Search results for: Uniform random variable

Authors: Moulay A. Akhloufi

Abstract:

This paper presents an new vision technique for robotic manipulation of randomly oriented objects in industrial applications. The proposed approach uses 2D and 3D vision for efficiently extracting the 3D pose of an object in the presence of multiple randomly positioned objects. 2D vision permits to quickly select the objects of interest for 3D processing with a new modified ICP algorithm (FaR-ICP), thus reducing significantly the processing time. The extracted 3D pose is then sent to the robot manipulator for picking. The tests show that the proposed system achieves high performances

Keywords: 3D vision, Hand-Eye calibration, robot visual servoing, random bin picking.

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Authors: D. Singh, R. Yousefi, M. Boroushaki

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Intelligent deep-drawing is an instrumental research field in sheet metal forming. A set of 28 different experimental data have been employed in this paper, investigating the roles of die radius, punch radius, friction coefficients and drawing ratios for axisymmetric workpieces deep drawing. This paper focuses an evolutionary neural network, specifically, error back propagation in collaboration with genetic algorithm. The neural network encompasses a number of different functional nodes defined through the established principles. The input parameters, i.e., punch radii, die radii, friction coefficients and drawing ratios are set to the network; thereafter, the material outputs at two critical points are accurately calculated. The output of the network is used to establish the best parameters leading to the most uniform thickness in the product via the genetic algorithm. This research achieved satisfactory results based on demonstration of neural networks.

Keywords: Deep-drawing, Neural network, Genetic algorithm, Sheet metal forming.

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Authors: Joerg Schweizer, Jason N. Meggs, Nazanin R. Dehkordi, Frederico Rupi, Anton Pashkevich

Abstract:

We propose a low-cost uniform analysis framework allowing comparison of the strengths and weaknesses of the bicycling experience within and between cities. A primary component is an expedient, one-page mobility survey from which mode share is calculated. The bicycle mode share of many cities remains unknown, creating a serious barrier for both scientists and policy makers aiming to understand and increase rates of bicycling. Because of its low cost and expedience, this framework could be replicated widely, uniformly filling the data gap. The framework has been applied to 13 Central European cities with success. Data is collected on multiple modes with specific questions regarding both behavior and quality of travel experience. Individual preferences are also collected, examining the conditions under which respondents would change behavior to adopt more sustainable modes (bicycling or public transportation). A broad analysis opportunity results, intended to inform policy choices.

Keywords: bicycling, modal splits, transport policy, surveys.

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Authors: Einalou Z., Najafi Z., Maghooli K. Zandi Y, Sheibeigi A

Abstract:

In this study, an investigation over digestive diseases has been done in which the sound acts as a detector medium. Pursue to the preprocessing the extracted signal in cepstrum domain is registered. After classification of digestive diseases, the system selects random samples based on their features and generates the interest nonstationary, long-term signals via inverse transform in cepstral domain which is presented in digital and sonic form as the output. This structure is updatable or on the other word, by receiving a new signal the corresponding disease classification is updated in the feature domain.

Keywords: Cepstrum, databank, digestive disease, acousticsignal.

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Authors: Mustafa Resa Becan

Abstract:

The performance of a type of fuzzy sliding mode control is researched by considering the nonlinear characteristic of a missile-target interception problem to obtain a robust interception process. The variable boundary layer by using fuzzy logic is proposed to reduce the chattering around the switching surface then is applied to the interception model which was derived. The performances of the sliding mode control with constant and fuzzy boundary layer are compared at the end of the study and the results are evaluated.

Keywords: Sliding mode control, fuzzy, boundary layer, interception problem.

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Authors: A. M. R. Mosalman Yazdi, B. A. R. Mosalman Yazdi

Abstract:

In industry, on of the most important subjects is die and it's characteristics in which for cutting and forming different mechanical pieces, various punch and matrix metal die are used. whereas the common parts which form the main frame die are not often proportion with pieces and dies therefore using a part as socalled common part for frames in specified dimension ranges can decrease the time of designing, occupied space of warehouse and manufacturing costs. Parts in dies with getting uniform in their shape and dimension make common parts of dies. Common parts of punch and matrix metal die are as bolster, guide bush, guide pillar and shank. In this paper the common parts and effective parameters in selecting each of them as the primary information are studied, afterward for selection and design of mechanical parts an introduction and investigation based on the Mech. Desk. software is done hence with developing this software can standardize the metal common parts of punch and matrix. These studies will be so useful for designer in their designing and also using it has with very much advantage for manufactures of products in decreasing occupied spaces by dies.

Keywords: Die, Matrix, Punch, Standardize.

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Authors: Sun-Ki Hong, Yong-Ho Cho, Ki-Seok Kim, Tae-Sam Kang

Abstract:

Piezoelectric actuator is treated as RC load when it is modeled electrically. For some piezoelectric actuator applications, arbitrary voltage is required to actuate. Especially for unidirectional arbitrary voltage driving like as sine wave, some special inverter with circuit that can charge and discharge the capacitive energy can be used. In this case, the difference between power supply level and the object voltage level for RC load is varied. Because the control gain is constant, the controlled output is not uniform according to the voltage difference. In this paper, for charge and discharge circuit for unidirectional arbitrary voltage driving for piezoelectric actuator, the controller gain is controlled according to the voltage difference. With the proposed simple idea, the load voltage can have controlled smoothly although the voltage difference is varied. The appropriateness is proved from the simulation of the proposed circuit.

Keywords: Analog voltage inverter, Capacitive load, Gain control, DC-DC converter, Piezoelectric, Voltage waveform.

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Authors: K. Oh, J. P. Hwang, E. Kim, H. Lee

Abstract:

This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the SVM is built and selects a proper path from the bank of RRTs for a given environment. At the second level, a real path is planned by the RRT planners for the given environment. The suggested method is applied to the control of KUKA™,, a commercial 6 DOF robot manipulator, and its feasibility and efficiency are demonstrated via the cosimulatation of MatLab™, and RecurDyn™,.

Keywords: Path planning, RRT, 6 DOF manipulator, SVM.

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Authors: S.K. Satpathy, S.K. Nayak, K. K. Nagwanshi, S. Panda, C. Ardil

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Image restoration involves elimination of noise. Filtering techniques were adopted so far to restore images since last five decades. In this paper, we consider the problem of image restoration degraded by a blur function and corrupted by random noise. A method for reducing additive noise in images by explicit analysis of local image statistics is introduced and compared to other noise reduction methods. The proposed method, which makes use of an a priori noise model, has been evaluated on various types of images. Bayesian based algorithms and technique of image processing have been described and substantiated with experimentation using MATLAB.

Keywords: Image Restoration, Probability DensityFunction (PDF), Neural Networks, Bayesian Classifier.

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Authors: Soroor Ghaziof, Wei Gao

Abstract:

Zn alloy and composite coatings are widely used in buildings and structures, automobile and fasteners industries to protect steel component from corrosion. In this paper, Zn-Ni-Al2O3 nanocomposite coatings were electrodeposited on mild steel using a novel sol enhanced electroplating method. In this method, transparent Al2O3 sol was added into the acidic Zn-Ni bath to produced Zn-Ni- Al2O3 nanocomposite coatings. The effect of alumina sol on the electrodeposition process, and coating properties was investigated using cyclic voltammetry, XRD, ESEM and Tafel test. Results from XRD tests showed that the structure of all coatings was single γ- Ni5Zn21 phase. Cyclic voltammetry results showed that the electrodeposition overpotential was lower in the presence of alumina sol in the bath, and caused the reduction potential of Zn-Ni to shift to more positive values. Zn-Ni-Al2O3 nanocomposite coatings produced more uniform and compact deposits, with fine grained microstructure when compared to Zn-Ni coatings. The corrosion resistance of Zn-Ni coatings was improved significantly by incorporation of alumina nanoparticles into the coatings.

Keywords: Zn-Ni-Al2O3 composite coatings, steel, sol-enhanced electroplating, corrosion resistance.

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Authors: Farhad Kolahan, M. Hossein Abolbashari, Samaeddin Mohitzadeh

Abstract:

Several methods are available for weight and shape optimization of structures, among which Evolutionary Structural Optimization (ESO) is one of the most widely used methods. In ESO, however, the optimization criterion is completely case-dependent. Moreover, only the improving solutions are accepted during the search. In this paper a Simulated Annealing (SA) algorithm is used for structural optimization problem. This algorithm differs from other random search methods by accepting non-improving solutions. The implementation of SA algorithm is done through reducing the number of finite element analyses (function evaluations). Computational results show that SA can efficiently and effectively solve such optimization problems within short search time.

Keywords: Simulated annealing, Structural optimization, Compliance, C.V. product.

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Authors: Kathrin Reinhold

Abstract:

Precise frequency estimation methods for pulseshaped echoes are a prerequisite to determine the relative velocity between sensor and reflector. Signal frequencies are analysed using three different methods: Fourier Transform, Chirp ZTransform and the MUSIC algorithm. Simulations of echoes are performed varying both the noise level and the number of reflecting points. The superposition of echoes with a random initial phase is found to influence the precision of frequency estimation severely for FFT and MUSIC. The standard deviation of the frequency using FFT is larger than for MUSIC. However, MUSIC is more noise-sensitive. The distorting effect of superpositions is less pronounced in experimental data.

Keywords: Frequency estimation, pulse-echo-method, superposition, echoes.

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Authors: Jing Zhang, Jie Chen

Abstract:

In this paper, we mainly analyze an automated parking system where the storage and retrieval requests are performed by a tower crane. In this parking system, the S/R crane which is located at the middle of the bottom of the cylinder parking area can rotate in both clockwise and counterclockwise and three kinds of movements can be done simultaneously. We develop some mathematical travel time models for the single command cycle under the random storage assignment using the characteristics of this system. Finally, we compare these travel models with discrete case and it is shown that these travel models display a good satisfactory performance.

Keywords: Parking system, travel time model, tower crane.

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Authors: D. Vainauska, S. Kozireva, A. Karpovs, M. Chistyakovs, M. Baryshev

Abstract:

Liposomal magnetofection is a simple, highly efficient technology for cell transfection, demonstrating better outcome than a number of other common gene delivery methods. However, aggregate complexes distribution over the cell surface is non-uniform due to the gradient of the permanent magnetic field. The aim of this study was to estimate the efficiency of liposomal magnetofection for prostate carcinoma PC3 cell line using newly designed device, “DynaFECTOR", ensuring magnetofection in a dynamic gradient magnetic field. Liposomal magnetofection in a dynamic gradient magnetic field demonstrated the highest transfection efficiency for PC3 cells – it increased for 21% in comparison with liposomal magnetofection and for 42% in comparison with lipofection alone. The optimal incubation time under dynamic magnetic field for PC3 cell line was 5 minutes and the optimal rotation frequency of magnets – 5 rpm. The new approach also revealed lower cytotoxic effect to cells than liposomal magnetofection.

Keywords: Dynamic gradient magnetic field, gene delivery, liposomal magnetofection, prostate cancer cell line

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Authors: R. K. Apalowo, D. Chronopoulos, V. Thierry

Abstract:

A wave finite element (WFE) and finite element (FE) based computational method is presented by which the dispersion properties as well as the wave interaction coefficients for one-dimensional structural system can be predicted. The structural system is discretized as a system comprising a number of waveguides connected by a coupling joint. Uniform nodes are ensured at the interfaces of the coupling element with each waveguide. Then, equilibrium and continuity conditions are enforced at the interfaces. Wave propagation properties of each waveguide are calculated using the WFE method and the coupling element is modelled using the FE method. The scattering of waves through the coupling element, on which damage is modelled, is determined by coupling the FE and WFE models. Furthermore, the central aim is to evaluate the effect of pressurization on the wave dispersion and scattering characteristics of the prestressed structural system compared to that which is not prestressed. Numerical case studies are exhibited for two waveguides coupled through a coupling joint.

Keywords: Finite element, prestressed structures, wave finite element, wave propagation properties, wave scattering coefficients.

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Authors: I. Rodionov, A. Semenov, E. Gosteva, O. Sokolova

Abstract:

The venture capital becomes more and more advanced and effective source of the innovation project financing, connected with a high-risk level. In the developed countries, it plays a key role in transforming innovation projects into successful businesses and creating the prosperity of the modern economy. In Russia, there are many necessary preconditions for creation of the effective venture investment system: the network of the public institutes for innovation financing operates; there is a significant number of the small and medium-sized enterprises, capable to sell production with good market potential. However, the current system does not confirm the necessary level of efficiency in practice that can be substantially explained by the absence of the accurate plan of action to form the national venture model and by the lack of experience of successful venture deals with profitable exits in Russian economy. This paper studies the influence of various factors on the venture industry development by the example of the IT-sector in Russia. The choice of the sector is based on the fact, that this segment is the main driver of the venture capital market growth in Russia, and the necessary set of data exists. The size of investment of the second round is used as the dependent variable. To analyse the influence of the previous round, such determinant as the volume of the previous (first) round investments is used. There is also used a dummy variable in regression to examine that the participation of an investor with high reputation and experience in the previous round can influence the size of the next investment round. The regression analysis of short-term interrelations between studied variables reveals prevailing influence of the volume of the first round investments on the venture investments volume of the second round. The most important determinant of the value of the second-round investment is the value of first–round investment, so it means that the most competitive on the Russian market are the start-up teams that can attract more money on the start, and the target market growth is not the factor of crucial importance. This supports the point of view that VC in Russia is driven by endogenous factors and not by exogenous ones that are based on global market growth.

Keywords: Venture industry, venture investment, determinants of the venture sector development, IT-sector.

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Authors: R. Heydari, M. R. Salehi

Abstract:

A tunable photonic microwave bandpass filter with negative coefficient based on an electro-optic phase modulator (EOPM) and a variable polarization beamsplitter (VPBS) is demonstrated. A two-tap microwave bandpass filter with one negative coefficient is presented. The chromatic dispersion and optical coherence are not affected on this filter.

Keywords: Bandpass filter, EOPM, photonic microwave filter, polarization beamsplitter.

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Authors: Hamid Maidat, Khedidja Bouhadef, Djamel Eddine Ameziani, Azzedine Abdedou

Abstract:

This work consists of a numerical simulation of convective heat transfer in a vertical plane channel filled with a heat generating porous medium, in the absence of local thermal equilibrium. The walls are maintained to a constant temperature and the inlet velocity is uniform. The dynamic range is described by the Darcy-Brinkman model and the thermal field by two energy equations model. A dimensionless formulation is developed for performing a parametric study based on certain dimensionless groups such as, the Biot interstitial number, the thermal conductivity ratio and the volumetric heat generation, q '''. The governing equations are solved using the finite volume method, gave rise to a multitude of results concerning in particular the thermal field in the porous channel and the existence or not of the local thermal equilibrium.

Keywords: Mixed convection, porous medium, power generation, local thermal non equilibrium model.

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Authors: Vahid Anari, Mina Bakhshi

Abstract:

Visual search and identification of immunohistochemically stained tissue of meningioma was performed manually in pathologic laboratories to detect and diagnose the cancers type of meningioma. This task is very tedious and time-consuming. Moreover, because of cell's complex nature, it still remains a challenging task to segment cells from its background and analyze them automatically. In this paper, we develop and test a computerized scheme that can automatically identify cells in microscopic images of meningioma and classify them into positive (proliferative) and negative (normal) cells. Dataset including 150 images are used to test the scheme. The scheme uses Fuzzy C-means algorithm as a color clustering method based on perceptually uniform hue, saturation, value (HSV) color space. Since the cells are distinguishable by the human eye, the accuracy and stability of the algorithm are quantitatively compared through application to a wide variety of real images.

Keywords: Positive cell, color segmentation, HSV color space, immunohistochemistry, meningioma, thresholding, fuzzy c-means.

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Authors: Bhupendra C. S. Chauhan, P. S. Bisht, O. P. S. Negi

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According to celebrated Hurwitz theorem, there exists four division algebras consisting of R (real numbers), C (complex numbers), H (quaternions) and O (octonions). Keeping in view the utility of octonion variable we have tried to extend the three dimensional vector analysis to seven dimensional one. Starting with the scalar and vector product in seven dimensions, we have redefined the gradient, divergence and curl in seven dimension. It is shown that the identity n(n - 1)(n - 3)(n - 7) = 0 is satisfied only for 0, 1, 3 and 7 dimensional vectors. We have tried to write all the vector inequalities and formulas in terms of seven dimensions and it is shown that same formulas loose their meaning in seven dimensions due to non-associativity of octonions. The vector formulas are retained only if we put certain restrictions on octonions and split octonions.

Keywords: Octonions, Vector Space and seven dimensions

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Authors: A. Ourici

Abstract:

This paper proposes a direct power control for doubly-fed induction machine for variable speed wind power generation. It provides decoupled regulation of the primary side active and reactive power and it is suitable for both electric energy generation and drive applications. In order to control the power flowing between the stator of the DFIG and the network, a decoupled control of active and reactive power is synthesized using PI controllers.The obtained simulation results show the feasibility and the effectiveness of the suggested method

Keywords: Doubly fed induction machine , decoupled power control , vector control , active and reactive power, PWM inverter

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Authors: V.Rezaie, M.Khanmohammady

Abstract:

An original DEA model is to evaluate each DMU optimistically, but the interval DEA Model proposed in this paper has been formulated to obtain an efficiency interval consisting of Evaluations from both the optimistic and the pessimistic view points. DMUs are improved so that their lower bounds become so large as to attain the maximum Value one. The points obtained by this method are called ideal points. Ideal PPS is calculated by ideal of efficiency DMUs. The purpose of this paper is to rank DMUs by this ideal PPS. Finally we extend the efficiency interval of a DMU under variable RTS technology.

Keywords: Data envelopment analysis (DEA), Decision makingunit (DMU), Interval DEA, Ideal points, Ideal PPS, Return to scale(RTS).

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Authors: S. Barabas, F. Sarbu, B. Barabas, A. Fota

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Main objective of this paper is to establish a link between inertial forces of the bearings used in construction of wind power plant and its behavior. Using bearings with lower inertial forces has the immediate effect of decreasing inertia rotor system, with significant results in increased energy efficiency, due to decreased friction forces between rollers and raceways. The F.E.M. analysis shows the appearance of uniform contact stress at the ends of the rollers, demonstrated the necessity of production of low mass bearings. Favorable results are expected in the economic field, by reducing material consumption and by increasing the durability of bearings. Using low mass bearings with hollow rollers instead of solid rollers has an impact on working temperature, on vibrations and noise which decrease. Implementation of types of hollow rollers of cylindrical tubular type, instead of expensive rollers with logarithmic profile, will bring significant inertial forces decrease with large benefits in behavior of wind power plant.

Keywords: Inertial forces, Von Mises stress, hollow rollers.

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Authors: Petr Morávek, Miloš Šeda

Abstract:

In practice, we often come across situations where it is necessary to make decisions based on incomplete or uncertain data. In control systems it may be due to the unknown exact mathematical model, or its excessive complexity (e.g. nonlinearity) when it is necessary to simplify it, respectively, to solve it using a rule base. In the case of databases, searching data we compare a similarity measure with of the requirements of the selection with stored data, where both the select query and the data itself may contain vague terms, for example in the form of linguistic qualifiers. In this paper, we focus on the processing of uncertain data in databases and demonstrate it on the example multi-criteria decision making in the selection of variants, specified by higher number of technical parameters.

Keywords: fuzzy logic, linguistic variable, multicriteria decision

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Authors: Y. T. Yang, H. S. Peng, H. T. Hsu

Abstract:

This study presents the numerical simulation of optimum pin-fin heat sink with air impinging cooling by using Taguchi method. 9 L ( 4 3 ) orthogonal array is selected as a plan for the four design-parameters with three levels. The governing equations are discretized by using the control-volume-based-finite-difference method with a power-law scheme on the non-uniform staggered grid. We solved the coupling of the velocity and the pressure terms of momentum equations using SIMPLEC algorithm. We employ the k −ε two-equations turbulence model to describe the turbulent behavior. The parameters studied include fin height H (35mm-45mm), inter-fin spacing a , b , and c (2 mm-6.4 mm), and Reynolds number ( Re = 10000- 25000). The objective of this study is to examine the effects of the fin spacings and fin height on the thermal resistance and to find the optimum group by using the Taguchi method. We found that the fin spacings from the center to the edge of the heat sink gradually extended, and the longer the fin’s height the better the results. The optimum group is 3 1 2 3 H a b c . In addition, the effects of parameters are ranked by importance as a , H , c , and b .

Keywords: Heat sink, Optimum, Electronics cooling, CFD.

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Authors: M. Baryshev, D.Vainauska, S. Kozireva, A.Karpovs

Abstract:

Liposomal magnetofection is the most powerful nonviral method for the nucleic acid delivery into the cultured cancer cells and widely used for in vitro applications. Use of the static magnetic field condition may result in non-uniform distribution of aggregate complexes on the surface of cultured cells. To prevent this, we developed the new device which allows to concentrate aggregate complexes under dynamic magnetic field, assisting more contact of these complexes with cellular membrane and, possibly, stimulating endocytosis. Newly developed device for magnetofection under dynamic gradient magnetic field, “DynaFECTOR", was used to compare transfection efficiency of human liver hepatocellular carcinoma cell line HepG2 with that obtained by lipofection and magnetofection. The effect of two parameters on transfection efficiency, incubation time under dynamic magnetic field and rotation frequency of magnet, was estimated. Liposomal magnetofection under dynamic gradient magnetic field showed the highest transfection efficiency for HepG2 cells.

Keywords: Dynamic magnetic field, Lipofection, Magnetofection

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Authors: Mohamed Amine Belmiloud, Nord Eddine Sad Chemloul

Abstract:

In this study, we investigated numerically heat transfer by mixed convection coupled to radiation in a square cavity; the upper horizontal wall is movable. The purpose of this study is to see the influence of the emissivity ε and the varying of the Richardson number Ri on the variation of average Nusselt number Nu. The vertical walls of the cavity are differentially heated, the left wall is maintained at a uniform temperature higher than the right wall, and the two horizontal walls are adiabatic. The finite volume method is used for solving the dimensionless Governing Equations. Emissivity values used in this study are ranged between 0 and 1, the Richardson number in the range 0.1 to 10. The Rayleigh number is fixed to Ra=104 and the Prandtl number is maintained constant Pr=0.71. Streamlines, isothermal lines and the average Nusselt number are presented according to the surface emissivity. The results of this study show that the Richardson number Ri and emissivity ε affect the average Nusselt number.

Keywords: Numerical study, mixed convection, square cavity, wall emissivity, lid-driven.

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Authors: S. Balaji, V. Swaminathan, K. Kannan

Abstract:

The Minimum Vertex Cover (MVC) problem is a classic graph optimization NP - complete problem. In this paper a competent algorithm, called Vertex Support Algorithm (VSA), is designed to find the smallest vertex cover of a graph. The VSA is tested on a large number of random graphs and DIMACS benchmark graphs. Comparative study of this algorithm with the other existing methods has been carried out. Extensive simulation results show that the VSA can yield better solutions than other existing algorithms found in the literature for solving the minimum vertex cover problem.

Keywords: vertex cover, vertex support, approximation algorithms, NP - complete problem.

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Authors: M. Pepe, S. Ackermann, L. Fregonese, C. Achille

Abstract:

3D models obtained with advanced survey techniques such as close-range photogrammetry and laser scanner are nowadays particularly appreciated in Cultural Heritage and Archaeology fields. In order to produce high quality models representing archaeological evidences and anthropological artifacts, the appearance of the model (i.e. color) beyond the geometric accuracy, is not a negligible aspect. The integration of the close-range photogrammetry survey techniques with the laser scanner is still a topic of study and research. By combining point cloud data sets of the same object generated with both technologies, or with the same technology but registered in different moment and/or natural light condition, could construct a final point cloud with accentuated color dissimilarities. In this paper, a methodology to uniform the different data sets, to improve the chromatic quality and to highlight further details by balancing the point color will be presented.

Keywords: Color models, cultural heritage, laser scanner, photogrammetry, point cloud color.

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Authors: M. Hadi Mashinchi, M. Reza Mashinchi, Siti Mariyam H. J. Shamsuddin

Abstract:

In this paper a genetic algorithms approach for solving the linear and quadratic fuzzy equations Ãx̃=B̃ and Ãx̃² + B̃x̃=C̃ , where Ã, B̃, C̃ and x̃ are fuzzy numbers is proposed by genetic algorithms. Our genetic based method initially starts with a set of random fuzzy solutions. Then in each generation of genetic algorithms, the solution candidates converge more to better fuzzy solution x̃_b . In this proposed method the final reached x̃_b is not only restricted to fuzzy triangular and it can be fuzzy number.

Keywords: Fuzzy coefficient, fuzzy equation, genetic algorithms.

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