Search results for: Initial separation

Authors: Samrat Vikramaditya Tiwari, Atul Sewaiwar, Yeon-Ho Chung

Abstract:

Device-to-device (D2D) communication is considered a promising technique to provide wireless peer-to-peer communication services. Due to increasing demand on mobile services, available spectrum for radio frequency (RF) based communications becomes scarce. Recently, visible light communications (VLC) has evolved as a high speed wireless data transmission technology for indoor environments with abundant available bandwidth. In this paper, a novel VLC based D2D communication that provides wireless peer-to-peer communication is proposed. Potential low operating power devices for an efficient D2D communication over increasing distance of separation between devices is analyzed. Optical repeaters (OR) are also proposed to enhance the performance in an environment where direct D2D communications yield degraded performance. Simulation results show that VLC plays an important role in providing efficient D2D communication up to a distance of 1 m between devices. It is also found that the OR significantly improves the coverage distance up to 3.5 m.

Keywords: Visible light communication, light emitting diode, device-to-device, optical repeater.

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Authors: Kitti Leangkrua

Abstract:

This paper presents a risk-based maintenance strategy of a power transformer in order to optimize operating and maintenance costs. The methodology involves the study and preparation of a database for the collection the technical data and test data of a power transformer. An evaluation of the overall condition of each transformer is performed by a program developed as a result of the measured results; in addition, the calculation of the main equipment separation to the overall condition of the transformer (% HI) and the criteria for evaluating the importance (% ImI) of each location where the transformer is installed. The condition assessment is performed by analysis test data such as electrical test, insulating oil test and visual inspection. The condition of the power transformer will be classified from very poor to very good condition. The importance is evaluated from load criticality, importance of load and failure consequence. The risk matrix is developed for evaluating the risk of each power transformer. The high risk power transformer will be focused firstly. The computerized program is developed for practical use, and the maintenance strategy of a power transformer can be effectively managed.

Keywords: Asset management, risk-based maintenance, power transformer, health index.

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Authors: Behzad Moeini Sam, Sara Mohammadi Avandi, Afroz Kianpor

Abstract:

The rituals of fire among the Iranians originate in the general Proto-Indo-European and Indo-Iranian eras when they lived in regions known as the Pontic-Caspian (Indo-Europeans) and Kazakhstan (the Andronovo culture belonging to the Indo-Iranian tribes), and we can get to know about their vulgar heritage despite their separation from each other during several millennia. The early Aryan settlers of Iran had brought their cults to their new home and were bequeathed to them by their Indo-Iranian ancestors. Tradition speaks of several great sacred Iranian fires consecrated by the pre-Zoroastrian kings. Ātar or fire is comparable to the Vedic Agni Atar's functions and elaborately are delineated in the Later Avesta. This paper aims to show the fire cults among the Iranian Lur tribes who originate in the past. Therefore, it will be searched for rituals equally in Indo-European and Indo-Iranian Periods and Old Iranian Texts and their frequency among the Lur tribes. In addition to the library books, we tried to interview the chiefs of Lur tribes. Finally, we concluded that the fire among the Lur Tribes is a sequence of beliefs of the Proto-Indo-European and Indo-Iranian Periods reflected in Old and Middle Iranian texts.

Keywords: Indo-European, Ancient Iran, Fire, Lur, Zoroastrian.

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Authors: K.K. Sharma, K.M.K. Sinha, T.G. Charan, D.D. Haldar

Abstract:

An attempt has been made to beneficiate the Indian coking coal fines by a combination of Spiral, flotation and Oleo Flotation processes. Beneficiation studies were also carried out on - 0.5mm coal fines using flotation and oleo flotation by splitting at size 0.063mm.Size fraction of 0.5mm-0.063mm and -0.063mm size were treated in flotation and Oleo flotation respectively. The washability studies on the fraction 3-0.5 mm indicated that good separation may be achieved when it is fed in a spiral. Combined product of Spiral, Flotation and Oleo Flotation has given a significant yield at acceptable ash%. Studies were also conducted to see the dewatering of combined product by batch type centrifuge. It may further be suggested that combination of different processes may be used to treat the -3 mm fraction in an integrated manner to achieve the yield at the desired ash level. The treatment of the 3/1 mm -0.5 mm size fraction by spiral,-0.5-0.63 mm by conventional froth flotation and - 0.063 fractions by oleo flotation may provide a complete solution of beneficiation and dewatering of coal fines, and can effectively address the environmental problems caused by coal fines.

Keywords: coal fines, dewatering, environment, flotation, oleoflotation, spiral

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Authors: Ahmed Elrewainy

Abstract:

Mixing in the hyperspectral imaging occurs due to the low spatial resolutions of the used cameras. The existing pure materials “endmembers” in the scene share the spectra pixels with different amounts called “abundances”. Unmixing of the data cube is an important task to know the present endmembers in the cube for the analysis of these images. Unsupervised unmixing is done with no information about the given data cube. Sparsity is one of the recent approaches used in the source recovery or unmixing techniques. The l₁-norm optimization problem “basis pursuit” could be used as a sparsity-based approach to solve this unmixing problem where the endmembers is assumed to be sparse in an appropriate domain known as dictionary. This optimization problem is solved using proximal method “iterative thresholding”. The l₁-norm basis pursuit optimization problem as a sparsity-based unmixing technique was used to unmix real and synthetic hyperspectral data cubes.

Keywords: Basis pursuit, blind source separation, hyperspectral imaging, spectral unmixing, wavelets.

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Authors: Yun Bai

Abstract:

As a security mechanism, authorization is to provide access control to the system resources according to the polices and rules specified by the security strategies. Either by update or in the initial specification, conflicts in authorization is an issue needs to be solved. In this paper, we propose a new approach to solve conflict by using prioritized logic programs and discuss the uniqueness of its answer set. Addressing conflict resolution from logic programming viewpoint and the uniqueness analysis of the answer set provide a novel, efficient approach for authorization conflict resolution.

Keywords: authorization, formal specification, conflict resolution, prioritized logic program.

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Authors: Nor Hayati Ibrahim, Shamini Nair Achudan

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This study was conducted in order to determine the physical properties and stability of mayonnaise-like emulsions as affected by modified yam starches. Native yam starch was modified via pre-gelatinization and cross-linking phosphorylation procedures. The emulsions (50% oil dispersed phase) were prepared with 0.3% native potato, native yam, pre-gelatinized yam and cross-linking phosphorylation yam starches. The droplet size of surface weighted mean diameter was found to be significantly (p < 0.05) lower in the sample with cross-linking phosphorylation yam starch as compared to other samples. Moreover, the viscosity of the sample with pregelatinized yam starch was observed to be higher than that of other samples. The phase separation stability was low in the freshly prepared and stored (45 days, 5°C) emulsions containing native yam starch. This study thus generally suggested that modified yam starches were more suitable (i.e. better physical properties and stability) to be used as stabilizers in a similar system i.e. light mayonnaises, rather than a native yam starch.

Keywords: Oil-in-water emulsions, low-fat mayonnaises, modified yam starches, droplet size distribution, viscosity.

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Authors: Milan Hladik

Abstract:

The symmetric solution set Σ sym is the set of all solutions to the linear systems Ax = b, where A is symmetric and lies between some given bounds A and A, and b lies between b and b. We present a contractor for Σ sym, which is an iterative method that starts with some initial enclosure of Σ sym (by means of a cartesian product of intervals) and sequentially makes the enclosure tighter. Our contractor is based on polyhedral approximation and solving a series of linear programs. Even though it does not converge to the optimal bounds in general, it may significantly reduce the overestimation. The efficiency is discussed by a number of numerical experiments.

Keywords: Linear interval systems, solution set, interval matrix, symmetric matrix.

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Authors: A. Soria-Salinas, M.-P. Zorzano, J. Martín-Torres, J. Sánchez-García-Casarrubios, J.-L. Pérez-Díaz, A. Vakkada-Ramachandran

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The current state-of-the-art methods of mass gauging of Electric Propulsion (EP) propellants in microgravity conditions rely on external measurements that are taken at the surface of the tank. The tanks are operated under a constant thermal duty cycle to store the propellant within a pre-defined temperature and pressure range. We demonstrate using computational fluid dynamics (CFD) simulations that the heat-transfer within the pressurized propellant generates temperature and density anisotropies. This challenges the standard mass gauging methods that rely on the use of time changing skin-temperatures and pressures. We observe that the domes of the tanks are prone to be overheated, and that a long time after the heaters of the thermal cycle are switched off, the system reaches a quasi-equilibrium state with a more uniform density. We propose a new gauging method, which we call the Improved PVT method, based on universal physics and thermodynamics principles, existing TRL-9 technology and telemetry data. This method only uses as inputs the temperature and pressure readings of sensors externally attached to the tank. These sensors can operate during the nominal thermal duty cycle. The improved PVT method shows little sensitivity to the pressure sensor drifts which are critical towards the end-of-life of the missions, as well as little sensitivity to systematic temperature errors. The retrieval method has been validated experimentally with CO₂ in gas and fluid state in a chamber that operates up to 82 bar within a nominal thermal cycle of 38 °C to 42 °C. The mass gauging error is shown to be lower than 1% the mass at the beginning of life, assuming an initial tank load at 100 bar. In particular, for a pressure of about 70 bar, just below the critical pressure of CO₂, the error of the mass gauging in gas phase goes down to 0.1% and for 77 bar, just above the critical point, the error of the mass gauging of the liquid phase is 0.6% of initial tank load. This gauging method improves by a factor of 8 the accuracy of the standard PVT retrievals using look-up tables with tabulated data from the National Institute of Standards and Technology.

Keywords: Electric propulsion, mass gauging, propellant, PVT, xenon.

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Authors: Arii Bowo Yudhaprasetya, Ario Guritno, Agus Setiawan, Recky Tehupuring, Cosmas Supriatna

Abstract:

The offshore facilities condition of Pertamina Hulu Energi Offshore North West Java (PHE ONWJ) varies greatly from place to place, depending on the characteristics of the presently installed facilities. In some locations, such as ESA platform, gas trap is mainly caused by the occurrence of flash gas phenomenon which is known as mechanical-physical separation process of multiphase flow. Consequently, the presence of gas trap at main oil line would accumulate on certain areas result in a reduced oil stream throughout the pipeline. Any presence of discrete gaseous along continuous oil flow represents a unique flow condition under certain specific volume fraction and velocity field. From gas lift source, a benefit line is used as a motive flow for ejector which is designed to generate a syphon effect to minimize the gas trap phenomenon. Therefore, the ejector’s exhaust stream will flow to the designated point without interfering other systems.

Keywords: Ejector, diffuser, multiphase flow, syphon effects.

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Authors: Tuqa Abdulrazzaq, Hussein Togun, M. K. A. Ariffin, S. N. Kazi, A. Badarudin, N. M Adam, S. Masuri

Abstract:

Numerical study of heat transfer and fluid flow over vertical double forward facing step were presented. The k-w model with finite volume method was employed to solve continuity, momentum, and energy equations. Different step heights were adopted for range of Reynolds number varied from 10000 to 40000, and range of temperature varied from 310K to 340 K. The straight side of duct is insulated while the side of double forward facing step is heated. The result shows augmentation of heat transfer due to the recirculation region created after and before steps. Effect of step length and Reynolds number observed on increase of local Nusselt number particularly at recirculation regions. Contour of streamline velocity is plotted to show recirculation regions after and before steps. Numerical simulation in this paper done by used ANSYS FLUENT 14.

Keywords: Turbulent flow, Double forward, Heat transfer, Separation flow.

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Authors: A. Hemmati, H. Mirsaeedghazi, M. Aboonajmi

Abstract:

Carrot juice is one of the most nutritious foods that are consumed around the world. Large particles in carrot juice causing turbid appearance make some problems in the concentration process such as off-flavor due to the large particles burnt on the walls of evaporators. Microfiltration (MF) is a pressure driven membrane separation method that can clarify fruit juices without enzymatic treatment. Fouling is the main problem in the membrane process causing reduction of permeate flux. Ultrasound as a cleaning technique was applied at 20 kHz to reduce fouling in membrane clarification of carrot juice using dead-end MF system with polyvinylidene fluoride (PVDF) membrane. Results showed that application of ultrasound waves reduce diphasic characteristic of carrot juice and permeate flux increased. Evaluation of different membrane fouling mechanisms showed that application of ultrasound waves changed creation time of each fouling mechanism. Also, its behavior was changed with varying transmembrane pressure.

Keywords: Carrot juice, dead end, microfiltration, ultrasound.

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Authors: Desmond B. Keenan, Paul Grossman

Abstract:

In order to provide accurate heart rate variability indices of sympathetic and parasympathetic activity, the low frequency and high frequency components of an RR heart rate signal must be adequately separated. This is not always possible by just applying spectral analysis, as power from the high and low frequency components often leak into their adjacent bands. Furthermore, without the respiratory spectra it is not obvious that the low frequency component is not another respiratory component, which can appear in the lower band. This paper describes an adaptive filter, which aids the separation of the low frequency sympathetic and high frequency parasympathetic components from an ECG R-R interval signal, enabling the attainment of more accurate heart rate variability measures. The algorithm is applied to simulated signals and heart rate and respiratory signals acquired from an ambulatory monitor incorporating single lead ECG and inductive plethysmography sensors embedded in a garment. The results show an improvement over standard heart rate variability spectral measurements.

Keywords: Heart rate variability, vagal tone, sympathetic, parasympathetic, spectral analysis, adaptive filter.

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Authors: F. Lemfeld, K. Frana

Abstract:

This article deals with the numerical simulation of the floor heating convector in 3D. Presented convector can operate in two modes – cooling mode and heating mode. This initial numerical simulation is focused on cooling mode of the convector. Models with different temperature of the fins are compared and three various shapes of the fins are examined as well. The objective of the work is to predict air flow and heat transfer inside convector for further optimalization of these devices. For the numerical simulation was used commercial software Ansys Fluent.

Keywords: Cooling output, floor heating convector, numericalsimulation, optimalization.

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Authors: N. M. Kamoh, M. C. Soomiyol

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In this work, a five step continuous method for the solution of third order ordinary differential equations was developed in block form using collocation and interpolation techniques of the shifted Legendre polynomial basis function. The method was found to be zero-stable, consistent and convergent. The application of the method in solving third order initial value problem of ordinary differential equations revealed that the method compared favorably with existing methods.

Keywords: Shifted Legendre polynomials, third order block method, discrete method, convergent.

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Authors: Javier Rivas, Olga Gimeno, Maria Carbajo, Teresa Borralho

Abstract:

Potassium monopersulfate has been decomposed in aqueous solution in the presence of Co(II). The effect of the main operating variables has been assessed. Minimum variations in pH exert a considerable influence on the process kinetics. Thus, when no pH adjustment is considered, the actual effect of variables like initial monopersulfate and/or catalyst concentration may be hindered. As expected, temperature enhances the monopersulfate decomposition rate by following the Arrhenius law. The activation energy in the proximity of 85 kJ/mol has been obtained. Amongst the different solids tested in the monopersulfate decomposition, only the perovskite LaTi0.15Cu0.85O3 has shown a significant catalytic activity.

Keywords: Monopersulfate, Oxone®, Sulfate radicals, Watertreatment.

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Authors: Muhammad A.Rauf, I.Shehadeh, Amal Ahmed, Ahmed Al-Zamly

Abstract:

Removal of Methylene Blue (MB) from aqueous solution by adsorbing it on Gypsum was investigated by batch method. The studies were conducted at 25°C and included the effects of pH and initial concentration of Methylene Blue. The adsorption data was analyzed by using the Langmuir, Freundlich and Tempkin isotherm models. The maximum monolayer adsorption capacity was found to be 36 mg of the dye per gram of gypsum. The data were also analyzed in terms of their kinetic behavior and was found to obey the pseudo second order equation.

Keywords: Adsorption, Dye, Gypsum, Kinetics, Methylene Blue.

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Authors: Rohit Suryawanshi

Abstract:

In this study, the commercial Computational Fluid Dynamics (CFD), ANSYS-Fluent, has been used to optimize the marine propeller with the design of experiment (DOE) method. At the initial stage, different propeller parameters ware selected for the three different levels. The four characteristics factors are: no. of the blade, camber value, pitch delta & chord at the hub. Then, CAD modelling is performed by considering the selected factor and level. In this investigation, a total of 9 test models are simulated with the Reynolds-Averaged Navier-Stokes (RANS) equations. The standard, realizable

Keywords: Marine propeller, Computational Fluid Dynamics, optimization, DOE, propeller thrust.

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Authors: Arash Esmaeili, Zhibang Liu, Yang Xiang, Jimmy Yun, Lei Shao

Abstract:

A high pressure carbon dioxide (CO₂) absorption from a specific gas in a conventional column has been evaluated by the Aspen HYSYS simulator using a wide range of single absorbents and blended solutions to estimate the outlet CO₂ concentration, absorption efficiency and CO₂ loading to choose the most proper solution in terms of CO₂ capture for environmental concerns. The property package (Acid Gas-Chemical Solvent) which is compatible with all applied solutions for the simulation in this study, estimates the properties based on an electrolyte non-random two-liquid (E-NRTL) model for electrolyte thermodynamics and Peng-Robinson equation of state for the vapor and liquid hydrocarbon phases. Among all the investigated single amines as well as blended solutions, piperazine (PZ) and the mixture of piperazine and monoethanolamine (MEA) have been found as the most effective absorbents respectively for CO₂ absorption with high reactivity based on the simulated operational conditions.

Keywords: Absorption, amine solutions, Aspen HYSYS, carbon dioxide, simulation.

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Authors: C. Agrawal, R. Kumar, A. Gupta, B. Chatterjee

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An experimental investigation has been carried out to study the cooling of a hot horizontal Stainless Steel surface of 3 mm thickness, which has 800±10 C initial temperature. A round water jet of 22 ± 1 oC temperature was injected over the hot surface through straight tube type nozzles of 2.5- 4.8 mm diameter and 250 mm length. The experiments were performed for the jet exit to target surface spacing of 4 times of jet diameter and jet Reynolds number of 5000 -24000. The effect of change in jet Reynolds number on the surface quenching has been investigated form the stagnation point to 16 mm spatial location.  

Keywords: Hot-Surface, Jet Impingement, Quenching, Stagnation Point.

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Authors: Hesamodin Ebnodin Hamidi, Mojtaba Rahimi

Abstract:

Along with increasing development of generation of supersonic planes especially fighters and request for increasing the performance and maneuverability scientists and engineers suggested the delta and double delta wing design. One of the areas which was necessary to be researched, was the Aerodynamic review of this type of wings in high angles of attack at low speeds that was very important in landing and takeoff the planes and maneuvers. Leading Edges of the wings,cause the separation flow from wing surface and then formation of powerful vortex with high rotational speed which studing the mechanism and location of formation and also the position of the vortex breakdown in high angles of attack is very important. In this research, a double delta wing with 76o/45o sweep angles at high angle of attack in steady state and incompressible flow were numerically analyzed with Fluent software. With analaysis of the numerical results, we arrived the most important characteristic of the double delta wings which is keeping of lift at high angles of attacks.

Keywords: Double delta wing, high angle of attack, vortex breakdown, incompressible flow.

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Authors: А. V. Panko, Е. V. Ablets, I. G. Kovzun, М. А. Ilyashov

Abstract:

Based upon generalized analysis of modern know-how in the sphere of processing, concentration and purification of iron-ore raw materials (IORM), in particular, the most widespread ferrioxide-silicate materials (FOSM), containing impurities of phosphorus and other elements compounds, noted special role of nanotechnological initiatives in improvement of such processes. Considered ideas of role of nanoparticles in processes of FOSM carbonization with subsequent direct reduction of ferric oxides contained in them to metal phase, as well as in processes of alkali treatment and separation of powered iron from phosphorus compounds. Using the obtained results the wasteless method of solid-phase processing, concentration and purification of IORM and FOSM from compounds of phosphorus, silicon and other impurities was developed and it excels known methods of direct iron reduction from iron ores and metallurgical slimes.

Keywords: Iron ores, solid-phase reduction, nanoparticles in reduction and purification of iron from silicon and phosphorus, wasteless method of ores processing.

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Authors: Wided Guezguez, Nahla Ben Amor

Abstract:

This paper proposes a new decision making approch based on quantitative possibilistic influence diagrams which are extension of standard influence diagrams in the possibilistic framework. We will in particular treat the case where several expert opinions relative to value nodes are available. An initial expert assigns confidence degrees to other experts and fixes a similarity threshold that provided possibility distributions should respect. To illustrate our approach an evaluation algorithm for these multi-source possibilistic influence diagrams will also be proposed.

Keywords: influnece diagram, decision making, graphical decision models, influence diagrams, possibility theory.

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Authors: G. Hodaifa, J. A. Páez, C. Agabo, E. Ramos, J. C. Gutiérrez, A. Rosal

Abstract:

Currently, continuous two-phase decanter process used for olive oil production is the more internationally widespread. The wastewaters generated from this industry (OMW) are a real environmental problem because of its high organic load. Among proposed treatments for these wastewaters, advanced oxidation technologies (Fenton, ozone, photoFenton, etc.) are the most favourable. The direct application of these processes is somewhat expensive. Therefore, the application of a previous stage based on a flocculation-sedimentation operation is of high importance. In this research five commercial flocculants (three cationic, and two anionic) have been used to achieve the separation of phases (liquid clarifiedsludge). For each flocculant, different concentrations (0-1000 mg/L) have been studied. In these experiments, sludge volume formed and the final water quality were determined. The final removal percentages of total phenols (11.3-25.1%), COD (5.6-20.4%), total carbon (2.3-26.5%), total organic carbon (1.50-23.8%), total nitrogen (1.45-24.8%), and turbidity (27.9-61.4%) were determined. The variation on electric conductivity reduction percentage (1-8%) was also determined. Finally, the best flocculants with highest removal percentages have been determined (QG2001 and Flocudex CS49).

Keywords: Flocculants, flocculation, olive oil mill wastewater, water quality.

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Authors: Fred Lacy

Abstract:

Electrical resistivity is a fundamental parameter of metals or electrical conductors. Since resistivity is a function of temperature, in order to completely understand the behavior of metals, a temperature dependent theoretical model is needed. A model based on physics principles has recently been developed to obtain an equation that relates electrical resistivity to temperature. This equation is dependent upon a parameter associated with the electron travel time before being scattered, and a parameter that relates the energy of the atoms and their separation distance. Analysis of the energy parameter reveals that the equation is optimized if the proportionality term in the equation is not constant but varies over the temperature range. Additional analysis reveals that the theoretical equation can be used to determine the mean free path of conduction electrons, the number of defects in the atomic lattice, and the ‘equivalent’ charge associated with the metallic bonding of the atoms. All of this analysis provides validation for the theoretical model and provides insight into the behavior of metals where performance is affected by temperatures (e.g., integrated circuits and temperature sensors).

Keywords: Callendar–van Dusen, conductivity, mean free path, resistance temperature detector, temperature sensor.

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Authors: Buthainah Fahran Al-Dulaimi, Hamza A. Ali

Abstract:

The well known NP-complete problem of the Traveling Salesman Problem (TSP) is coded in genetic form. A software system is proposed to determine the optimum route for a Traveling Salesman Problem using Genetic Algorithm technique. The system starts from a matrix of the calculated Euclidean distances between the cities to be visited by the traveling salesman and a randomly chosen city order as the initial population. Then new generations are then created repeatedly until the proper path is reached upon reaching a stopping criterion. This search is guided by a solution evaluation function.

Keywords: Genetic algorithms, traveling salesman problem solving, optimization.

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Authors: G.Mehdiyeva, M.Imanova, V.Ibrahimov

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Beginning from the creator of integro-differential equations Volterra, many scientists have investigated these equations. Classic method for solving integro-differential equations is the quadratures method that is successfully applied up today. Unlike these methods, Makroglou applied hybrid methods that are modified and generalized in this paper and applied to the numerical solution of Volterra integro-differential equations. The way for defining the coefficients of the suggested method is also given.

Keywords: Integro-differential equations, initial value problem, hybrid methods, predictor-corrector method

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Authors: Mahmoud Zarrini, R. N. Pralhad

Abstract:

Avalanche velocity (from start to track zone) has been estimated in the present model for an avalanche which is triggered artificially by an explosive devise. The initial development of the model has been from the concept of micro-continuum theories [1], underwater explosions [2] and from fracture mechanics [3] with appropriate changes to the present model. The model has been computed for different slab depth R, slope angle θ, snow density ¤ü, viscosity μ, eddy viscosity η*and couple stress parameter η. The applicability of the present model in the avalanche forecasting has been highlighted.

Keywords: Snow avalanche velocity, avalanche zones, shockwave, couple stress fluids.

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Authors: S. Sadi-Nezhad, K. Khalili Damghani, N. Pilevari

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In this article, a mathematical programming model for choosing an optimum portfolio of investments is developed. The investments are considered as investment projects. The uncertainties of the real world are associated through fuzzy concepts for coefficients of the proposed model (i. e. initial investment costs, profits, resource requirement, and total available budget). Model has been coded by using LINGO 11.0 solver. The results of a full analysis of optimistic and pessimistic derivative models are promising for selecting an optimum portfolio of projects in presence of uncertainty.

Keywords: Fuzzy Programming, Fuzzy Knapsack, FuzzyCapital Budgeting, Fuzzy Project Selection

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Authors: Ghasem Abbasnejad, Soheil Zarkandi, Misagh Imani

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In this article the homotopy continuation method (HCM) to solve the forward kinematic problem of the 3-PRS parallel manipulator is used. Since there are many difficulties in solving the system of nonlinear equations in kinematics of manipulators, the numerical solutions like Newton-Raphson are inevitably used. When dealing with any numerical solution, there are two troublesome problems. One is that good initial guesses are not easy to detect and another is related to whether the used method will converge to useful solutions. Results of this paper reveal that the homotopy continuation method can alleviate the drawbacks of traditional numerical techniques.

Keywords: Forward kinematics, Homotopy continuationmethod, Parallel manipulators, Rotation matrix

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