Search results for: Adaptive Neuro-Fuzzy Inference System
Commenced in January 2007
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Edition: International
Paper Count: 8905

Search results for: Adaptive Neuro-Fuzzy Inference System

3085 Hospital Administration for Humanized Healthcare in Thailand

Authors: Niwatchai Namwichisirikul

Abstract:

Due to the emergence of “Humanized Healthcare" introduced by Professor Dr. Prawase Wasi in 2003[1], the development of this paradigm tends to be widely implemented. The organizations included Healthcare Accreditation Institute (public organization), National Health Foundation, Mahidol University in cooperation with Thai Health Promotion Foundation, and National Health Security Office (Thailand) have selected the hospitals or infirmaries that are qualified for humanized healthcare since 2008- 2010 and 35 of them are chosen to be the outstandingly navigating organizations for the development of humanized healthcare, humanized healthcare award [2]. The research aims to study the current issue, characteristics and patterns of hospital administration contributing to humanized healthcare system in Thailand. The selected case studies are from four hospitals including Dansai Crown Prince Hospital, Leoi; Ubolrattana Hospital, Khon Kaen; Kapho Hospital, Pattani; and Prathai Hospital, Nakhonrachasima. The methodology is in-depth interviewing with 10 staffs working as hospital executive directors, and representatives from leader groups including directors, multidisciplinary hospital committees, personnel development committees, physicians and nurses in each hospital. (Total=40) In addition, focus group discussions between hospital staffs and general people (including patients and their relatives, the community leader, and other people) are held by means of setting 4 groups including 8 people within each group. (Total=128) The observation on the working in each hospital is also implemented. The findings of the study reveal that there are five important aspects found in each hospital including (1) the quality improvement under the mental and spiritual development policy from the chief executives and lead teams, leaders as Role model and they have visionary leadership; (2) the participation hospital administration system focusing on learning process and stakeholder- needs, spiritual human resource management and development; (3) the relationship among people especially staffs, team work skills, mutual understanding, effective communication and personal inner-development; (4) organization culture relevant to the awareness of patients- rights as well as the participation policy including spiritual growth achieving to the same goals, sharing vision, developing public mind, and caring; and (5) healing structures or environment providing warmth and convenience for hospital staffs, patients and their relatives and visitors.

Keywords: Hospital administration, Humanized healthcare.

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3084 Seismic Time History Analysis for Cable-Stayed Bridge Considering Different Geometrical Configuration For Near Field Earthquakes

Authors: Atul K. Desai

Abstract:

To increase the maximum span of cable-stayed bridges, Uwe Starossek has developed a modified statical system. The basic idea of this new concept is the use of pairs of inclined pylon legs that spread out longitudinally from the foundation base or from the girder level. Spread-pylon cable-stayed bridge has distinct advantage like reduction of sag of cables and oscillation of cable during earthquake over traditional cable-stayed bridges. Spread-pylon also improves seismic performance of deck during strong ground motion.

Keywords: Different geometry of cable stayed bridge, seismic time history analysis, earthquake displacement ratio, response mode shape.

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3083 A Framework for SQL Learning: Linking Learning Taxonomy, Cognitive Model and Cross Cutting Factors

Authors: Huda Al Shuaily, Karen Renaud

Abstract:

Databases comprise the foundation of most software systems. System developers inevitably write code to query these databases. The de facto language for querying is SQL and this, consequently, is the default language taught by higher education institutions. There is evidence that learners find it hard to master SQL, harder than mastering other programming languages such as Java. Educators do not agree about explanations for this seeming anomaly. Further investigation may well reveal the reasons. In this paper, we report on our investigations into how novices learn SQL, the actual problems they experience when writing SQL, as well as the differences between expert and novice SQL query writers. We conclude by presenting a model of SQL learning that should inform the instructional material design process better to support the SQL learning process.

Keywords: Pattern, SQL, learning, model.

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3082 Stability of Alliances between Service Providers

Authors: Helene Le Cadre

Abstract:

Three service providers in competition, try to optimize their quality of service / content level and their service access price. But, they have to deal with uncertainty on the consumers- preferences. To reduce their uncertainty, they have the opportunity to buy information and to build alliances. We determine the Shapley value which is a fair way to allocate the grand coalition-s revenue between the service providers. Then, we identify the values of β (consumers- sensitivity coefficient to the quality of service / contents) for which allocating the grand coalition-s revenue using the Shapley value guarantees the system stability. For other values of β, we prove that it is possible for the regulator to impose a per-period interest rate maximizing the market coverage under equal allocation rules.

Keywords: Alliance, Shapley value, Stability, Repeated game, Interest rate.

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3081 A Survey on Metric of Software Cognitive Complexity for OO design

Authors: A.Aloysius, L. Arockiam

Abstract:

In modern era, the biggest challenge facing the software industry is the upcoming of new technologies. So, the software engineers are gearing up themselves to meet and manage change in large software system. Also they find it difficult to deal with software cognitive complexities. In the last few years many metrics were proposed to measure the cognitive complexity of software. This paper aims at a comprehensive survey of the metric of software cognitive complexity. Some classic and efficient software cognitive complexity metrics, such as Class Complexity (CC), Weighted Class Complexity (WCC), Extended Weighted Class Complexity (EWCC), Class Complexity due to Inheritance (CCI) and Average Complexity of a program due to Inheritance (ACI), are discussed and analyzed. The comparison and the relationship of these metrics of software complexity are also presented.

Keywords: Software Metrics, Software Complexity, Cognitive Informatics, Cognitive Complexity, Software measurement

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3080 Design as Contract and Blueprint – Tackling Maturity Level 1 Software Vendors in an e-School Project

Authors: Yung-Pin Cheng, Ching-Huei Wang

Abstract:

Process improvements have drawn much attention in practical software engineering. The capability maturity levels from CMMI have become an important index to assess a software company-s software engineering capability. However, in countries like Taiwan, customers often have no choices but to deal with vendors that are not CMMI prepared or qualified. We call these vendors maturitylevel- 1 (ML1) vendors. In this paper, we describe our experience from consulting an e-school project. We propose an approach to help our client tackle the ML1 vendors. Through our system analysis, we produce a design. This design is suggested to be used as part of contract and a blueprint to guide the implementation.

Keywords: CMMI, Software Engineering, Software Design, Designas Contract.

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3079 Methanation Catalyst for Low CO Concentration

Authors: Hong-fang Ma, Cong-yi He, Hai-tao Zhang, Wei-yong Ying, Ding-ye Fang

Abstract:

A Ni-based catalyst supported by γ-Al2O3 was prepared by impregnation method, and the catalyst was used in a low CO and CO2 concentration methanation system. The effect of temperature, pressure and space velocity on the methanation reaction was investigated in an experimental fixed-bed reactor. The methanation reaction was operated at the conditions of 190-240°C, 3000-24000ml•g-1•h-1 and 1.5-3.5MPa. The results show that temperature and space velocity play important role on the reaction. With the increase of reaction temperature the CO and CO2 conversion increase and the selectivity of CH4 increase. And with the increase of the space velocity the conversion of CO and CO2 and the selectivity of CH4 decrease sharply.

Keywords: Coke oven gas, methanation, catalyst, fixed-bed.

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3078 Biomechanical Modeling, Simulation, and Comparison of Human Arm Motion to Mitigate Astronaut Task during Extra Vehicular Activity

Authors: B. Vadiraj, S. N. Omkar, B. Kapil Bharadwaj, Yash Vardhan Gupta

Abstract:

During manned exploration of space, missions will require astronaut crewmembers to perform Extra Vehicular Activities (EVAs) for a variety of tasks. These EVAs take place after long periods of operations in space, and in and around unique vehicles, space structures and systems. Considering the remoteness and time spans in which these vehicles will operate, EVA system operations should utilize common worksites, tools and procedures as much as possible to increase the efficiency of training and proficiency in operations. All of the preparations need to be carried out based on studies of astronaut motions. Until now, development and training activities associated with the planned EVAs in Russian and U.S. space programs have relied almost exclusively on physical simulators. These experimental tests are expensive and time consuming. During the past few years a strong increase has been observed in the use of computer simulations due to the fast developments in computer hardware and simulation software. Based on this idea, an effort to develop a computational simulation system to model human dynamic motion for EVA is initiated. This study focuses on the simulation of an astronaut moving the orbital replaceable units into the worksites or removing them from the worksites. Our physics-based methodology helps fill the gap in quantitative analysis of astronaut EVA by providing a multisegment human arm model. Simulation work described in the study improves on the realism of previous efforts, incorporating joint stops to account for the physiological limits of range of motion. To demonstrate the utility of this approach human arm model is simulated virtually using ADAMS/LifeMOD® software. Kinematic mechanism for the astronaut’s task is studied from joint angles and torques. Simulation results obtained is validated with numerical simulation based on the principles of Newton-Euler method. Torques determined using mathematical model are compared among the subjects to know the grace and consistency of the task performed. We conclude that due to uncertain nature of exploration-class EVA, a virtual model developed using multibody dynamics approach offers significant advantages over traditional human modeling approaches.

Keywords: Extra vehicular activity, biomechanics, inverse kinematics, human body modeling.

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3077 Impact of Fair Share and its Configurations on Parallel Job Scheduling Algorithms

Authors: Sangsuree Vasupongayya

Abstract:

To provide a better understanding of fair share policies supported by current production schedulers and their impact on scheduling performance, A relative fair share policy supported in four well-known production job schedulers is evaluated in this study. The experimental results show that fair share indeed reduces heavy-demand users from dominating the system resources. However, the detailed per-user performance analysis show that some types of users may suffer unfairness under fair share, possibly due to priority mechanisms used by the current production schedulers. These users typically are not heavy-demands users but they have mixture of jobs that do not spread out.

Keywords: Fair share, Parallel job scheduler, Backfill, Measures

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3076 Hybrid Function Method for Solving Nonlinear Fredholm Integral Equations of the Second Kind

Authors: jianhua Hou, Changqing Yang, and Beibo Qin

Abstract:

A numerical method for solving nonlinear Fredholm integral equations of second kind is proposed. The Fredholm type equations which have many applications in mathematical physics are then considered. The method is based on hybrid function  approximations. The properties of hybrid of block-pulse functions and Chebyshev polynomials are presented and are utilized to reduce the computation of nonlinear Fredholm integral equations to a system of nonlinear. Some numerical examples are selected to illustrate the effectiveness and simplicity of the method.

Keywords: Hybrid functions, Fredholm integral equation, Blockpulse, Chebyshev polynomials, product operational matrix.

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3075 Application of Neural Network on the Loading of Copper onto Clinoptilolite

Authors: John Kabuba

Abstract:

The study investigated the implementation of the Neural Network (NN) techniques for prediction of the loading of Cu ions onto clinoptilolite. The experimental design using analysis of variance (ANOVA) was chosen for testing the adequacy of the Neural Network and for optimizing of the effective input parameters (pH, temperature and initial concentration). Feed forward, multi-layer perceptron (MLP) NN successfully tracked the non-linear behavior of the adsorption process versus the input parameters with mean squared error (MSE), correlation coefficient (R) and minimum squared error (MSRE) of 0.102, 0.998 and 0.004 respectively. The results showed that NN modeling techniques could effectively predict and simulate the highly complex system and non-linear process such as ionexchange.

Keywords: Clinoptilolite, loading, modeling, Neural network.

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3074 Concrete Gravity Dams and Traveling Wave Effect along Reservoir Bottom

Authors: H. Mirzabozorg, M. Varmazyari

Abstract:

In the present article, effect of non-uniform excitation of reservoir bottom on nonlinear response of concrete gravity dams is considered. Anisotropic damage mechanics approach is used to model nonlinear behavior of mass concrete in 2D space. The tallest monolith of Pine Flat dam is selected as a case study. The horizontal and vertical components of 1967 Koyna earthquake is used to excite the system. It is found that crest response and stresses within the dam body decrease significantly when the reservoir is excited nonuniformly. In addition, the crack profiles within the dam body and in vicinity of the neck decreases.

Keywords: Concrete gravity dam, dam-reservoir-foundation interaction, traveling wave, damage mechanics.

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3073 CAD Based Predictive Models of the Undeformed Chip Geometry in Drilling

Authors: Panagiotis Kyratsis, Dr. Ing. Nikolaos Bilalis, Dr. Ing. Aristomenis Antoniadis

Abstract:

Twist drills are geometrical complex tools and thus various researchers have adopted different mathematical and experimental approaches for their simulation. The present paper acknowledges the increasing use of modern CAD systems and using the API (Application Programming Interface) of a CAD system, drilling simulations are carried out. The developed DRILL3D software routine, creates parametrically controlled tool geometries and using different cutting conditions, achieves the generation of solid models for all the relevant data involved (drilling tool, cut workpiece, undeformed chip). The final data derived, consist a platform for further direct simulations regarding the determination of cutting forces, tool wear, drilling optimizations etc.

Keywords: Drilling, CAD based simulation, 3D-modelling.

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3072 Modeling Studies for Electrocoagulation

Authors: A. Genç, R. Hacıoğlu, B. Bakırcı

Abstract:

Synthetic oily wastewaters were prepared from metal working fluids (MWF). Electrocoagulation experiments were performed under constant voltage application. The current, conductivity, pH, dissolved oxygen concentration and temperature were recorded on line at every 5 seconds during the experiments. Effects of applied voltage differences, electrode materials and distance between electrodes on removal efficiency have been investigated. According to the experimental results, the treatment of MWF wastewaters by iron electrodes rather than aluminum and stainless steel was much quicker; and the distance between electrodes should be less than 1cm. The electrocoagulation process was modeled by using block oriented approach and found out that it can be modeled as a single input and multiple output system. Modeling studies indicates that the electrocoagulation process has a nonlinear model structure.

Keywords: Electrocoagulation, oily wastewater, SIMO systems.

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3071 Enabling Integration across Heterogeneous Care Networks

Authors: Federico Cabitza, Marco P. Locatelli, Marcello Sarini, Carla Simone

Abstract:

The paper shows how the CASMAS modeling language, and its associated pervasive computing architecture, can be used to facilitate continuity of care by providing members of patientcentered communities of care with a support to cooperation and knowledge sharing through the usage of electronic documents and digital devices. We consider a scenario of clearly fragmented care to show how proper mechanisms can be defined to facilitate a better integration of practices and information across heterogeneous care networks. The scenario is declined in terms of architectural components and cooperation-oriented mechanisms that make the support reactive to the evolution of the context where these communities operate.

Keywords: Pervasive Computing, Communities of Care, HeterogeneousCare Networks, Multi-Agent System.

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3070 Modeling and Simulation of Standalone Photovoltaic Charging Stations for Electric Vehicles

Authors: R. Mkahl, A. Nait-Sidi-Moh, M. Wack

Abstract:

Batteries of electric vehicles (BEV) are becoming more attractive with the advancement of new battery technologies and promotion of electric vehicles. BEV batteries are recharged on board vehicles using either the grid (G2V for Grid to Vehicle) or renewable energies in a stand-alone application (H2V for Home to Vehicle). This paper deals with the modeling, sizing and control of a photovoltaic stand-alone application that can charge the BEV at home. The modeling approach and developed mathematical models describing the system components are detailed. Simulation and experimental results are presented and commented.

Keywords: Electric vehicles, photovoltaic energy, lead-acid batteries, charging process, modeling, simulation, experimental tests.

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3069 Salient Points Reduction for Content-Based Image Retrieval

Authors: Yao-Hong Tsai

Abstract:

Salient points are frequently used to represent local properties of the image in content-based image retrieval. In this paper, we present a reduction algorithm that extracts the local most salient points such that they not only give a satisfying representation of an image, but also make the image retrieval process efficiently. This algorithm recursively reduces the continuous point set by their corresponding saliency values under a top-down approach. The resulting salient points are evaluated with an image retrieval system using Hausdoff distance. In this experiment, it shows that our method is robust and the extracted salient points provide better retrieval performance comparing with other point detectors.

Keywords: Barnard detector, Content-based image retrieval, Points reduction, Salient point.

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3068 Motion Planning and Control of Autonomous Robots in a Two-dimensional Plane

Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

This paper proposes a solution to the motion planning and control problem of a point-mass robot which is required to move safely to a designated target in a priori known workspace cluttered with fixed elliptical obstacles of arbitrary position and sizes. A tailored and unique algorithm for target convergence and obstacle avoidance is proposed that will work for any number of fixed obstacles. The control laws proposed in this paper also ensures that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a planar (RP) manipulator will be presented.

Keywords: Point-mass Robot, Asymptotic stability, Motionplanning, Planar Robot Arm.

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3067 A Design for Application of Mobile Agent Technology to MicroService Architecture

Authors: Masayuki Higashino, Toshiya Kawato, Takao Kawamura

Abstract:

A monolithic service is based on the N-tier architecture in many cases. In order to divide a monolithic service into microservices, it is necessary to redefine a model as a new microservice by extracting and merging existing models across layers. Refactoring a monolithic service into microservices requires advanced technical capabilities, and it is a difficult way. This paper proposes a design and concept to ease the migration of a monolithic service to microservices using the mobile agent technology. Our proposed approach, mobile agents-based design and concept, enables to ease dividing and merging services.

Keywords: Mobile agent, microservice, web service, distributed system.

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3066 Investigating the Invalidity of the Law of Energy Conservation Based on Waves Interference Phenomenon Inside a Ringed Waveguide

Authors: M. Yusefzad

Abstract:

Law of energy conservation is one of the fundamental laws of physics. Energy is conserved, and the total amount of energy is constant. It can be transferred from one object to another and changed from one state to another. However, in the case of wave interference, this law faces important contradictions. Based on the presented mathematical relationship in this paper, it seems that validity of this law depends on the path of energy wave, like light, in which it is located. In this paper, by using some fundamental concepts in physics like the constancy of the electromagnetic wave speed in a specific media and wave theory of light, it will be shown that law of energy conservation is not valid in every condition and in some circumstances, it is possible to increase energy of a system with a determined amount of energy without any input.

Keywords: Power, law of energy conservation, electromagnetic wave, interference, Maxwell’s equations.

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3065 Improved Robust Stability Criteria of a Class of Neutral Lur’e Systems with Interval Time-Varying Delays

Authors: Longqiao Zhou, Zixin Liu, Shu Lü

Abstract:

This paper addresses the robust stability problem of a class of delayed neutral Lur’e systems. Combined with the property of convex function and double integral Jensen inequality, a new tripe integral Lyapunov functional is constructed to derive some new stability criteria. Compared with some related results, the new criteria established in this paper are less conservative. Finally, two numerical examples are presented to illustrate the validity of the main results.

Keywords: Lur’e system, Convex function, Jensen integral inequality, Triple-integral method, Exponential stability.

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3064 Development of Configuration Software of Space Environment Simulator Control System Based on Linux

Authors: Zhan Haiyang, Zhang Lei, Ning Juan

Abstract:

This paper presents a configuration software solution in Linux, which is used for the control of space environment simulator. After introducing the structure and basic principle, it is said that the developing of QT software frame and the dynamic data exchanging between PLC and computer. The OPC driver in Linux is also developed. This driver realizes many-to-many communication between hardware devices and SCADA software. Moreover, an algorithm named “Scan PRI” is put forward. This algorithm is much more optimizable and efficient compared with "Scan in sequence" in Windows. This software has been used in practical project. It has a good control effect and can achieve the expected goal.

Keywords: Linux OS, configuration software, OPC server driver, MYSQL database.

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3063 An Optical WDM Network Concept for Tanzania

Authors: S. Pazi, C. Chatwin, R. Young, P. Birch

Abstract:

Tanzania is a developing country, which significantly lags behind the rest of the world in information communications technology (ICT), especially for the Internet. Internet connectivity to the rest of the world is via expensive satellite links, thus leaving the majority of the population unable to access the Internet due to the high cost. This paper introduces the concept of an optical WDM network for Internet infrastructure in Tanzania, so as to reduce Internet connection costs, and provide Internet access to the majority of people who live in both urban and rural areas. We also present a proposed optical WDM network, which mitigates the effects of system impairments, and provide simulation results to show that the data is successfully transmitted over a longer distance using a WDM network.

Keywords: Internet infrastructure, Internet access, Internettraffic, WDM.

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3062 Allocation of Mobile Units in an Urban Emergency Service System

Authors: Dimitra Alexiou

Abstract:

In an urban area the location allocation of emergency services mobile units, such as ambulances, police patrol cars must be designed so as to achieve a prompt response to demand locations. In this paper the partition of a given urban network into distinct sub-networks is performed such that the vertices in each component are close and simultaneously the sums of the corresponding population in the sub-networks are almost uniform. The objective here is to position appropriately in each sub-network a mobile emergency unit in order to reduce the response time to the demands. A mathematical model in framework of graph theory is developed. In order to clarify the corresponding method a relevant numerical example is presented on a small network.

Keywords: Distances, Emergency Service, Graph Partition, location.

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3061 Cost Optimized CO2 Pipeline Transportation Grid: A Case Study from Italian Industries

Authors: P Bumb, U Desideri, F Quattrocchi, L Arcioni

Abstract:

This paper presents the feasibility study of CO2 sequestration from the sources to the sinks in the prospective of Italian Industries. CO2 produced at these sources captured, compressed to supercritical pressures, transported via pipelines and stored in underground geologic formations such as depleted oil and natural gas reservoirs, un-minable coal seams and deep saline aquifers. In this work, we present the optimized pipeline infrastructure for the CO2 with appropriate constraints to find lower cost system by the use of nonlinear optimization software LINGO 11.0. This study was conducted on CO2 transportation complex network of Italian Industries, to find minimum cost network for transporting the CO2 from sources to the sinks.

Keywords: CCS, CO2, ECBM, EU, NAP, LINGO, UNMIG.

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3060 Power Line Carrier for Power Telemetering

Authors: Tosaphol Ratniyomchai, Uthai Jaithong, Thanatchai Kulworawanichpong

Abstract:

This paper presents an application of power line carrier (PLC) for electrical power telemetering. This system has a special capability of transmitting the measured values to a centralized computer via power lines. The PLC modem as a passive high-pass filter is designed for transmitting and receiving information. Its function is to send the information carrier together with transmitted data by superimposing it on the 50 Hz power frequency signal. A microcontroller is employed to function as the main processing of the modem. It is programmed for PLC control and interfacing with other devices. Each power meter, connected via a PLC modem, is assigned with a unique identification number (address) for distinguishing each device from one another.

Keywords: Power telemetering, Power line carrier, High-passfilter, Digital data transmission

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3059 Interconnection of Autonomous PROFIBUS Segments through IEEE 802.16 WMAN

Authors: M. İskefiyeli, İ. Özçelik

Abstract:

PROFIBUS (PROcess FIeld BUS) which is defined with international standarts (IEC61158, EN50170) is the most popular fieldbus, and provides a communication between industrial applications which are located in different control environment and location in manufacturing, process and building automation. Its communication speed is from 9.6 Kbps to 12 Mbps over distances from 100 to 1200 meters, and so it is to be often necessary to interconnect them in order to break these limits. Unfortunately this interconnection raises several issues and the solutions found so far are not very satisfactory. In this paper, we propose a new solution to interconnect PROFIBUS segments, which uses a wireless MAN based on the IEEE 802.16 standard as a backbone system. Also, the solution which is described a model for internetworking unit integrates the traffic generated by PROFIBUS segments into IEEE 802.16 wireless MAN using encapsulation technique.

Keywords: Internetworking Unit, PROFIBUS, WiMAX, WMAN, 802.16.

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3058 Voltage Stability Proximity Index Determined by LES Algorithm

Authors: Benalia Nadia, Bensiali Nadia, Mekki Mounira

Abstract:

In this paper, we propose an easily computable proximity index for predicting voltage collapse of a load bus using only measured values of the bus voltage and power; Using these measurements a polynomial of fourth order is obtained by using LES estimation algorithms. The sum of the absolute values of the polynomial coefficient gives an idea of the critical bus. We demonstrate the applicability of our proposed method on 6 bus test system. The results obtained verify its applicability, as well as its accuracy and the simplicity. From this indicator, it is allowed to predict the voltage instability or the proximity of a collapse. Results obtained by the PV curve are compared with corresponding values by QV curves and are observed to be in close agreement.

Keywords: least square method, Voltage Collapse, Voltage Stability, PV curve

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3057 Observer Based Control of a Class of Nonlinear Fractional Order Systems using LMI

Authors: Elham Amini Boroujeni, Hamid Reza Momeni

Abstract:

Design of an observer based controller for a class of fractional order systems has been done. Fractional order mathematics is used to express the system and the proposed observer. Fractional order Lyapunov theorem is used to derive the closed-loop asymptotic stability. The gains of the observer and observer based controller are derived systematically using the linear matrix inequality approach. Finally, the simulation results demonstrate validity and effectiveness of the proposed observer based controller.

Keywords: Fractional order calculus, Fractional order observer, Linear matrix inequality, Nonlinear Systems, Observer based Controller.

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3056 Real-Time Physics Simulation Packages: An Evaluation Study

Authors: J.Zouhair, D.Ellison

Abstract:

This paper includes a review of three physics simulation packages that can be used to provide researchers with a virtual ground for modeling, implementing and simulating complex models, as well as testing their control methods with less cost and time of development. The inverted pendulum model was used as a test bed for comparing ODE, DANCE and Webots, while Linear State Feedback was used to control its behavior. The packages were compared with respect to model creation, solving systems of differential equation, data storage, setting system variables, control the experiment and ease of use. The purpose of this paper is to give an overview about our experience with these environments and to demonstrate some of the benefits and drawbacks involved in practice for each package.

Keywords: DANCE, Inverted Pendulum, ODE, Simulation Packages, Webots.

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