Search results for: Load Flow Studies

Authors: Ali Göksenli, Barlas Eryürek

Abstract:

In this study, failure analysis of pipe system at a micro hydroelectric power plant is investigated. Failure occurred at the pipe system in the powerhouse during shut down operation of the water flow by a valve. This locking had caused a sudden shock wave, also called “Water-hammer effect”, resulting in noise and inside pressure increase. After visual investigation of the effect of the shock wave on the system, a circumference crack was observed at the pipe flange weld region. To establish the reason for crack formation, calculations of pressure and stress values at pipe, flange and welding seams were carried out and concluded that safety factor was high (2.2), indicating that no faulty design existed. By further analysis, pipe system and hydroelectric power plant was examined. After observations it is determined that the plant did not include a ventilation nozzle (air trap), that prevents the system of sudden pressure increase inside the pipes which is caused by water-hammer effect. Analyses were carried out to identify the influence of water-hammer effect on inside pressure increase and it was concluded that, according Jowkowsky’s equation, shut down time is effective on inside pressure increase. The valve closing time was uncertain but by a shut down time of even one minute, inside pressure would increase by 7.6 bar (working pressure was 34.6 bar). Detailed investigations were also carried out on the assembly of the pipe-flange system by considering technical drawings. It was concluded that the pipe-flange system was not installed according to the instructions. Two of five weld seams were not applied and one weld was carried out faulty. This incorrect and inadequate weld seams resulted in; insufficient connection of the pipe to the flange constituting a strong notch effect at weld seam regions, increase in stress values and the decrease of strength and safety factor.

Keywords: Failure analysis, hydroelectric plant, water-hammer, crack, welding seam.

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Authors: Jongho Park, Taekyun Kim, Jungbhin You, Sungnam Hong, Sun-Kyu Park

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Due to the aging of bridges, increasing of maintenance costs and decreasing of structural safety is occurred. The steel corrosion of reinforced concrete bridge is the most common problem and this phenomenon is accelerating due to abnormal weather and increasing CO₂ concentration due to climate change. To solve these problems, composite members using textile have been studied. A textile reinforced concrete can reduce carbon emissions by reduced concrete and without steel bars, so a lot of structural behavior studies are needed. Therefore, in this study, textile reinforced concrete beam was made and flexural test was performed. Also, the change of flexural strength according to the prestressing was conducted. As a result, flexural strength of TRC with prestressing was increased compared and flexural behavior was shown as reinforced concrete.

Keywords: AR-glass, flexural strength, prestressing, textile reinforced concrete.

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Authors: Davood Shishebori, Mohammad Saber Fallah Nezhad, Sina Seifi

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In this paper, a variable multiple dependent state (MDS) sampling plan is developed based on the process capability index using Bayesian approach. The optimal parameters of the developed sampling plan with respect to constraints related to the risk of consumer and producer are presented. Two comparison studies have been done. First, the methods of double sampling model, sampling plan for resubmitted lots and repetitive group sampling (RGS) plan are elaborated and average sample numbers of the developed MDS plan and other classical methods are compared. A comparison study between the developed MDS plan based on Bayesian approach and the exact probability distribution is carried out.

Keywords: MDS sampling plan, RGS plan, sampling plan for resubmitted lots, process capability index, average sample number, Bayesian approach.

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Authors: Yanfeng Chu, Ruizhen Zhang

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Quantitative researching on the degree of incidence between the logistics industry and relevant macroscopic system elements is the basis of reasonable and scientific policy on industrial development. In the light of the macro-level, the logistics industry system is consisted of multiple macroscopic agents such as macro-economic, infrastructure, social environment, market demanding, the traditional industry, industry life cycle, policy , system and so on. This paper studies the grey incidence among the macroscopic agents in the logistics industry system. It is demonstrated that the releasing of the logistics services from the logistics outsourcing enterprises determines the growth of the logistics size. Although the information and communication technology is able to promote the formation of the modern logistics industry to some extent, the development of the modern logistics industry depends more on the development of national economy and the investment in the capital assets of the logistics industry.

Keywords: Logistics industry, industrial system, industry incidence.

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Authors: Chih-Hsiang Chang

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This study aims to explore the relationship between the disposition effect and herding behavior of investors trading Taiwanese information technology stocks. This study differs from previous literature in two aspects. First, in contrast with the earlier studies that focused on investigating investors’ herding behavior, this study explores the possibility that the disposition effect drives investors’ herding behavior. Additionally, it takes an in-depth look at the interdependence between the disposition effect and herding behavior of investors, including lead-lag relationship and volatility transmission effect. Empirical results show that investors trading Taiwan’s information technology stocks exhibit pronounced herding behavior and that the disposition effect has a great impact on their herding behavior.

Keywords: Herding behavior, Disposition effect, Behavioral finance.

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Authors: Jayesh P. Ruparelia, Bhavna D. Soni

Abstract:

Electrochemical-oxidation of Reactive Black-5 (RB- 5) was conducted for degradation using DSA type Ti/RuO2-SnO2- Sb2O5 electrode. In the study, for electro-oxidation, electrode was indigenously fabricated in laboratory using titanium as substrate. This substrate was coated using different metal oxides RuO2, Sb2O5 and SnO2 by thermal decomposition method. Laboratory scale batch reactor was used for degradation and decolorization studies at pH 2, 7 and 11. Current density (50mA/cm2) and distance between electrodes (8mm) were kept constant for all experiments. Under identical conditions, removal of color, COD and TOC at initial pH 2 was 99.40%, 55% and 37% respectively for initial concentration of 100 mg/L RB-5. Surface morphology and composition of the fabricated electrode coatings were characterized using scanning electron microscopy (SEM) and energy dispersive X-ray spectroscopy (EDX) respectively. Coating microstructure was analyzed by X-ray diffraction (XRD). Results of this study further revealed that almost 90% of oxidation occurred within 5-10 minutes.

Keywords: Electrochemical-oxidation, RB- dye, Decolorization.

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Authors: Mohammadamin Zanganeh, Vahid Khalajzadeh

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The problems associated with wind predictions of WAsP model in complex terrain are already the target of several studies in the last decade. In this paper, the influence of surrounding orography on accuracy of wind data analysis of a train is investigated. For the case study, a site with complex surrounding orography is considered. This site is located in Manjil, one of the windiest cities of Iran. For having precise evaluation of wind regime in the site, one-year wind data measurements from two metrological masts are used. To validate the obtained results from WAsP, the cross prediction between each mast is performed. The analysis reveals that WAsP model can estimate the wind speed behavior accurately. In addition, results show that this software can be used for predicting the wind regime in flat sites with complex surrounding orography.

Keywords: Complex terrain, Meteorological mast, WAsPmodel, Wind prediction

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Authors: Ijaz Ul Haq, Fiorenzo Franceschini

Abstract:

The distributed manufacturing methodology brings a new concept of decentralized manufacturing operations close to the proximity of end users. A preliminary scale, to measure distributed capacity and evaluate positioning of firms, is developed in this research. In the first part of the paper, a literature review has been performed which highlights the explorative nature of the studies conducted to present definitions and classifications due to novelty of this topic. From literature, five dimensions of distributed manufacturing development stages have been identified: localization, manufacturing technologies, customization and personalization, digitalization and democratization of design. Based on these determinants a conceptual scale is proposed to measure the status of distributed manufacturing of a generic firm. A multiple case study is then conducted in two steps to test the conceptual scale and to identify the corresponding level of distributed potential in each case study firm.

Keywords: Conceptual scale, distributed manufacturing, firm’s distributed capacity, manufacturing continuum.

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Authors: Maria Visitacion N. Gumabay, Byron Joseph A. Hallar, Annjeannette Alain D. Galang

Abstract:

This study was intended to provide a more efficient and convenient way for mobile users to enhance their knowledge about ASEAN countries. The researchers evaluated the utility of the developed crossword puzzle application and assessed the general usability of its user interface for its intended purpose and audience of users. The descriptive qualitative research method for the research design and the Mobile-D methodology was employed for the development of the software application output. With a generally favorable reception from its users, the researchers concluded that the iSEA Mobile Based Learning Application can be considered ready for general deployment and use. It was also concluded that additional studies can also be done to make a more complete assessment of the knowledge gained by its users before and after using the application.

Keywords: Mobile learning, e-learning, crossword, ASEAN, iSEA.

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Authors: Veronika Pivkina, Alla Kim, Khon Nataliya

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In this paper, the actuality of the study, and the role of subjective well-being problem in modern psychology and the comprehending of subjective well-being by current students is defined. The purpose of this research is to educe peculiarities of comprehending of subjective well-being by students with various levels of emotional intelligence. Methods of research are adapted Russian-Language questionnaire of K. Riff 'The scales of psychological well-being'; emotional intelligence questionnaire of D. V. Lusin. The research involved 72 students from different universities and disciplines aged between 18 and 24. Analyzing the results of the studies, it can be concluded that the understanding of happiness in different groups of students with high and low levels of overall emotional intelligence is different, as well as differentiated by gender. Students with a higher level of happiness possess more capacity and higher need to control their emotions, to cause and maintain the desired emotions and control something undesirable.

Keywords: Subjective well-being, emotional intelligence, psychology of comprehending, students.

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Authors: Rania Rushdy Moussa

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Public parks are placed high on the research agenda, with many studies addressing their social, economic and environment influences in different countries around the world. They have been recognized as contributors to the physical quality of urban environments. Recently, a broader view of public parks has emerged. This view goes well beyond the traditional value of parks as places for more recreation and visual delight, to depict them as valuable contributors to broader strategic objectives, such as property values, place attractiveness, job opportunities, social belonging, public health, tourist development, and improving the overall quality of life. This research examines the role of public parks in enhancing the quality of human life in Egyptian environment. It measures 'quality of life' in terms of 'human needs' and 'well-being'. This should open ways for policymakers, practitioners, researchers and the public to realize the potentials of public parks towards improving the quality of life.

Keywords: Elements of Parks, Human Needs, Quality of Life (QOL), Subjective Well-Being.

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Authors: K. Abuzayan, H. Alabed, K. Zarug

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The objectives of this study (baseline study, n = 20) were to implement Matlab procedures for quantifying selected static  balance variables, establish baseline data of selected variables which characterize static balance activities in a population of healthy young adult males, and to examine any trial effects on these variables. The results indicated that the implementation of Matlab procedures for quantifying selected static balance variables was practical and enabled baseline data to be established for selected variables. There was no significant trial effect. Recommendations were made for suitable tests to be used in later studies. Specifically it was found that one foot-tiptoes tests either in static balance is too challenging for most participants in normal circumstances. A one foot-flat eyes open test was considered to be representative and challenging for static balance.

Keywords: Static Balance, Base of support, Baseline Data.

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Authors: K. Kalaiselvan, A. Elango

Abstract:

To achieve reliable welds with minimum distortion for the fabrication of components in aerospace industry laser beam welding is attempted. Laser welding can provide a significant benefit for the welding of Titanium and Aluminium thin sheet alloys of its precision and rapid processing capability. For laser welding, pulse shape, energy, duration, repetition rate and peak power are the most important parameters that influence directly the quality of welds. In this experimental work for joining 1mm thick TI6AL4V and AA2024 alloy and JK600 Nd:YAG pulsed laser units used. The distortions at different welding power and speed of titanium and aluminium thin sheet alloys are investigated. Test results reveal that increase in welding speed increases distortion in weldment

Keywords: Laser Beam Welding, Titanium, Aluminium alloy sheets and distortion.

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Authors: W. Schellong

Abstract:

Industry accounts for one-third of global final energy demand. Crossover technologies (e.g. motors, pumps, process heat, and air conditioning) play an important role in improving energy efficiency. These technologies are used in many applications independent of the production branch. Especially electrical power is used by drives, pumps, compressors, and lightning. The paper demonstrates the algorithm of the energy analysis by some selected case studies for typical industrial processes. The energy analysis represents an essential part of energy management systems (EMS). Generally, process control system (PCS) can support EMS. They provide information about the production process, and they organize the maintenance actions. Combining these tools into an integrated process allows the development of an energy critical equipment strategy. Thus, asset and energy management can use the same common data to improve the energy efficiency.

Keywords: Crossover technologies, data management, energy analysis, energy efficiency, process control.

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Authors: Radoslav Delina, Michal Tkáč

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Globalization, supported by information and communication technologies, changes the rules of competitiveness and increases the significance of information, knowledge and network cooperation. In line with this trend, the need for efficient trust-building tools has emerged. The absence of trust building mechanisms and strategies was identified within several studies. Through trust development, participation on e-business network and usage of network services will increase and provide to SMEs new economic benefits. This work is focused on effective trust building strategies development for electronic business network platforms. Based on trust building mechanism identification, the questionnairebased analysis of its significance and minimum level of requirements was conducted. In the paper, we are confirming the trust dependency on e-Skills which play crucial role in higher level of trust into the more sophisticated and complex trust building ICT solutions.

Keywords: Correlation analysis, decision trees, e-marketplace, trust building

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Authors: Mohd Shahriman B. Mohd Yunus, Mohd Hanif B. Jamaludin, Norain Bt. Bahror

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The performance of an embedded grounding system is very important for the safe operation of electrical appliances and human beings. In principle, a safe grounding system has two objectives, which are to dissipate fault current without exceeding any operating and equipment limits and to ensure there is no risk of electric shock to humans in the vicinity of earthed facilities. The case studies in this paper present the calculating grounding resistance for multiple configurations of vertical and horizontally by using a simple and accurate formula. From the analytic calculated results, observed good/empirical relationship between the grounding resistance and length of the embedded grounding configurations. Moreover, the configurations of vertical and horizontal observed effectiveness of grounding resistance and good agreement on the reduction of grounding resistance values especially for vertical configuration.

Keywords: Grounding system, grounding resistance, soil resistivity, electrode geometry, configurations.

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Authors: Mazin Alqhazo, Ayat Bani Rashaid

Abstract:

This study examines the levels of dopamine and serotonin in blood samples of children who stutter compared with normal fluent speakers. Blood specimens from 50 children who stutter (6 females, 44 males) and 50 normal children matched age and gender were collected for the purpose of the current study. The concentrations of dopamine and serotonin were measured using the 1100 series high-performance liquid chromatography coupled with ultraviolet detector instrument (HPLC-UV). It was revealed that dopamine level in the blood samples of stuttering group and fluent group was not significant (P = 0.769), whereas the level of serotonin was significantly higher in the blood samples of stuttering group than the blood samples of fluent normal group (P = 0.015). It is concluded that serotonin blockers could be used in future studies to evaluate its role as a medication for the treatment of stuttering.

Keywords: Dopamine, serotonin, stuttering, fluent.

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Authors: H. Essmann, N. du Preez

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The seemingly ambiguous title of this paper – use of the terms maturity and innovation in concord – signifies the imperative of every organisation within the competitive domain. Where organisational maturity and innovativeness were traditionally considered antonymous, the assimilation of these two seemingly contradictory notions is fundamental to the assurance of long-term organisational prosperity. Organisations are required, now more than ever, to grow and mature their innovation capability – rending consistent innovative outputs. This paper describes research conducted to consolidate the principles of innovation and identify the fundamental components that constitute organisational innovation capability. The process of developing an Innovation Capability Maturity Model is presented. A brief description is provided of the basic components of the model, followed by a description of the case studies that were conducted to evaluate the model. The paper concludes with a summary of the findings and potential future research.

Keywords: Capability maturity, innovation, innovation capability.

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Authors: Joachim Kimmerle, Johannes Moskaliuk, Ulrike Cress

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The development of Internet technology in recent years has led to a more active role of users in creating Web content. This has significant effects both on individual learning and collaborative knowledge building. This paper will present an integrative framework model to describe and explain learning and knowledge building with shared digital artifacts on the basis of Luhmann-s systems theory and Piaget-s model of equilibration. In this model, knowledge progress is based on cognitive conflicts resulting from incongruities between an individual-s prior knowledge and the information which is contained in a digital artifact. Empirical support for the model will be provided by 1) applying it descriptively to texts from Wikipedia, 2) examining knowledge-building processes using a social network analysis, and 3) presenting a survey of a series of experimental laboratory studies.

Keywords: Individual learning, collaborative knowledge building, systems theory, equilibration.

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Authors: Maria E. Eggink

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It is the aim of this paper to place the role of innovation in economic development in its theoretical context through a literature review. The review compares classical economic theory and the neoclassical theories of “equilibrium in the markets” and “perfectly competitive markets” with the Schumpeterian theory. It was found that Schumpeter’s role in contributing towards economic development theories, and by creating awareness of the role of innovation in these theories is of immeasurable importance. His contribution led to a change in economic thinking, although this was only realized much later than when his theories were first published. The neo-Schumpeterian thinking expanded on the Schumpeterian theory by studying innovation within a system of interaction among different role players. Studies on innovation should be founded in the neo-Schumpeterian school of thought in order to accommodate the complexity of the innovation system concept.

Keywords: Economic development, evolutionary economics, innovation, Schumpeter.

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Authors: Chantana Insra

Abstract:

The research objective focuses on creating a prototype media of the tactile texture of muscles for educational institutes to help visually impaired students learn massage extra learning materials further than the ordinary curriculum. This media is designed as an extra learning material. The population in this study was 30 blinded students between 4th - 6th grades who were able to read Braille language. The research was conducted during the second semester in 2012 at The Bangkok School for the Blind. The method in choosing the population in the study was purposive sampling. The methodology of the research includes collecting data related to visually impaired people, the production of the tactile texture media, human anatomy and Thai traditional massage from literature reviews and field studies. This information was used for analyzing and designing 14 tactile texture pictures presented to experts to evaluate and test the media.

Keywords: Blind, Tactile Texture, Muscle.

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Authors: Phoenix Lawhon Isler, John Merson, David Roser

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Urban water management in Australia faces increasing pressure to deal with the challenges of droughts, growing population and the climate change uncertainty. Addressing these challenges is an opportunity to incorporate the parallel goals of sustainable water management and climate change adaptation through holistic, non-technical means. This paper presents case studies from Perth and Sydney which show how despite robust adaptation plans and experience, recent efforts to 'drought proof' cities have focused on supply-side measures (i.e. desalination), rather than rethinking how water is used and managing demand. The trend towards desalination as a climate adaptation measure raises questions about the sustainability of urban water futures in Australia.

Keywords: Climate change adaptation, desalination, drought management, sustainable urban water management.

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Authors: Ji Hyeong Park, Ji Hye Jeon, Hyo Seon Park

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Environmental pollution problems have been globally main concern in all fields including economy, society and culture into the 21st century. Beginning with the Kyoto Protocol, the reduction on the emissions of greenhouse gas such as CO2 and SOX has been a principal challenge of our day. As most buildings unlike durable goods in other industries have a characteristic and long life cycle, they consume energy in quantity and emit much CO2. Thus, for green building construction, more research is needed to reduce the CO2 emissions at each stage in the life cycle. However, recent studies are focused on the use and maintenance phase. Also, there is a lack of research on the initial design stage, especially the structure design. Therefore, in this study, we propose an optimal design plan considering CO2 emissions and cost in composite buildings simultaneously by applying to the structural design of actual building.

Keywords: Multi-objective optimization, CO2 emissions, structural cost, encased composite structure

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Authors: Silvana R.F. Moreno, Jorge J. Carvalho, Ana L. Nascimento, Mario Pereira, Luiz Q. A. Caldas, Mário Bernardo-Filho

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The aim of this in vitro study was to evaluate the possible interference of a Nectandra membranacea extract (i) on the labeling of blood cells (BC), (ii) on the labeling process of BC and plasma (P) proteins with technetium-99m (Tc-99m) and (iii) on the morphology of red blood cells (RBC). Blood samples were incubated with a Nectandra membranacea crude extract, stannous chloride, Tc- 99m (sodium pertechnetate) was added, and soluble (SF) and insoluble (IF) fractions were isolated. Morphometry studies were performed with blood samples incubated with Nectandra membranacea extract. The results show that the Nectandra membranacea extract does not promote significant alteration of the labeling of BC, IF-P and IF-BC. The Nectandra membranacea extract was able to alter the erythrocyte membrane morphology, but these morphological changes were not capable to interfere on the labeling of blood constituents with Tc-99m.

Keywords: in vitro study, Nectandra membranacea, red bloodcell, technetium-99m

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Authors: Erdal Akyol, Mutlu Alkan, Ali Aydin

Abstract:

Multi criteria decision analysis (MDCA) covers both data and experience. It is very common to solve the problems with many parameters and uncertainties. GIS supported solutions improve and speed up the decision process. Weighted grading as a MDCA method is employed for solving the geotechnical problems. In this study, geotechnical parameters namely soil type; SPT (N) blow number, shear wave velocity (Vs) and depth of underground water level (DUWL) have been engaged in MDCA and GIS. In terms of geotechnical aspects, the settlement suitability of the municipal area was analyzed by the method. MDCA results were compatible with the geotechnical observations and experience. The method can be employed in geotechnical oriented microzoning studies if the criteria are well evaluated.

Keywords: GIS, spatial analysis, multi criteria decision analysis, geotechnics.

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Authors: Layla Mujahed

Abstract:

Amman, the capital of Jordan, is the main political, economic, social and cultural center of Jordan and beyond. The city faces multitude demographic challenges related to the unstable political situation in the surrounded countries. It has regional and local migrants who left their homes to find better life in the capital. This resulted with random and unequaled population distribution. Some districts have high population and pressure on the infrastructure and services more than other districts.Government works to resolve this challenge in compliance with 100 Cities Resilience Framework (CRF). Amman participated in this framework as a member in December 2014 to work in achieving the four goals: health and welfare, infrastructure and utilities, economy and education as well as administration and government.  Previous research studies lack in studying Amman resilient work in neighborhood scale and the population growth as resilient challenge. For that, this study focuses on Al-Thahabiah neighborhood in Shafa Badran district in Amman. This paper studies the reasons and drivers behind this population growth during the selected period in this area then provide strategies to improve the resilient work in neighborhood scale. The methodology comprises of primary and secondary data. The primary data consist of interviews with chief officer in the executive part in Great Amman Municipality and resilient officer. The secondary data consist of papers, journals, newspaper, articles and book’s reading. The other part of data consists of maps and statistical data which describe the infrastructural and social situation in the neighborhood and district level during the studying period. Based upon those data, more detailed information will be found, e.g., the centralizing position of population and the provided infrastructure for them. This will help to provide these services and infrastructure to other neighborhoods and enhance population distribution. This study develops an analytical framework to assess urban demographical time series in accordance with the criteria of CRF to make accurate detailed projections on the requirements for the future development in the neighborhood scale and organize the human requirements for affordable quality housing, employment, transportation, health and education in this neighborhood to improve the social relations between its inhabitants and the community. This study highlights on the localization of resilient work in neighborhood scale and spread the resilient knowledge related to the shortage of its research in Jordan. Studying the resilient work from population growth challenge perspective helps improve the facilities provide to the inhabitants and improve their quality of life.

Keywords: City resilience framework, CRF, demography, population growth, stakeholders, urban resilience.

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Authors: Karandeep Singh, Baibing Li

Abstract:

Traffic density, an indicator of traffic conditions, is one of the most critical characteristics to Intelligent Transport Systems (ITS). This paper investigates recursive traffic density estimation using the information provided from inductive loop detectors. On the basis of the phenomenological relationship between speed and density, the existing studies incorporate a state space model and update the density estimate using vehicular speed observations via the extended Kalman filter, where an approximation is made because of the linearization of the nonlinear observation equation. In practice, this may lead to substantial estimation errors. This paper incorporates a suitable transformation to deal with the nonlinear observation equation so that the approximation is avoided when using Kalman filter to estimate the traffic density. A numerical study is conducted. It is shown that the developed method outperforms the existing methods for traffic density estimation.

Keywords: Density estimation, Kalman filter, speed-densityrelationship, Traffic surveillance.

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Authors: Kiyohiro Yamazaki

Abstract:

A purpose of this study is to examine how a firm without fundamental technology is able to gain the competitive advantage. This paper examines three case studies, Sony in the flat display TV industry, Casio in the digital camera industry and Nintendo in the home game machine industry. This paper maintain the firms without fundamental technology construct two advantages, economic advantage and organizational advantage. An economic advantage involves the firm can select either high-tech or cheap devices out of several device makers, and change the alternatives cheaply and quickly. In addition, organizational advantage means that a firm without fundamental technology is not restricted by organizational inertia and cognitive restraints, and exercises the characteristic of strength.

Keywords: Firm without fundamental technology, economic advantage, organizational advantage, Sony, Casio, Nintendo.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

Abstract:

New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

Abstract:

New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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