Search results for: M/G/1 system

Authors: Ahmad Sobri bin Hashim, Wan Fatimah Bt. Wan Ahmad, Rohiza Bt. Ahmad

Abstract:

Mobile Learning (M-Learning) is a new technology which is to enhance current learning practices and activities for all people especially students and academic practitioners UTP is currently, implemented two types of learning styles which are conventional and electronic learning. In order to improve current learning approaches, it is necessary for UTP to implement m-learning in UTP. This paper presents a study on the students- perceptions on mobile utilization in the learning practices in UTP. Besides, this paper also presents a survey that was conducted among 82 students from System Analysis and Design (SAD) course in UTP. The survey includes basic information of mobile devices that have been used by the students, opinions on current learning practices and also the opinions regarding the m-learning implementation in the current learning practices especially in SAD course. Based on the results of the survey, majority of the students are using the mobile devices that can support m-learning environment. Other than that, students also agreed that current learning practices are ineffective and they believe that m-learning utilization can improve the effectiveness of current learning practices.

Keywords: m-learning, conventional learning, electronic learning, mobile devices.

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Authors: Irani, Mohammad, Bozorgmehry Boozarjomehry, Ramin, Pishvaie Mahmoud Reza, Ahmad Tavasoli

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Considering non-ideal behavior of fluids and its effects on hydrodynamic and mass transfer in multiphase flow is very essential. Simulations were performed that takes into account the effects of mass transfer and mixture non-ideality on hydrodynamics reported by Irani et al. In this paper, by assuming the density of phases to be constant and Raullt-s law instead of using EOS and fugacity coefficient definition, respectively for both the liquid and gas phases, the importance of non-ideality effects on mass transfer and hydrodynamic behavior was studied. The results for a system of octane/propane (T=323 K, P =445 kpa) also indicated that the assumption of constant density in simulation had major role to diverse from experimental data. Furthermore, comparison between obtained results and the previous report indicated significant differences between experimental data and simulation results with more ideal assumptions.

Keywords: Multiphase flow, VOF, mass transfer, Raoult's law, non-ideal thermodynamic, CFD.

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Authors: Woo Young Jung, Bu Seog Ju

Abstract:

This study described the seismic performance evaluation of bridge structures, located near Daegu metropolitan city in Korea. The structural design code or regulatory guidelines is focusing on the protection of brittle failure or collapse in bridges’ lifetime during an earthquake. This paper illustrated the procedure in terms of the safety evaluation of bridges using simple linear elastic 3D Finite Element (FE) model in ABAQUS platform. The design response spectra based on KBC 2009 were then developed, in order to understand the seismic behavior of bridge structures. Besides, the multiple directional earthquakes were applied and it revealed that the most dominated earthquake direction was transverse direction of the bridge. Also, the bridge structure under the compressive stress was more fragile than the tensile stress and the vertical direction of seismic ground motions was not significantly affected to the structural system.

Keywords: Bridge, Finite Element, 3D model, Earthquake, Spectrum.

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Authors: S Hariharan, K Chaitanya, P Muthuchidambaranathan

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The IEEE 802.22 working group aims to drive the Digital Video Broadcasting-Terrestrial (DVB-T) bands for data communication to the rural area without interfering the TV broadcast. In this paper, we arrive at a closed-form expression for average detection probability of Fusion center (FC) with multiple antenna over the κ − μ fading channel model. We consider a centralized cooperative multiple antenna network for reporting. The DVB-T samples forwarded by the secondary user (SU) were combined using Maximum ratio combiner at FC, an energy detection is performed to make the decision. The fading effects of the channel degrades the detection probability of the FC, a generalized independent and identically distributed (IID) κ − μ and an additive white Gaussian noise (AWGN) channel is considered for reporting and sensing respectively. The proposed system performance is verified through simulation results.

Keywords: IEEE 802.22, Cooperative spectrum sensing, Multiple antenna, κ − μ .

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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: Jorge A. Ruiz-Vanoye, Ocotlán Díaz-Parra, Alejandro Fuentes-Penna, Daniel Vélez-Díaz, Edith Olaco García

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In this paper, we present the use of the discriminant analysis to select evolutionary algorithms that better solve instances of the vehicle routing problem with time windows. We use indicators as independent variables to obtain the classification criteria, and the best algorithm from the generic genetic algorithm (GA), random search (RS), steady-state genetic algorithm (SSGA), and sexual genetic algorithm (SXGA) as the dependent variable for the classification. The discriminant classification was trained with classic instances of the vehicle routing problem with time windows obtained from the Solomon benchmark. We obtained a classification of the discriminant analysis of 66.7%.

Keywords: Intelligent transportation systems, data-mining techniques, evolutionary algorithms, discriminant analysis, machine learning.

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Authors: Jeong-Hyeon Kim, Ki-Yeob Kang, Myung-Hyun Kim, Jae-Myung Lee

Abstract:

Primary barrier of membrane type LNG containment system consist of corrugated 304L stainless steel. This 304L stainless steel is austenitic stainless steel which shows different material behaviors owing to phase transformation during the plastic work. Even though corrugated primary barriers are subjected to significant amounts of pre-strain due to press working, quantitative mechanical behavior on the effect of pre-straining at cryogenic temperatures are not available. In this study, pre-strain level and pre-strain temperature dependent tensile tests are carried to investigate mechanical behaviors. Also, constitutive equations with material parameters are suggested for a verification study.

Keywords: Constitutive equation, corrugated sheet, pre-strain effect, elasto-visco-plastic-damage model, 304L stainless steel.

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Authors: Marzieh. Savoj, S. Amirhassan. Monadjemi

Abstract:

Iris localization is a very important approach in biometric identification systems. Identification process usually is implemented in three levels: iris localization, feature extraction, and pattern matching finally. Accuracy of iris localization as the first step affects all other levels and this shows the importance of iris localization in an iris based biometric system. In this paper, we consider Daugman iris localization method as a standard method, propose a new method in this field and then analyze and compare the results of them on a standard set of iris images. The proposed method is based on the detection of circular edge of iris, and improved by fuzzy circles and surface energy difference contexts. Implementation of this method is so easy and compared to the other methods, have a rather high accuracy and speed. Test results show that the accuracy of our proposed method is about Daugman method and computation speed of it is 10 times faster.

Keywords: Convolution, Edge detector filter, Fuzzy circle, Identification

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Authors: Monica Dudian , Raluca Andreea Popa

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This article analyses the relationship between sovereign credit risk rating and gross domestic product for Central and Eastern European Countries for the period 1996 – 2010. In order to study the metioned relationship, we have used a numerical transformation of the risk qualification, thus: we marked 0 the lowest risk; then, we went on ascending, with a pace of 5, up to the score of 355 corresponding to the maximum risk. The used method of analysis is that of econometric modelling with EViews 7.0. programme. This software allows the analysis of data into a pannel type system, involving a mix of periods of time and series of data for different entities. The main conclusion of the work is the one confirming the negative relationship between the sovereign credit risk and the gross domestic product for the Central European and Eastern countries during the reviewed period.

Keywords: credit rating agencies, economic growth, gross domestic product, sovereign credit risk rating.

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Authors: S. Douss, F. Touati, M. Loulou

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A design flow of multi-standard down-conversion CMOS mixers for three modern standards: Global System Mobile, Digital Enhanced Cordless Telephone and Universal Mobile Telecommunication Systems is presented. Three active mixer-s structures are studied. The first is based on the Gilbert cell which gives a tolerable noise figure and linearity with a low conversion gain. The second and third structures use the current bleeding and charge injection techniques in order to increase the conversion gain. An improvement of about 2 dB of the conversion gain is achieved without a considerable degradation of the other characteristics. The models used for noise figure, conversion gain and IIP3 used are studied. This study describes the nature of trade-offs inherent in such structures and gives insights that help in identifying which structure is better for given conditions.

Keywords: Active mixer, Radio-frequency transceiver, Multistandardfront end, Gilbert cell, current bleeding, charge injection.

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Authors: A. Althobaiti, M. Munro

Abstract:

Communication and effective information exchange within technology has become a crucial part of delivering knowledge to students during the learning process. It enables better understanding, builds trust and respect, and increases the sharing of knowledge between students. This paper examines the communication between undergraduate students and their lecturers during the traditional lecture and when using the Interactive Electronic Lecture System (IELS). The IELS is an application that offers a set of components which support the effective communication between students and their peers and between students and their lecturers. Moreover, this paper highlights communication skills such as sender, receiver, channel and feedback. It will show how the IELS creates a rich communication environment between its users and how they communicate effectively. To examine and assess the effectiveness of communication, an experiment was conducted on groups of users; students and lecturers. The first group communicated in the traditional lecture while the second group communicated by means of the IELS application. The results show that there was more effective communication between the second group than the first.

Keywords: Communication, effective information exchange.

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Authors: A. O. Salami

Abstract:

The transportation problems are primarily concerned with the optimal way in which products produced at different plants (supply origins) are transported to a number of warehouses or customers (demand destinations). The objective in a transportation problem is to fully satisfy the destination requirements within the operating production capacity constraints at the minimum possible cost. The objective of this study is to determine ways of minimizing transportation cost in order to maximum profit. Data were sourced from the records of the Distribution Department of 7-Up Bottling Company Plc., Ilorin, Kwara State, Nigeria. The data were computed and analyzed using the three methods of solving transportation problem. The result shows that the three methods produced the same total transportation costs amounting to N1, 358, 019, implying that any of the method can be adopted by the company in transporting its final products to the wholesale dealers in order to minimize total production cost. 

Keywords: Allocation problem, Cost Minimization, Distribution system, Resources utilization.

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Authors: Diella Gracia Martauli

Abstract:

This study investigated the relationship between music aptitude and school readiness in Indonesian children. Music aptitude is described as children’s music potential, whereas school readiness is defined as a condition in which a child is deemed ready to enter the formal education system. This study presents a hypothesis that music aptitude is correlated with school readiness. This is a correlational research study of 17 children aged 5-6 years old (M = 6.10, SD = 0.33) who were enrolled in a kindergarten school in Jakarta, Indonesia. Music aptitude scores were obtained from Primary Measures of Music Audiation, whereas School readiness scores were obtained from Bracken School Readiness Assessment Third Edition. The analysis of the data was performed using Pearson Correlation. The result found no correlation between music aptitude and school readiness (r = 0.196, p = 0.452). Discussions regarding the results, perspective from the measures and cultures are presented. Further study is recommended to establish links between music aptitude and school readiness.

Keywords: Bracken school readiness assessment, music aptitude, primary measures of music audiation, school readiness.

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Authors: Pintipa Seubsang, Suttipong Boonphadung

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Recently, Thai education system is engaged in serious and promising reforms. One of the crucial elements in most of these educational reforms is the teacher professional development. Teachers today are under growing pressure to perform. However, most new teachers are not adequately prepared to meet the expectation. Consequently, this paper seeks to investigate the opinion of mentor teachers and university supervisors about professional development in the aspect of learning management skill of the preservice teachers in Rajabhat Universities, then compare the opinion between the mentor teachers and university supervisors about professional development in the aspect of learning management skill of the pre-service teachers. The study involved a cohort of 40 university supervisors and 77 mentor teachers. The research concludes by showing that mentor teachers viewed pre-service teacher as a professional teacher with an effective learning management skill. However, in the perspective of the university supervisor, pre-service teachers still have inadequate learning management skill.

Keywords: Learning management, Professional development, Pre-service teacher.

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Authors: Chokri Slim

Abstract:

The neural network's performance can be measured by efficiency and accuracy. The major disadvantages of neural network approach are that the generalization capability of neural networks is often significantly low, and it may take a very long time to tune the weights in the net to generate an accurate model for a highly complex and nonlinear systems. This paper presents a novel Neuro-fuzzy architecture based on Extended Kalman filter. To test the performance and applicability of the proposed neuro-fuzzy model, simulation study of nonlinear complex dynamic system is carried out. The proposed method can be applied to an on-line incremental adaptive learning for the prediction of financial time series. A benchmark case studie is used to demonstrate that the proposed model is a superior neuro-fuzzy modeling technique.

Keywords: Neuro-fuzzy, Extended Kalman filter, nonlinear systems, financial time series.

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Authors: R. K. Apalowo, D. Chronopoulos

Abstract:

A Finite Element (FE) based scheme is presented for quantifying guided wave interaction with Localised Nonlinear Structural Damage (LNSD) within structures of arbitrary layering and geometric complexity. The through-thickness mode-shape of the structure is obtained through a wave and finite element method. This is applied in a time domain FE simulation in order to generate time harmonic excitation for a specific wave mode. Interaction of the wave with LNSD within the system is computed through an element activation and deactivation iteration. The scheme is validated against experimental measurements and a WFE-FE methodology for calculating wave interaction with damage. Case studies for guided wave interaction with crack and delamination are presented to verify the robustness of the proposed method in classifying and identifying damage.

Keywords: Layered Structures, nonlinear ultrasound, wave interaction with nonlinear damage, wave finite element, finite element.

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Authors: Md. Fazlul Karim, Ahmad Izani Ismail, Mohammed Ashaque Meah

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This paper focuses on the development of a 2-D boundary fitted and nested grid (BFNG) model to compute the tsunami propagation of Indonesian tsunami 2004 along the coastal region of Penang in Peninsular Malaysia.

In the presence of a curvilinear coastline, boundary fitted grids are suitable to represent the model boundaries accurately. On the other hand, when large gradient of velocity within a confined area is expected, the use of a nested grid system is appropriate to improve the numerical accuracy with the least grid numbers.

This paper constructs a shallow water nested and orthogonal boundary fitted grid model and presents computational results of the tsunami impact on the Penang coast due to the Indonesian tsunami of 2004. The results of the numerical simulations are compared with available data.

Keywords: Boundary Fitted Nested Model, Tsunami, Penang Island, 2004 Indonesian Tsunami.

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Authors: Tasawar Nawaz

Abstract:

Promotion of socioeconomic justice through redistribution of wealth is one of the most salient features of Islamic economic system. Islamic financial institutions known as Islamic banks are used to implement this in practice under the guidelines of Islamic Shariah law. Islamic banking systems strive to promote and achieve financial inclusion among the society by offering interest-free banking and risk-sharing financing solutions. Shariah-compliant micro finance is one of the most popular financial instruments used by Islamic banks to enhance access to finance. Benevolent loan (or Qard-al-Hassanah) is one of the popular financial tools used by the Islamic banks to promote financial inclusion. This aspect of Islamic banking is empirically examined in this paper with specific reference to firm’s resources, largely defined here as intellectual capital. The paper finds that Islamic banks promote financial inclusion by exploiting available resources especially, the human intellectual capital.

Keywords: Financial inclusion, intellectual capital, Qard-al-Hassanah, Islamic banking.

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Authors: Sonia Manhas, Parvinder S. Sandhu, Vinay Chopra, Nirvair Neeru

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The cost of developing the software from scratch can be saved by identifying and extracting the reusable components from already developed and existing software systems or legacy systems [6]. But the issue of how to identify reusable components from existing systems has remained relatively unexplored. We have used metric based approach for characterizing a software module. In this present work, the metrics McCabe-s Cyclometric Complexity Measure for Complexity measurement, Regularity Metric, Halstead Software Science Indicator for Volume indication, Reuse Frequency metric and Coupling Metric values of the software component are used as input attributes to the different types of Neural Network system and reusability of the software component is calculated. The results are recorded in terms of Accuracy, Mean Absolute Error (MAE) and Root Mean Squared Error (RMSE).

Keywords: Software reusability, Neural Networks, MAE, RMSE, Accuracy.

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Authors: R. Hegedűs, É. Kerepeczki, D. Gál, F. Pekár, M. Oncsik Bíróné, Gy. Lakatos

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The growth of the aquaculture industry has been associated with negative environmental impacts through the discharge of raw effluents into the adjacent receiving water bodies. Macrophytes from natural saline lakes, which have adaptability to the high salinity, can be suitable for saline effluent treatment. Eight emergent species from natural saline area were planted in an experimental gravel bed hydroponic mesocosm (GBH) which was treated with effluent water from an intensive fish farm using geothermal water. In order to examine the applicability of the halophytes in treatment processes, we tested the relative efficacy of total nitrogen (TN), total phosphorus (TP), potassium (K), sodium (Na), magnesium (Mg) and calcium (Ca) removal for the saline wastewater treatment. Four of the eight species, which were Phragmites australis, Typha angustifolia, Glyceria maxima, Scirpus lacustris spp. tabernaemontani could survive and contribute the experimental treatment.

Keywords: Gravel bed hydroponic system, halophytes, intensive fish farm, salt removal

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Authors: Haiyan. Li, Jitendra. Paliwal, Digvir S. Jayas, Noel D. G. White

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A study was undertaken to investigate the effect of liquid nitrogen aeration on mortalities of adult Cryptolestes furrugineus, rusty grain beetles, in a prototype cardboard grain bin equipped with an aeration system. The grain bin was filled with Hard Red Spring wheat and liquid nitrogen was introduced from the bottom of the bin. The survival of both cold acclimated and unacclimated C. furrugineus was tested. The study reveals that cold acclimated insects had higher survival than unacclimated insects under similar cooling conditions. In most cases, mortalities of as high as 100% were achieved at the bottom 100 cm of the grain bin for unacclimated insects for most of the trials. Insect survival increased as the distance from the bottom of the grain bin increased. There was no adverse effect of liquid nitrogen aeration on wheat germination.

Keywords: Cold acclimated, liquid nitrogen aeration, mortalities, rusty grain beetles.

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Authors: Hyungkeun Jee, Jooyoung Lee, Dowon Hong

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The most common forensic activity is searching a hard disk for string of data. Nowadays, investigators and analysts are increasingly experiencing large, even terabyte sized data sets when conducting digital investigations. Therefore consecutive searching can take weeks to complete successfully. There are two primary search methods: index-based search and bitwise search. Index-based searching is very fast after the initial indexing but initial indexing takes a long time. In this paper, we discuss a high speed bitwise search model for large-scale digital forensic investigations. We used pattern matching board, which is generally used for network security, to search for string and complex regular expressions. Our results indicate that in many cases, the use of pattern matching board can substantially increase the performance of digital forensic search tools.

Keywords: Digital forensics, search, regular expression.

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Authors: Mat Syai'in, Adi Soeprijanto

Abstract:

An Optimal Power Flow based on Improved Particle Swarm Optimization (OPF-IPSO) with Generator Capability Curve Constraint is used by NN-OPF as a reference to get pattern of generator scheduling. There are three stages in Designing NN-OPF. The first stage is design of OPF-IPSO with generator capability curve constraint. The second stage is clustering load to specific range and calculating its index. The third stage is training NN-OPF using constructive back propagation method. In training process total load and load index used as input, and pattern of generator scheduling used as output. Data used in this paper is power system of Java-Bali. Software used in this simulation is MATLAB.

Keywords: Optimal Power Flow, Generator Capability Curve, Improved Particle Swarm Optimization, Neural Network

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Authors: Seung-Yeon Kim

Abstract:

The square-lattice Ising model is the simplest system showing phase transitions (the transition between the paramagnetic phase and the ferromagnetic phase and the transition between the paramagnetic phase and the antiferromagnetic phase) and critical phenomena at finite temperatures. The exact solution of the squarelattice Ising model with free boundary conditions is not known for systems of arbitrary size. For the first time, the exact solution of the Ising model on the square lattice with free boundary conditions is obtained after classifying all ) spin configurations with the microcanonical transfer matrix. Also, the phase transitions and critical phenomena of the square-lattice Ising model are discussed using the exact solution on the square lattice with free boundary conditions.

Keywords: Phase transition, Ising magnet, Square lattice, Freeboundary conditions, Exact solution.

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Authors: Murat Koklu, Yavuz Unal

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Data mining can be called as a technique to extract information from data. It is the process of obtaining hidden information and then turning it into qualified knowledge by statistical and artificial intelligence technique. One of its application areas is medical area to form decision support systems for diagnosis just by inventing meaningful information from given medical data. In this study a decision support system for diagnosis of illness that make use of data mining and three different artificial intelligence classifier algorithms namely Multilayer Perceptron, Naive Bayes Classifier and J.48. Pima Indian dataset of UCI Machine Learning Repository was used. This dataset includes urinary and blood test results of 768 patients. These test results consist of 8 different feature vectors. Obtained classifying results were compared with the previous studies. The suggestions for future studies were presented.

Keywords: Artificial Intelligence, Classifiers, Data Mining, Diabetic Patients.

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Authors: N. K. Paul, S. Saha

Abstract:

An innovative three dimensional finite element model has beed developed and tested under two point loading system to examine the structural behavior of the longitudinal reinforced concrete Tee-beam bridge girder, reinforcing with steel and shape memory alloy bars respectively. 25% of steel bars are replaced with superelastic Shape Memory Alloy bars in this study. Finite element analysis is performed using ANSYS 11.0 program. Experimentally a model of steel reinforced girder has been casted and its load deflection responses are checked with ANSYS analysis. A comparison of load carrying capacity for the model between steel RC girder and the girder combined reinforcement with SMA and steel are also performed.

Keywords: Shape memory alloy, bridge girder, ANSYS, load-deflection.

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Authors: Syed Sultan Ahmed

Abstract:

The current education system in India is adept in equipping and assessing the scholastic development of children. However, there is an immediate need to strengthen co-scholastic areas like life-skills, values and attitudes to equip students to face real life challenges. Audio-visual technology and their respective media can make a significant contribution to a value based learning curriculum. Thus, co-scholastic skills need to be effectively nurtured by a medium that is entertaining and impactful. Films in general have a tremendous impact in our society. Films with a positive message make a formidable learning experience that can influence and inspire generations of learners. Leveraging on this powerful medium, EduMedia India Pvt. Ltd. has introduced School Cinema a well researched film-based learning module supported by a fun and exciting workbook, designed to introduce and reaffirm life-skills and values to children, thereby having a positive influence on their attitudes.

Keywords: Co-Scholastics, Entertaining, Educative, Holistic- Development

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Authors: N. Ravi Kumar, R. Kamalakannan

Abstract:

The advancement of hybrid energy resources such as solar and wind power leading to the emergence of customer owned grid. It provides an opportunity to regulars to obtain low energy costs as well as enabling the power supplier to regulate the utility grid. There is a need to develop smart systems that will automatically submit energy demand schedule and monitors energy price signals in real-time without the prompt of customers. In this paper, a demand side energy management for a grid connected household and also smart preparation of electrical appliance have been presented. It also reduces electricity bill for the consumers in the grid. In addition to this, when production is high, the surplus energy fashioned in the customer owned grid is given to main grid or neighboring micro grids. The simulation of the entire system is presented using LabVIEW software.

Keywords: Distributed renewable energy resource, power storage devices, scheduling, smart meters, smart micro grid, electric vehicle.

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Authors: Ehsan Gholami, Vincent Demers

Abstract:

Low-pressure powder injection molding is an emerging technology for cost-effectively producing complex shape metallic parts with the proper dimensional tolerances, either in high or in low production volumes. In this study, the molding properties of cobalt-chrome-based feedstocks were evaluated for use in a low-pressure powder injection molding process. The rheological properties of feedstock formulations were obtained by mixing metallic powder with a proprietary wax-based binder system. Rheological parameters such as reference viscosity, shear rate sensitivity index, and activation energy for viscous flow, were extracted from the viscosity profiles and introduced into the Weir model to calculate the moldability index. Feedstocks were experimentally injected into a spiral mold cavity to validate the injection performance calculated with the model.

Keywords: Binder, feedstock, moldability, powder injection molding, viscosity.

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Authors: Yeongyu Choi, Ju H. Park, Ho-Youl Jung

Abstract:

In this paper, we propose labeling based RANSAC algorithm for lane detection. Advanced driver assistance systems (ADAS) have been widely researched to avoid unexpected accidents. Lane detection is a necessary system to assist keeping lane and lane departure prevention. The proposed vision based lane detection method applies Canny edge detection, inverse perspective mapping (IPM), K-means algorithm, mathematical morphology operations and 8 connected-component labeling. Next, random samples are selected from each labeling region for RANSAC. The sampling method selects the points of lane with a high probability. Finally, lane parameters of straight line or curve equations are estimated. Through the simulations tested on video recorded at daytime and nighttime, we show that the proposed method has better performance than the existing RANSAC algorithm in various environments.

Keywords: Canny edge detection, k-means algorithm, RANSAC, inverse perspective mapping.

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