Search results for: advanced high strength steel.

Authors: Kyoung Hoon Kim

Abstract:

Organic Rankine Cycle (ORC) has potential in reducing fossil fuels and relaxing environmental problems. In this work performance analysis of ORC is conducted based on the second law of thermodynamics for recovery of low temperature heat source from 100^oC to 140^oC using R134a as the working fluid. Effects of system parameters such as turbine inlet pressure or source temperature are theoretically investigated on the exergy destructions (anergies) at various components of the system as well as net work production or exergy efficiency. Results show that the net work or exergy efficiency has a peak with respect to the turbine inlet pressure when the source temperature is low, however, increases monotonically with increasing turbine inlet pressure when the source temperature is high.

Keywords: Organic Rankine cycle (ORC), low temperature heat source, exergy, source temperature.

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Authors: Boci J., Çabeli P., Shtylla T., Kumbe I.

Abstract:

The development of the poultry industry in Albania is mainly based on the existence of intensive modern farms with huge capacities, which often are mixed with other forms. Colibacillosis is commonly displayed regardless of the type of breeding, delivering high mortality in poultry industry. The mechanisms with which pathogen enterobacters are able to cause the infection in poultry are not yet clear. The routine diagnose in the field, followed by isolation of E. coli and species of Salmonella genres in reference laboratories cannot lead in classification or full recognition of circulative strains in a territory, if it is not performed a differentiation among the present microorganisms in intensive farms and those in rural areas. In this study were isolated 1.496 strains of E. coli and 378 Salmonella spp. This study, presents distribution of poultry pathogenosity of E.coli and Salmonella spp., based on the usage of innovative diagnostic methods.

Keywords: poultry, E.coli, Salmonella spp., Enterobacter

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Authors: Marcus Walter, Norbert Nitzsche, Dirk Odenthal, Steffen M¨uller

Abstract:

This contribution presents a friction estimator for industrial purposes which identifies Coulomb friction in a steering system. The estimator only needs a few, usually known, steering system parameters. Friction occurs on almost every mechanical system and has a negative influence on high-precision position control. This is demonstrated on a steering angle controller for highly automated driving. In this steering system the friction induces limit cycles which cause oscillating vehicle movement when the vehicle follows a given reference trajectory. When compensating the friction with the introduced estimator, limit cycles can be suppressed. This is demonstrated by measurements in a series vehicle.

Keywords: Friction estimation, friction compensation, steering system, lateral vehicle guidance.

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Authors: Prateek Maheshwari, Nitin Seth

Abstract:

It’s an era of high competition, dynamism and complexities which have forced organizations to change dramatically due to rising customer expectations. Marketers are under constant pressure to deliver finest to their customers. With the advent of technology, marketers have identified latest advertising media options to reach out to target audience. But the conventional ways of print advertisements still holds a deeper penetration and coverage. Various researchers and practitioners have studied the area of print media advertising and have tried to identify and implement advertisement effectiveness enablers. The purpose of this paper is to suggest select enablers for print media in Indian context using an integrated approach of review of literature and investigative interviews with academicians and experts from the area of advertising.

Keywords: Advertising, Advertisement Effectiveness, Competition, Print Media.

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Authors: Zuzana Crhová, Marie Paseková

Abstract:

This contribution aims to compare legislation adjusting the course of insolvency proceedings in France, Germany and Slovakia. On the basis of an investigation of the legislative adjustment of this problem, an attempt is made to ascertain in the given countries the extent to which the outcome of the entire proceedings is influenced by legislation and to determine the fundamental moments that influence costs, recovery rate and the duration of proceedings. A comparative analysis was utilized in order to achieve the set goal. The results of the survey could be used to improve legislation so as to lead in the best and most expedient way to a departure from the market of those subjects that are for economic reasons unable to continue with their activities whilst burdening the entire process with the lowest possible costs, which would lead to a high level of satisfaction for creditors. 

Keywords: Costs, Insolvency Proceeding, Recovery Rate, Time.

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Authors: Veni.S , K.A.Narayanankutty

Abstract:

For about two decades scientists have been developing techniques for enhancing the quality of medical images using Fourier transform, DWT (Discrete wavelet transform),PDE model etc., Gabor wavelet on hexagonal sampled grid of the images is proposed in this work. This method has optimal approximation theoretic performances, for a good quality image. The computational cost is considerably low when compared to similar processing in the rectangular domain. As X-ray images contain light scattered pixels, instead of unique sigma, the parameter sigma of 0.5 to 3 is found to satisfy most of the image interpolation requirements in terms of high Peak Signal-to-Noise Ratio (PSNR) , lower Mean Squared Error (MSE) and better image quality by adopting windowing technique.

Keywords: Hexagonal lattices, Gabor filter, Interpolation, imageprocessing.

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Authors: A. Belhaj Mohamed, M. Saidi, N. Boucherb, N. Ourtani, A. Soltani, I. Bouazizi, M. Ben Jrad

Abstract:

Natural hydrocarbon seepage has helped petroleum exploration as a direct indicator of gas and/or oil subsurface accumulations. Surface macro-seeps are generally an indication of a fault in an active Petroleum Seepage System belonging to a Total Petroleum System. This paper describes a case study in which multiple analytical techniques were used to identify and characterize trace petroleum-related hydrocarbons and other volatile organic compounds in groundwater samples collected from Sousse aquifer (Central Tunisia). The analytical techniques used for analyses of water samples included gas chromatography-mass spectrometry (GCMS), capillary GC with flame-ionization detection, Compound Specific Isotope Analysis, Rock Eval Pyrolysis. The objective of the study was to confirm the presence of gasoline and other petroleum products or other volatile organic pollutants in those samples in order to assess the respective implication of each of the potentially responsible parties to the contamination of the aquifer. In addition, the degree of contamination at different depths in the aquifer was also of interest. The oil and gas seeps have been investigated using biomarker and stable carbon isotope analyses to perform oil-oil and oil-source rock correlations. The seepage gases are characterized by high CH4 content, very low δ13CCH4 values (-71,9 ‰) and high C1/C1–5 ratios (0.95–1.0), light deuterium–hydrogen isotope ratios (- 198 ‰) and light δ13CC2 and δ13CCO2 values (-23,8‰ and-23,8‰ respectively) indicating a thermogenic origin with the contribution of the biogenic gas. An organic geochemistry study was carried out on the more ten oil seep samples. This study includes light hydrocarbon and biomarkers analyses (hopanes, steranes, n-alkanes, acyclic isoprenoids, and aromatic steroids) using GC and GC-MS. The studied samples show at least two distinct families, suggesting two different types of crude oil origins: the first oil seeps appears to be highly mature, showing evidence of chemical and/or biological degradation and was derived from a clay-rich source rock deposited in suboxic conditions. It has been sourced mainly by the lower Fahdene (Albian) source rocks. The second oil seeps was derived from a carbonate-rich source rock deposited in anoxic conditions, well correlated with the Bahloul (Cenomanian-Turonian) source rock.

Keywords: Biomarkers, oil and gas seeps, organic geochemistry, source rock.

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Authors: Panos D. Kotsas

Abstract:

This paper presents the application of a signal intensity independent registration criterion for 2D rigid body registration of medical images using 1D binary projections. The criterion is defined as the weighted ratio of two projections. The ratio is computed on a pixel per pixel basis and weighting is performed by setting the ratios between one and zero pixels to a standard high value. The mean squared value of the weighted ratio is computed over the union of the one areas of the two projections and it is minimized using the Chebyshev polynomial approximation using n=5 points. The sum of x and y projections is used for translational adjustment and a 45deg projection for rotational adjustment. 20 T1- T2 registration experiments were performed and gave mean errors 1.19deg and 1.78 pixels. The method is suitable for contour/surface matching. Further research is necessary to determine the robustness of the method with regards to threshold, shape and missing data.

Keywords: Medical image, projections, registration, rigid.

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Authors: Yiping Wang, Zhengqi Gu, Weiping Li, Xiaohui Lin

Abstract:

The aerodynamic noise radiation from a side view mirror (SVM) in the high-speed airflow is calculated by the combination of unsteady incompressible fluid flow analysis and acoustic analysis. The transient flow past the generic SVM is simulated with variable turbulence model, namely DES Detached Eddy Simulation and LES (Large Eddy Simulation). Detailed velocity vectors and contour plots of the time-varying velocity and pressure fields are presented along cut planes in the flow-field. Mean and transient pressure are also monitored at several points in the flow field and compared to corresponding experimentally data published in literature. The acoustic predictions made using the Ffowcs-Williams-Hawkins acoustic analogy (FW-H) and the boundary element (BEM).

Keywords: Aerodynamic noise, BEM, DES, FW-H acousticanalogy, LES

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Authors: Antoni Wibowo, Harry Pujianto, Dewi Retno Sari Saputro

Abstract:

The stock market can provide huge profits in a relatively short time in financial sector; however, it also has a high risk for investors and traders if they are not careful to look the factors that affect the stock market. Therefore, they should give attention to the dynamic fluctuations and movements of the stock market to optimize profits from their investment. In this paper, we present a nonlinear autoregressive exogenous model (NARX) to predict the movements of stock market; especially, the movements of the closing price index. As case study, we consider to predict the movement of the closing price in Indonesia composite index (IHSG) and choose the best structures of NARX for IHSG’s prediction.

Keywords: NARX, prediction, stock market, time series.

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Authors: Shaneil Taylor

Abstract:

Gender-based violence is a reflection of the inequalities that are associated within a society between the men and women that affects the health, dignity, security and autonomy of its victims. There are various determinants that contribute to the health risk of young women who have experienced sexual violence, in countries that have a high prevalence rate for HIV. For instance, in South Africa, where the highest prevalence rate for HIV is among young women, their susceptibility to the virus has been increased by sexual violence and cultural inequalities. Therefore, this study is a review of literature that explores how gender-based violence increases the possibility for HIV/AIDS among young women in South Africa.

Keywords: Gender based violence, HIV/AIDS transmission, young women, Risky sexual behavior.

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Authors: Abdulmohsen A. AlBesher, Richard T. Stone

Abstract:

Star rating for mobile applications is a very useful way to differentiate between the best and worst rated applications. However, the question is whether the rating reflects the level of usability or not. The aim of this paper is to find out if the user’ star ratings on mobile apps correlate with the usability of those apps. Thus, we tested three mobile apps, which have different star ratings: low, medium, and high. Participating in the study, 15 mobile phone users were asked to do one single task for each of the three tested apps. After each task, the participant evaluated the app by answering a survey based on the System Usability Scale (SUS). The results found that there is no major correlation between the star rating and the usability. However, it was found that the task completion time and the numbers of errors that may happen while completing the task were significantly correlated to the usability.

Keywords: Mobile applications, SUS, Star rating, Usability.

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Authors: Young-Hwan Song, Hyung-Jun Kwon, Myung-Jin Bae

Abstract:

As the remedy used music becomes active and meditation effect through the music is verified, people take a growing interest about psychological balance or remedy given by music. From traditional studies, it is verified that the music of which spectral envelop varies approximately as 1/f (f is frequency) down to a frequency of low frequency bandwidth gives psychological balance. In this paper, we researched signal properties of music which gives psychological balance. In order to find this, we derived the property from voice. Music composed by voice shows large value in NCSD. We confirmed the degree of deference between music by curvature of normalized cumulative spectral distribution. In the music that gives psychological balance, the curvature shows high value, otherwise, the curvature shows low value.

Keywords: Cognitive Psychology, Normalized Cumulative Spectral Distribution, Curvature.

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Authors: K. Ratanapongleka, J. Phetsom

Abstract:

Extraction of laccase produced by L. polychrous in an aqueous two-phase system, composed of polyethylene glycol and phosphate salt at pH 7.0 and 250C was investigated. The effect of PEG molecular weight, PEG concentration and phosphate concentration was determined. Laccase preferentially partitioned to the top phase. Good extraction of laccase to the top phase was observed with PEG 4000. The optimum system was found in the system containing 12% w/w PEG 4000 and 16% w/w phosphate salt with KE of 88.3, purification factor of 3.0-fold and 99.1% yield. Some properties of the enzyme such as thermal stability, effect of heavy metal ions and kinetic constants were also presented in this work. The thermal stability decreased sharply with high temperature above 60 0C. The enzyme was inhibited by Cd2+, Pb2+, Zn2+ and Cu2+. The Vmax and Km values of the enzyme were 74.70 μmol/min/ml and 9.066 mM respectively.

Keywords: Aqueous Two Phase System, Laccase, Lentinuspolychrous,

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Authors: F. Nejati Hafdani, N. Sadeghinia

Abstract:

In recent years application of natural antimicrobials instead of conventional ones, due to their hazardous effects on health, has got serious attentions. On the basis of the results of different studies, chitosan, a natural bio-degradable and non-toxic biopolysaccharide derived from chitin, has potential to be used as a natural antimicrobial. Chitosan has exhibited high antimicrobial activity against a wide variety of pathogenic and spoilage microorganisms, including fungi, and Gram-positive and Gramnegative bacteria. The antimicrobial action is influenced by intrinsic factors such as the type of chitosan, the degree of chitosan polymerization and extrinsic factors such as the microbial organism, the environmental conditions and presence of the other components. The use of chitosan in food systems should be based on sufficient knowledge of the complex mechanisms of its antimicrobial mode of action. In this article we review a number of studies on the investigation of chitosan antimicrobial properties and application of them in culture and food mediums.

Keywords: Antimicrobial, Chitosan, Preservative

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Authors: Jan Busch, Peter Nyhuis

Abstract:

Considering the challenges of short product life cycles and growing variant diversity, cost minimization and manufacturing flexibility increasingly gain importance to maintain a competitive edge in today’s global and dynamic markets. In this context, an aerodynamic part feeding system for high-speed industrial assembly applications has been developed at the Institute of Production Systems and Logistics (IFA), Leibniz Universitaet Hannover. The aerodynamic part feeding system outperforms conventional systems with respect to its process safety, reliability, and operating speed. In this paper, a multi-objective optimisation of the aerodynamic feeding system regarding the orientation rate, the feeding velocity, and the required nozzle pressure is presented.

Keywords: Aerodynamic feeding system, genetic algorithm, multi-objective optimization.

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Authors: Dogan Ciloglu, Abdurrahim Bolukbasi, Harun Cifci

Abstract:

In this study, the experiments were carried out to determine the best coolant for the quenching process among waterbased silica, alumina, titania and copper oxide nanofluids (0.1 vol%). A sphere made up off brass material was used in the experiments. When the spherical test specimen was heated at high temperatures, it was suddenly immersed into the nanofluids. All experiments were carried out at saturated conditions and under atmospheric pressure. After the experiments, the cooling curves were obtained by using the temperature-time data of the specimen. The experimental results showed that the cooling performance of test specimen depended on the type of nanofluids. The silica nanoparticles enhanced the performance of boiling heat transfer and it is the best coolant for the quenching among other nanoparticles.

Keywords: Heat transfer, nanofluid, pool boiling, quenching.

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Authors: Giseob Byun, Ji Yeon Cho, Bong Gyou Lee

Abstract:

The purpose of this study is to analyze Green IT industry in major developed countries and to suggest overall directions for IT-Energy convergence industry. Recently, IT industry is pointed out as a problem such as environmental pollution, energy exhaustion, and high energy consumption. Therefore, Green IT gets focused which concerns as solution of these problems. However, since it is a beginning stage of this convergence area, there are only a few studies of IT-Energy convergence industry. According to this, this study examined the major developed countries in terms of institution arrangements, resources, markets and companies based on Van de Ven(1999)'s social system framework that shows relationship among key components of industrial infrastructure. Subsequently, the direction of the future study of convergence on IT and Energy industry is proposed.

Keywords: Green IT, Energy industry, Convergence, Social System Framework.

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Authors: Ibrahim A. Aref, Tarek El-Mihoub, Khadiga Ben Musa

Abstract:

This paper presents Carrier Sense Multiple Access (CSMA) communication models based on SoC design methodology. Such a model can be used to support the modeling of the complex wireless communication systems. Therefore, the use of such communication model is an important technique in the construction of high-performance communication. SystemC has been chosen because it provides a homogeneous design flow for complex designs (i.e. SoC and IP-based design). We use a swarm system to validate CSMA designed model and to show how advantages of incorporating communication early in the design process. The wireless communication created through the modeling of CSMA protocol that can be used to achieve communication between all the agents and to coordinate access to the shared medium (channel).

Keywords: SystemC, modeling, simulation, CSMA.

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Authors: Suk-Hyun Yu, Heeyong Kwon

Abstract:

Recently PM-10 has become a social and global issue. It is one of major air pollutants which affect human health. Therefore, it needs to be forecasted rapidly and precisely. However, PM-10 comes from various emission sources, and its level of concentration is largely dependent on meteorological and geographical factors of local and global region, so the forecasting of PM-10 concentration is very difficult. Neural network model can be used in the case. But, there are few cases of high concentration PM-10. It makes the learning of the neural network model difficult. In this paper, we suggest a simple input balancing method when the data distribution is uneven. It is based on the probability of appearance of the data. Experimental results show that the input balancing makes the neural networks’ learning easy and improves the forecasting rates.

Keywords: AI, air quality prediction, neural networks, pattern recognition, PM-10.

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Authors: Salem Belhaj, Moncef Tagina

Abstract:

This paper is aimed at describing a delay-based endto- end (e2e) congestion control algorithm, called Very FAST TCP (VFAST), which is an enhanced version of FAST TCP. The main idea behind this enhancement is to smoothly estimate the Round-Trip Time (RTT) based on a nonlinear filter, which eliminates throughput and queue oscillation when RTT fluctuates. In this context, an evaluation of the suggested scheme through simulation is introduced, by comparing our VFAST prototype with FAST in terms of throughput, queue behavior, fairness, stability, RTT and adaptivity to changes in network. The achieved simulation results indicate that the suggested protocol offer better performance than FAST TCP in terms of RTT estimation and throughput.

Keywords: Fast tcp, RTT, delay estimation, delay-based congestion control, high speed TCP, large bandwidth delay product.

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Authors: Abdullah A. Wardak

Abstract:

This paper describes an interfacing of C and the TMS320C6713 assembly language which is crucially important for many real-time applications. Similarly, interfacing of C with the assembly language of a conventional microprocessor such as MC68000 is presented for comparison. However, it should be noted that the way the C compiler passes arguments among various functions in the TMS320C6713-based environment is totally different from the way the C compiler passes arguments in a conventional microprocessor such as MC68000. Therefore, it is very important for a user of the TMS320C6713-based system to properly understand and follow the register conventions when interfacing C with the TMS320C6713 assembly language subroutine. It should be also noted that in some cases (examples 6-9) the endian-mode of the board needs to be taken into consideration. In this paper, one method is presented in great detail. Other methods will be presented in the future.

Keywords: Assembly language, high level language, interfacing, stack, arguments.

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Authors: Sasho Guergov

Abstract:

The purpose of the paper is to develop an informationcontrol environment for overall management and self-reconfiguration of the reconfigurable multifunctional machine tool for machining both rotation and prismatic parts and high concentration of different technological operations - turning, milling, drilling, grinding, etc. For the realization of this purpose on the basis of defined sub-processes for the implementation of the technological process, architecture of the information-search system for machine control is suggested. By using the object-oriented method, a structure and organization of the search system based on agents and manager with central control are developed. Thus conditions for identification of available information in DBs, self-reconfiguration of technological system and entire control of the reconfigurable multifunctional machine tool are created.

Keywords: Information system, multifunctional machine tool, reconfigurable machine tool, search system.

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Authors: Yong Wang, Wang Ling Goh, Jung Hyup Lee, Kevin T. C. Chai, Minkyu Je

Abstract:

This paper presents a resonant-based read-out circuit for capacitive pressure sensors. The proposed read-out circuit consists of an LC oscillator and a counter. The circuit detects the capacitance changes of a capacitive pressure sensor by means of frequency shifts from its nominal operation frequency. The proposed circuit is designed in 0.18m CMOS with an estimated power consumption of 43.1mW. Simulation results show that the circuit has a capacitive resolution of 8.06kHz/fF, which enables it for high resolution pressure detection.

Keywords: Capacitance-to-frequency converter, Capacitive pressure sensor, Digital counter, LC oscillator.

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Authors: Sarah Taheri, Shahram Ghanbari Pakdehi, Arash Rezaei

Abstract:

Natural gas usually includes H2S component which is very toxic, hazardous and corrosive to environment, human being and process equipments, respectively. Therefore, sweetening of the gas (separation of H2S) is inevitable. To achieve this purpose, using packed-bed columns with liquid absorbents such as MEA or DEA is very common. Due to some problems of usual packed columns especially high pressure drop of gas phase, a novel kind of them called wetted-wire column (WWC) has been invented. The column decreases the pressure drop significantly and improves the absorption efficiency. The packings are very thin rods (like wire) and as long as column. The column has 100 wires with a triangular arrangement and counter current flows of gas and liquid phases. The observation showed that at the same conditions, the absorption performance was quite comparable to conventional packed-bed towers and a very low pressure drop.

Keywords: H2S, Natural gas, separation, wetted-wire column (WWC).

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Authors: A. Evcin, N. Çiçek Bezir, R. Duman, N. Duman

Abstract:

Nowadays, a great concern is placed on the harmfulness of ultraviolet radiation (UVR) which attacks human bodies. Nanocarbon materials, such as carbon nanotubes (CNTs), carbon nanofibers (CNFs) and graphene, have been considered promising alternatives to shielding materials because of their excellent electrical conductivities, very high surface areas and low densities. In the present work, carbon nanofibers have been synthesized from solutions of Polyacrylonitrile (PAN)/ N,N-dimethylformamide (DMF) by electrospinning method. The carbon nanofibers have been stabilized by oxidation at 250 °C for 2 h in air and carbonized at 750 °C for 1 h in H2/N2. We present the fabrication and characterization of transparent and ultraviolet (UV) shielding CNF/polymer composites. The content of CNF filler has been varied from 0.2% to 0.6 % by weight. UV Spectroscopy has been performed to study the effect of composition on the transmittance of polymer composites.

Keywords: Electrospinning, carbon nanofiber, characterization, composites, nanofiber, ultraviolet radiation.

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Authors: Jeffrey L. Duffany

Abstract:

The equivalence class subset algorithm is a powerful tool for solving a wide variety of constraint satisfaction problems and is based on the use of a decision function which has a very high but not perfect accuracy. Perfect accuracy is not required in the decision function as even a suboptimal solution contains valuable information that can be used to help find an optimal solution. In the hardest problems, the decision function can break down leading to a suboptimal solution where there are more equivalence classes than are necessary and which can be viewed as a mixture of good decision and bad decisions. By choosing a subset of the decisions made in reaching a suboptimal solution an iterative technique can lead to an optimal solution, using series of steadily improved suboptimal solutions. The goal is to reach an optimal solution as quickly as possible. Various techniques for choosing the decision subset are evaluated.

Keywords: np-complete, complexity, algorithm.

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Authors: Amiel Satvedi, Richard Pyne

Abstract:

Injuries in professional sports occur on a regular basis. Some may be minor while others can cause huge impact on a player’s career and earning potential. In soccer, there is a high risk of players picking up injuries during game time. This research work seeks to help soccer players reduce the risk of getting injured by predicting the likelihood of injury while playing in the near future and then providing recommendations for intervention. The injury prediction tool will use a soccer player’s number of minutes played on the field, number of appearances, distance covered and performance data for the current and previous seasons as variables to conduct statistical analysis and provide injury predictive results using a machine learning linear regression model.

Keywords: Injury predictor, soccer injury prevention, machine learning in soccer, big data in soccer.

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Authors: Azam Marjani, Saeed Shirazian

Abstract:

This work deals with modeling and simulation of SO2 removal in a ceramic membrane by means of FEM. A mass transfer model was developed to predict the performance of SO2 absorption in a chemical solvent. The model was based on solving conservation equations for gas component in the membrane. Computational fluid dynamics (CFD) of mass and momentum were used to solve the model equations. The simulations aimed to obtain the distribution of gas concentration in the absorption process. The effect of the operating parameters on the efficiency of the ceramic membrane was evaluated. The modeling findings showed that the gas phase velocity has significant effect on the removal of gas whereas the liquid phase does not affect the SO2 removal significantly. It is also indicated that the main mass transfer resistance is placed in the membrane and gas phase because of high tortuosity of the ceramic membrane.

Keywords: Gas separation, finite element, ceramic, sulphur dioxide, simulation.

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Authors: Qiaozhen Song

Abstract:

Based on the feature of model disturbances and uncertainty being compensated dynamically in auto – disturbances-rejection-controller (ADRC), a new method using ADRC is proposed for the decoupling control of dispenser longitudinal movement in big flight envelope. Developed from nonlinear model directly, ADRC is especially suitable for dynamic model that has big disturbances. Furthermore, without changing the structure and parameters of the controller in big flight envelope, this scheme can simplify the design of flight control system. The simulation results in big flight envelope show that the system achieves high dynamic performance, steady state performance and the controller has strong robustness.

Keywords: ADRC, ESO, nonlinear system

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