economical design of the bridges. A number of equations have been developed over the years to predict local scour depth using laboratory data and a few pier equations have also been proposed using field data. Most of these equations are empirical in nature as indicated by the past publications. In this paper attempts have been made to compute local depth of scour around bridge pier in dimensional and non-dimensional form by using linear regression, simple regression and SVM (Poly & Rbf) techniques along with few conventional empirical equations. The outcome of this study suggests that the SVM (Poly & Rbf) based modeling can be employed as an alternate to linear regression, simple regression and the conventional empirical equations in predicting scour depth of bridge piers. The results of present study on the basis of non-dimensional form of bridge pier scour indicate the improvement in the performance of SVM (Poly & Rbf) in comparison to dimensional form of scour.

Keywords: Modeling, pier scour, regression, prediction, SVM (Poly & Rbf kernels).

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Authors: Jin Xu, Albert Y.S. Lam, Victor O.K. Li

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Stock portfolio selection is a classic problem in finance, and it involves deciding how to allocate an institution-s or an individual-s wealth to a number of stocks, with certain investment objectives (return and risk). In this paper, we adopt the classical Markowitz mean-variance model and consider an additional common realistic constraint, namely, the cardinality constraint. Thus, stock portfolio optimization becomes a mixed-integer quadratic programming problem and it is difficult to be solved by exact optimization algorithms. Chemical Reaction Optimization (CRO), which mimics the molecular interactions in a chemical reaction process, is a population-based metaheuristic method. Two different types of CRO, named canonical CRO and Super Molecule-based CRO (S-CRO), are proposed to solve the stock portfolio selection problem. We test both canonical CRO and S-CRO on a benchmark and compare their performance under two criteria: Markowitz efficient frontier (Pareto frontier) and Sharpe ratio. Computational experiments suggest that S-CRO is promising in handling the stock portfolio optimization problem.

Keywords: Stock portfolio selection, Markowitz model, Chemical Reaction Optimization, Sharpe ratio

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Authors: Hyejin Pak, Changsoo Kim, Healahng Choi

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The resident registration number was adopted for the purposes of enhanced services for resident convenience and effective performance of governmental administrative affairs. However, it has been used for identification purposes customarily and irrationally in line with the development and spread of the Internet. In response to the growing concern about the leakage of collected RRNs and possible abuses of stolen RRNs, e.g. identity theft, for crimes, the Korean Communications Commission began to take legal/regulatory actions in 2011 to minimize the online collection and use of resident registration numbers. As the use of the RRN was limited after the revision of the Act on Promotion of Information and Communications Network Utilization and Information Protection, etc., online business providers were required to have alternatives to the RRN for the purpose of identifying the user's identity and age, in compliance with the law, and settling disputes with customers. This paper presents means of verifying the personal identity by taking advantage of the commonly used infrastructure and simply replacing personal information entered and stored, without requiring users to enter their RRNs.

Keywords: Resident Registration Numbers(RRNs), Alternative identification for RRNs.

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Authors: Nicholas Milburn, Yu Liang, Dalei Wu

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Athlete performance scoring within the climbing domain presents interesting challenges as the sport does not have an objective way to assign skill. Assessing skill levels within any sport is valuable as it can be used to mark progress while training, and it can help an athlete choose appropriate climbs to attempt. Machine learning-based methods are popular for complex problems like this. The dataset available was composed of dynamic force data recorded during climbing; however, this dataset came with challenges such as data scarcity, imbalance, and it was temporally heterogeneous. Investigated solutions to these challenges include data augmentation, temporal normalization, conversion of time series to the spectral domain, and cross validation strategies. The investigated solutions to the classification problem included light weight machine classifiers KNN and SVM as well as the deep learning with CNN. The best performing model had an 80% accuracy. In conclusion, there seems to be enough information within climbing force data to accurately categorize climbers by skill.

Keywords: Classification, climbing, data imbalance, data scarcity, machine learning, time sequence.

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Authors: Zefry Darmawan, Shigeyuki Haruyama, Ken Kaminishi

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Product development is a big issue in the industrial competition and takes a serious part in development of technology. Product development process could adapt high changes of market needs and transform into engineering concept in order to produce high-quality product. One of the latest methods in product development is Analysis-Led-Design (ALD). It utilizes digital engineering design tools with finite analysis to perform product robust analysis and valuable for product reliability assurance. Heavy machinery which operates under severe condition should maintain safety to the customer when faced with potential hazard. Cab frame should able to absorb the energy while collision. Through ALD, a series of improvement of cab frame to increase energy absorption was made and analyzed. Improvement was made by modifying shapes of frame and-or install absorption device in certain areas. Simulation result showed that install absorption device could increase absorption energy than modifying shape.

Keywords: ALD, ROPS, energy absorption, cab frame.

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Authors: Asar Khan, Peter D. Widdop, Andrew J. Day, Aliaster S. Wood, Steve, R. Mounce, John Machell

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This paper describes an automated event detection and location system for water distribution pipelines which is based upon low-cost sensor technology and signature analysis by an Artificial Neural Network (ANN). The development of a low cost failure sensor which measures the opacity or cloudiness of the local water flow has been designed, developed and validated, and an ANN based system is then described which uses time series data produced by sensors to construct an empirical model for time series prediction and classification of events. These two components have been installed, tested and verified in an experimental site in a UK water distribution system. Verification of the system has been achieved from a series of simulated burst trials which have provided real data sets. It is concluded that the system has potential in water distribution network management.

Keywords: Detection, leakage, neural networks, sensors, water distribution networks

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Authors: Shaher Bano, Samia Fida, Asif Israr

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The synergistic effect of properties of metals and fibers reinforced laminates has diverted attention of the world towards use of robust composite materials known as fiber-metal laminates in many high performance applications. In this study, modification of an adhesively bonded joint as a single lap joint of carbon fibers based CARALL FML has done to increase interlaminar shear strength of the joint. The effect of different configurations of joint designs such as spews, stepped and modification in adhesive by addition of nano-fillers was studied. Both experimental and simulation results showed that modified joint design have superior properties as maximum force experienced stepped joint was 1.5 times more than the simple lap joint. Addition of carbon nano-tubes as nano-fillers in the adhesive joint increased the maximum force due to crack deflection mechanism.

Keywords: Adhesive joint, carbon reinforced aluminium laminate, CARALL, fiber metal laminates, spews.

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Authors: J. Dumrongsak, A. M. Savill

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Non-premixed turbulent combustion Computational Fluid Dynamics (CFD) has been carried out in a simplified methanefuelled coaxial jet combustor employing Large Eddy Simulation (LES). The objective of this study is to evaluate the performance of LES in modelling non-premixed combustion using a commercial software, FLUENT, and investigate the effects of the grid density and chemistry models employed on the accuracy of the simulation results. A comparison has also been made between LES and Reynolds Averaged Navier-Stokes (RANS) predictions. For LES grid sensitivity test, 2.3 and 6.2 million cell grids are employed with the equilibrium model. The chemistry model sensitivity analysis is achieved by comparing the simulation results from the equilibrium chemistry and steady flamelet models. The predictions of the mixture fraction, axial velocity, species mass fraction and temperature by LES are in good agreement with the experimental data. The LES results are similar for the two chemistry models but influenced considerably by the grid resolution in the inner flame and near-wall regions.

Keywords: Coaxial jet, reacting LES, non-premixed combustion, turbulent flow.

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Authors: M.A. Ahmad

Abstract:

This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Keywords: Gantry crane, anti-sway control, DFS controller, PD-type Fuzzy Logic Controller.

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Authors: Daniel Rivero, Julián Dorado, Juan R. Rabuñal, Alejandro Pazos, Javier Pereira

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The development of Artificial Neural Networks (ANNs) is usually a slow process in which the human expert has to test several architectures until he finds the one that achieves best results to solve a certain problem. This work presents a new technique that uses Genetic Programming (GP) for automatically generating ANNs. To do this, the GP algorithm had to be changed in order to work with graph structures, so ANNs can be developed. This technique also allows the obtaining of simplified networks that solve the problem with a small group of neurons. In order to measure the performance of the system and to compare the results with other ANN development methods by means of Evolutionary Computation (EC) techniques, several tests were performed with problems based on some of the most used test databases. The results of those comparisons show that the system achieves good results comparable with the already existing techniques and, in most of the cases, they worked better than those techniques.

Keywords: Artificial Neural Networks, Evolutionary Computation, Genetic 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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Authors: Moses F. Oduori, Enoch K. Musyoka, Thomas O. Mbuya

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The selection of materials is an essential task in mechanical design processes. This paper sets out to demonstrate the application of analytical decision making during mechanical design and, particularly, in selecting a suitable material for a given application. Equations for the mechanical design of a manual winch rope drum are used to derive quantitative material performance indicators, which are then used in a multiple attribute decision making (MADM) model to rank the candidate materials. Thus, the processing of mechanical design considerations and material properties data into information that is suitable for use in a quantitative materials selection process is demonstrated for the case of a rope drum design. Moreover, Microsoft Excel^®, a commonly available computer package, is used in the selection process. The results of the materials selection process are in agreement with current industry practice in rope drum design. The procedure that is demonstrated here should be adaptable to other design situations in which a need arises for the selection of engineering materials, and other engineering entities.

Keywords: Design Decisions, Materials Selection, Mechanical Design, Rope Drum Design.

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Authors: Shiuh-Jer Huang, Ming-Tien Su

Abstract:

Since the driving speed and control accuracy of commercial optical disk are increasing significantly, it needs an efficient controller to monitor the track seeking and following operations of the servo system for achieving the desired data extracting response. The nonlinear behaviors of the actuator and servo system of the optical disk drive will influence the laser spot positioning. Here, the model-free fuzzy control scheme is employed to design the track seeking servo controller for a d.c. motor driving optical disk drive system. In addition, the sliding model control strategy is introduced into the fuzzy control structure to construct a 1-D adaptive fuzzy rule intelligent controller for simplifying the implementation problem and improving the control performance. The experimental results show that the steady state error of the track seeking by using this fuzzy controller can maintain within the track width (1.6 μm ). It can be used in the track seeking and track following servo control operations.

Keywords: Fuzzy control, gain tuning and optical disk drive.

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Authors: Bilel Gassara, Mahmoud Abdellaoui, Nouri Masmoud

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The 4G front-end transceiver needs a high performance which can be obtained mainly with an optimal architecture and a multi-band Local Oscillator. In this study, we proposed and presented a new architecture of multi-band frequency synthesizer based on an Inverse Sine Phase Detector Phase Locked Loop (ISPD PLL) without any filters and any controlled gain block and associated with adapted multi band LC tuned VCO using a several numeric controlled capacitive branches but not binary weighted. The proposed architecture, based on 0.35μm CMOS process technology, supporting Multi-band GSM/DCS/DECT/ UMTS/WiMax application and gives a good performances: a phase noise @1MHz -127dBc and a Factor Of Merit (FOM) @ 1MHz - 186dB and a wide band frequency range (from 0.83GHz to 3.5GHz), that make the proposed architecture amenable for monolithic integration and 4G multi-band application.

Keywords: GSM/DCS/DECT/UMTS/WiMax, ISPD PLL, keep and capture range, Multi-Band, Synthesizer, Wireless.

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Authors: Sun-Ki Hong, Yong-Ho Cho, Ki-Seok Kim, Tae-Sam Kang

Abstract:

Piezoelectric actuator is treated as RC load when it is modeled electrically. For some piezoelectric actuator applications, arbitrary voltage is required to actuate. Especially for unidirectional arbitrary voltage driving like as sine wave, some special inverter with circuit that can charge and discharge the capacitive energy can be used. In this case, the difference between power supply level and the object voltage level for RC load is varied. Because the control gain is constant, the controlled output is not uniform according to the voltage difference. In this paper, for charge and discharge circuit for unidirectional arbitrary voltage driving for piezoelectric actuator, the controller gain is controlled according to the voltage difference. With the proposed simple idea, the load voltage can have controlled smoothly although the voltage difference is varied. The appropriateness is proved from the simulation of the proposed circuit.

Keywords: Analog voltage inverter, Capacitive load, Gain control, DC-DC converter, Piezoelectric, Voltage waveform.

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Authors: Wudhichai Assawinchaichote, Sing Kiong Nguang

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This paper examines the problem of designing a robust H∞ filter for a class of uncertain fuzzy descriptor systems described by a Takagi-Sugeno (TS) fuzzy model. Based on a linear matrix inequality (LMI) approach, LMI-based sufficient conditions for the uncertain nonlinear descriptor systems to have an H∞ performance are derived. To alleviate the ill-conditioning resulting from the interaction of slow and fast dynamic modes, solutions to the problem are given in terms of linear matrix inequalities which are independent of the singular perturbation ε, when ε is sufficiently small. The proposed approach does not involve the separation of states into slow and fast ones and it can be applied not only to standard, but also to nonstandard uncertain nonlinear descriptor systems. A numerical example is provided to illustrate the design developed in this paper.

Keywords: H∞ control, Takagi-Sugeno (TS) fuzzy model, Linear Matrix Inequalities (LMIs), Descriptor systems.

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Authors: P. C. Tewari, Parveen Kumar

Abstract:

The paper describes the availability analysis of milling system of a rice milling plant using probabilistic approach. The subsystems under study are special purpose machines. The availability analysis of the system is carried out to determine the effect of failure and repair rates of each subsystem on overall performance (i.e. steady state availability) of system concerned. Further, on the basis of effect of repair rates on the system availability, maintenance repair priorities have been suggested. The problem is formulated using Markov Birth-Death process taking exponential distribution for probable failures and repair rates. The first order differential equations associated with transition diagram are developed by using mnemonic rule. These equations are solved using normalizing conditions and recursive method to drive out the steady state availability expression of the system. The findings of the paper are presented and discussed with the plant personnel to adopt a suitable maintenance policy to increase the productivity of the rice milling plant.

Keywords: Markov process, milling system, availability modeling, rice milling plant.

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Authors: Nurul-Akidah M. Yusak, Rahmah Mohamed, Noor Zuhaira Abd Aziz

Abstract:

The introduction of degradable plastic materials into agricultural sectors has represented a promising alternative to promote green agriculture and environmental friendly of modern farming practices. Major challenges of developing degradable agricultural films are to identify the most feasible types of degradation mechanisms, composition of degradable polymers and related processing techniques. The incorrect choice of degradable mechanisms to be applied during the degradation process will cause premature losses of mechanical performance and strength. In order to achieve controlled process of agricultural film degradation, the compositions of degradable agricultural film also important in order to stimulate degradation reaction at required interval of time and to achieve sustainability of the modern agricultural practices. A set of photodegradable polyethylene based agricultural film was developed and produced, following the selective optimization of processing parameters of the agricultural film manufacturing system. Example of agricultural films application for oil palm seedlings cultivation is presented.

Keywords: Photodegradable polyethylene, plasticulture, processing schemes.

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Authors: Thanh Nguyen, Andrei Doncescu, Pierre Siegel

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Classification is an important data mining technique and could be used as data filtering in artificial intelligence. The broad application of classification for all kind of data leads to be used in nearly every field of our modern life. Classification helps us to put together different items according to the feature items decided as interesting and useful. In this paper, we compare two classification methods Naïve Bayes and ADTree use to detect spam e-mail. This choice is motivated by the fact that Naive Bayes algorithm is based on probability calculus while ADTree algorithm is based on decision tree. The parameter settings of the above classifiers use the maximization of true positive rate and minimization of false positive rate. The experiment results present classification accuracy and cost analysis in view of optimal classifier choice for Spam Detection. It is point out the number of attributes to obtain a tradeoff between number of them and the classification accuracy.

Keywords: Classification, data mining, spam filtering, naive Bayes, decision tree.

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Authors: Amit Gil, Helman Stern, Yael Edan

Abstract:

A cognitive collaborative reinforcement learning algorithm (CCRL) that incorporates an advisor into the learning process is developed to improve supervised learning. An autonomous learner is enabled with a self awareness cognitive skill to decide when to solicit instructions from the advisor. The learner can also assess the value of advice, and accept or reject it. The method is evaluated for robotic motion planning using simulation. Tests are conducted for advisors with skill levels from expert to novice. The CCRL algorithm and a combined method integrating its logic with Clouse-s Introspection Approach, outperformed a base-line fully autonomous learner, and demonstrated robust performance when dealing with various advisor skill levels, learning to accept advice received from an expert, while rejecting that of less skilled collaborators. Although the CCRL algorithm is based on RL, it fits other machine learning methods, since advisor-s actions are only added to the outer layer.

Keywords: Robot learning, human-robot collaboration, motion planning, reinforcement learning.

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Authors: Sun Lim, Sewoong Jun, Il-Kyun Jung

Abstract:

This paper presents a wrap-around view system with 4 smart cameras module and remote motion mobile robot control equipped with smart camera module system. The two-level scheme for remote motion control with smart-pad(IPAD) is introduced on this paper. In the low-level, the wrap-around view system is controlled or operated to keep the reference points lying around top view image plane. On the higher level, a robot image based motion controller is utilized to drive the mobile platform to reach the desired position or track the desired motion planning through image feature feedback. The design wrap-around view system equipped on presents such advantages as follows: 1) a satisfactory solution for the FOV and affine problem; 2) free of any complex and constraint with robot pose. The performance of the wrap-around view equipped on mobile robot remote control is proven by experimental results.

Keywords: four smart camera, wrap-around view, remote mobile robot control

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Authors: O. M. Omar, A. M. Heniegal, G. D. Abd Elhameed, H. A. Mohamadien

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Local steel slag is produced as a by-product during the oxidation of steel pellets in an electric arc furnace. Using local steel slag waste as a hundred substitutes of crashed stone in construction materials would resolve the environmental problems caused by the large-scale depletion of the natural sources of crashed stone. This paper reports the experimental study to investigate the influence of a hundred replacement of crashed stone as a coarse aggregate with local steel slag, on the fresh and hardened geopolymer concrete properties. The investigation includes traditional testing of hardening concrete, for selected mixes of cement and geopolymer concrete. It was found that local steel slag as a coarse aggregate enhanced the slump test of the fresh state of cement and geopolymer concretes. Nevertheless, the unit weight of concretes was affected. Meanwhile, the good performance was observed when fly ash used as geopolymer concrete based.

Keywords: Geopolymer, molarity, steel slag, sodium hydroxide, sodium silicate.

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