Search results for: Real time obstacle avoidance.

Authors: Shagufta Tabassum, V. P. Pawar, jr., G. N. Shinde

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The study of dielectric relaxation properties of polar liquids in the binary mixture has been carried out at 10, 15, 20 and 25 ºC temperatures for 11 different concentrations using time domain reflectometry technique. The dielectric properties of a solute-solvent mixture of polar liquids in the frequency range of 10 MHz to 30 GHz gives the information regarding formation of monomers and multimers and also an interaction between the molecules of the liquid mixture under study. The dielectric parameters have been obtained by the least squares fit method using the Debye equation characterized by a single relaxation time without relaxation time distribution.

Keywords: Excess properties, relaxation time, static dielectric constant, time domain refelectometry technique.

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Authors: Monika Neda, Elena Nikonova

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We present a numerical study of the sensitivity of the so called time relaxation family of models of fluid motion with respect to the time relaxation parameter χ on the two dimensional cavity problem. The goal of the study is to compute and compare the sensitivity of the model using finite difference method (FFD) and sensitivity equation method (SEM).

Keywords: Sensitivity, time relaxation, deconvolution, Navier- Stokes equations.

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Authors: M. Gregor, J. Polcar, P. Horejsi, M. Simon

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Machine visualization is an area of interest with fast and progressive development. We present a method of machine visualization which will be applicable in real industrial conditions according to current needs and demands. Real factory data were obtained in a newly built research plant. Methods described in this paper were validated on a case study. Input data were processed and the virtual environment was created. The environment contains information about dimensions, structure, disposition, and function. Hardware was enhanced by modular machines, prototypes, and accessories. We added functionalities and machines into the virtual environment. The user is able to interact with objects such as testing and cutting machines, he/she can operate and move them. Proposed design consists of an environment with two degrees of freedom of movement. Users are in touch with items in the virtual world which are embedded into the real surroundings. This paper describes development of the virtual environment. We compared and tested various options of factory layout virtualization and visualization. We analyzed possibilities of using a 3D scanner in the layout obtaining process and we also analyzed various virtual reality hardware visualization methods such as: Stereoscopic (CAVE) projection, Head Mounted Display (HMD) and augmented reality (AR) projection provided by see-through glasses.

Keywords: Augmented reality, spatial scanner, virtual environment, virtual reality.

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Authors: Omid Mirmotahari, Yngvar Berg, Mats Hovin

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The problem discussed in this paper involves packing fresh fish fileet of the northern Cod into a standard square container. The fish is first cleaned and split and then collected on a belt ready to be stacked in a container. The aim of our work is to pack the fish into the container with constraints on the amount of overlap allowed for the fileets. The current focus is to design a packing cell that can be real-time and of practical use, while finding the optimal solution to the degree of overlap and minimise the unused space of the container.

Keywords: Facilities Planning and Management, Intelligent Systems, Manufacturing Systems, Operations Research, Production Planning and Control.

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Authors: Marc Diesse, Hochschule Heilbronn

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We address the question of identifying the configuration space singularities of linkages, i.e., points where the configuration space is not locally a submanifold of Euclidean space. Because the configuration space cannot be smoothly parameterized at such points, these singularity types have a significantly negative impact on the kinematics of the linkage. It is known that Jacobian methods do not provide sufficient conditions for the existence of CS-singularities. Herein, we present several additional algebraic criteria that provide the sufficient conditions. Further, we use those criteria to analyze certain classes of planar linkages. These examples will also show how the presented criteria can be checked using algorithmic methods.

Keywords: Linkages, configuration space singularities, real algebraic geometry, analytic geometry, computer algebra.

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Authors: S. Pirrello

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Sydney’s booming real estate market has pushed property developers to invest in historically “no-go” areas, which were previously too expensive to develop. These areas are usually near rivers where the sites are underlain by deep alluvial and estuarine sediments. In these ground conditions, conventional bored pile techniques are often not competitive. Contiguous Flight Auger (CFA) and Drilled Displacement (DD) Piles techniques are on the other hand suitable for these ground conditions. This paper deals with the design and construction challenges encountered with these piling techniques for a series of high-rise towers in Sydney’s West. The advantages of DD over CFA piles such as reduced overall spoil with substantial cost savings and achievable rock sockets in medium strength bedrock are discussed. Design performances were assessed with PIGLET. Pile performances are validated in two stages, during constructions with the interpretation of real-time data from the piling rigs’ on-board computer data, and after construction with analyses of results from high strain pile dynamic testing (PDA). Results are then presented and discussed. High Strain testing data are presented as Case Pile Wave Analysis Program (CAPWAP) analyses.

Keywords: Contiguous flight auger, case pile wave analysis, high strain pile, drilled displacement, pile performance.

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Authors: Xiaoou Li, Wen Yu

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Crude oil blending is an important unit operation in petroleum refining industry. A good model for the blending system is beneficial for supervision operation, prediction of the export petroleum quality and realizing model-based optimal control. Since the blending cannot follow the ideal mixing rule in practice, we propose a static neural network to approximate the blending properties. By the dead-zone approach, we propose a new robust learning algorithm and give theoretical analysis. Real data of crude oil blending is applied to illustrate the neuro modeling approach.

Keywords: Neural networks, modeling, stability, crude oil.

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Authors: Zixin Liu, Shu Lü, Shouming Zhong, Mao Ye

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The discrete-time uncertain system with time delay is investigated for bounded input bounded output (BIBO). By constructing an augmented Lyapunov function, three different sufficient conditions are established for BIBO stabilization. These conditions are expressed in the form of linear matrix inequalities (LMIs), whose feasibility can be easily checked by using Matlab LMI Toolbox. Two numerical examples are provided to demonstrate the effectiveness of the derived results.

Keywords: Robust BIBO stabilization, delay-dependent stabilization, discrete-time system, time delay.

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Authors: Eva Pajorová, Ladislav Hluchý

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Developed tool is one of system tools for easier access to various scientific areas and real time interactive learning between lecturer and for hearing impaired students. There is no demand for the lecturer to know Sign Language (SL). Instead, the new software tools will perform the translation of the regular speech into SL, after which it will be transferred to the student. On the other side, the questions of the student (in SL) will be translated and transferred to the lecturer in text or speech. One of those tools is presented tool. It-s too for developing the correct Speech Visemes as a root of total communication method for hearing impared students.

Keywords: Impared people, sing language, communication methods.

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Authors: Hesheng Wang, Haoyu Wang, Chungang Zhuang

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Estimating the 6D pose of objects is a core step for robot bin-picking tasks. The problem is that various objects are usually randomly stacked with heavy occlusion in real applications. In this work, we propose a method to regress 6D poses by predicting three points for each object in the 3D point cloud through deep learning. To solve the ambiguity of symmetric pose, we propose a labeling method to help the network converge better. Based on the predicted pose, an iterative method is employed for pose optimization. In real-world experiments, our method outperforms the classical approach in both precision and recall.

Keywords: Pose estimation, deep learning, point cloud, bin-picking, 3D computer vision.

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Authors: Juyi Park, Sang-Bum Lee, Jin-Wook Kim, Ji-Yoon Kim, Jung-Min Kim, Hee-Hwan Park, Jae-Won Seo, Gye-Hyung Kang, Soo-Ho Kim

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This paper presents a portable robot that is to use for welding process in shipbuilding yard. It has six degree of freedom and 3kg payload capability. Its weight is 21.5kg so that human workers can carry it to the work place. Its body mainly made of magnesium alloy and aluminum alloy for few parts that require high strength. Since the distance between robot and controller should be 50m at most, the robot controller controls the robot through EtherCAT. RTX and KPA are used for real time EtherCAT control on Windows XP. The performance of the developed robot was satisfactory, in welding of U type cell in shipbuilding yard.

Keywords: Portable welding robot, Shipbuilding, EtherCAT

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Authors: T. C. Manjunath, C. Ardil

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This paper deals with the design and the implementation of an automatic task planner for a robot, irrespective of whether it is a stationary robot or a mobile robot. The aim of the task planner nothing but, they are planning systems which are used to plan a particular task and do the robotic manipulation. This planning system is embedded into the system software in the computer, which is interfaced to the computer. When the instructions are given using the computer, this is transformed into real time application using the robot. All the AI based algorithms are written and saved in the control software, which acts as the intelligent task planning system.

Keywords: AI, Robot, Task Planner, RT, Algorithm, Specs, Controller.

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Authors: A. J. Babajanyan, T. A. Abrahamyan, H. A. Minasyan, Kh. V. Nerkararyan

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Optical radiation emitted from a metal-coated fiber tip apex at liquid-air interface was measured. The intensity of the output radiation was strongly depend on the relative position of the tip to a liquid-air interface and varied with surface fluctuations. This phenomenon permits in-situ real-time investigation of nano-metric vibrations of the liquid surface and provides a basis for development of various origin ultrasensitive vibration detecting sensors. The described method can be used for detection of week seismic vibrations.

Keywords: Fiber-tip, Liquid-air interface, Nano vibration, Opto-mechanical sensor.

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Authors: Amir T. Payandeh Najafabadi

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This article considers the problem of evaluating infinite-time (or finite-time) ruin probability under a given compound Poisson surplus process by approximating the claim size distribution by a finite mixture exponential, say Hyperexponential, distribution. It restates the infinite-time (or finite-time) ruin probability as a solvable ordinary differential equation (or a partial differential equation). Application of our findings has been given through a simulation study.

Keywords: Ruin probability, compound Poisson processes, mixture exponential (hyperexponential) distribution, heavy-tailed distributions.

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Authors: Pavol Tanuska, Pavel Vazan, Michal Kebisek, Dominika Jurovata

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The paper gives the results of the project that was oriented on the usage of knowledge discoveries from production systems for needs of the hierarchical process control. One of the main project goals was the proposal of knowledge discovery model for process control. Specifics data mining methods and techniques was used for defined problems of the process control. The gained knowledge was used on the real production system thus the proposed solution has been verified. The paper documents how is possible to apply the new discovery knowledge to use in the real hierarchical process control. There are specified the opportunities for application of the proposed knowledge discovery model for hierarchical process control.

Keywords: Hierarchical process control, knowledge discovery from databases, neural network.

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Authors: Atiqul Islam, Shamim Akhter, Tumnun E. Mursalin

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Least Development Countries (LDC) like Bangladesh, whose 25% revenue earning is achieved from Textile export, requires producing less defective textile for minimizing production cost and time. Inspection processes done on these industries are mostly manual and time consuming. To reduce error on identifying fabric defects requires more automotive and accurate inspection process. Considering this lacking, this research implements a Textile Defect Recognizer which uses computer vision methodology with the combination of multi-layer neural networks to identify four classifications of textile defects. The recognizer, suitable for LDC countries, identifies the fabric defects within economical cost and produces less error prone inspection system in real time. In order to generate input set for the neural network, primarily the recognizer captures digital fabric images by image acquisition device and converts the RGB images into binary images by restoration process and local threshold techniques. Later, the output of the processed image, the area of the faulty portion, the number of objects of the image and the sharp factor of the image, are feed backed as an input layer to the neural network which uses back propagation algorithm to compute the weighted factors and generates the desired classifications of defects as an output.

Keywords: Computer vision, image acquisition device, machine vision, multi-layer neural networks.

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Authors: Paul Okonkwo, Howard Smith

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A study to estimate the size of the cabin and major aircraft components as well as detect and avoid interference between internally placed components and the external surface, during the conceptual design synthesis and optimisation to explore the design space of a BWB, was conducted. Sizing of components follows the Bradley cabin sizing and rubber engine scaling procedures to size the cabin and engine respectively. The interference detection and avoidance algorithm relies on the ability of the Class Shape Transform parameterisation technique to generate polynomial functions of the surfaces of a BWB aircraft configuration from the sizes of the cabin and internal objects using few variables. Interference detection is essential in packaging of non-conventional configuration like the BWB because of the non-uniform airfoil-shaped sections and resultant varying internal space. The unique configuration increases the need for a methodology to prevent objects from being placed in locations that do not sufficiently enclose them within the geometry.

Keywords: Packaging, Optimisation, BWB, Parameterisation, Aircraft Conceptual Design.

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Authors: Farhat Hajer, Khir Tahar, Cherni Rafik, Dakhli Radhouen, Ammar Ben Brahim

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This paper presents the energy and exergy optimization of a real gas turbine power plant performance of 100 MW of power, installed in the South East of Tunisia. A simulation code is established using the EES (Engineering Equation Solver) software. The parameters considered are those of the actual operating conditions of the gas turbine thermal power station under study. The results show that thermal and exergetic efficiency decreases with the increase of the ambient temperature. Air excess has an important effect on the thermal efficiency. The emission of NOx rises in the summer and decreases in the winter. The obtained rates of NOx are compared with measurements results.

Keywords: Efficiency, exergy, gas turbine, temperature.

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Authors: Wang Xingbo

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Computation of determinant in the form |I-X| is primary and fundamental because it can help to compute many other determinants. This article puts forward a time-reducible approach to compute determinant |I-X|. The approach is derived from the Newton’s identity and its time complexity is no more than that to compute the eigenvalues of the square matrix X. Mathematical deductions and numerical example are presented in detail for the approach. By comparison with classical approaches the new approach is proved to be superior to the classical ones and it can naturally reduce the computational time with the improvement of efficiency to compute eigenvalues of the square matrix.

Keywords: Algorithm, determinant, computation, eigenvalue, time complexity.

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Authors: Abdel-Aziz M. Mohamed, Nermeen Coutry

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Lead time is a critical measure of a supply chain's performance. It impacts both the customer satisfactions as well as the total cost of inventory. This paper presents the result of a study on the analysis of the customer order lead-time for a multinational company. In the study, the lead time was divided into three stages respectively: order entry, order fulfillment, and order delivery. A sample of size 2,425 order lines was extracted from the company's records to use for this study. The sample data entails information regarding customer orders from the time of order entry until order delivery. Data regarding the lead time of each stage for different orders were also provided. Summary statistics on lead time data reveals that about 30% of the orders were delivered later than the scheduled due date. The result of the multiple linear regression analysis technique revealed that component type, logistics parameter, order size and the customer type have significant impacts on lead time. Data analysis on the stages of lead time indicates that stage 2 consumed over 50% of the lead time. Pareto analysis was made to study the reasons for the customer order delay in each stage. Recommendation was given to resolve the problem.

Keywords: Lead time reduction, customer satisfaction, service quality, statistical analysis.

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Authors: Gergely Treplan, Long Tran-Thanh, Janos Levendovszky

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In this paper, a reliable cooperative multipath routing algorithm is proposed for data forwarding in wireless sensor networks (WSNs). In this algorithm, data packets are forwarded towards the base station (BS) through a number of paths, using a set of relay nodes. In addition, the Rayleigh fading model is used to calculate the evaluation metric of links. Here, the quality of reliability is guaranteed by selecting optimal relay set with which the probability of correct packet reception at the BS will exceed a predefined threshold. Therefore, the proposed scheme ensures reliable packet transmission to the BS. Furthermore, in the proposed algorithm, energy efficiency is achieved by energy balancing (i.e. minimizing the energy consumption of the bottleneck node of the routing path) at the same time. This work also demonstrates that the proposed algorithm outperforms existing algorithms in extending longevity of the network, with respect to the quality of reliability. Given this, the obtained results make possible reliable path selection with minimum energy consumption in real time.

Keywords: wireless sensor networks, reliability, cooperativerouting, Rayleigh fading model, energy balancing

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Authors: Roselyn A. Maaño

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Eyes are an essential and conspicuous organ of the human body. Human eyes are outward and inward portals of the body that allows to see the outside world and provides glimpses into ones inner thoughts and feelings. Inevitable blindness and visual impairments may results from eye-related disease, trauma, or congenital or degenerative conditions that cannot be corrected by conventional means. The study emphasizes innovative tools that will serve as an aid to the blind and visually impaired (VI) individuals. The researchers fabricated a prototype that utilizes the Microsoft Kinect for Windows and Arduino microcontroller board. The prototype facilitates advanced gesture recognition, voice recognition, obstacle detection and indoor environment navigation. Open Computer Vision (OpenCV) performs image analysis, and gesture tracking to transform Kinect data to the desired output. A computer vision technology device provides greater accessibility for those with vision impairments.

Keywords: Algorithms, Blind, Computer Vision, Embedded Systems, Image Analysis.

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Authors: Shih-Wen Hsiao, Rong-Qi Chen

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In the field of fashion design, 3D Mannequin is a kind of assisting tool which could rapidly realize the design concepts. While the concept of 3D Mannequin is applied to the computer added fashion design, it will connect with the development and the application of design platform and system. Thus, the situation mentioned above revealed a truth that it is very critical to develop a module of 3D Mannequin which would correspond with the necessity of fashion design. This research proposes a concrete plan that developing and constructing a system of 3D Mannequin with Kinect. In the content, ergonomic measurements of objective human features could be attained real-time through the implement with depth camera of Kinect, and then the mesh morphing can be implemented through transformed the locations of the control-points on the model by inputting those ergonomic data to get an exclusive 3D mannequin model. In the proposed methodology, after the scanned points from the Kinect are revised for accuracy and smoothening, a complete human feature would be reconstructed by the ICP algorithm with the method of image processing. Also, the objective human feature could be recognized to analyze and get real measurements. Furthermore, the data of ergonomic measurements could be applied to shape morphing for the division of 3D Mannequin reconstructed by feature curves. Due to a standardized and customer-oriented 3D Mannequin would be generated by the implement of subdivision, the research could be applied to the fashion design or the presentation and display of 3D virtual clothes. In order to examine the practicality of research structure, a system of 3D Mannequin would be constructed with JAVA program in this study. Through the revision of experiments the practicability-contained research result would come out.

Keywords: 3D Mannequin, kinect scanner, interactive closest point, shape morphing, subdivision.

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Authors: Yi Yu, Vu Xuan Nguyen, Gaoxi Xiao

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Opinion formation in complex social networks may exhibit complex system dynamics even when based on some simplest system evolution models. An interesting and important issue is the effects of the initial state on the final steady-state opinion distribution. By carrying out extensive simulations and providing necessary discussions, we show that, while different initial opinion distributions certainly make differences to opinion evolution in social systems without noises, in systems with noises, given enough time, different initial states basically do not contribute to making any significant differences in the final steady state. Instead, it is the basal distribution of the preferred opinions that contributes to deciding the final state of the systems. We briefly explain the reasons leading to the observed conclusions. Such an observation contradicts with a long-term belief on the roles of system initial state in opinion formation, demonstrating the dominating role that opinion mutation can play in opinion formation given enough time. The observation may help to better understand certain observations of opinion evolution dynamics in real-life social networks.

Keywords: Opinion formation, Deffuant model, opinion mutation, consensus making.

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Authors: Deniz Karagöz Yüncü

Abstract:

This study tested a structural model which investigates the relationships among tourists’ need for uniqueness, perceived authenticity (object-based authenticity and existential authenticity) and behavioral intentions to consume cultural and heritage destinations. The sample of the study comprised of 281 participants in a cultural heritage site, in Cappadocia, Turkey. The data were provided via face to face interviews in two months (September and October) which considered the high season. Structural equation modeling was employed to test the causal relationships among the hypotheses. Findings revealed tourists’ creative choice had an influence on object-based authenticity and existential authenticity. Tourists’ avoidance had an influence on object-based authenticity. The study concluded that two dimensions, namely, the object based authenticity and existential authenticity had significant impact on behavioral intentions.

Keywords: Needs for uniqueness, object-based authenticity, existential authenticity, behavioral intentions.

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Authors: Alonggot Limcharoen, Jintana Wannarat, Vorawat Panich

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This study aims to investigate the balancing of the number of operators (Line Balancing technique) in the production line of hard disk drive components in order to increase efficiency. At present, the trend of using hard disk drives has continuously declined leading to limits in a company’s revenue potential. It is important to improve and develop the production process to create market share and to have the ability to compete with competitors with a higher value and quality. Therefore, an effective tool is needed to support such matters. In this research, the Arena program was applied to analyze the results both before and after the improvement. Finally, the precedent was used before proceeding with the real process. There were 14 work stations with 35 operators altogether in the RA production process where this study was conducted. In the actual process, the average production time was 84.03 seconds per product piece (by timing 30 times in each work station) along with a rating assessment by implementing the Westinghouse principles. This process showed that the rating was 123% underlying an assumption of 5% allowance time. Consequently, the standard time was 108.53 seconds per piece. The Takt time was calculated from customer needs divided by working duration in one day; 3.66 seconds per piece. Of these, the proper number of operators was 30 people. That meant five operators should be eliminated in order to increase the production process. After that, a production model was created from the actual process by using the Arena program to confirm model reliability; the outputs from imitation were compared with the original (actual process) and this comparison indicated that the same output meaning was reliable. Then, worker numbers and their job responsibilities were remodeled into the Arena program. Lastly, the efficiency of production process enhanced from 70.82% to 82.63% according to the target.

Keywords: Hard disk drive, line balancing, simulation, Arena program.

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Authors: Hsiao-Wei Wang, Jung-Tang Huang, Chun-Chiang Lin

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Aptamers are useful tools in microorganism researches, diagnoses, and treatment. Aptamers are specific target molecules formed by oligonucleic acid molecules, and are not decomposed by alcohol. Aptamers used to detect Mycobacterium tuberculosis (MTB) have been proved to have specific affinity to the outer membrane proteins of MTB. This article presents a biosensor chip set with aptamers for early detection of MTB with high specificity and sensitivity, even in very low concentration. Meanwhile, we have already made a modified hydrophobic facial mask module with internal rendering hydrophobic for effectively collecting M. tuberculosis.

Keywords: Aptamers, CNTFET, Mycobacterium tuberculosis, early detection.

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Authors: Aliaksei Patsekha, Michael Hohenberger, Harald Raupenstrauch

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An effective emergency response to accidents with chemical, biological, radiological, nuclear, or explosive materials (CBRNE) that represent highly dynamic situations needs immediate actions within limited time, information and resources. The aim of the study is to provide the foundation for division of unsafe area into risk zones according to the impact of hazardous parameters (heat radiation, thermal dose, overpressure, chemical concentrations). A decision on the boundary values for three risk zones is based on the vulnerability analysis that covered a variety of accident scenarios containing the release of a toxic or flammable substance which either evaporates, ignites and/or explodes. Critical values are selected for the boundary definition of the Red, Orange and Yellow risk zones upon the examination of harmful effects that are likely to cause injuries of varying severity to people and different levels of damage to structures. The obtained results provide the basis for creating a comprehensive real-time risk map for a decision support at CBRNE operations.

Keywords: Boundary values, CBRNE threats, decision making process, hazardous effects, vulnerability analysis, risk zones.

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Authors: Fantazi Walid, Ezzedine Tahar, Bargaoui Zoubeida

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This research presents the main ideas to implement an intelligent system composed by communicating wireless sensors measuring environmental data linked to drought indicators (such as air temperature, soil moisture , etc...). On the other hand, the setting up of a spatio temporal database communicating with a Web mapping application for a monitoring in real time in activity 24:00 /day, 7 days/week is proposed to allow the screening of the drought parameters time evolution and their extraction. Thus this system helps detecting surfaces touched by the phenomenon of drought. Spatio-temporal conceptual models seek to answer the users who need to manage soil water content for irrigating or fertilizing or other activities pursuing crop yield augmentation. Effectively, spatiotemporal conceptual models enable users to obtain a diagram of readable and easy data to apprehend. Based on socio-economic information, it helps identifying people impacted by the phenomena with the corresponding severity especially that this information is accessible by farmers and stakeholders themselves. The study will be applied in Siliana watershed Northern Tunisia.

Keywords: WSN, database spatio-temporal, GIS, web-mapping, indicator of drought.

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Authors: Muhamad Azani Yahya, Vikneswaran Munikanan, Mohammed Alias Yusof

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Lean thinking holds the potential for improving the construction sector, and therefore, it is a concept that should be adopted by construction sector players and academicians in the real industry. Bridging from that, a learning process for construction sector players regarding this matter should be the agenda in gaining the knowledge in preparation for their career. Lean principles offer opportunities for reducing lead times, eliminating non-value adding activities, reducing variability, and are facilitated by methods such as pull scheduling, simplified operations and buffer reduction. Thus, the drive for rapid construction, which is a systematic approach in enhancing efficiency to deliver a project using time reduction, while lean is the continuous process of eliminating waste, meeting or exceeding all customer requirements, focusing on the entire value stream and pursuing perfection in the execution of a constructed project. The methodology presented is shown to be valid through literature, interviews and questionnaire. The results show that the majority of construction sector players unfamiliar with lean thinking and they agreed that it can improve the construction process flow. With this background knowledge established and identified, best practices and recommended action are drawn.

Keywords: Construction improvement, rapid construction, time reduction, lean construction.

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