Search results for: intra hybrid

Authors: Chokri Baccouch, Chayma Bahhar, Hedi Sakli, Nizar Sakli, Taoufik Aguili

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This paper presents a hybrid system solar cell antenna for 5G mobile communications networks. We propose here a solar cell antenna with either a front face collection grid or mesh patch. The solar cell antenna of our contribution combines both optical and radiofrequency signals. Thus, we propose two solar cell antenna structures in the frequency bands of future 5G standard respectively in both 2.6 and 3.5 GHz bands. Simulation using the Advanced Design System (ADS) software allows us to analyze and determine the antenna parameters proposed in this work such as the reflection coefficient (S11), gain, directivity and radiated power.

Keywords: Patch antenna, solar cell, DC, RF, 5G.

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Authors: Sónia Alves

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During the last few decades in the academic field, the debate has increased on the effects of social geography on the opportunities of socioeconomic integration. On one hand, it has been discussed how the contents of the urban structure and social geography affect not only the way people interact, but also their chances of social and economic integration. On the other hand, it has also been discussed how the urban structure is also constrained and transformed by the action of social actors. Without questioning the powerful influence of structural factors, related to the logic of the production system, labor markets, education and training, the research has shown the role played by place of residence in shaping individual outcomes such as unemployment. In the context of this debate the importance of territory of residence with respect to the problem of unemployment has been highlighted. Although statistics of unemployment have already demonstrated the unequal incidence of the phenomenon in social groups, the issue of uneven territorial impact on the phenomenon at intra-urban level remains relatively unknown. The purpose of this article is to show and to interpret the spatial patterns of unemployment in the city of Porto using GIS (Geographic Information System - GIS) technology. Under this analysis the overlap of the spatial patterns of unemployment with the spatial distribution of social housing, allows the discussion of the relationship that occurs between these patterns and the reasons that might explain the relative immutability of socioeconomic problems in some neighborhoods.

Keywords: Unemployment, area effects, urban planning, Porto.

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Authors: Kyoung-Jong Park, Woong-Gi Jeon, Hee-Cheol Kim, Dong-Eog Kim, Heung-Kook Choi

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The brain MR imaging-based clinical research and analysis system were specifically built and the development for a large-scale data was targeted. We used the general clinical data available for building large-scale data. Registration period for the selection of the lesion ROI and the region growing algorithm was used and the Mesh-warp algorithm for matching was implemented. The accuracy of the matching errors was modified individually. Also, the large ROI research data can accumulate by our developed compression method. In this way, the correctly decision criteria to the research result was suggested. The experimental groups were age, sex, MR type, patient ID and smoking which can easily be queries. The result data was visualized of the overlapped images by a color table. Its data was calculated by the statistical package. The evaluation for the utilization of this system in the chronic ischemic damage in the area has done from patients with the acute cerebral infarction. This is the cause of neurologic disability index location in the center portion of the lateral ventricle facing. The corona radiate was found in the position. Finally, the system reliability was measured both inter-user and intra-user registering correlation.

Keywords: Software tool design, Cerebral infarction, Brain MR image, Registration

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Authors: F. Lhafiane, A. Elbyed, M. Bouchoum

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Reverse Logistics (RL) Network is considered as complex and dynamic network that involves many stakeholders such as: suppliers, manufactures, warehouse, retails and costumers, this complexity is inherent in such process due to lack of perfect knowledge or conflicting information. Ontologies on the other hand can be considered as an approach to overcome the problem of sharing knowledge and communication among the various reverse logistics partners. In this paper we propose a semantic representation based on hybrid architecture for building the Ontologies in ascendant way, this method facilitates the semantic reconciliation between the heterogeneous information systems that support reverse logistics processes and product data.

Keywords: Reverse Logistics, information management, heterogeneity, Ontologies, semantic web.

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Authors: Bala Dhandayuthapani Veerasamy

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Parallel programming models exist as an abstraction of hardware and memory architectures. There are several parallel programming models in commonly use; they are shared memory model, thread model, message passing model, data parallel model, hybrid model, Flynn-s models, embarrassingly parallel computations model, pipelined computations model. These models are not specific to a particular type of machine or memory architecture. This paper expresses the model program for concurrent approach to data parallel model through java programming.

Keywords: Concurrent, Data Parallel, JDK, Parallel, Thread

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Authors: Hafiz Gulfam Ahmad, Chuangdong Li, Zeeshan Ahmad

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In this paper, we have proposed a parallel IDS and honeypot based approach to detect and analyze the unknown and known attack taxonomy for improving the IDS performance and protecting the network from intruders. The main theme of our approach is to record and analyze the intruder activities by using both the low and high interaction honeypots. Our architecture aims to achieve the required goals by combing signature based IDS, honeypots and generate the new signatures. The paper describes the basic component, design and implementation of this approach and also demonstrates the effectiveness of this approach to reduce the probability of network attacks.

Keywords: Network security, Intrusion detection, Honeypot, Snort, Nmap.

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Authors: P. Sateesh Kumar , S. Ramachandram

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Genetic Zone Routing Protocol (GZRP) is a new hybrid routing protocol for MANETs which is an extension of ZRP by using Genetic Algorithm (GA). GZRP uses GA on IERP and BRP parts of ZRP to provide a limited set of alternative routes to the destination in order to load balance the network and robustness during node/link failure during the route discovery process. GZRP is studied for its performance compared to ZRP in many folds like scalability for packet delivery and proved with improved results. This paper presents the results of the effect of load balancing on GZRP. The results show that GZRP outperforms ZRP while balancing the load.

Keywords: MANET, routing, ZRP, Genetic algorithm, GZRP, load balancing

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Authors: A. Safari, R. Jahani, H. A. Shayanfar, J. Olamaei

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This paper shows the results obtained in the analysis of the impact of distributed generation (DG) on distribution losses and presents a new algorithm to the optimal allocation of distributed generation resources in distribution networks. The optimization is based on a Hybrid Genetic Algorithm and Particle Swarm Optimization (HGAPSO) aiming to optimal DG allocation in distribution network. Through this algorithm a significant improvement in the optimization goal is achieved. With a numerical example the superiority of the proposed algorithm is demonstrated in comparison with the simple genetic algorithm.

Keywords: Distributed Generation, Distribution Networks, Genetic Algorithm, Particle Swarm Optimization.

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Authors: Arshia Azam, J. Amarnath, Ch. D. V. Paradesi Rao

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The advantage of solving the complex nonlinear problems by utilizing fuzzy logic methodologies is that the experience or expert-s knowledge described as a fuzzy rule base can be directly embedded into the systems for dealing with the problems. The current limitation of appropriate and automated designing of fuzzy controllers are focused in this paper. The structure discovery and parameter adjustment of the Branched T-S fuzzy model is addressed by a hybrid technique of type constrained sparse tree algorithms. The simulation result for different system model is evaluated and the identification error is observed to be minimum.

Keywords: Fuzzy logic, branch T-S fuzzy model, tree modeling, complex nonlinear system.

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Authors: Yang Chengmei

Abstract:

In this paper, taking Chinese Nanjing Metro ALSTOM vehicle synthesis brake as an example, the subway with synthetic brake shoe formula components of final product performance, has done a lot of research and performance test, final is drawn with hybrid fiber as reinforcing material, modified phenolic resin as matrix material, and then filling friction modifier performance, by the hot pressing process made a new type of domestic subway brake shoe. The product of the test performance indicators that can replace the similar foreign products.

Keywords: Metro, synthetic brake shoe, component analysis, formula research.

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Authors: Josef Novák, Alena Kohoutková

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The performance of concrete structures in fire depends on several factors which include, among others, the change in material properties due to the fire. Today, fiber reinforced concrete (FRC) belongs to materials which have been widely used for various structures and elements. While the knowledge and experience with FRC behavior under ambient temperature is well-known, the effect of elevated temperature on its behavior has to be deeply investigated. This paper deals with an experimental investigation and stress‑strain relations for hybrid fiber reinforced concrete (HFRC) which contains siliceous aggregates, polypropylene and steel fibers. The main objective of the experimental investigation is to enhance a database of mechanical properties of concrete composites with addition of fibers subject to elevated temperature as well as to validate existing stress-strain relations for HFRC. Within the investigation, a unique heat transport test, compressive test and splitting tensile test were performed on 150 mm cubes heated up to 200, 400, and 600 °C with the aim to determine a time period for uniform heat distribution in test specimens and the mechanical properties of the investigated concrete composite, respectively. Both findings obtained from the presented experimental test as well as experimental data collected from scientific papers so far served for validating the computational accuracy of investigated stress-strain relations for HFRC which have been developed during last few years. Owing to the presence of steel and polypropylene fibers, HFRC becomes a unique material whose structural performance differs from conventional plain concrete when exposed to elevated temperature. Polypropylene fibers in HFRC lower the risk of concrete spalling as the fibers burn out shortly with increasing temperature due to low ignition point and as a consequence pore pressure decreases. On the contrary, the increase in the concrete porosity might affect the mechanical properties of the material. To validate this thought requires enhancing the existing result database which is very limited and does not contain enough data. As a result of the poor database, only few stress-strain relations have been developed so far to describe the structural performance of HFRC at elevated temperature. Moreover, many of them are inconsistent and need to be refined. Most of them also do not take into account the effect of both a fiber type and fiber content. Such approach might be vague especially when high amount of polypropylene fibers are used. Therefore, the existing relations should be validated in detail based on other experimental results.

Keywords: Elevated temperature, fiber reinforced concrete, mechanical properties, stress strain relation.

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Authors: Kazunari Meguro, Shinichi Motomura, Takao Kawamura, Kazunori Sugahara

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We have developed a distributed asynchronous Web based training system. In order to improve the scalability and robustness of this system, all contents and a function are realized on mobile agents. These agents are distributed to computers, and they can use a Peer to Peer network that modified Content-Addressable Network. In this system, all computers offer the function and exercise by themselves. However, the system that all computers do the same behavior is not realistic. In this paper, as a solution of this issue, we present an e-Learning system that is composed of computers of different participation types. Enabling the computer of different participation types will improve the convenience of the system.

Keywords: Distributed Multimedia Systems, e-Learning, P2P, Mobile Agen

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Authors: Y. Deng, X. Li, C. Kwan, B. Raj, R. Stern

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The current speech interfaces in many military applications may be adequate for native speakers. However, the recognition rate drops quite a lot for non-native speakers (people with foreign accents). This is mainly because the nonnative speakers have large temporal and intra-phoneme variations when they pronounce the same words. This problem is also complicated by the presence of large environmental noise such as tank noise, helicopter noise, etc. In this paper, we proposed a novel continuous acoustic feature adaptation algorithm for on-line accent and environmental adaptation. Implemented by incremental singular value decomposition (SVD), the algorithm captures local acoustic variation and runs in real-time. This feature-based adaptation method is then integrated with conventional model-based maximum likelihood linear regression (MLLR) algorithm. Extensive experiments have been performed on the NATO non-native speech corpus with baseline acoustic model trained on native American English. The proposed feature-based adaptation algorithm improved the average recognition accuracy by 15%, while the MLLR model based adaptation achieved 11% improvement. The corresponding word error rate (WER) reduction was 25.8% and 2.73%, as compared to that without adaptation. The combined adaptation achieved overall recognition accuracy improvement of 29.5%, and WER reduction of 31.8%, as compared to that without adaptation.

Keywords: speaker adaptation; environment adaptation; robust speech recognition; SVD; non-native speech recognition

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Authors: Om Pal, Amit Kumar Gupta, R. K. Garg

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An effective supplier selection process is very important to the success of any manufacturing organization. The main objective of supplier selection process is to reduce purchase risk, maximize overall value to the purchaser, and develop closeness and long-term relationships between buyers and suppliers in today’s competitive industrial scenario. The literature on supplier selection criteria and methods is full of various analytical and heuristic approaches. Some researchers have developed hybrid models by combining more than one type of selection methods. It is felt that supplier selection criteria and method is still a critical issue for the manufacturing industries therefore in the present paper the literature has been thoroughly reviewed and critically analyzed to address the issue.

Keywords: Supplier selection, AHP, ANP, TOPSIS, Mathematical Programming

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Authors: Shiyang Zhu, G. Q. Lo, D. L. Kwong

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Silicon photonics is merging as a unified platform for driving photonic based telecommunications and for local photonic based interconnect but it suffers from large footprint as compared with the nanoelectronics. Plasmonics is an attractive alternative for nanophotonics. In this work, two CMOS compatible plasmonic waveguide platforms are compared. One is the horizontal metal-insulator-Si-insulator-metal nanoplasmonic waveguide and the other is metal-insulator-Si hybrid plasmonic waveguide. Various passive and active photonic devices have been experimentally demonstrated based on these two plasmonic waveguide platforms.

Keywords: Plasmonics, on-chip integration, Silicon photonics.

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Authors: Christopher C. Anyadubalu

Abstract:

Biological, psychological and social experiences and perceptions of healthcare services in patients medically diagnosed of coronary heart disease were investigated using a sample of 10 participants whose responses to the in-depth interview questions were analyzed based on inter-and-intra-case analyses. The results obtained revealed that advancing age, single status, divorce and/or death of spouse and the issue of single parenting negatively impacted patients- biopsychosocial experiences. The patients- experiences of physical signs and symptoms, anxiety and depression, past serious medical conditions, use of self-prescribed medications, family history of poor mental/medical or physical health, nutritional problems and insufficient physical activities heightened their risk of coronary attack. Collectivist culture served as a big source of relieve to the patients. Patients- temperament, experience of different chronic life stresses/challenges, mood alteration, regular drinking, smoking/gambling, and family/social impairments compounded their health situation. Patients were satisfied with the biomedical services rendered by the healthcare personnel, whereas their psychological and social needs were not attended to. Effective procedural treatment model, a holistic and multidimensional approach to the treatment of heart disease patients was proposed.

Keywords: Biopsychosocial, Coronary Heart Disease, Experience, Patients, Perception, Perspective.

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Authors: Hamed Alizadeh Dashagholi, Hossein Yousefi-Banaem, Mina Naeimi

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Current study established for EEG signal analysis in patients with language disorder. Language disorder can be defined as meaningful delay in the use or understanding of spoken or written language. The disorder can include the content or meaning of language, its form, or its use. Here we applied Z-score, power spectrum, and coherence methods to discriminate the language disorder data from healthy ones. Power spectrum of each channel in alpha, beta, gamma, delta, and theta frequency bands was measured. In addition, intra hemispheric Z-score obtained by scoring algorithm. Obtained results showed high Z-score and power spectrum in posterior regions. Therefore, we can conclude that peoples with language disorder have high brain activity in frontal region of brain in comparison with healthy peoples. Results showed that high coherence correlates with irregularities in the ERP and is often found during complex task, whereas low coherence is often found in pathological conditions. The results of the Z-score analysis of the brain dynamics showed higher Z-score peak frequency in delta, theta and beta sub bands of Language Disorder patients. In this analysis there were activity signs in both hemispheres and the left-dominant hemisphere was more active than the right.

Keywords: EEG, electroencephalography, coherence methods, language disorder, power spectrum, z-score.

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Authors: Paul David Henry

Abstract:

This paper describes the results and implications of a correlational study of learning styles and learner satisfaction. The relationship of these empirical concepts was examined in the context of traditional versus e-blended modes of course delivery in an introductory graduate research course. Significant results indicated that the visual side of the visual-verbal dimension of students- learning style(s) was positively correlated to satisfaction with themselves as learners in an e-blended course delivery mode and negatively correlated to satisfaction with the classroom environment in the context of a traditional classroom course delivery mode.

Keywords: Course delivery mode, e-blended, hybrid, learner satisfaction, learning style.

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Authors: S. Balaji, M. Rajaram

Abstract:

The method of introducing the proxy interpretation for sending and receiving requests increase the capability of the server and our approach UDIV (User-Data Identity Security) to solve the data and user authentication without extending size of the data makes better than hybrid IDS (Intrusion Detection System). And at the same time all the security stages we have framed have to pass through less through that minimize the response time of the request. Even though an anomaly detected, before rejecting it the proxy extracts its identity to prevent it to enter into system. In case of false anomalies, the request will be reshaped and transformed into legitimate request for further response. Finally we are holding the normal and abnormal requests in two different queues with own priorities.

Keywords: IDS, Data & User authentication, UDIS.

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Authors: R. Bremananth, A. Chitra

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Cryptography provides the secure manner of information transmission over the insecure channel. It authenticates messages based on the key but not on the user. It requires a lengthy key to encrypt and decrypt the sending and receiving the messages, respectively. But these keys can be guessed or cracked. Moreover, Maintaining and sharing lengthy, random keys in enciphering and deciphering process is the critical problem in the cryptography system. A new approach is described for generating a crypto key, which is acquired from a person-s iris pattern. In the biometric field, template created by the biometric algorithm can only be authenticated with the same person. Among the biometric templates, iris features can efficiently be distinguished with individuals and produces less false positives in the larger population. This type of iris code distribution provides merely less intra-class variability that aids the cryptosystem to confidently decrypt messages with an exact matching of iris pattern. In this proposed approach, the iris features are extracted using multi resolution wavelets. It produces 135-bit iris codes from each subject and is used for encrypting/decrypting the messages. The autocorrelators are used to recall original messages from the partially corrupted data produced by the decryption process. It intends to resolve the repudiation and key management problems. Results were analyzed in both conventional iris cryptography system (CIC) and non-repudiation iris cryptography system (NRIC). It shows that this new approach provides considerably high authentication in enciphering and deciphering processes.

Keywords: Autocorrelators, biometrics cryptography, irispatterns, wavelets.

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Authors: Z. G. Wang, M. Rahman, Y. S. Wong, K. S. Neo

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In this paper, a new hybrid of genetic algorithm (GA) and simulated annealing (SA), referred to as GSA, is presented. In this algorithm, SA is incorporated into GA to escape from local optima. The concept of hierarchical parallel GA is employed to parallelize GSA for the optimization of multimodal functions. In addition, multi-niche crowding is used to maintain the diversity in the population of the parallel GSA (PGSA). The performance of the proposed algorithms is evaluated against a standard set of multimodal benchmark functions. The multi-niche crowding PGSA and normal PGSA show some remarkable improvement in comparison with the conventional parallel genetic algorithm and the breeder genetic algorithm (BGA).

Keywords: Crowding, genetic algorithm, parallel geneticalgorithm, simulated annealing.

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Authors: Nahla Barakat, Joachim Diederich

Abstract:

Support vector machines (SVMs) have shown superior performance compared to other machine learning techniques, especially in classification problems. Yet one limitation of SVMs is the lack of an explanation capability which is crucial in some applications, e.g. in the medical and security domains. In this paper, a novel approach for eclectic rule-extraction from support vector machines is presented. This approach utilizes the knowledge acquired by the SVM and represented in its support vectors as well as the parameters associated with them. The approach includes three stages; training, propositional rule-extraction and rule quality evaluation. Results from four different experiments have demonstrated the value of the approach for extracting comprehensible rules of high accuracy and fidelity.

Keywords: Data mining, hybrid rule-extraction algorithms, medical diagnosis, SVMs

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Authors: S. Brahim, M. S. Mohamad, E. Zakaria, N. Sarnon@Kusenin

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This study aimed to explore the practical experience of child welfare caseworkers and professionalism in child case management in Malaysia. This paper discussed the specific social work practice competency and the challenges faced by child caseworkers in the fieldwork. This research was qualitative with grounded theory approach. Four sessions of focused group discussion (FGD) were conducted involving a total of 27 caseworkers (child protector and probation officers) in the Klang Valley. The study found that the four basic principles of knowledge in child case management namely: 1. knowledge in child case management; 2. professional values of caseworkers towards children; 3. skills in managing cases; and 4. culturally competent practice in child case management. In addition, major challenges faced by the child case manager are the capacity and commitment of the family in children’s rehabilitation program, the credibility of caseworkers are being challenged, and the challenges of support system from intra and interagency. This study is important for policy makers to take into account the capacity and the needs of the child’s caseworker in accordance with the national social work competency framework. It is expected that case management services for children will improve systematically in line with national standards.

Keywords: Social work practice, child case management, competency-based knowledge, and professionalism.

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Authors: Hossein Abbasi

Abstract:

The stability is an important topic to plan and manage the energy in the microgrids as the same as the conventional power systems. The voltage and frequency stability is one of the most important issues recently studied in microgrids. The objectives of this paper are the modelling and designing of the components and optimal controllers for the voltage and frequency control of the AC/DC hybrid microgrid under the different disturbances. Since the PI controllers have the advantages of simple structure and easy implementation, so they are designed and modeled in this paper. The harmony search (HS) algorithm is used to optimize the controllers’ parameters. According to the achieved results, the PI controllers have a good performance in voltage and frequency control of the microgrid.

Keywords: Frequency control, HS algorithm, microgrid, PI controller, voltage control.

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Authors: A. M. Sagir

Abstract:

This paper derived four newly schemes which are combined in order to form an accurate and efficient block method for parallel or sequential solution of third order ordinary differential equations of the form y''' = f(x, y, y', y''), y(α)=y₀, y'(α)=β, y''(α)=η with associated initial or boundary conditions. The implementation strategies of the derived method have shown that the block method is found to be consistent, zero stable and hence convergent. The derived schemes were tested on stiff and non – stiff ordinary differential equations, and the numerical results obtained compared favorably with the exact solution.

Keywords: Block Method, Hybrid, Linear Multistep, Self starting, Third Order Ordinary Differential Equations.

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Authors: Sulaiman Yunus

Abstract:

The need for modeling response to urban fire disaster cannot be over emphasized, as recurrent fire outbreaks have gutted most cities of the world. This necessitated the need for a prompt and efficient response system in order to mitigate the impact of the disaster. Promptness, as a function of time, is seen to be the fundamental determinant for efficiency of a response system and magnitude of a fire disaster. Delay, as a result of several factors, is one of the major determinants of promptgness of a response system and also the magnitude of a fire disaster. Response Delay Model (RDM) intends to bridge the gap in urban fire disaster response system through incorporating and synchronizing the delay moments in measuring the overall efficiency of a response system and determining the magnitude of a fire disaster. The model identified two delay moments (pre-notification and Intra-reflex sequence delay) that can be elastic and collectively plays a significant role in influencing the efficiency of a response system. Due to variation in the elasticity of the delay moments, the model provides for measuring the length of delays in order to arrive at a standard average delay moment for different parts of the world, putting into consideration geographic location, level of preparedness and awareness, technological advancement, socio-economic and environmental factors. It is recommended that participatory researches should be embarked on locally and globally to determine standard average delay moments within each phase of the system so as to enable determining the efficiency of response systems and predicting fire disaster magnitudes.

Keywords: Delay moment, fire disaster, reflex sequence, response, response delay moment.

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Authors: A. C. Khor, M. R. Mohamed, M. H. Sulaiman, M. R. Daud

Abstract:

Packaging for vanadium redox flow battery is one of the key elements for successful implementation of flow battery in the electrical energy storage system. Usually the bulky battery size and low energy densities make this technology not available for mobility application. ThereforeRFB with improved packaging size and energy capacity are highly desirable. This paper focuses on the study of packaging improvement for unit cell V-RFB to the application on Series Hybrid Electric Vehicle. Two different designs of 25cm² and 100cm² unit cell V-RFB at same current density are used for the sample in this investigation. Further suggestions on packaging improvement are highlighted.

Keywords: Electric vehicle, Redox flow battery, Packaging, Vanadium.

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Authors: Praloy Kumar Biswas, Prof. Dipanwita Roy Chowdhury

Abstract:

Grobner basis calculation forms a key part of computational commutative algebra and many other areas. One important ramification of the theory of Grobner basis provides a means to solve a system of non-linear equations. This is why it has become very important in the areas where the solution of non-linear equations is needed, for instance in algebraic cryptanalysis and coding theory. This paper explores on a parallel-distributed implementation for Grobner basis calculation over GF(2). For doing so Buchberger algorithm is used. OpenMP and MPI-C language constructs have been used to implement the scheme. Some relevant results have been furnished to compare the performances between the standalone and hybrid (parallel-distributed) implementation.

Keywords: Grobner basis, Buchberger Algorithm, Distributed- Parallel Computation, OpenMP, MPI.

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Authors: T. Messikh, S. Mekhilef, N. A. Rahim

Abstract:

This paper presents an effective technique for harmonic current mitigation using an adaptive notch filter (ANF) to estimate current harmonics. The proposed filter consists of multiple units of ANF connected in parallel structure; each unit is governed by two ordinary differential equations. The frequency estimation is carried out based on the output of these units. The simulation and experimental results show the ability of the proposed tracking scheme to accurately estimate harmonics. The proposed filter was implemented digitally in TMS320F2808 and used in the control of hybrid active power filter (HAPF). The theoretical expectations are verified and demonstrated experimentally.

Keywords: Adaptive notch filter, Active power filter, harmonic filtering, Time varying frequency.

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Authors: M. M. Fateh, A. Izadbakhsh

Abstract:

A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed control approach can guarantee the stability and a satisfactory tracking performance. A two-link elbow manipulator driven by electrical actuators is simulated and results are shown to satisfy conditions under technical specifications.

Keywords: Computed torque, manipulator, robust control, state space.

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