Search results for: Technology Acceptance Model

Authors: Mokrane Selma

Abstract:

The shift towards decision making (DM) based on artificial intelligence (AI) techniques will change the way in which consumer markets and our societies function. Through AI, predictive analytics is being used by businesses to identify these patterns and major trends with the objective to improve the DM and influence future business outcomes. This paper proposes an Artificial Neural Network (ANN) approach to predict the success of telemarketing calls for selling bank long-term deposits. To validate the proposed model, we uses the bank marketing data of 41188 phone calls. The ANN attains 98.93% of accuracy which outperforms other conventional classifiers and confirms that it is credible and valuable approach for telemarketing campaign managers.

Keywords: Bank telemarketing, prediction, decision making, artificial intelligence, artificial neural network.

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Authors: Somtop Keawchuer

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This research aims to study (1) the relationship between competency-based learning and learning efficiency of new media communication students at Suan Sunandha University (2) the demographic factor effect on learning efficiency of students at Suan Sunandha University. This research method will use quantitative research; data was collected by questionnaires distributed to students from new media communication in management science faculty of Suan Sunandha Rajabhat University for 1340 sample by purposive sampling method. Data was analyzed by descriptive statistic including percentage, mean, standard deviation and inferential statistic including T-test, ANOVA and Pearson correlation for hypothesis testing. The results showed that the competency-based learning in term of ability to communicate, ability to think and solve the problem, life skills and ability to use technology has a significant relationship with learning efficiency in term of the cognitive domain, psychomotor domain and affective domain at the 0.05 level and which is in harmony with the research hypotheses.

Keywords: Competency-based learning, learning efficiency, new media communication students, Suan Sunandha Rajabhat University.

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Authors: P. Prudtikul, S. Pathomsiri

Abstract:

Most, if not all, public hospitals in Thailand have encountered a common problem regarding the increasing demand for medical services. The increasing number of patients causes so much strain on the hospital-s services, over-crowded, overloaded working hours, staff fatigue, medical error and long waiting time. This research studied the characteristics of operational processes of the medical care services at the medicine department in a large public university hospital. The research focuses on details regarding methods, procedures, processes, resources, and time management in overall processes. The simulation model is used as a tool to analyze the impact of various improvement strategies.

Keywords: Patient flow, medicine department, simulation, outpatient department.

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Authors: Dong-Eun Lee

Abstract:

To calculate the temperature distribution of the slab in a hot rolled reheating furnace a mathematical model has been developed by considering the thermal radiation in the furnace and transient conduction in the slab. The furnace is modeled as radiating medium with spatially varying temperature. Radiative heat flux within the furnace including the effect of furnace walls, combustion gases, skid beams and buttons is calculated using the FVM and is applied as the boundary condition of the transient conduction equation of the slab. After determining the slab emissivity by comparison between simulation and experimental work, variation of heating characteristics in the slab is investigated in the case of changing furnace temperature with various time and the slab residence time is optimized with this evaluation.

Keywords: Reheating Furnace, Thermal Radiation, ResidenceTime, FVM for Radiation

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Authors: S. Abdulsalam, A. D. I. Suleiman, N. M. Musa, M. Yusuf

Abstract:

Environment free of pollutants should be the concern of every individual but with industrialization and urbanization it is difficult to achieve. In view of achieving a pollution limited environment at low cost, a study was conducted on the use of bioremediation technology to remediate hydrocarbons and three heavy metals namely; copper (Cu), zinc (Zn) and iron (Fe) from a typical petroleum refinery wastewater in a closed system. Physicochemical and microbiological characteristics on the wastewater sample revealed that it was polluted with the aforementioned pollutants. Isolation and identification of microorganisms present in the wastewater sample revealed the presence of Bacillus subtilis, Micrococcus luteus, Staphylococcus aureus and Staphylococcus epidermidis. Bioremediation experiments carried out on five batch reactors with different compositions but at same environmental conditions revealed that treatment T5 (boosted with the association of Bacillus subtilis, Micrococcus luteus) gave the best result in terms of oil and grease content removal (i.e. 67% in 63 days). In addition, these microorganisms were able of reducing the concentrations of heavy metals in the sample. Treatments T5, T3 (boosted with Bacillus subtilis only) and T4 (boosted with Micrococcus luteus only) gave optimum percentage uptakes of 65, 75 and 25 for Cu, Zn and Fe respectively.

Keywords: Boosted, bioremediation, closed system, aeration, uptake, wastewater.

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Authors: R. Bardera Mora

Abstract:

Launch and recovery helicopter wind envelope for a ship type was determined as the first step to the helicopter qualification program. Flight deck velocities data were obtained by means of a two components laser Doppler anemometer testing a 1/50th model in the wind tunnel stream. Full-scale flight deck measurements were obtained on board the ship using a sonic anemometer. Wind tunnel and full-scale measurements were compared, showing good agreement and finally, a preliminary launch and recovery helicopter wind envelope for this specific ship was built.

Keywords: Flight deck flow, relative wind, ship airwake, wind envelope

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Authors: Khattab Ibrahim Al Qaisi, Nicholas Bowring

Abstract:

This paper presents the simulation results of the effects of sampling frequency on the total harmonic distortion (THD) of three-phase inverters using the space vector pulse width modulation (SVPWM) and space vector control (SVC) algorithms. The relationship between the variables was studied using curve fitting techniques, and it has been shown that, for 50 Hz inverters, there is an exponential relation between the sampling frequency and THD up to around 8500 Hz, beyond which the performance of the model becomes irregular, and there is an negative exponential relation between the sampling frequency and the marginal improvement to the THD. It has also been found that the performance of SVPWM is better than that of SVC with the same sampling frequency in most frequency range, including the range where the performance of the former is irregular.

Keywords: SVPWM, THD, DC-AC Inverter, Sampling Frequency.

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Authors: Rajeev Kaula

Abstract:

Business rules and data warehouse are concepts and technologies that impact a wide variety of organizational tasks. In general, each area has evolved independently, impacting application development and decision-making. Generating knowledge from data warehouse is a complex process. This paper outlines an approach to ease import of information and knowledge from a data warehouse star schema through an inference class of business rules. The paper utilizes the Oracle database for illustrating the working of the concepts. The star schema structure and the business rules are stored within a relational database. The approach is explained through a prototype in Oracle-s PL/SQL Server Pages.

Keywords: Business Rules, Data warehouse, PL/SQL ServerPages, Relational model, Web Application.

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Authors: Gabi N. Nehme

Abstract:

The reduction of phosphorus and sulfur in engine oil are the main topics of this paper. Very reproducible boundary lubrication tests were conducted as part of Design of Experiment software (DOE) to study the behavior of fluorinated catalyst iron fluoride (FeF3), and polutetrafluoroethylene or Teflon (PTFE) in developing environmentally friendly (reduced P and S) anti-wear additives for future engine oil formulations. Multi-component Chevron fully formulated oil (GF3) and Chevron plain oil were used with the addition of PTFE and catalyst to characterize and analyze their performance. Lower phosphorus blends were the goal of the model solution. Experiments indicated that new sub-micron FeF3 catalyst played an important role in preventing breakdown of the tribofilm.

Keywords: Wear, SEM, EDS, friction, lubricants.

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Authors: Pandian Elavarasan, Kishore Kondamudi, Sreedevi Upadhyayula

Abstract:

Ionic liquids are well known as green solvents, reaction media and catalysis. Here, three different sulfonic acid functional ionic liquids prepared in the laboratory are used as catalysts in alkylation of p-cresol with tert-butyl alcohol. The kinetics on each of the catalysts was compared and a kinetic model was developed based on the product distribution over these catalysts. The kinetic parameters were estimated using Marquadt's algorithm to minimize the error function. The Arrhenius plots show a curvature which is best interpreted by the extended Arrhenius equation.

Keywords: Alkylation, p-cresol, tert-butyl alcohol, kinetics, activation parameter, extended Arrhenius equation.

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Authors: K. Shoylekova, K. Grigorova

Abstract:

The Petri nets are the first standard for business process modeling. Most probably, it is one of the core reasons why all new standards created afterwards have to be so reformed as to reach the stage of mapping the new standard onto Petri nets. The paper presents a business process repository based on a universal database. The repository provides the possibility the data about a given process to be stored in three different ways. Business process repository is developed with regard to the reformation of a given model to a Petri net in order to be easily simulated. Two different techniques for business process simulation based on Petri nets - Yasper and Woflan are discussed. Their advantages and drawbacks are outlined. The way of simulating business process models, stored in the Business process repository is shown.

Keywords: Business process repository, Petri nets, Simulation, Woflan, Yasper.

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Authors: Doaa Hegazy, Joachim Denzler

Abstract:

SoftBoost is a recently presented boosting algorithm, which trades off the size of achieved classification margin and generalization performance. This paper presents a performance evaluation of SoftBoost algorithm on the generic object recognition problem. An appearance-based generic object recognition model is used. The evaluation experiments are performed using a difficult object recognition benchmark. An assessment with respect to different degrees of label noise as well as a comparison to the well known AdaBoost algorithm is performed. The obtained results reveal that SoftBoost is encouraged to be used in cases when the training data is known to have a high degree of noise. Otherwise, using Adaboost can achieve better performance.

Keywords: SoftBoost algorithm, AdaBoost algorithm, Generic object recognition.

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Authors: Lillian Gungat, Meor Othman Hamzah, Mohd Rosli Mohd Hasan, Jan Valentin

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Utilization of a high percentage of reclaimed asphalt pavement (RAP) requires higher production temperatures and consumes more energy. High production temperature expedites the aging of bitumen in RAP, which could affect the mixture performance. Warm mix asphalt (WMA) additive enables reduced production temperatures as a result of viscosity reduction. This paper evaluates the integration of a high percentage of RAP with a WMA additive known as RH-WMA. The optimum dosage of RH-WMA was determined from basic properties tests. A total of 0%, 30% and 50% RAP contents from two roads sources were modified with RH-WMA. The modified RAP bitumen were examined for viscosity, stiffness, rutting resistance and greenhouse gas emissions. The addition of RH-WMA improved the flow of bitumen by reducing the viscosity, and thus, decreased the construction temperature. The stiffness of the RAP modified bitumen reduced with the incorporation of RH-WMA. The positive improvement in rutting resistance was observed on bitumen with the addition of RAP and RH-WMA in comparison with control. It was estimated that the addition of RH-WMA could potentially reduce fuel usage and GHG emissions by 22 %. Hence, the synergy of RAP and WMA technology can be an alternative in green road construction.

Keywords: Reclaimed asphalt pavement, WMA additive, viscosity, stiffness, emissions.

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Authors: E. A. Kiridi, A. O. Ogunlela

Abstract:

The control of ammonia build-up and its by-product is a limiting factor for a successful commercial aquaculture in a developing country like Nigeria. The technology for an advanced treatment of fish tank effluent is uneconomical to local fish farmers which have led to indiscriminate disposal of aquaculture wastewater, thereby increasing the concentrations of these nitrogenous compound and other contaminants in surface and groundwater above the permissible level. Phytoremediation using water lettuce could offer cheaper and sustainable alternative. On the first day of experimentation, approximately 100 g of water lettuce were replicated in four hydroponic units containing aquaculture effluents. The water quality parameters measured were concentration of ammonium–nitrogen (NH₄⁺-N), nitrite-nitrogen (NO₂^--N), nitrate-nitrogen (NO₃^--N), and phosphate–phosphorus (PO₄^3--P). Others were total suspended solids (TSS), pH, electrical conductivity (EC), and biomass value. At phytoremediation intervals of 7, 14, 21 and 28 days, the biomass recorded were 361.2 g, 498.7 g, 561.2 g, and 623.7 g. Water lettuce was able to reduce the pollutant concentration of all the selected parameter. The percentage reduction of pH ranged from 3.9% to 14.4%, EC from 49.8% to 96.2%, TDS from 50.4% to 96.2%, TSS from 38.3% to 81.7%, NH₄⁺-N from 38.9% to 90.7%, NO₂^--N from 0% to 74.9%, NO₃^--N from 63.2% to 95.9% and PO₄^3--P from 0% to 76.3%. At 95% confidence level, the analysis of variance shows that F(critical) is less than F(cal) and p < 0.05; therefore, it can be concluded statistically that the inequality between the pre-treatment and post-treatment values are significant. This suggests the potency of water lettuce for remediation of aquaculture effluent.

Keywords: Aquaculture effluent, nitrification, phytoremediation, water lettuce.

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Authors: C. Ardil

Abstract:

Unmanned combat aircraft (UCA) are expanding significantly in several defense industries, along with artificial intelligence improvements in highly precise technology. UCA is crucial in military settings for targeting enemy elements, and objects. UCA is also utilized for highly precise reconnaissance and surveillance tasks. To select the best alternative for critical missions, a methodical and effective strategy for UCA selection is required. Multiple criteria decision-making (MCDM) methodologies are ideally equipped to handle the complexity of alternative aircraft selection. To analyze UCA alternatives for the selection process, an integrated methodology built on the objective criteria weights and preference analysis for reference ideal solution (PARIS). First, the weights of essential elements are determined using the average weight (AW), standard deviation (SW) and entropy weight (EW) approach. The weights of the evaluation criteria affect the decision-making process. The aircraft choices in the decision problem are then ranked using objective criteria weights along with the PARIS technique. The validation and sensitivity analysis of the proposed MCDM approach are discussed.

Keywords: unmanned combat aircraft (UCA), multiple criteria decision making, MCDM, PARIS

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Authors: Hayder Natiq Jasem, Zuriati Ahmad Zukarnain, Mohamed Othman, Shamala Subramaniam

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Congestion control is one of the fundamental issues in computer networks. Without proper congestion control mechanisms there is the possibility of inefficient utilization of resources, ultimately leading to network collapse. Hence congestion control is an effort to adapt the performance of a network to changes in the traffic load without adversely affecting users perceived utilities. AIMD (Additive Increase Multiplicative Decrease) is the best algorithm among the set of liner algorithms because it reflects good efficiency as well as good fairness. Our control model is based on the assumption of the original AIMD algorithm; we show that both efficiency and fairness of AIMD can be improved. We call our approach is New AIMD. We present experimental results with TCP that match the expectation of our theoretical analysis.

Keywords: Congestion control, Efficiency, Fairness, TCP, AIMD.

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Authors: M. Dachyar, Yudavedito

Abstract:

The rising growth of the GSM cellular phone industry has tightening competition level between providers in making strategies enhancing the market shares in Indonesia. Tsel, as one of those companies, has to determine the proper strategy to sustain as well as improve the market share without reducing its operational income level. Portfolio simulation model is designed with a dynamic system approach. The result of this research is a recommendation to the company by optimizing its technological policies, services, and promotions. The tariff policies and the signal quality should not be the main focus because this company has had a large number of customers and a good infrastructural condition.

Keywords: Telecommunication industry, simulation, dynamic system, portfolio, quality services.

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Authors: Z. M. Shareefdeen, A. Aidan, W.Ahmed, M. B. Khatri, M. Islam, R. Lecheheb, F. Shams

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Air emissions from waste treatment plants often consist of a combination of Volatile Organic Compounds (VOCs) and odors. Hydrogen sulfide is one of the major odorous gases present in the waste emissions coming from municipal wastewater treatment facilities. Hydrogen sulfide (H2S) is odorous, highly toxic and flammable. Exposure to lower concentrations can result in eye irritation, a sore throat and cough, shortness of breath, and fluid in the lungs. Biofiltration has become a widely accepted technology for treating air streams containing H2S. When compared with other nonbiological technologies, biofilter is more cost-effective for treating large volumes of air containing low concentrations of biodegradable compounds. Optimization of biofilter media is essential for many reasons such as: providing a higher surface area for biofilm growth, low pressure drop, physical stability, and good moisture retention. In this work, a novel biofilter media is developed and tested at a pumping station of a municipality located in the United Arab Emirates (UAE). The media is found to be very effective (>99%) in removing H2S concentrations that are expected in pumping stations under steady state and shock loading conditions.

Keywords: biofilter media, hydrogen sulphide, pumping station, biofiltration

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Authors: Korbi Fakhri

Abstract:

In this article, we have elaborated a study over the nature of financial intermediation in Islamic banks by comparison to those of conventional ones. We have found a striking difference between two kinds of intermediation. We tried, from another side, to study the relationship between the capital level and deficiency risk relying on econometric model, and we have obtained a positive and significant relation between the capital and the deficiency risk for the conventional banks. This means that when the capital of these banks increases, the deficiency risk increases as well. In return, since the Islamic banks are constrained to respect the Sharia Committee as well as customers’ demands that may, in certain contracts, choose to invest their capitals in projects they are interested in. These constraints have as effects to reduce the deficiency risk even when the capital increases.

Keywords: Conventional bank, deficiency risk, financial intermediation, Islamic bank.

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Authors: Morteza Raki, Abolghasem Zabihollah, Omid Askari

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Cantilever beam is a simplified sample of a lot of mechanical components used in a wide range of applications, including many industries such as gas turbine blade. Due to the nature of the operating conditions, beams are subject to variety of damages especially crack propagates. Crack propagation may lead to catastrophic failure during operation. Therefore, online detection of crack presence and its propagation is very important and may reduce possible significant cost of the whole system failure. This paper aims to investigate the effect of cracks presence and crack propagation on one end fixed beam`s vibration. A finite element model will be developed for the blade in which the modal response of the structure with and without crack will be studied. 

Keywords: Blade, crack propagation, health monitoring, modal analysis.

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Authors: F. Pedron, M. Grifoni, G. Petruzzelli, M. Barbafieri, I. Rosellini, B. Pezzarossa

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Lead contamination of agricultural land mainly vegetated with perennial ryegrass (Lolium perenne) has been investigated. The metal derived from the discharge of sludge from a ceramic industry in the past had used lead paints. The results showed very high values of lead concentration in many soil samples. In order to assess the lead soil contamination, a sequential extraction with H₂O, KNO₃, EDTA was performed, and the chemical forms of lead in the soil were evaluated. More than 70% of lead was in a potentially bioavailable form. Analysis of Lolium perenne showed elevated lead concentration. A Freundlich-like model was used to describe the transferability of the metal from the soil to the plant.

Keywords: Bioavailability, Freundlich-like equation, sequential extraction, soil lead contamination.

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Authors: K. -H. Yang

Abstract:

Supplier selection problem is one of the important issues of supply chain problems. Two categories of methodologies include qualitative and quantitative approaches which can be applied to supplier selection problems. However, due to the complexities of the problem and lacking of reliable and quantitative data, qualitative approaches are more than quantitative approaches. This study considers operational cost and supplier’s reliability factor and solves the problem by using a quantitative approach. A mixed integer programming model is the primary analytic tool. Analyses of different scenarios with variable cost and reliability structures show that the effectiveness of this approach to the supplier selection problem.

Keywords: Mixed integer programming, quantitative approach, supplier’s reliability, supplier selection.

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Authors: Martin Macion

Abstract:

The request for a sustainable development challenges both managers and consumers to rethink habitual practices and activities. While consumers are challenged to develop sustainable consumption patterns, companies are asked to establish managerial systems and structures considering economical, ecological, and social issues. As this is in particular true for housing associations, this paper aims first, at providing an understanding of sustainability strategy in residential trade and industry (RTI) by identifying relevant facets of this construct and second, at conceptually analyzing the impact of sustainability strategy in RTI on operational efficiency and performance of municipal housing companies. The author develops a model of sustainability strategy in RTI and its effects and further, sheds light in priorities for future research.

Keywords: firm performance, sustainability strategy, residentialtrade and industry

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Authors: Samat Turganbekov, Zhakan Mol

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This article examines the emergence and development of the Kazakhstan species of humanism. The biggest challenge for Kazakhstan in terms of humanism is connected with advocating human values in parallel to promoting national interests; preserving the continuity of traditions in various spheres of life, business and culture. This should be a common goal for the entire society, the main direction for a national intelligence, and a platform for the state policy. An idea worth considering is a formation of national humanist tradition model; the challenges are adapting people to live in the context of new industrial and innovative economic conditions, keeping the balance during intensive economic development of the country, and ensuring social harmony in the society.

Keywords: Kazakh humanism, humanist tradition, national culture, spiritual and moral priority, national interest.

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Authors: Asadollah Boshra, Ahmad Seif, Mehran Aghaei

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A model of (4, 4) single-walled boron-nitride nanotube as a representative of armchair boron-nitride nanotubes studied. At first the structure optimization performed and then Nuclear Magnetic Resonance parameters (NMR) by Density Functional Theory (DFT) method at 11B and 15N nuclei calculated. Resulted parameters evaluation presents electrostatic environment heterogeneity along the nanotube and especially at the ends but the nuclei in a layer feel the same electrostatic environment. All of calculations carried out using Gaussian 98 Software package.

Keywords: Boron-nitride nanotube, Density Functional Theory, Nuclear Magnetic Resonance (NMR).

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Authors: Layla Mujahed

Abstract:

COVID-19 is an exam for all the city’s systems. It shows many gaps in the systems such as healthcare, economic, social, and environment. This pandemic is paving for a new era, an era of technology and it has changed people’s lives, such as physical, and emotional changes, and converting communication into digitalized. The effect of COVID-19 has covered all urban city parts. COVID-19 will not be the last pandemic our cities will face. For that, more researches focus on enhancing the quality of the urban environment. This pandemic encourages a rethinking of the environment’s role, especially in cities. Cities are trying to provide the best suitable strategies and regulations to prevent the spread of COVID-19, and an example of that is Amman city. Amman has a high increment in the number of COVID-19 infected people, while it has controlled the situation for months. For that, this paper studies the relation between COVID-19 and urban environmental studies cases about cities around the world, and learns from their models to face COVID-19. In Amman, people’s behavior has changed towards public transportation and public green spaces. N­ew governmental regulations focus on increasing people’s mental awareness, supporting local businesses, and enhancing neighborhood planning that can help Amman to face any future pandemics.

Keywords: COVID-19, urban environment, urban planning, urban resilience.

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Authors: Yves Lacroix, Van Van Than, Didier Leandri, Pierre Liardet

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The tombolo of Giens is located in the town of Hyères (France). We recall the history of coastal erosion, and prominent factors affecting the evolution of the western tombolo. We then discuss the possibility of stabilizing the western tombolo. Our argumentation relies on a coupled model integrating swells, currents, water levels and sediment transport. We present the conclusions of the simulations of various scenarios, including pre-existing propositions from coastal engineering offices. We conclude that beach replenishment seems to be necessary but not sufficient for the stabilization of the beach. Breakwaters reveal effective particularly in the most exposed northern area. Some solutions fulfill conditions so as to be elected as satisfactory. We give a comparative analysis of the efficiency of 14 alternatives for the protection of the tombolo.

Keywords: Breakwaters, coupled models, replenishment, silting.

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Authors: Dominik Krimpmann

Abstract:

Cloud computing has provided the impetus for change in the demand, sourcing, and consumption of IT-enabled services. The technology developed from an emerging trend towards a ‘musthave’. Many organizations harnessed on the quick-wins of cloud computing within the last five years but nowadays reach a plateau when it comes to sustainable savings and performance. This study aims to investigate what is needed from an organizational perspective to make cloud computing a sustainable success. The study was carried out in Germany among senior IT professionals, both in management and delivery positions. Our research shows that IT executives must be prepared to realign their IT workforce to sustain the advantage of cloud computing for today and the near future. While new roles will undoubtedly emerge, roles alone cannot ensure the success of cloud deployments. What is needed is a change in the IT workforce’s business behaviour, or put more simply, the ways in which the IT personnel works. It gives clear guidance on which dimensions of an employees’ working behaviour need to be adapted. The practical implications are drawn from a series of semi-structured interviews, resulting in a high-level workforce enablement plan. Lastly, it elaborates on tools and gives clear guidance on which pitfalls might arise along the proposed workforce enablement process.

Keywords: Cloud Computing, Organization Design, Organizational Change, Workforce Enablement.

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Authors: Ghaffar Tari

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The aim of this paper is to investigate the effect of mean size of industry on survival of new firms in East-Azarbaijan province through 1981-2006 using hazard function. So the effect of two variables including mean employment of industry and mean capital of industry are investigated on firm's survival. The Industry & Mine Ministry database has used for data gathering and the data are analyzed using the semi-parametric cox regression model. The results of this study shows that there is a meaningful negative relationship between mean capital of industry and firm's survival, but the mean employment of industry has no meaningful effect on survival of new firms.

Keywords: Firm's Survival, Hazard Function, Mean Capital of Industry, Mean Employment of Industry.

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Authors: M. Sallam, A. Ramadan, M. Fanni, M. Abdellatif

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Time delay in bilateral teleoperation system was introduced as a sufficient reason to make the system unstable or certainly degrade the system performance. In this paper, simulations and experimental results of implementing p-like control scheme, under different ranges of variable time delay, will be presented to verify a certain criteria, which guarantee the system stability and position tracking. The system consists of two Phantom premium 1.5A devices. One of them acts as a master and the other acts as a slave. The study includes deriving the Phantom kinematic and dynamic model, establishing the link between the two Phantoms over Simulink in Matlab, and verifying the stability criteria with simulations and real experiments.

Keywords: bilateral teleoperation, Phantom premium 1.5, varying time delay

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