Search results for: Saddle point problem
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 5068

Search results for: Saddle point problem

4618 The Best Efficiency Point of the Performance of Solar Cell Panel System for Pumping Water at Various Lifting Heads Using 100 W Motor- Pump Unit

Authors: S. Himran, B. Mire, N. Salam, L. Sule

Abstract:

This study was carried out experimentally and analytically about the performance of solar cell panel system for operating the pump coupled by dc-motor. The solar cell panel with total area 1.9848 m2 consists of three modules of 80 Wp each. The small centrifugal pump powered by dc-motor is operated to lift water from 1m to 7m heads in sequence and gives the amount of water pumped over the whole day from 08.00 to 16.00 h are 11988, 10851, 8874, 7695, 5760, 3600, 2340 L/d respectively. The hourly global solar radiation during the day is an average of 506 W/m2. This study also presents the I-V characteristics of the panel at global radiations 200, 400, 600, 800 and 1000 W/m2 matched with the operation of the pump at the above lifting heads. It proves that the only solar radiations 800 and 1000 W/m2 could provide lifting head from 1m to 7m. The analysis shows the best efficiency point of the performance of solar cell panel system occurs at the pumping head 2.89 m.

Keywords: Solar cell, dc- motor-pump, I-V characteristics, best efficiency point.

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4617 Design of Non-uniform Circular Antenna Arrays Using Firefly Algorithm for Side Lobe Level Reduction

Authors: Gopi Ram, Durbadal Mandal, Rajib Kar, Sakti Prasad Ghoshal

Abstract:

A design problem of non-uniform circular antenna arrays for maximum reduction of both the side lobe level (SLL) and first null beam width (FNBW) is dealt with. This problem is modeled as a simple optimization problem. The method of Firefly algorithm (FFA) is used to determine an optimal set of current excitation weights and antenna inter-element separations that provide radiation pattern with maximum SLL reduction and much improvement on FNBW as well. Circular array antenna laid on x-y plane is assumed. FFA is applied on circular arrays of 8-, 10-, and 12- elements. Various simulation results are presented and hence performances of side lobe and FNBW are analyzed. Experimental results show considerable reductions of both the SLL and FNBW with respect to those of the uniform case and some standard algorithms GA, PSO and SA applied to the same problem.

Keywords: Circular arrays, First null beam width, Side lobe level, FFA.

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4616 Re-Handling Operations in Small Container Terminal Operated by Reach Stackers

Authors: Adam Galuszka, Krzysztof Skrzypczyk, Damian Bereska, Marcin Pacholczyk

Abstract:

In this paper an average number of re-handlings analysis is proposed to solve the problem of finding bays configuration in small container terminal in Gliwice, Poland. Rehandlings in this terminal can be performed only by reachstackers. The goal of the heuristic is to plan the reachstacter moves in the terminal, assuming that the target containers are reached and the number of re-handings is minimized. The real situation requires also to take into account the model of the problem environment uncertainty caused by the fact that many containers are not delivered to the terminal on time, or can not be sent on scheduled time. To enable this, the heuristic uses some assumptions to simplify problem analysis.

Keywords: Container Terminal, Re-handling operations, Computational efficiency, WiMax.

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4615 Limit State of Heterogeneous Smart Structures under Unknown Cyclic Loading

Authors: M. Chen, S-Q. Zhang, X. Wang, D. Tate

Abstract:

This paper presents a numerical solution, namely limit and shakedown analysis, to predict the safety state of smart structures made of heterogeneous materials under unknown cyclic loadings, for instance, the flexure hinge in the micro-positioning stage driven by piezoelectric actuator. In combination of homogenization theory and finite-element method (FEM), the safety evaluation problem is converted to a large-scale nonlinear optimization programming for an acceptable bounded loading as the design reference. Furthermore, a general numerical scheme integrated with the FEM and interior-point-algorithm based optimization tool is developed, which makes the practical application possible.

Keywords: Limit state, shakedown analysis, homogenization, heterogeneous structure.

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4614 Maximum Power Point Tracking for Small Scale Wind Turbine Using Multilayer Perceptron Neural Network Implementation without Mechanical Sensor

Authors: Piyangkun Kukutapan, Siridech Boonsang

Abstract:

The article proposes maximum power point tracking without mechanical sensor using Multilayer Perceptron Neural Network (MLPNN). The aim of article is to reduce the cost and complexity but still retain efficiency. The experimental is that duty cycle is generated maximum power, if it has suitable qualification. The measured data from DC generator, voltage (V), current (I), power (P), turnover rate of power (dP), and turnover rate of voltage (dV) are used as input for MLPNN model. The output of this model is duty cycle for driving the converter. The experiment implemented using Arduino Uno board. This diagram is compared to MPPT using MLPNN and P&O control (Perturbation and Observation control). The experimental results show that the proposed MLPNN based approach is more efficiency than P&O algorithm for this application.

Keywords: Maximum power point tracking, multilayer perceptron neural network, optimal duty cycle.

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4613 Topological Sensitivity Analysis for Reconstruction of the Inverse Source Problem from Boundary Measurement

Authors: Maatoug Hassine, Mourad Hrizi

Abstract:

In this paper, we consider a geometric inverse source problem for the heat equation with Dirichlet and Neumann boundary data. We will reconstruct the exact form of the unknown source term from additional boundary conditions. Our motivation is to detect the location, the size and the shape of source support. We present a one-shot algorithm based on the Kohn-Vogelius formulation and the topological gradient method. The geometric inverse source problem is formulated as a topology optimization one. A topological sensitivity analysis is derived from a source function. Then, we present a non-iterative numerical method for the geometric reconstruction of the source term with unknown support using a level curve of the topological gradient. Finally, we give several examples to show the viability of our presented method.

Keywords: Geometric inverse source problem, heat equation, topological sensitivity, topological optimization, Kohn-Vogelius formulation.

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4612 Urdu Nastaleeq Optical Character Recognition

Authors: Zaheer Ahmad, Jehanzeb Khan Orakzai, Inam Shamsher, Awais Adnan

Abstract:

This paper discusses the Urdu script characteristics, Urdu Nastaleeq and a simple but a novel and robust technique to recognize the printed Urdu script without a lexicon. Urdu being a family of Arabic script is cursive and complex script in its nature, the main complexity of Urdu compound/connected text is not its connections but the forms/shapes the characters change when it is placed at initial, middle or at the end of a word. The characters recognition technique presented here is using the inherited complexity of Urdu script to solve the problem. A word is scanned and analyzed for the level of its complexity, the point where the level of complexity changes is marked for a character, segmented and feeded to Neural Networks. A prototype of the system has been tested on Urdu text and currently achieves 93.4% accuracy on the average.

Keywords: Cursive Script, OCR, Urdu.

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4611 Class Outliers Mining: Distance-Based Approach

Authors: Nabil M. Hewahi, Motaz K. Saad

Abstract:

In large datasets, identifying exceptional or rare cases with respect to a group of similar cases is considered very significant problem. The traditional problem (Outlier Mining) is to find exception or rare cases in a dataset irrespective of the class label of these cases, they are considered rare events with respect to the whole dataset. In this research, we pose the problem that is Class Outliers Mining and a method to find out those outliers. The general definition of this problem is “given a set of observations with class labels, find those that arouse suspicions, taking into account the class labels". We introduce a novel definition of Outlier that is Class Outlier, and propose the Class Outlier Factor (COF) which measures the degree of being a Class Outlier for a data object. Our work includes a proposal of a new algorithm towards mining of the Class Outliers, presenting experimental results applied on various domains of real world datasets and finally a comparison study with other related methods is performed.

Keywords: Class Outliers, Distance-Based Approach, Outliers Mining.

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4610 Study on Sharp V-Notch Problem under Dynamic Loading Condition Using Symplectic Analytical Singular Element

Authors: Xiaofei Hu, Zhiyu Cai, Weian Yao

Abstract:

V-notch problem under dynamic loading condition is considered in this paper. In the time domain, the precise time domain expanding algorithm is employed, in which a self-adaptive technique is carried out to improve computing accuracy. By expanding variables in each time interval, the recursive finite element formulas are derived. In the space domain, a Symplectic Analytical Singular Element (SASE) for V-notch problem is constructed addressing the stress singularity of the notch tip. Combining with the conventional finite elements, the proposed SASE can be used to solve the dynamic stress intensity factors (DSIFs) in a simple way. Numerical results show that the proposed SASE for V-notch problem subjected to dynamic loading condition is effective and efficient.

Keywords: V-notch, dynamic stress intensity factor, finite element method, precise time domain expanding algorithm.

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4609 Reentry Trajectory Optimization Based on Differential Evolution

Authors: Songtao Chang, Yongji Wang, Lei Liu, Dangjun Zhao

Abstract:

Reentry trajectory optimization is a multi-constraints optimal control problem which is hard to solve. To tackle it, we proposed a new algorithm named CDEN(Constrained Differential Evolution Newton-Raphson Algorithm) based on Differential Evolution( DE) and Newton-Raphson.We transform the infinite dimensional optimal control problem to parameter optimization which is finite dimensional by discretize control parameter. In order to simplify the problem, we figure out the control parameter-s scope by process constraints. To handle constraints, we proposed a parameterless constraints handle process. Through comprehensive analyze the problem, we use a new algorithm integrated by DE and Newton-Raphson to solve it. It is validated by a reentry vehicle X-33, simulation results indicated that the algorithm is effective and robust.

Keywords: reentry vehicle, trajectory optimization, constraint optimal, differential evolution.

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4608 IT/IS Organisation Design in the Digital Age – A Literature Review

Authors: Dominik Krimpmann

Abstract:

Information technology and information systems are currently at a tipping point. The digital age fundamentally transforms a large number of industries in the ways they work. Lines between business and technology blur. Researchers have acknowledged that this is the time in which the IT/IS organisation needs to re-strategize itself. In this paper, the author provides a structured review of the IS and organisation design literature addressing the question of how the digital age changes the design categories of an IT/IS organisation design. The findings show that most papers just analyse single aspects of either IT/IS relevant information or generic organisation design elements but miss a holistic ‘big-picture’ onto an IT/IS organisation design. This paper creates a holistic IT/IS organisation design framework bringing together the IS research strand, the digital strand and the generic organisation design strand. The research identified four IT/IS organisation design categories (strategy, structure, processes and people) and discusses the importance of two additional categories (sourcing and governance). The authors findings point to a first anchor point from which further research needs to be conducted to develop a holistic IT/IS organisation design framework.

Keywords: IT/IS strategy, IT/IS organisation design, digital age, organisational effectiveness, literature review.

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4607 Design and Implementation of Optimal Winner Determination Algorithm in Combinatorial e- Auctions

Authors: S. Khanpour, A. Movaghar

Abstract:

The one of best robust search technique on large scale search area is heuristic and meta heuristic approaches. Especially in issue that the exploitation of combinatorial status in the large scale search area prevents the solution of the problem via classical calculating methods, so such problems is NP-complete. in this research, the problem of winner determination in combinatorial auctions have been formulated and by assessing older heuristic functions, we solve the problem by using of genetic algorithm and would show that this new method would result in better performance in comparison to other heuristic function such as simulated annealing greedy approach.

Keywords: Bids, genetic algorithm, heuristic, metaheuristic, simulated annealing greedy.

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4606 System Module for Student Idol

Authors: M. S. Roslina, A. Noraziah

Abstract:

Malaysia government had been trying hard in order to find the most efficient methods in learning. However, it is hard to actually access and evaluate students whom will then be called an excellent student. It is because in our realties student who excellent is only excel in academic. This evaluation becomes a problem because it not balances in our real life interm of to get an excellent student in whole area in their involvement of curiculum and cocuriculum. To overcome this scenario, we designed a module for Student Idol to evaluate student through three categories which are academic, co-curiculum and leadership. All the categories have their own merit point. Using this method, student will be evaluated more accurate compared to the previously. So, teacher can easily evaluate their student without having any emotion factor, relation factor and others. As conclusion this system module will helps the development of student evaluation more accurate and valid in Student Idol.

Keywords: Evaluation, curiculum, co-curriculum, idol, systemmodule.

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4605 EHW from Consumer Point of View: Consumer-Triggered Evolution

Authors: Yerbol Sapargaliyev, Tatiana Kalganova

Abstract:

Evolvable Hardware (EHW) has been regarded as adaptive system acquired by wide application market. Consumer market of any good requires diversity to satisfy consumers- preferences. Adaptation of EHW is a key technology that could provide individual approach to every particular user. This situation raises a question: how to set target for evolutionary algorithm? The existing techniques do not allow consumer to influence evolutionary process. Only designer at the moment is capable to influence the evolution. The proposed consumer-triggered evolution overcomes this problem by introducing new features to EHW that help adaptive system to obtain targets during consumer stage. Classification of EHW is given according to responsiveness, imitation of human behavior and target circuit response. Home intelligent water heating system is considered as an example.

Keywords: Actuators, consumer-triggered evolution, evolvable hardware, sensors.

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4604 Estimation of Individual Power of Noise Sources Operating Simultaneously

Authors: Pankaj Chandna, Surinder Deswal, Arunesh Chandra, SK Sharma

Abstract:

Noise has adverse effect on human health and comfort. Noise not only cause hearing impairment, but it also acts as a causal factor for stress and raising systolic pressure. Additionally it can be a causal factor in work accidents, both by marking hazards and warning signals and by impeding concentration. Industry workers also suffer psychological and physical stress as well as hearing loss due to industrial noise. This paper proposes an approach to enable engineers to point out quantitatively the noisiest source for modification, while multiple machines are operating simultaneously. The model with the point source and spherical radiation in a free field was adopted to formulate the problem. The procedure works very well in ideal cases (point source and free field). However, most of the industrial noise problems are complicated by the fact that the noise is confined in a room. Reflections from the walls, floor, ceiling, and equipment in a room create a reverberant sound field that alters the sound wave characteristics from those for the free field. So the model was validated for relatively low absorption room at NIT Kurukshetra Central Workshop. The results of validation pointed out that the estimated sound power of noise sources under simultaneous conditions were on lower side, within the error limits 3.56 - 6.35 %. Thus suggesting the use of this methodology for practical implementation in industry. To demonstrate the application of the above analytical procedure for estimating the sound power of noise sources under simultaneous operating conditions, a manufacturing facility (Railway Workshop at Yamunanagar, India) having five sound sources (machines) on its workshop floor is considered in this study. The findings of the case study had identified the two most effective candidates (noise sources) for noise control in the Railway Workshop Yamunanagar, India. The study suggests that the modification in the design and/or replacement of these two identified noisiest sources (machine) would be necessary so as to achieve an effective reduction in noise levels. Further, the estimated data allows engineers to better understand the noise situations of the workplace and to revise the map when changes occur in noise level due to a workplace re-layout.

Keywords: Industrial noise, sound power level, multiple noise sources, sources contribution.

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4603 Using Visual Technologies to Promote Excellence in Computer Science Education

Authors: Carol B. Collins, M. H. N Tabrizi

Abstract:

The purposes of this paper are to (1) promote excellence in computer science by suggesting a cohesive innovative approach to fill well documented deficiencies in current computer science education, (2) justify (using the authors' and others anecdotal evidence from both the classroom and the real world) why this approach holds great potential to successfully eliminate the deficiencies, (3) invite other professionals to join the authors in proof of concept research. The authors' experiences, though anecdotal, strongly suggest that a new approach involving visual modeling technologies should allow computer science programs to retain a greater percentage of prospective and declared majors as students become more engaged learners, more successful problem-solvers, and better prepared as programmers. In addition, the graduates of such computer science programs will make greater contributions to the profession as skilled problem-solvers. Instead of wearily rememorizing code as they move to the next course, students will have the problem-solving skills to think and work in more sophisticated and creative ways.

Keywords: Algorithms, CASE, UML, Problem-solving.

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4602 Implementation of Meshless FEM for Engineering Applications

Authors: A. Seidl, Th. Schmidt

Abstract:

Meshless Finite Element Methods, namely element-free Galerkin and point-interpolation method were implemented and tested concerning their applicability to typical engineering problems like electrical fields and structural mechanics. A class-structure was developed which allows a consistent implementation of these methods together with classical FEM in a common framework. Strengths and weaknesses of the methods under investigation are discussed. As a result of this work joint usage of meshless methods together with classical Finite Elements are recommended.

Keywords: Finite Elements, meshless, element-free Galerkin, point-interpolation.

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4601 Weak Convergence of Mann Iteration for a Hybrid Pair of Mappings in a Banach Space

Authors: Alemayehu Geremew Negash

Abstract:

We prove the weak convergence of Mann iteration for a hybrid pair of maps to a common fixed point of a selfmap f and a multivalued f nonexpansive mapping T in Banach space E.  

Keywords: Common fixed point, Mann iteration, Multivalued mapping, weak convergence.

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4600 Analysis of Driver Point of Regard Determinations with Eye-Gesture Templates Using Receiver Operating Characteristic

Authors: Siti Nor Hafizah binti Mohd Zaid, Mohamed Abdel-Maguid, Abdel-Hamid Soliman

Abstract:

An Advance Driver Assistance System (ADAS) is a computer system on board a vehicle which is used to reduce the risk of vehicular accidents by monitoring factors relating to the driver, vehicle and environment and taking some action when a risk is identified. Much work has been done on assessing vehicle and environmental state but there is still comparatively little published work that tackles the problem of driver state. Visual attention is one such driver state. In fact, some researchers claim that lack of attention is the main cause of accidents as factors such as fatigue, alcohol or drug use, distraction and speeding all impair the driver-s capacity to pay attention to the vehicle and road conditions [1]. This seems to imply that the main cause of accidents is inappropriate driver behaviour in cases where the driver is not giving full attention while driving. The work presented in this paper proposes an ADAS system which uses an image based template matching algorithm to detect if a driver is failing to observe particular windscreen cells. This is achieved by dividing the windscreen into 24 uniform cells (4 rows of 6 columns) and matching video images of the driver-s left eye with eye-gesture templates drawn from images of the driver looking at the centre of each windscreen cell. The main contribution of this paper is to assess the accuracy of this approach using Receiver Operating Characteristic analysis. The results of our evaluation give a sensitivity value of 84.3% and a specificity value of 85.0% for the eye-gesture template approach indicating that it may be useful for driver point of regard determinations.

Keywords: Advanced Driver Assistance Systems, Eye-Tracking, Hazard Detection.

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4599 Maximum Norm Analysis of a Nonmatching Grids Method for Nonlinear Elliptic Boundary Value Problem −Δu = f(u)

Authors: Abida Harbi

Abstract:

We provide a maximum norm analysis of a finite element Schwarz alternating method for a nonlinear elliptic boundary value problem of the form -Δu = f(u), on two overlapping sub domains with non matching grids. We consider a domain which is the union of two overlapping sub domains where each sub domain has its own independently generated grid. The two meshes being mutually independent on the overlap region, a triangle belonging to one triangulation does not necessarily belong to the other one. Under a Lipschitz assumption on the nonlinearity, we establish, on each sub domain, an optimal L∞ error estimate between the discrete Schwarz sequence and the exact solution of the boundary value problem.

Keywords: Error estimates, Finite elements, Nonlinear PDEs, Schwarz method.

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4598 Synthesis of Wavelet Filters using Wavelet Neural Networks

Authors: Wajdi Bellil, Chokri Ben Amar, Adel M. Alimi

Abstract:

An application of Beta wavelet networks to synthesize pass-high and pass-low wavelet filters is investigated in this work. A Beta wavelet network is constructed using a parametric function called Beta function in order to resolve some nonlinear approximation problem. We combine the filter design theory with wavelet network approximation to synthesize perfect filter reconstruction. The order filter is given by the number of neurons in the hidden layer of the neural network. In this paper we use only the first derivative of Beta function to illustrate the proposed design procedures and exhibit its performance.

Keywords: Beta wavelets, Wavenet, multiresolution analysis, perfect filter reconstruction, salient point detect, repeatability.

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4597 Orthogonal Regression for Nonparametric Estimation of Errors-in-Variables Models

Authors: Anastasiia Yu. Timofeeva

Abstract:

Two new algorithms for nonparametric estimation of errors-in-variables models are proposed. The first algorithm is based on penalized regression spline. The spline is represented as a piecewise-linear function and for each linear portion orthogonal regression is estimated. This algorithm is iterative. The second algorithm involves locally weighted regression estimation. When the independent variable is measured with error such estimation is a complex nonlinear optimization problem. The simulation results have shown the advantage of the second algorithm under the assumption that true smoothing parameters values are known. Nevertheless the use of some indexes of fit to smoothing parameters selection gives the similar results and has an oversmoothing effect.

Keywords: Grade point average, orthogonal regression, penalized regression spline, locally weighted regression.

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4596 Limits Problem Solving in Engineering Careers: Competences and Errors

Authors: Veronica Diaz Quezada

Abstract:

In this article, the performance and errors are featured and analysed in the limit problems solving of a real-valued function, in correspondence to competency-based education in engineering careers, in the south of Chile. The methodological component is contextualised in a qualitative research, with a descriptive and explorative design, with elaboration, content validation and application of quantitative instruments, consisting of two parallel forms of open answer tests, based on limit application problems. The mathematical competences and errors made by students from five engineering careers from a public University are identified and characterized. Results show better performance only to solve routine-context problem-solving competence, thus they are oriented towards a rational solution or they use a suitable problem-solving method, achieving the correct solution. Regarding errors, most of them are related to techniques and the incorrect use of theorems and definitions of real-valued function limits of real variable.

Keywords: Engineering education, errors, limits, mathematics competences, problem solving.

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4595 A Bi-Objective Model to Address Simultaneous Formulation of Project Scheduling and Material Ordering

Authors: Babak H. Tabrizi, Seyed Farid Ghaderi

Abstract:

Concurrent planning of project scheduling and material ordering has been increasingly addressed within last decades as an approach to improve the project execution costs. Therefore, we have taken the problem into consideration in this paper, aiming to maximize schedules quality robustness, in addition to minimize the relevant costs. In this regard, a bi-objective mathematical model is developed to formulate the problem. Moreover, it is possible to utilize the all-unit discount for materials purchasing. The problem is then solved by the E-constraint method, and the Pareto front is obtained for a variety of robustness values. The applicability and efficiency of the proposed model is tested by different numerical instances, finally.

Keywords: E-constraint method, material ordering, project management, project scheduling.

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4594 Numerical Simulation of a Three-Dimensional Framework under the Action of Two-Dimensional Moving Loads

Authors: Jia-Jang Wu

Abstract:

The objective of this research is to develop a general technique so that one may predict the dynamic behaviour of a three-dimensional scale crane model subjected to time-dependent moving point forces by means of conventional finite element computer packages. To this end, the whole scale crane model is divided into two parts: the stationary framework and the moving substructure. In such a case, the dynamic responses of a scale crane model can be predicted from the forced vibration responses of the stationary framework due to actions of the four time-dependent moving point forces induced by the moving substructure. Since the magnitudes and positions of the moving point forces are dependent on the relative positions between the trolley, moving substructure and the stationary framework, it can be found from the numerical results that the time histories for the moving speeds of the moving substructure and the trolley are the key factors affecting the dynamic responses of the scale crane model.

Keywords: Moving load, moving substructure, dynamic responses, forced vibration responses.

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4593 Effect of Non Uniformity Factors and Assignment Factors on Errors in Charge Simulation Method with Point Charge Model

Authors: Gururaj S Punekar, N K Kishore Senior, H S Y Shastry

Abstract:

Charge Simulation Method (CSM) is one of the very widely used numerical field computation technique in High Voltage (HV) engineering. The high voltage fields of varying non uniformities are encountered in practice. CSM programs being case specific, the simulation accuracies heavily depend on the user (programmers) experience. Here is an effort to understand CSM errors and evolve some guidelines to setup accurate CSM models, relating non uniformities with assignment factors. The results are for the six-point-charge model of sphere-plane gap geometry. Using genetic algorithm (GA) as tool, optimum assignment factors at different non uniformity factors for this model have been evaluated and analyzed. It is shown that the symmetrically placed six-point-charge models can be good enough to set up CSM programs with potential errors less than 0.1% when the field non uniformity factor is greater than 2.64 (field utilization factor less than 52.76%).

Keywords: Assignment factor, Charge Simulation Method, High Voltage, Numerical field computation, Non uniformity factor, Simulation errors.

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4592 Comparing Emotion Recognition from Voice and Facial Data Using Time Invariant Features

Authors: Vesna Kirandziska, Nevena Ackovska, Ana Madevska Bogdanova

Abstract:

The problem of emotion recognition is a challenging problem. It is still an open problem from the aspect of both intelligent systems and psychology. In this paper, both voice features and facial features are used for building an emotion recognition system. A Support Vector Machine classifiers are built by using raw data from video recordings. In this paper, the results obtained for the emotion recognition are given, and a discussion about the validity and the expressiveness of different emotions is presented. A comparison between the classifiers build from facial data only, voice data only and from the combination of both data is made here. The need for a better combination of the information from facial expression and voice data is argued.

Keywords: Emotion recognition, facial recognition, signal processing, machine learning.

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4591 ZMP Based Reference Generation for Biped Walking Robots

Authors: Kemalettin Erbatur, Özer Koca, Evrim Taşkıran, Metin Yılmaz, Utku Seven

Abstract:

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference trajectories possess pre-assigned single and double support phases, which are very useful in experimental tuning work. The ZMP based reference generation strategy is tested via threedimensional full-dynamics simulations of a 12-degrees-of-freedom biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.

Keywords: Biped robot, Linear Inverted Pendulum Model, Zero Moment Point, Fourier series approximation.

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4590 A Genetic Algorithm with Priority Selection for the Traveling Salesman Problem

Authors: Cha-Hwa Lin, Je-Wei Hu

Abstract:

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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4589 Behavior of Generated Gas in Lost Foam Casting

Authors: M. Khodai, S. M. H. Mirbagheri

Abstract:

In the Lost Foam Casting process, melting point temperature of metal, as well as volume and rate of the foam degradation have significant effect on the mold filling pattern. Therefore, gas generation capacity and gas gap length are two important parameters for modeling of mold filling time of the lost foam casting processes. In this paper, the gas gap length at the liquidfoam interface for a low melting point (aluminum) alloy and a high melting point (Carbon-steel) alloy are investigated by the photography technique. Results of the photography technique indicated, that the gas gap length and the mold filling time are increased with increased coating thickness and density of the foam. The Gas gap lengths measured in aluminum and Carbon-steel, depend on the foam density, and were approximately 4-5 and 25-60 mm, respectively. By using a new system, the gas generation capacity for the aluminum and steel was measured. The gas generation capacity measurements indicated that gas generation in the Aluminum and Carbon-steel lost foam casting was about 50 CC/g and 3200 CC/g polystyrene, respectively.

Keywords: gas gap, lost foam casting, photographytechnique.

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