Search results for: Hoda Saad AboRemila

Authors: Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim, M. Nabil Kabbaj

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This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application.

Keywords: Cable-driven multibody system, computed-torque controller, lower limb rehabilitation, tracking trajectory.

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Authors: Nada Jasim Habeeb, Rana Saad Mohammed, Muntaha Khudair Abbass

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For more efficient and fast video summarization, this paper presents a surveillance video summarization method. The presented method works to improve video summarization technique. This method depends on temporal differencing to extract most important data from large video stream. This method uses histogram differencing and Sum Conditional Variance which is robust against to illumination variations in order to extract motion objects. The experimental results showed that the presented method gives better output compared with temporal differencing based summarization techniques.

Keywords: Temporal differencing, video summarization, histogram differencing, sum conditional variance.

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Authors: Sundus Ayyaz, Saad Rehman, Usman Qamar

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Software Architecture is the basic structure of software that states the development and advancement of a software system. Software architecture is also considered as a significant tool for the construction of high quality software systems. A clean design leads to the control, value and beauty of software resulting in its longer life while a bad design is the cause of architectural erosion where a software evolution completely fails. This paper discusses the occurrence of software architecture erosion and presents a set of methods for the detection, declaration and prevention of architecture erosion. The causes and symptoms of architecture erosion are observed with the examples of prescriptive and descriptive architectures and the practices used to stop this erosion are also discussed by considering different types of software erosion and their affects. Consequently finding and devising the most suitable approach for fighting software architecture erosion and in some way reducing its affect is evaluated and tested on different scenarios.

Keywords: Software Architecture, Architecture Erosion, Prescriptive Architecture, Descriptive Architecture.

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Authors: Saad Nahi Saleh

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This paper presents the prediction of air flow, humidity and temperature patterns in a co-current pilot plant spray dryer fitted with a pressure nozzle using a three dimensional model. The modelling was done with a Computational Fluid Dynamic package (Fluent 6.3), in which the gas phase is modelled as continuum using the Euler approach and the droplet/ particle phase is modelled by the Discrete Phase model (Lagrange approach).Good agreement was obtained with published experimental data where the CFD simulation correctly predicts a fast downward central flowing core and slow recirculation zones near the walls. In this work, the effects of the air flow pattern on droplets trajectories, residence time distribution of droplets and deposition of the droplets on the wall also were investigated where atomizing of maltodextrin solution was used.

Keywords: Spray, CFD, multiphase, drying, droplet, particle.

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Authors: Qasim Khan, Furkan Ahmad, Asfar A. Khan, M. Saad Alam, Faiz Ahmad

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In this paper, partial discharge analysis is performed in cavities artificially created in insulation. The setup is according with Cigre-II Method. Circular Samples created from Perspex Sheet with different configuration with changing number of cavities. Assessment of insulation health can be performed by Partial Discharge measurement as this has been found to be important means of condition monitoring. The experiments are done using MPD 540, which is a modern partial discharge measurement system. By analyzing the PD activity obtained for various voids/cavities, it is observed that the PD voltages show variation for cavity’s diameter, depth even for its ratios. This can be employed for scrutiny of insulation system.

Keywords: Partial discharges, condition monitoring, MPD 540, cavities/defects, degradation and corrosion, PMMA.

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Authors: Saad Al-Gahtani, Ghassan H Al Shatter

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Argument over the use of particular method in interlanguage pragmatics has increased recently. Researchers argued the advantages and disadvantages of each method either natural or elicited. Findings of different studies indicated that the use of one method may not provide enough data to answer all its questions. The current study investigated the validity of using multimethod approach in interlanguage pragmatics to understand the development of requests in Arabic as a second language (Arabic L2). To this end, the study adopted two methods belong to two types of data sources: the institutional discourse (natural data), and the role play (elicited data). Participants were 117 learners of Arabic L2 at the university level, representing four levels (beginners, low-intermediate, highintermediate, and advanced). Results showed that using two or more methods in interlanguage pragmatics affect the size and nature of data.

Keywords: Arabic L2, Development of requests, Interlanguage Pragmatics, Multimethod approach.

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Authors: Christopher Spiewak, M. R. Islam, Mohammad Arifur Rahaman, Mohammad H. Rahman, Roger Smith, Maarouf Saad

Abstract:

For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.

Keywords: Biorobotics, rehabilitation, nonlinear control, robotic assistive device, exoskeleton.

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Authors: Bagher Rahimpour Cami, Hamid Hassanpour, Hoda Mashayekhi

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Nowadays websites provide a vast number of resources for users. Recommender systems have been developed as an essential element of these websites to provide a personalized environment for users. They help users to retrieve interested resources from large sets of available resources. Due to the dynamic feature of user preference, constructing an appropriate model to estimate the user preference is the major task of recommender systems. Profile matching and latent factors are two main approaches to identify user preference. In this paper, we employed the latent factor and profile matching to cluster the user profile and identify user preference, respectively. The method uses the Distance Dependent Chines Restaurant Process as a Bayesian nonparametric framework to extract the latent factors from the user profile. These latent factors are mapped to user interests and a weighted distribution is used to identify user preferences. We evaluate the proposed method using a real-world data-set that contains news tweets of a news agency (BBC). The experimental results and comparisons show the superior recommendation accuracy of the proposed approach related to existing methods, and its ability to effectively evolve over time.

Keywords: Content-based recommender systems, dynamic user modeling, extracting user interests, predicting user preference.

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Authors: Abdelaziz Sahbani, Kamel Ben Saad, Mohamed Benrejeb

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This paper deals with the comparison between two proposed control strategies for a DC-DC boost converter. The first control is a classical Sliding Mode Control (SMC) and the second one is a distance based Fuzzy Sliding Mode Control (FSMC). The SMC is an analytical control approach based on the boost mathematical model. However, the FSMC is a non-conventional control approach which does not need the controlled system mathematical model. It needs only the measures of the output voltage to perform the control signal. The obtained simulation results show that the two proposed control methods are robust for the case of load resistance and the input voltage variations. However, the proposed FSMC gives a better step voltage response than the one obtained by the SMC.

Keywords: Boost DC-DC converter, Sliding Mode Control (SMC), Fuzzy Sliding Mode Control (FSMC), Robustness.

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Authors: Saad S. Alrwashdeh, Henning Markötter, Handri Ammari, Jan Haußmann, Tobias Arlt, Joachim Scholta, Ingo Manke

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In this investigation, synchrotron X-ray imaging is used to study water transport inside polymer electrolyte membrane fuel cells. Two measurement techniques are used, namely in-situ radiography and quasi-in-situ tomography combining together in order to reveal the relationship between the structures of the microporous layers (MPLs) and the gas diffusion layers (GDLs), the operation temperature and the water flow. The developed cell is equipped with a thick GDL and a high back pressure MPL. It is found that these modifications strongly influence the overall water transport in the whole adjacent GDM.

Keywords: Polymer electrolyte membrane fuel cell, microporous layer, water transport, radiography, tomography.

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Authors: Mohamed Mahmoud Hasan, Hoda M. O. Mokhtar

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With the gigantic increment in portable applications use and the spread of positioning and location-aware technologies that we are seeing today, new procedures and methodologies for location-based strategies are required. Location recommendation is one of the highly demanded location-aware applications uniquely with the wide accessibility of social network applications that are location-aware including Facebook check-ins, Foursquare, and others. In this paper, we aim to present a new methodology for location recommendation. The proposed approach coordinates customary spatial traits alongside other essential components including shortest distance, and user interests. We also present another idea namely, "activity trajectory" that represents trajectory that fulfills the set of activities that the user is intrigued to do. The approach dispatched acquaints the related distance value to select trajectory(ies) with minimum cost value (distance) and spatial-area to prune unneeded directions. The proposed calculation utilizes the idea of movement direction to prescribe most comparable N-trajectory(ies) that matches the client's required action design with least voyaging separation. To upgrade the execution of the proposed approach, parallel handling is applied through the employment of a MapReduce based approach. Experiments taking into account genuine information sets were built up and tested for assessing the proposed approach. The exhibited tests indicate how the proposed approach beets different strategies giving better precision and run time.

Keywords: Location-based recommendation, map-reduce, recommendation system, trajectory search.

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Authors: Mohd Sazli Saad, Hishamuddin Jamaluddin, Intan Zaurah Mat Darus

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This paper presents the development of an active vibration control using direct adaptive controller to suppress the vibration of a flexible beam system. The controller is realized based on linear parametric form. Differential evolution optimisation algorithm is used to optimize the controller using single objective function by minimizing the mean square error of the observed vibration signal. Furthermore, an alternative approach is developed to systematically search for the best controller model structure together with it parameter values. The performance of the control scheme is presented and analysed in both time and frequency domain. Simulation results demonstrate that the proposed scheme is able to suppress the unwanted vibration effectively.

Keywords: flexible beam, finite difference method, active vibration control, differential evolution, direct adaptive controller

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Authors: Abdelaziz Sahbani, Kamel Ben Saad, Mohamed Benrejeb

Abstract:

This paper proposes a Fuzzy Sliding Mode Control (FSMC) as a control strategy for Buck-Boost DC-DC converter. The proposed fuzzy controller specifies changes in the control signal based on the knowledge of the surface and the surface change to satisfy the sliding mode stability and attraction conditions. The performances of the proposed fuzzy sliding controller are compared to those obtained by a classical sliding mode controller. The satisfactory simulation results show the efficiency of the proposed control law which reduces the chattering phenomenon. Moreover, the obtained results prove the robustness of the proposed control law against variation of the load resistance and the input voltage of the studied converter.

Keywords: Buck Boost converter, Sliding Mode Control, Fuzzy Sliding Mode Control, robustness, chattering.

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Authors: Saad Al-Baddai, Karema Al-Subari, Elmar Lang, Bernd Ludwig

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Empirical mode decomposition (EMD), a new data-driven of time-series decomposition, has the advantage of supposing that a time series is non-linear or non-stationary, as is implicitly achieved in Fourier decomposition. However, the EMD suffers of mode mixing problem in some cases. The aim of this paper is to present a solution for a common type of signals causing of EMD mode mixing problem, in case a signal suffers of an intermittency. By an artificial example, the solution shows superior performance in terms of cope EMD mode mixing problem comparing with the conventional EMD and Ensemble Empirical Mode decomposition (EEMD). Furthermore, the over-sifting problem is also completely avoided; and computation load is reduced roughly six times compared with EEMD, an ensemble number of 50.

Keywords: Empirical mode decomposition, mode mixing, sifting process, over-sifting.

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Authors: Saad Mutashar, M. A. Hannan, S. A. Samad, A. Hussain

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This paper deals with the modified wireless power transmission system for biomedical implanted devices. The system consists of efficient class-E power amplifier and inductive power links based on spiral circular transmitter and receiver coils. The model of the class-E power amplifier operated with 13.56 MHz is designed, discussed and analyzed in which it is achieved 87.2% of efficiency. The inductive coupling method is used to achieve link efficiency up to 73% depending on the electronic remote system resistance. The improved system powered with 3.3 DC supply and the voltage across the transmitter side is 40 V whereas, cross the receiver side is 12 V which is rectified to meet the implanted micro-system circuit requirements. The system designed and simulated by NI MULTISIM 11.02.

Keywords: Wireless Transmission, inductive coupling, implanted devices, class-E power amplifier, coils design.

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Authors: Bushra Malik, Saad Zafar

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Inadequate curriculum for software engineering is considered to be one of the most common software risks. A number of solutions, on improving Software Engineering Education (SEE) have been reported in literature but there is a need to collectively present these solutions at one place. We have performed a mapping study to present a broad view of literature; published on improving the current state of SEE. Our aim is to give academicians, practitioners and researchers an international view of the current state of SEE. Our study has identified 70 primary studies that met our selection criteria, which we further classified and categorized in a well-defined Software Engineering educational framework. We found that the most researched category within the SE educational framework is Innovative Teaching Methods whereas the least amount of research was found in Student Learning and Assessment category. Our future work is to conduct a Systematic Literature Review on SEE.

Keywords: Mapping Study, Software Engineering, Software Engineering Education, Literature Survey.

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Authors: Yasser M. Saad, Heba El-Sebaie Abd El-Sadek

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Some Metapenaeus monoceros cox1 gene fragments were isolated, purified, sequenced, and comparatively analyzed with some other Crustacean Cox1 gene sequences (obtained from National Center for Biotechnology Information). This work was designed for testing the efficiency of this system in reconstruction of phylogenetic relations among some Crustacean species belonging to four genera (Metapenaeus, Artemia, Daphnia and Calanus). The single nucleotide polymorphism and haplotype diversity were calculated for all estimated mt-DNA fragments. The genetic distance values were 0.292, 0.015, 0.151, and 0.09 within Metapenaeus species, Calanus species, Artemia species, and Daphnia species, respectively. The reconstructed phylogenetic tree is clustered into some unique clades. Cytochrome oxidase subunit 1 gene (cox1) was a powerful system in reconstruction of phylogenetic relations among evaluated crustacean species.

Keywords: Crustacean, Genetics, cox1, phylogeny.

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Authors: Saad Mutashar Abbas, M. A. Hannan, S. A. Samad, A. Hussain

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This paper presented a proposed design for transcutaneous inductive powering links. The design used to transfer power and data to the implanted devices such as implanted Microsystems to stimulate and monitoring the nerves and muscles. The system operated with low band frequency 13.56 MHZ according to industrial- scientific – medical (ISM) band to avoid the tissue heating. For external part, the modulation index is 13 % and the modulation rate 7.3% with data rate 1 Mbit/s assuming Tbit=1us. The system has been designed using 0.35-μm fabricated CMOS technology. The mathematical model is given and the design is simulated using OrCAD P Spice 16.2 software tool and for real-time simulation the electronic workbench MULISIM 11 has been used. The novel circular plane (pancake) coils was simulated using ANSOFT- HFss software.

Keywords: Implanted devices, ASK techniques, Class-E power amplifier, Inductive powering and low-frequency ISM band.

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Authors: Saad F. Al Nuaimi

Abstract:

Energy consumption is a very important topic these days especially regarding air conditioning in residential buildings, since this takes the biggest amount of energy in buildings total consumption, residential buildings constitute the biggest percentage of energy consumption in Bahrain. This research reflects on the effects of shading percentage in different solar orientations on the energy consumption inside residential buildings (domestic dwellings). The research as found that, there are different effects of shading in changing building orientation: • 0.69% for the shading percentage 25% when the building is oriented to the north (0º); • 18.59% for 75% of shading in north-west orientation (325º); • The best effect for shading is in north-west orientation (315º); • The less effect for shading was in case of the building orientation is the north (0º).

Keywords: Bahraini buildings, Building shading, energy consumption, residential buildings, shading effects.

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Authors: S. Safi, M. Frikel, M. M'Saad, A. Zeroual

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This paper describes a blind algorithm for estimating a time varying and frequency selective fading channel. In order to identify blindly the impulse response of these channels, we have used Higher Order Statistics (HOS) to build our algorithm. In this paper, we have selected two theoretical frequency selective channels as the Proakis-s 'B' channel and the Macchi-s channel, and one practical frequency selective fading channel called Broadband Radio Access Network (BRAN A). The simulation results in noisy environment and for different data input channel, demonstrate that the proposed method could estimate the phase and magnitude of these channels blindly and without any information about the input, except that the input excitation is i.i.d (Identically and Independent Distributed) and non-Gaussian.

Keywords: Frequency response, system identification, higher order statistics, communication channels, phase estimation.

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Authors: Nouf Saad Alnassar, Susan Grant, Ray Holland

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This research study examines cases of Saudi Arabian universities and female academics for work environment issues within the context of design management applications. The study proposes use of design research, ergonomics and systems design thinking to develop the university design which facilitates removal of physical and cognitive barriers for female academics. Review of literature demonstrates that macro and micro ergonomic combined with design management and system design strategies can significantly improve the workplace design for female academics. The university design model would be prepared based on the analyses of primary data obtained from archived documents, participants' observation logs, photo audits, focus groups and semi-structured interviews of currently employed female academics in the selected case universities.

Keywords: Design management, workplace design, university design, ergonomics.

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Authors: Raouf Fareh, Maarouf Saad, Sofiane Khadraoui, Tamer Rabie

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This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cannot be generated directly by the motors. To overcome this problem, the second level of the controllers, dynamic control, is designed. This dynamic control law is developed based on Lyapunov theory in order to track the desired trajectories of the mobile robot. The stability of the tracking error is proved using Lupunov and Barbalat approaches. Simulation results on a nonholonomic wheeled mobile robot are given to demonstrate the feasibility and effectiveness of the presented approach.

Keywords: Mobile robot, trajectory tracking, Lyapunov, stability.

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Authors: Walid M. Saad

Abstract:

techniques are examined to overcome the performance degradation caused by the channel dispersion using slow frequency hopping (SFH) with dynamic frequency hopping (DFH) pattern adaptation. In DFH systems, the frequency slots are selected by continuous quality monitoring of all frequencies available in a system and modification of hopping patterns for each individual link based on replacing slots which its signal to interference ratio (SIR) measurement is below a required threshold. Simulation results will show the improvements in BER obtained by DFH in comparison with matched frequency hopping (MFH), random frequency hopping (RFH) and multi-carrier code division multiple access (MC-CDMA) in multipath slowly fading dispersive channels using a generalized bandpass two-path transfer function model, and will show the improvement obtained according to the threshold selection.

Keywords: code division multiple access (CDMA), dynamic channel allocation (DCA), dynamic channel assignment, frequency hopping, matched frequency hopping (MFH).

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Authors: Shahrazed Medeghri, Saad Hamzaoui, Mokhtar Zerdali

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The metallurgical grade silicon (MG-Si) is obtained from the reduction of silica (SiO₂) in an induction furnace or an electric arc furnace. Impurities inherent in reduction process also depend on the quality of the raw material used. Among the applications of the silicon, it is used as a substrate for the photovoltaic conversion of solar energy and this conversion is wider as the purity of the substrate is important. Research is being done where the purpose is looking for new methods of manufacturing and purification of silicon, as well as new materials that can be used as substrates for the photovoltaic conversion of light energy. In this research, the technique of production of silicon in an induction furnace, using a high vacuum for fusion. Diatomaceous Silica (SiO2) used is 99 mass% initial purities, the carbon used is 6N of purity and the particle size of 63μm as starting materials. The final achieved purity of the material was above 50% by mass. These results demonstrate that this method is a technically reliable, and allows obtaining a better return on the amount 50% of silicon.

Keywords: Induction, amorphous silica, carbon microstructure, silicon.

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Authors: Ammar Redza Ahmad Rizal, Shahrina Md Nordin, Mohd Shamsuri Saad, Kamariah Ismail

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Communication is becoming a significant tool to engage stakeholders since half of the century ago. In the recent years, there has been rapid growth of new technology developments. In tandem with such developments, there has been growing emphasis in communication strategies and management especially in determining the level of influence and management strategies among the said stakeholders on particular field. This paper presents a research conceptual framework focusing on stakeholder theories, communication and management strategies to be implied on the engagement of stakeholders of new technology developments of fertilizer industry in Malaysia. Framework espoused in this paper will provide insights into the various stakeholder theories and engagement strategies from different principal necessary for a successful introduction of new technology development in the above stated industry. The proposed framework has theoretical significance in filling the gap of the body of knowledge in the implementation of communication strategies in Malaysian fertilizer industry.

Keywords: Communication Strategies, Fertilizer Industry, New Technology Development, Stakeholders Management.

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Authors: Peter G. Youssef, Saad M. Mahmoud, Raya K. Al-Dadah

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Many water desalination technologies have been developed but in general they are energy intensive and have high cost and adverse environmental impact. Recently, adsorption technology for water desalination has been investigated showing the potential of using low temperature waste heat (50-85oC) thus reducing energy consumption and CO2 emissions. This work mathematically compares the performance of an adsorption cycle that produces two useful effects namely, fresh water and cooling using two different adsorbents, silica-gel and an advanced zeolite material AQSOA-ZO2, produced by Mitsubishi plastics. It was found that at low chilled water temperatures, typically below 20oC, the AQSOA-Z02 is more efficient than silica-gel as the cycle can produce 5.8 m3 of fresh water per day and 50.1 Rton of cooling per tonne of AQSOA-ZO2. Above 20oC silica-gel is still better as the cycle production reaches 8.4 m3 per day and 62.4 Rton per tonne of silica-gel. These results show the potential of using the AQSOA-Z02 at low chilled water temperature for water desalination and cooling applications.

Keywords: Adsorption, desalination, refrigeration, seawater.

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Authors: Nabil M. Hewahi, Motaz K. Saad

Abstract:

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

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

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Authors: M. M. Abutaleb, A. Hamdy, M. E. Abuelwafa, E. M. Saad

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Optical flow is a research topic of interest for many years. It has, until recently, been largely inapplicable to real-time applications due to its computationally expensive nature. This paper presents a new reliable flow technique which is combined with a motion detection algorithm, from stationary camera image streams, to allow flow-based analyses of moving entities, such as rigidity, in real-time. The combination of the optical flow analysis with motion detection technique greatly reduces the expensive computation of flow vectors as compared with standard approaches, rendering the method to be applicable in real-time implementation. This paper describes also the hardware implementation of a proposed pipelined system to estimate the flow vectors from image sequences in real time. This design can process 768 x 576 images at a very high frame rate that reaches to 156 fps in a single low cost FPGA chip, which is adequate for most real-time vision applications.

Keywords: Optical flow, motion detection, real-time systems, FPGA.

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Authors: Ahd Aljarf, Saad Amin

Abstract:

Images are important source of information used as evidence during any investigation process. Their clarity and accuracy is essential and of the utmost importance for any investigation. Images are vulnerable to losing blocks and having noise added to them either after alteration or when the image was taken initially, therefore, having a high performance image processing system and it is implementation is very important in a forensic point of view. This paper focuses on improving the quality of the forensic images. For different reasons packets that store data can be affected, harmed or even lost because of noise. For example, sending the image through a wireless channel can cause loss of bits. These types of errors might give difficulties generally for the visual display quality of the forensic images. Two of the images problems: noise and losing blocks are covered. However, information which gets transmitted through any way of communication may suffer alteration from its original state or even lose important data due to the channel noise. Therefore, a developed system is introduced to improve the quality and clarity of the forensic images.

Keywords: Image Filtering, Image Reconstruction, Image Processing, Forensic Images.

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Authors: Tan Wee Choon, Abdul Saad Salleh, Saifulnizan Jamian, Mohd. Imran Ghazali

Abstract:

Phase transformation temperature is one of the most important parameters for the shape memory alloys (SMAs). The most popular method to determine these phase transformation temperatures is the Differential Scanning Calorimeter (DSC), but due to the limitation of the DSC testing itself, it made it difficult for the finished product which is not in the powder form. A novel method which uses the Universal Testing Machine has been conducted to determine the phase transformation temperatures. The Flexinol wire was applied with force and maintained throughout the experiment and at the same time it was heated up slowly until a temperature of approximately 1000C with direct current. The direct current was then slowly decreased to cool down the temperature of the Flexinol wire. All the phase transformation temperatures for Flexinol wire were obtained. The austenite start at 52.540C and austenite finish at 60.900C, while martensite start at 44.780C and martensite finish at 32.840C.

Keywords: Phase transformation temperature, Robotic, Shapememory alloy, Universal Testing Machine.

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