Search results for: Density based clustering
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 12132

Search results for: Density based clustering

6582 Trainer Aircraft Selection Using Preference Analysis for Reference Ideal Solution (PARIS)

Authors: C. Ardil

Abstract:

This article presents a multiple criteria evaluation for a trainer aircraft selection problem using "preference analysis for reference ideal solution (PARIS)” approach. The available relevant literature points to the use of multiple criteria decision making analysis (MCDMA) methods for the problem of trainer aircraft selection, which often involves conflicting multiple criteria. Therefore, this MCDMA study aims to propose a robust systematic integrated framework focusing on the trainer aircraft selection problem. For this purpose, an integrated preference analysis approach based the mean weight and entropy weight procedures with PARIS, and TOPSIS was used for a MCDMA compensating solution. In this study, six trainer aircraft alternatives were evaluated according to six technical decision criteria, and data were collected from the current relevant literature. As a result, the King Air C90GTi alternative was identified as the most suitable trainer aircraft alternative. In order to verify the stability and accuracy of the results obtained, comparisons were made with existing MCDMA methods during the sensitivity and validity analysis process.The results of the application were further validated by applying the comparative analysis-based PARIS, and TOPSIS method. The proposed integrated MCDMA systematic structure is also expected to address the issues encountered in the aircraft selection process. Finally, the analysis results obtained show that the proposed MCDMA method is an effective and accurate tool that can help analysts make better decisions.

Keywords: aircraft, trainer aircraft selection, multiple criteria decision making, multiple criteria decision making analysis, mean weight, entropy weight, MCDMA, PARIS, TOPSIS

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6581 Lagrangian Method for Solving Unsteady Gas Equation

Authors: Amir Taghavi, kourosh Parand, Hosein Fani

Abstract:

In this paper we propose, a Lagrangian method to solve unsteady gas equation which is a nonlinear ordinary differential equation on semi-infnite interval. This approach is based on Modified generalized Laguerre functions. This method reduces the solution of this problem to the solution of a system of algebraic equations. We also compare this work with some other numerical results. The findings show that the present solution is highly accurate.

Keywords: Unsteady gas equation, Generalized Laguerre functions, Lagrangian method, Nonlinear ODE.

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6580 Adaptive Nonlinear Backstepping Control

Authors: Sun Lim, Bong-Seok Kim

Abstract:

This paper presents an adaptive nonlinear position controller with velocity constraint, capable of combining the input-output linearization technique and Lyapunov stability theory. Based on the Lyapunov stability theory, the adaptation law of the proposed controller is derived along with the verification of the overall system-s stability. Computer simulation results demonstrate that the proposed controller is robust and it can ensure transient stability of BLDCM, under the occurrence of a large sudden fault.

Keywords: BLDC Motor Control, Backstepping Control, Adaptive nonlinear control

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6579 Microscopic Analysis of Interfacial Transition Zone of Cementitious Composites Prepared by Various Mixing Procedures

Authors: Josef Fládr, Jiří Němeček, Veronika Koudelková, Petr Bílý

Abstract:

Mechanical parameters of cementitious composites differ quite significantly based on the composition of cement matrix. They are also influenced by mixing times and procedure. The research presented in this paper was aimed at identification of differences in microstructure of normal strength (NSC) and differently mixed high strength (HSC) cementitious composites. Scanning electron microscopy (SEM) investigation together with energy dispersive X-ray spectroscopy (EDX) phase analysis of NSC and HSC samples was conducted. Evaluation of interfacial transition zone (ITZ) between the aggregate and cement matrix was performed. Volume share, thickness, porosity and composition of ITZ were studied. In case of HSC, samples obtained by several different mixing procedures were compared in order to find the most suitable procedure. In case of NSC, ITZ was identified around 40-50% of aggregate grains and its thickness typically ranged between 10 and 40 µm. Higher porosity and lower share of clinker was observed in this area as a result of increased water-to-cement ratio (w/c) and the lack of fine particles improving the grading curve of the aggregate. Typical ITZ with lower content of Ca was observed only in one HSC sample, where it was developed around less than 15% of aggregate grains. The typical thickness of ITZ in this sample was similar to ITZ in NSC (between 5 and 40 µm). In the remaining four HSC samples, no ITZ was observed. In general, the share of ITZ in HSC samples was found to be significantly smaller than in NSC samples. As ITZ is the weakest part of the material, this result explains to large extent the improved mechanical properties of HSC compared to NSC. Based on the comparison of characteristics of ITZ in HSC samples prepared by different mixing procedures, the most suitable mixing procedure from the point of view of properties of ITZ was identified.

Keywords: Energy dispersive X-ray spectroscopy, high strength concrete, interfacial transition zone, mixing procedure, normal strength concrete, scanning electron microscopy.

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6578 Analysis of Possibilities for Using Recycled Concrete Aggregate in Concrete Pavement

Authors: R. Pernicova, D. Dobias

Abstract:

The present article describes the limits of using recycled concrete aggregate (denoted as RCA) in the top layer of concrete roads. The main aim of this work is to investigate the possibility of reuse of recycled aggregates obtained by crushing the old concrete roads as a building material in the new top layers of concrete pavements. The paper is based on gathering the current knowledge about how to use recycled concrete aggregate, suitability, and modification of the properties and its standards. Regulations are detailed and described especially for European Union and for Czech Republic.

Keywords: Concrete, Czech Republic, pavements, recycled concrete aggregate, RCA, standards.

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6577 BDD Package Based on Boolean NOR Operation

Authors: M. Raseen, A.Assi, P.W. C. Prasad, A. Harb

Abstract:

Binary Decision Diagrams (BDDs) are useful data structures for symbolic Boolean manipulations. BDDs are used in many tasks in VLSI/CAD, such as equivalence checking, property checking, logic synthesis, and false paths. In this paper we describe a new approach for the realization of a BDD package. To perform manipulations of Boolean functions, the proposed approach does not depend on the recursive synthesis operation of the IF-Then-Else (ITE). Instead of using the ITE operation, the basic synthesis algorithm is done using Boolean NOR operation.

Keywords: Binary Decision Diagram (BDD), ITE Operation, Boolean Function, NOR operation.

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6576 A Method for Measurement and Evaluation of Drape of Textiles

Authors: L. Fridrichova, R. Knížek, V. Bajzík

Abstract:

Drape is one of the important visual characteristics of the fabric. This paper is introducing an innovative method of measurement and evaluation of the drape shape of the fabric. The measuring principle is based on the possibility of multiple vertical strain of the fabric. This method more accurately simulates the real behavior of the fabric in the process of draping. The method is fully automated, so the sample can be measured by using any number of cycles in any time horizon. Using the present method of measurement, we are able to describe the viscoelastic behavior of the fabric.

Keywords: Drape, drape shape, automated drape meter.

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6575 Clinical Benefits of an Embedded Decision Support System in Anticoagulant Control

Authors: Tony Austin, Shanghua Sun, Nathan Lea, Steve Iliffe, Dipak Kalra, David Ingram, David Patterson

Abstract:

Computer-based decision support (CDSS) systems can deliver real patient care and increase chances of long-term survival in areas of chronic disease management prone to poor control. One such CDSS, for the management of warfarin, is described in this paper and the outcomes shown. Data is derived from the running system and show a performance consistently around 20% better than the applicable guidelines.

Keywords: "Decision Support", "Anticoagulant Control"

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6574 A Programmable FSK-Modulator in 350nm CMOS Technology

Authors: Nasir Mehmood, Saad Rahman, Vinodh Ravinath, Mahesh Balaji

Abstract:

This paper describes the design of a programmable FSK-modulator based on VCO and its implementation in 0.35m CMOS process. The circuit is used to transmit digital data at 100Kbps rate in the frequency range of 400-600MHz. The design and operation of the modulator is discussed briefly. Further the characteristics of PLL, frequency synthesizer, VCO and the whole design are elaborated. The variation among the proposed and tested specifications is presented. Finally, the layout of sub-modules, pin configurations, final chip and test results are presented.

Keywords: FSK Modulator, CMOS, VCO, Phase Locked Loop, Frequency Synthesizer.

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6573 A New Implementation of PCA for Fast Face Detection

Authors: Hazem M. El-Bakry

Abstract:

Principal Component Analysis (PCA) has many different important applications especially in pattern detection such as face detection / recognition. Therefore, for real time applications, the response time is required to be as small as possible. In this paper, new implementation of PCA for fast face detection is presented. Such new implementation is designed based on cross correlation in the frequency domain between the input image and eigenvectors (weights). Simulation results show that the proposed implementation of PCA is faster than conventional one.

Keywords: Fast Face Detection, PCA, Cross Correlation, Frequency Domain

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6572 The Leaves of a Tree

Authors: Zhu Jiaming, Yu Mengna

Abstract:

In this article, models based on quantitative analysis, physical geometry and regression analysis are established, by using analytic hierarchy process analysis, fuzzy cluster analysis, fuzzy photographic and data fitting. The reasons of various leaf shapes among different species and the differences between the leaf shapes on same tree have been solved by using software, such as Eviews, VB and Matlab. We also successfully estimate the leaf mass of a tree and the correlation with the tree profile.

Keywords: Leaf shape; Mass; Fuzzy cluster; Regression analysis; Eviews; Matlab

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6571 Formation of Round Channel for Microfluidic Applications

Authors: A. Zahra, G. de Cesare, D. Caputo, A. Nascetti

Abstract:

PDMS (Polydimethylsiloxane) polymer is a suitable material for biological and MEMS (Microelectromechanical systems) designers, because of its biocompatibility, transparency and high resistance under plasma treatment. PDMS round channel is always been of great interest due to its ability to confine the liquid with membrane type micro valves. In this paper we are presenting a very simple way to form round shapemicrofluidic channel, which is based on reflow of positive photoresist AZ® 40 XT. With this method, it is possible to obtain channel of different height simply by varying the spin coating parameters of photoresist.

Keywords: Lab-on-Chip, PDMS, Reflow, Round microfluidic channel.

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6570 Analysis of Social Network Using Clever Ant Colony Metaphor

Authors: Mohammad Al-Fayoumi, Soumya Banerjee, Jr., P. K. Mahanti

Abstract:

A social network is a set of people or organization or other social entities connected by some form of relationships. Analysis of social network broadly elaborates visual and mathematical representation of that relationship. Web can also be considered as a social network. This paper presents an innovative approach to analyze a social network using a variant of existing ant colony optimization algorithm called as Clever Ant Colony Metaphor. Experiments are performed and interesting findings and observations have been inferred based on the proposed model.

Keywords: Social Network, Ant Colony, Maximum Clique, Sub graph, Clever Ant colony.

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6569 A Reconfigurable Processing Element Implementation for Matrix Inversion Using Cholesky Decomposition

Authors: Aki Happonen, Adrian Burian, Erwin Hemming

Abstract:

Fixed-point simulation results are used for the performance measure of inverting matrices using a reconfigurable processing element. Matrices are inverted using the Cholesky decomposition algorithm. The reconfigurable processing element is capable of all required mathematical operations. The fixed-point word length analysis is based on simulations of different condition numbers and different matrix sizes.

Keywords: Cholesky Decomposition, Fixed-point, Matrixinversion, Reconfigurable processing.

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6568 Optimum Performance Measures of Interdependent Queuing System with Controllable Arrival Rates

Authors: S. S. Mishra

Abstract:

In this paper, an attempt is made to compute the total optimal cost of interdependent queuing system with controllable arrival rates as an important performance measure of the system. An example of application has also been presented to exhibit the use of the model. Finally, numerical demonstration based on a computing algorithm and variational effects of the model with the help of the graph have also been presented.

Keywords: Computing, Controllable arrival rate, Optimum performance measure.

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6567 A Review on the Comparison of EU Countries Based on Research and Development Efficiencies

Authors: Yeliz Ekinci, Raife Merve Ön

Abstract:

Nowadays, technological progress is one of the most important components of economic growth and the efficiency of R&D activities is particularly essential for countries. This study is an attempt to analyze the R&D efficiencies of EU countries. The indicators related to R&D efficiencies should be determined in advance in order to use DEA. For this reason a list of input and output indicators are derived from the literature review. Considering the data availability, a final list is given for the numerical analysis for future research.

Keywords: Data envelopment analysis, economic growth, EU Countries, R&D efficiency.

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6566 Hippocratic Database: A Privacy-Aware Database

Authors: Norjihan Abdul Ghani, Zailani Mohd Sidek

Abstract:

Nowadays, organizations and business has several motivating factors to protect an individual-s privacy. Confidentiality refers to type of sharing information to third parties. This is always referring to private information, especially for personal information that usually needs to keep as a private. Because of the important of privacy concerns today, we need to design a database system that suits with privacy. Agrawal et. al. has introduced Hippocratic Database also we refer here as a privacy-aware database. This paper will explain how HD can be a future trend for web-based application to enhance their privacy level of trustworthiness among internet users.

Keywords: Hippocratic database, privacy, privacy-aware.

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6565 Design of Synchronous Torque Couplers

Authors: M. H. Nagrial, J. Rizk, A. Hellany

Abstract:

This paper presents the design, analysis and development of permanent magnet (PM) torque couplers. These couplers employ rare-earth magnets. Based on finite element analysis and earlier analytical works both concentric and face-type synchronous type couplers have been designed and fabricated. The experimental performance has good correlation with finite element calculations.

Keywords: Finite Element Analysis, Synchronous TorqueCouplers, Permanent Magnet Torque Couplers

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6564 Application of Four-electrode Method to Analysis Resistance Characteristics of Conductive Concrete

Authors: Chun-Yao Lee, Siang-Ren Wang

Abstract:

The purpose of this paper is to discuss the influence of resistance characteristic on the high conductive concrete considering the various voltage and environment. The four-electrode method is applied to the tailor-made high conductive concrete with appropriate proportion. The curve of resistivity with the changes of voltage and environment is plotted and the changes of resistivity are explored. The result based on the methods reveals that resistivity is less affected by the temperature factor, and the four-electrode method would be an applicable measurement method on a site inspection.

Keywords: Conductive concrete, Resistivity.

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6563 Modeling, Analysis and Simulation of 4-Phase Boost Converter

Authors: Nagulapati Kiran, V. Rangavalli, B. Vanajakshi

Abstract:

This paper designs the four-phase Boost Converter which overcomes the problem of high input ripple current and output ripple voltage. Digital control is more convenient for such a topology on basis of synchronization, phase shift operation, etc. Simulation results are presented for open-loop and closed-loop for four phase boost converter. This control scheme is applicable for PFC rectifiers as well. Thus a comparative analysis based on the obtained results is performed.

Keywords: Boost Converter, Bode plot, PI Controller, Four phase.

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6562 Methods for Material and Process Monitoring by Characterization of (Second and Third Order) Elastic Properties with Lamb Waves

Authors: R. Meier, M. Pander

Abstract:

In accordance with the industry 4.0 concept, manufacturing process steps as well as the materials themselves are going to be more and more digitalized within the next years. The “digital twin” representing the simulated and measured dataset of the (semi-finished) product can be used to control and optimize the individual processing steps and help to reduce costs and expenditure of time in product development, manufacturing, and recycling. In the present work, two material characterization methods based on Lamb waves were evaluated and compared. For demonstration purpose, both methods were shown at a standard industrial product - copper ribbons, often used in photovoltaic modules as well as in high-current microelectronic devices. By numerical approximation of the Rayleigh-Lamb dispersion model on measured phase velocities second order elastic constants (Young’s modulus, Poisson’s ratio) were determined. Furthermore, the effective third order elastic constants were evaluated by applying elastic, “non-destructive”, mechanical stress on the samples. In this way, small microstructural variations due to mechanical preconditioning could be detected for the first time. Both methods were compared with respect to precision and inline application capabilities. Microstructure of the samples was systematically varied by mechanical loading and annealing. Changes in the elastic ultrasound transport properties were correlated with results from microstructural analysis and mechanical testing. In summary, monitoring the elastic material properties of plate-like structures using Lamb waves is valuable for inline and non-destructive material characterization and manufacturing process control. Second order elastic constants analysis is robust over wide environmental and sample conditions, whereas the effective third order elastic constants highly increase the sensitivity with respect to small microstructural changes. Both Lamb wave based characterization methods are fitting perfectly into the industry 4.0 concept.

Keywords: Lamb waves, industry 4.0, process control, elasticity, acoustoelasticity.

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6561 Coordinated Multi-Point Scheme Based On Channel State Information in MIMO-OFDM System

Authors: Su-Hyun Jung, Chang-Bin Ha, Hyoung-Kyu Song

Abstract:

Recently, increasing the quality of experience (QoE) is an important issue. Since performance degradation at cell edge extremely reduces the QoE, several techniques are defined at LTE/LTE-A standard to remove inter-cell interference (ICI). However, the conventional techniques have disadvantage because there is a trade-off between resource allocation and reliable communication. The proposed scheme reduces the ICI more efficiently by using channel state information (CSI) smartly. It is shown that the proposed scheme can reduce the ICI with fewer resources.

Keywords: Adaptive beam forming, CoMP, LTE-A, ICI reduction.

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6560 Finite Time Symplectic Synchronization between Two Different Chaotic Systems

Authors: Chunming Xu

Abstract:

In this paper, the finite-time symplectic synchronization between two different chaotic systems is investigated. Based on the finite-time stability theory, a simple adaptive feedback scheme is proposed to realize finite-time symplectic synchronization for the Lorenz and L¨u systems. Numerical examples are provided to show the effectiveness of the proposed method.

Keywords: Chaotic systems, symplectic synchronization, finite-time synchronization, adaptive controller.

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6559 Double Flux Orientation Control for a Doubly Fed Induction Machine

Authors: A. Ourici

Abstract:

Doubly fed induction machines DFIM are used mainly for wind energy conversion in MW power plants. This paper presents a new strategy of field oriented control ,it is based on the principle of a double flux orientation of stator and rotor at the same time. Therefore, the orthogonality created between the two oriented fluxes, which must be strictly observed, leads to generate a linear and decoupled control with an optimal torque. The obtained simulation results show the feasibility and the effectiveness of the suggested method.

Keywords: Doubly fed induction machine, double fluxorientation control , vector control , PWM inverter.

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6558 Scenario Recognition in Modern Building Automation

Authors: Roland Lang, Dietmar Bruckner, Rosemarie Velik, Tobias Deutsch

Abstract:

Modern building automation needs to deal with very different types of demands, depending on the use of a building and the persons acting in it. To meet the requirements of situation awareness in modern building automation, scenario recognition becomes more and more important in order to detect sequences of events and to react to them properly. We present two concepts of scenario recognition and their implementation, one based on predefined templates and the other applying an unsupervised learning algorithm using statistical methods. Implemented applications will be described and their advantages and disadvantages will be outlined.

Keywords: Building automation, ubiquitous computing, scenariorecognition, surveillance system.

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6557 Research on Applying the Continuity Care Document to Generate a Medical Record with Entry Level

Authors: Hsing-Yi Kao, Der-Ming Liou

Abstract:

Transferring patient information between medical care sites is necessary to deliver better patient care and to reduce medical cost. So developing of electronic medical records is an important trend for the world.The Continuity of Care Document (CCD) is product of collaboration between CDA and CCR standards. In this study, we will develop a system to generate medical records with entry level based on CCD template module.

Keywords: Continuity Care Document, medical record, entrylevel

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6556 Effective Wind-Induced Natural Ventilation in a Residential Apartment Typology

Authors: Tanvi P. Medshinge, Prasad Vaidya, Monisha E. Royan

Abstract:

In India, cooling loads in residential sector is a major contributor to its total energy consumption. Due to the increasing cooling need, the market penetration of air-conditioners is further expected to rise. Natural Ventilation (NV), however, possesses great potential to save significant energy consumption especially for residential buildings in moderate climates. As multifamily residential apartment buildings are designed by repetitive use of prototype designs, deriving individual NV based design prototype solutions for a combination of different wind incidence angles and orientations would provide significant opportunity to address the rise in cooling loads by residential sector. This paper presents the results of NV performance of a selected prototype apartment design with a cluster of four units in Pune, India, and an attempt to improve the NV performance through design modifications. The water table apparatus, a physical modelling tool, is used to study the flow patterns and simulate wind-induced NV performance. Quantification of NV performance is done by post processing images captured from video recordings in terms of percentage of area with good and poor access to ventilation. NV performance of the existing design for eight wind incidence angles showed that of the cluster of four units, the windward units showed good access to ventilation for all rooms, and the leeward units had lower access to ventilation with the bedrooms in the leeward units having the least access. The results showed improved performance in all the units for all wind incidence angles to more than 80% good access to ventilation. Some units showed an additional improvement to more than 90% good access to ventilation. This process of design and performance evaluation improved some individual units from 0% to 100% for good access to ventilation. The results demonstrate the ease of use and the power of the water table apparatus for performance-based design to simulate wind induced NV.  

Keywords: Prototype design, water table apparatus, NV, wind incidence angles, simulations, fluid dynamics.

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6555 Design of a Novel Fractal Multiband Planar Antenna with a CPW-Feed

Authors: T. Benyetho, L. El Abdellaoui, J. Terhzaz, H. Bennis, N. Ababssi, A. Tajmouati, A. Tribak, M. Latrach

Abstract:

This work presents a new planar multiband antenna based on fractal geometry. This structure is optimized and validated into simulation by using CST-MW Studio. To feed this antenna we have used a CPW line which makes it easy to be incorporated with integrated circuits. The simulation results presents a good matching input impedance and radiation pattern in the GSM band at 900 MHz and ISM band at 2.4 GHz. The final structure is a dual band fractal antenna with 70 x 70 mm² as a total area by using an FR4 substrate.

Keywords: Antenna, CPW, Fractal, GSM, Multiband.

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6554 Present Status, Driving Forces and Pattern Optimization of Territory in Hubei Province, China

Authors: Tingke Wu, Man Yuan

Abstract:

“National Territorial Planning (2016-2030)” was issued by the State Council of China in 2017. As an important initiative of putting it into effect, territorial planning at provincial level makes overall arrangement of territorial development, resources and environment protection, comprehensive renovation and security system construction. Hubei province, as the pivot of the “Rise of Central China” national strategy, is now confronted with great opportunities and challenges in territorial development, protection, and renovation. Territorial spatial pattern experiences long time evolution, influenced by multiple internal and external driving forces. It is not clear what are the main causes of its formation and what are effective ways of optimizing it. By analyzing land use data in 2016, this paper reveals present status of territory in Hubei. Combined with economic and social data and construction information, driving forces of territorial spatial pattern are then analyzed. Research demonstrates that the three types of territorial space aggregate distinctively. The four aspects of driving forces include natural background which sets the stage for main functions, population and economic factors which generate agglomeration effect, transportation infrastructure construction which leads to axial expansion and significant provincial strategies which encourage the established path. On this basis, targeted strategies for optimizing territory spatial pattern are then put forward. Hierarchical protection pattern should be established based on development intensity control as respect for nature. By optimizing the layout of population and industry and improving the transportation network, polycentric network-based development pattern could be established. These findings provide basis for Hubei Territorial Planning, and reference for future territorial planning in other provinces.

Keywords: Driving forces, Hubei, optimizing strategies, spatial pattern, territory.

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6553 Robot-assisted Relaxation Training for Children with Autism Spectrum Disorders

Authors: V. Holeva, V. Aliki Nikopoulou, P. Kechayas, M. Dialechti Kerasidou, M. Papadopoulou, G. A. Papakostas, V. G. Kaburlasos, A. Evangeliou

Abstract:

Cognitive Behavioral Therapy (CBT) has been proven an effective tool to address anger and anxiety issues in children and adolescents with Autism Spectrum Disorders (ASD). Robot-enhanced therapy has been used in psychosocial and educational interventions for children with ASD with promising results. Whenever CBT-based techniques were incorporated in robot-based interventions, they were mainly performed in group sessions. Objectives: The study’s main objective was the implementation and evaluation of the effectiveness of a relaxation training intervention for children with ASD, delivered by the social robot NAO. Methods: 20 children (aged 7–12 years) were randomly assigned to 16 sessions of relaxation training implemented twice a week. Two groups were formed: the NAO group (children participated in individual sessions with the support of NAO) and the control group (children participated in individual sessions with the support of the therapist only). Participants received three different relaxation scenarios of increasing difficulty (a breathing scenario, a progressive muscle relaxation scenario and a body scan medication scenario), as well as related homework sheets for practicing. Pre- and post-intervention assessments were conducted using the Child Behavior Checklist (CBCL) and the Strengths and Difficulties Questionnaire for parents (SDQ-P). Participants were also asked to complete an open-ended questionnaire to evaluate the effectiveness of the training. Parents’ satisfaction was evaluated via a questionnaire and children satisfaction was assessed by a thermometer scale. Results: The study supports the use of relaxation training with the NAO robot as instructor for children with ASD. Parents of enrolled children reported high levels of satisfaction and provided positive ratings of the training acceptability. Children in the NAO group presented greater motivation to complete homework and adopt the learned techniques at home. Conclusions: Relaxation training could be effectively integrated in robot-assisted protocols to help children with ASD regulate emotions and develop self-control.

Keywords: Autism spectrum disorders, CBT, children relaxation training, robot-assisted therapy.

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