Search results for: linear polymers
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1870

Search results for: linear polymers

1150 Optimal Image Representation for Linear Canonical Transform Multiplexing

Authors: Navdeep Goel, Salvador Gabarda

Abstract:

Digital images are widely used in computer applications. To store or transmit the uncompressed images requires considerable storage capacity and transmission bandwidth. Image compression is a means to perform transmission or storage of visual data in the most economical way. This paper explains about how images can be encoded to be transmitted in a multiplexing time-frequency domain channel. Multiplexing involves packing signals together whose representations are compact in the working domain. In order to optimize transmission resources each 4 × 4 pixel block of the image is transformed by a suitable polynomial approximation, into a minimal number of coefficients. Less than 4 × 4 coefficients in one block spares a significant amount of transmitted information, but some information is lost. Different approximations for image transformation have been evaluated as polynomial representation (Vandermonde matrix), least squares + gradient descent, 1-D Chebyshev polynomials, 2-D Chebyshev polynomials or singular value decomposition (SVD). Results have been compared in terms of nominal compression rate (NCR), compression ratio (CR) and peak signal-to-noise ratio (PSNR) in order to minimize the error function defined as the difference between the original pixel gray levels and the approximated polynomial output. Polynomial coefficients have been later encoded and handled for generating chirps in a target rate of about two chirps per 4 × 4 pixel block and then submitted to a transmission multiplexing operation in the time-frequency domain.

Keywords: Chirp signals, Image multiplexing, Image transformation, Linear canonical transform, Polynomial approximation.

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1149 Simulation of the Reactive Rotational Molding Using Smoothed Particle Hydrodynamics

Authors: A. Hamidi, S. Khelladi, L. Illoul, A. Tcharkhtchi

Abstract:

Reactive rotational molding (RRM) is a process to manufacture hollow plastic parts with reactive material has several advantages compared to conventional roto molding of thermoplastic powders: process cycle time is shorter; raw material is less expensive because polymerization occurs during processing and high-performance polymers may be used such as thermosets, thermoplastics or blends. However, several phenomena occur during this process which makes the optimization of the process quite complex. In this study, we have used a mixture of isocyanate and polyol as a reactive system. The chemical transformation of this system to polyurethane has been studied by thermal analysis and rheology tests. Thanks to these results of the curing process and rheological measurements, the kinetic and rheokinetik of polyurethane was identified. Smoothed Particle Hydrodynamics, a Lagrangian meshless method, was chosen to simulate reactive fluid flow in 2 and 3D configurations of the polyurethane during the process taking into account the chemical, and chemiorehological results obtained experimentally in this study.

Keywords: Reactive rotational molding, free surface flows, simulation, smoothed particle hydrodynamics, surface tension.

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1148 A New Multi-Target, Multi-Agent Search-and-Rescue Path Planning Approach

Authors: Jean Berger, Nassirou Lo, Martin Noel

Abstract:

Perfectly suited for natural or man-made emergency and disaster management situations such as flood, earthquakes, tornadoes, or tsunami, multi-target search path planning for a team of rescue agents is known to be computationally hard, and most techniques developed so far come short to successfully estimate optimality gap. A novel mixed-integer linear programming (MIP) formulation is proposed to optimally solve the multi-target multi-agent discrete search and rescue (SAR) path planning problem. Aimed at maximizing cumulative probability of successful target detection, it captures anticipated feedback information associated with possible observation outcomes resulting from projected path execution, while modeling agent discrete actions over all possible moving directions. Problem modeling further takes advantage of network representation to encompass decision variables, expedite compact constraint specification, and lead to substantial problem-solving speed-up. The proposed MIP approach uses CPLEX optimization machinery, efficiently computing near-optimal solutions for practical size problems, while giving a robust upper bound obtained from Lagrangean integrality constraint relaxation. Should eventually a target be positively detected during plan execution, a new problem instance would simply be reformulated from the current state, and then solved over the next decision cycle. A computational experiment shows the feasibility and the value of the proposed approach.

Keywords: Search path planning, search and rescue, multi-agent, mixed-integer linear programming, optimization.

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1147 Assessment of Landfill Pollution Load on Hydroecosystem by Use of Heavy Metal Bioaccumulation Data in Fish

Authors: Gintarė Sauliutė, Gintaras Svecevičius

Abstract:

Landfill leachates contain a number of persistent pollutants, including heavy metals. They have the ability to spread in ecosystems and accumulate in fish which most of them are classified as top-consumers of trophic chains. Fish are freely swimming organisms; but perhaps, due to their species-specific ecological and behavioral properties, they often prefer the most suitable biotopes and therefore, did not avoid harmful substances or environments. That is why it is necessary to evaluate the persistent pollutant dispersion in hydroecosystem using fish tissue metal concentration. In hydroecosystems of hybrid type (e.g. river-pond-river) the distance from the pollution source could be a perfect indicator of such a kind of metal distribution. The studies were carried out in the Kairiai landfill neighboring hybrid-type ecosystem which is located 5 km east of the Šiauliai City. Fish tissue (gills, liver, and muscle) metal concentration measurements were performed on two types of ecologically-different fishes according to their feeding characteristics: benthophagous (Gibel carp, roach) and predatory (Northern pike, perch). A number of mathematical models (linear, non-linear, using log and other transformations) have been applied in order to identify the most satisfactorily description of the interdependence between fish tissue metal concentration and the distance from the pollution source. However, the only one log-multiple regression model revealed the pattern that the distance from the pollution source is closely and positively correlated with metal concentration in all predatory fish tissues studied (gills, liver, and muscle).

Keywords: Bioaccumulation in fish, heavy metals, hydroecosystem, landfill leachate, mathematical model.

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1146 Comparison of Polynomial and Radial Basis Kernel Functions based SVR and MLR in Modeling Mass Transfer by Vertical and Inclined Multiple Plunging Jets

Authors: S. Deswal, M. Pal

Abstract:

Presently various computational techniques are used in modeling and analyzing environmental engineering data. In the present study, an intra-comparison of polynomial and radial basis kernel functions based on Support Vector Regression and, in turn, an inter-comparison with Multi Linear Regression has been attempted in modeling mass transfer capacity of vertical (θ = 90O) and inclined (θ multiple plunging jets (varying from 1 to 16 numbers). The data set used in this study consists of four input parameters with a total of eighty eight cases, forty four each for vertical and inclined multiple plunging jets. For testing, tenfold cross validation was used. Correlation coefficient values of 0.971 and 0.981 along with corresponding root mean square error values of 0.0025 and 0.0020 were achieved by using polynomial and radial basis kernel functions based Support Vector Regression respectively. An intra-comparison suggests improved performance by radial basis function in comparison to polynomial kernel based Support Vector Regression. Further, an inter-comparison with Multi Linear Regression (correlation coefficient = 0.973 and root mean square error = 0.0024) reveals that radial basis kernel functions based Support Vector Regression performs better in modeling and estimating mass transfer by multiple plunging jets.

Keywords: Mass transfer, multiple plunging jets, polynomial and radial basis kernel functions, Support Vector Regression.

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1145 The Effect of Fine Aggregate Properties on the Fatigue Behavior of the Conventional and Polymer Modified Bituminous Mixtures Using Two Types of Sand as Fine Aggregate

Authors: S. G. Yasreen, N. B. Madzlan, K. Ibrahim

Abstract:

Fatigue cracking continues to be the main challenges in improving the performance of bituminous mixture pavements. The purpose of this paper is to look at some aspects of the effects of fine aggregate properties on the fatigue behaviour of hot mixture asphalt. Two types of sand (quarry and mining sand) with two conventional bitumen (PEN 50/60 & PEN 80/100) and four polymers modified bitumen PMB (PM1_82, PM1_76, PM2_82 and PM2_76) were used. Physical, chemical and mechanical tests were performed on the sands to determine their effect when incorporated with a bituminous mixture. According to the beam fatigue results, quarry sand that has more angularity, rougher, higher shear strength and a higher percentage of Aluminium oxide presented higher resistance to fatigue. Also a PMB mixture gives better fatigue results than conventional mixtures, this is due to the PMB having better viscosity property than that of the conventional bitumen.

Keywords: Beam fatigue test, chemical property, mechanical property, physical property

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1144 Characterization and Degradation Analysis of Tapioca Starch Based Biofilms

Authors: R. R. Ali, W. A. W. A. Rahman, R. M. Kasmani, H. Hasbullah, N. Ibrahim, A. N. Sadikin, U. A. Asli

Abstract:

In this study, tapioca starch, which acts as natural polymer, was added in the blend in order to produce biodegradable product. Low density polyethylene (LDPE) and tapioca starch blends were prepared by extrusion and the test sample by injection moulding process. Ethylene vinyl acetate (EVA) acts as compatibilizer while glycerol as processing aid was added in the blend. The blends were characterized by using melt flow index (MFI), fourier transform infrared (FTIR) and the effects of water absorption to the sample. As the starch content increased, MFI of the blend was decreased. Tensile testing were conducted shows the tensile strength and elongation at break decreased while the modulus increased as the starch increased. For the biodegradation, soil burial test was conducted and the loss in weight was studied as the starch content increased. Morphology studies were conducted in order to show the distribution between LDPE and starch.

Keywords: Biofilms, degradable polymers, starch based polyethylene, injection moulding.

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1143 Nonlinear and Chaotic Motions for a Shock Absorbing Structure Supported by Nonlinear Springs with Hysteresis Using Fast FEA

Authors: T. Yamaguchi, Y. Kurosawa, S. Maruyama, K. Tobita, Y. Hirano, K. Yokouchi, K. Kihara, T. Sunaga

Abstract:

This paper describes dynamic analysis using proposed fast finite element method for a shock absorbing structure including a sponge. The structure is supported by nonlinear concentrated springs. The restoring force of the spring has cubic nonlinearity and linear hysteresis damping. To calculate damping properties for the structures including elastic body and porous body, displacement vectors as common unknown variable are solved under coupled condition. Under small amplitude, we apply asymptotic method to complex eigenvalue problem of this system to obtain modal parameters. And then expressions of modal loss factor are derived approximately. This approach was proposed by one of the authors previously. We call this method as Modal Strain and Kinetic Energy Method (MSKE method). Further, using the modal loss factors, the discretized equations in physical coordinate are transformed into the nonlinear ordinary coupled equations using normal coordinate corresponding to linear natural modes. This transformation yields computation efficiency. As a numerical example of a shock absorbing structures, we adopt double skins with a sponge. The double skins are supported by nonlinear concentrated springs. We clarify influences of amplitude of the input force on nonlinear and chaotic responses.

Keywords: Dynamic response, Nonlinear and chaotic motions, Finite Element analysis, Numerical analysis.

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1142 FEA for Transient Responses of an S-Shaped Force Transducer with a Viscoelastic Absorber Using a Nonlinear Complex Spring

Authors: T. Yamaguchi, Y. Fujii, A. Takita, T. Kanai

Abstract:

To compute dynamic characteristics of nonlinear viscoelastic springs with elastic structures having huge degree-of-freedom, Yamaguchi proposed a new fast numerical method using finite element method [1]-[2]. In this method, restoring forces of the springs are expressed using power series of their elongation. In the expression, nonlinear hysteresis damping is introduced. In this expression, nonlinear complex spring constants are introduced. Finite element for the nonlinear spring having complex coefficients is expressed and is connected to the elastic structures modeled by linear solid finite element. Further, to save computational time, the discrete equations in physical coordinate are transformed into the nonlinear ordinary coupled equations using normal coordinate corresponding to linear natural modes. In this report, the proposed method is applied to simulation for impact responses of a viscoelastic shock absorber with an elastic structure (an S-shaped structure) by colliding with a concentrated mass. The concentrated mass has initial velocities and collides with the shock absorber. Accelerations of the elastic structure and the concentrated mass are measured using Levitation Mass Method proposed by Fujii [3]. The calculated accelerations from the proposed FEM, corresponds to the experimental ones. Moreover, using this method, we also investigate dynamic errors of the S-shaped force transducer due to elastic mode in the S-shaped structure.

Keywords: Transient response, Finite Element analysis, Numerical analysis, Viscoelastic shock absorber, Force transducer.

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1141 Weyl Type Theorem and the Fuglede Property

Authors: M. H. M. Rashid

Abstract:

Given H a Hilbert space and B(H) the algebra of bounded linear operator in H, let δAB denote the generalized derivation defined by A and B. The main objective of this article is to study Weyl type theorems for generalized derivation for (A,B) satisfying a couple of Fuglede.

Keywords: Fuglede Property, Weyl’s theorem, generalized derivation, Aluthge Transformation.

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1140 Modeling and Investigation of Volume Strain at Large Deformation under Uniaxial Cyclic Loading in Semi Crystalline Polymer

Authors: Rida B. Arieby

Abstract:

This study deals with the experimental investigation and theoretical modeling of Semi crystalline polymeric materials with a rubbery amorphous phase (HDPE) subjected to a uniaxial cyclic tests with various maximum strain levels, even at large deformation. Each cycle is loaded in tension up to certain maximum strain and then unloaded down to zero stress with N number of cycles. This work is focuses on the measure of the volume strain due to the phenomena of damage during this kind of tests. On the basis of thermodynamics of relaxation processes, a constitutive model for large strain deformation has been developed, taking into account the damage effect, to predict the complex elasto-viscoelastic-viscoplastic behavior of material. A direct comparison between the model predictions and the experimental data show that the model accurately captures the material response. The model is also capable of predicting the influence damage causing volume variation.

Keywords: Cyclic test, large strain, polymers semi-crystalline, Volume strain, Thermodynamics of Irreversible Processes.

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1139 A Case Study on Appearance Based Feature Extraction Techniques and Their Susceptibility to Image Degradations for the Task of Face Recognition

Authors: Vitomir Struc, Nikola Pavesic

Abstract:

Over the past decades, automatic face recognition has become a highly active research area, mainly due to the countless application possibilities in both the private as well as the public sector. Numerous algorithms have been proposed in the literature to cope with the problem of face recognition, nevertheless, a group of methods commonly referred to as appearance based have emerged as the dominant solution to the face recognition problem. Many comparative studies concerned with the performance of appearance based methods have already been presented in the literature, not rarely with inconclusive and often with contradictory results. No consent has been reached within the scientific community regarding the relative ranking of the efficiency of appearance based methods for the face recognition task, let alone regarding their susceptibility to appearance changes induced by various environmental factors. To tackle these open issues, this paper assess the performance of the three dominant appearance based methods: principal component analysis, linear discriminant analysis and independent component analysis, and compares them on equal footing (i.e., with the same preprocessing procedure, with optimized parameters for the best possible performance, etc.) in face verification experiments on the publicly available XM2VTS database. In addition to the comparative analysis on the XM2VTS database, ten degraded versions of the database are also employed in the experiments to evaluate the susceptibility of the appearance based methods on various image degradations which can occur in "real-life" operating conditions. Our experimental results suggest that linear discriminant analysis ensures the most consistent verification rates across the tested databases.

Keywords: Biometrics, face recognition, appearance based methods, image degradations, the XM2VTS database.

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1138 Nonlinear Finite Element Analysis of Optimally Designed Steel Angelina™ Beams

Authors: Ferhat Erdal, Osman Tunca, Serkan Tas, Serdar Carbas

Abstract:

Web-expanded steel beams provide an easy and economical solution for the systems having longer structural members. The main goal of manufacturing these beams is to increase the moment of inertia and section modulus, which results in greater strength and rigidity. Until recently, there were two common types of open web-expanded beams: with hexagonal openings, also called castellated beams, and beams with circular openings referred to as cellular beams, until the generation of sinusoidal web-expanded beams. In the present research, the optimum design of a new generation beams, namely sinusoidal web-expanded beams, will be carried out and the design results will be compared with castellated and cellular beam solutions. Thanks to a reduced fabrication process and substantial material savings, the web-expanded beam with sinusoidal holes (Angelina™ Beam) meets the economic requirements of steel design problems while ensuring optimum safety. The objective of this research is to carry out non-linear finite element analysis (FEA) of the web-expanded beam with sinusoidal holes. The FE method has been used to predict their entire response to increasing values of external loading until they lose their load carrying capacity. FE model of each specimen that is utilized in the experimental studies is carried out. These models are used to simulate the experimental work to verify of test results and to investigate the non-linear behavior of failure modes such as web-post buckling, shear buckling and vierendeel bending of beams.

Keywords: Steel structures, web-expanded beams, Angelina™ beam, optimum design, failure modes, finite element analysis.

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1137 On Uniqueness and Continuous Dependence in the Theory of Micropolar Thermoelastic Mixtures

Authors: Catalin Gales, Ionel Dumitrel Ghiba

Abstract:

This paper studies questions of continuous data dependence and uniqueness for solutions of initial boundary value problems in linear micropolar thermoelastic mixtures. Logarithmic convexity arguments are used to establish results with no definiteness assumptions upon the internal energy.

Keywords: Cellular materials, continuous dependence, micro polar mixtures, uniqueness.

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1136 Combining Gene and Chemo Therapy using Multifunctional Polymeric Micelles

Authors: Hong Yi Huang, Wei Ti Kuo, Yi You Huang

Abstract:

Non-viral gene carriers composed of biodegradable polymers or lipids have been considered as a safer alternative for gene carriers over viral vectors. We have developed multi-functional nano-micelles for both drug and gene delivery application. Polyethyleneimine (PEI) was modified by grafting stearic acid (SA) and formulated to polymeric micelles (PEI-SA) with positive surface charge for gene and drug delivery. Our results showed that PEI-SA micelles provided high siRNA binding efficiency. In addition, siRNA delivered by PEI-SA carriers also demonstrated significantly high cellular uptake even in the presence of serum proteins. The post-transcriptional gene silencing efficiency was greatly improved by the polyplex formulated by 10k PEI-SA/siRNA. The amphiphilic structure of PEI-SA micelles provided advantages for multifunctional tasks; where the hydrophilic shell modified with cationic charges can electrostatically interact with DNA or siRNA, and the hydrophobic core can serve as payloads for hydrophobic drugs, making it a promising multifunctional vehicle for both genetic and chemotherapy application.

Keywords: polyethyleneimine, gene delivery, micelles, siRNA

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1135 The Relationship between Land Use Factors and Feeling of Happiness at the Neighbourhood Level

Authors: M. Moeinaddini, Z. Asadi-Shekari, Z. Sultan, M. Zaly Shah

Abstract:

Happiness can be related to everything that can provide a feeling of satisfaction or pleasure. This study tries to consider the relationship between land use factors and feeling of happiness at the neighbourhood level. Land use variables (beautiful and attractive neighbourhood design, availability and quality of shopping centres, sufficient recreational spaces and facilities, and sufficient daily service centres) are used as independent variables and the happiness score is used as the dependent variable in this study. In addition to the land use variables, socio-economic factors (gender, race, marital status, employment status, education, and income) are also considered as independent variables. This study uses the Oxford happiness questionnaire to estimate happiness score of more than 300 people living in six neighbourhoods. The neighbourhoods are selected randomly from Skudai neighbourhoods in Johor, Malaysia. The land use data were obtained by adding related questions to the Oxford happiness questionnaire. The strength of the relationship in this study is found using generalised linear modelling (GLM). The findings of this research indicate that increase in happiness feeling is correlated with an increasing income, more beautiful and attractive neighbourhood design, sufficient shopping centres, recreational spaces, and daily service centres. The results show that all land use factors in this study have significant relationship with happiness but only income, among socio-economic factors, can affect happiness significantly. Therefore, land use factors can affect happiness in Skudai more than socio-economic factors.

Keywords: Neighbourhood land use, neighbourhood design, happiness, socio-economic factors, generalised linear modelling.

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1134 Design of Salbutamol Sulphate Gastroretentive Nanoparticles via Surface Charge Manipulation

Authors: Diky Mudhakir, M. Fauzi Bostanudin, Fiki Firmawan, Rachmat Mauludin

Abstract:

In the present study, development of salbutamol sulphate nanoparticles that adhere to gastric mucus was investigated. Salbutamol sulphate has low bioavailability due to short transit time in gastric. It also has a positive surface charge that provides hurdles to be encapsulated by the positively strong mucoadhesive polymer of chitosan. To overcome the difficulties, the surface charge of active ingredient was modified using several nonionic and anionic stomach-specific polymers. The nanoparticles were prepared using ionotropic gelation technique. The evaluation involved determination of particle size, zeta potential, entrapment efficiency, in vitro drug release and in vitro mucoadhesion test. Results exhibited that the use of anionic alginate polymer was more satisfactory than that of nonionic polymer. Characteristics of the particles was nano-size, high encapsulation efficiency, fulfilled the drug release requirements and adhesive towards stomach for around 11 hours. This result shows that the salbutamol sulphate nanoparticles can be utilized for improvement its delivery.

Keywords: Mucoadhesive, salbutamol sulphate, nanosize, anionic polymer.

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1133 Evaluation of Short-Term Load Forecasting Techniques Applied for Smart Micro Grids

Authors: Xiaolei Hu, Enrico Ferrera, Riccardo Tomasi, Claudio Pastrone

Abstract:

Load Forecasting plays a key role in making today's and future's Smart Energy Grids sustainable and reliable. Accurate power consumption prediction allows utilities to organize in advance their resources or to execute Demand Response strategies more effectively, which enables several features such as higher sustainability, better quality of service, and affordable electricity tariffs. It is easy yet effective to apply Load Forecasting at larger geographic scale, i.e. Smart Micro Grids, wherein the lower available grid flexibility makes accurate prediction more critical in Demand Response applications. This paper analyses the application of short-term load forecasting in a concrete scenario, proposed within the EU-funded GreenCom project, which collect load data from single loads and households belonging to a Smart Micro Grid. Three short-term load forecasting techniques, i.e. linear regression, artificial neural networks, and radial basis function network, are considered, compared, and evaluated through absolute forecast errors and training time. The influence of weather conditions in Load Forecasting is also evaluated. A new definition of Gain is introduced in this paper, which innovatively serves as an indicator of short-term prediction capabilities of time spam consistency. Two models, 24- and 1-hour-ahead forecasting, are built to comprehensively compare these three techniques.

Keywords: Short-term load forecasting, smart micro grid, linear regression, artificial neural networks, radial basis function network, Gain.

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1132 Comparing Test Equating by Item Response Theory and Raw Score Methods with Small Sample Sizes on a Study of the ARTé: Mecenas Learning Game

Authors: Steven W. Carruthers

Abstract:

The purpose of the present research is to equate two test forms as part of a study to evaluate the educational effectiveness of the ARTé: Mecenas art history learning game. The researcher applied Item Response Theory (IRT) procedures to calculate item, test, and mean-sigma equating parameters. With the sample size n=134, test parameters indicated “good” model fit but low Test Information Functions and more acute than expected equating parameters. Therefore, the researcher applied equipercentile equating and linear equating to raw scores and compared the equated form parameters and effect sizes from each method. Item scaling in IRT enables the researcher to select a subset of well-discriminating items. The mean-sigma step produces a mean-slope adjustment from the anchor items, which was used to scale the score on the new form (Form R) to the reference form (Form Q) scale. In equipercentile equating, scores are adjusted to align the proportion of scores in each quintile segment. Linear equating produces a mean-slope adjustment, which was applied to all core items on the new form. The study followed a quasi-experimental design with purposeful sampling of students enrolled in a college level art history course (n=134) and counterbalancing design to distribute both forms on the pre- and posttests. The Experimental Group (n=82) was asked to play ARTé: Mecenas online and complete Level 4 of the game within a two-week period; 37 participants completed Level 4. Over the same period, the Control Group (n=52) did not play the game. The researcher examined between group differences from post-test scores on test Form Q and Form R by full-factorial Two-Way ANOVA. The raw score analysis indicated a 1.29% direct effect of form, which was statistically non-significant but may be practically significant. The researcher repeated the between group differences analysis with all three equating methods. For the IRT mean-sigma adjusted scores, form had a direct effect of 8.39%. Mean-sigma equating with a small sample may have resulted in inaccurate equating parameters. Equipercentile equating aligned test means and standard deviations, but resultant skewness and kurtosis worsened compared to raw score parameters. Form had a 3.18% direct effect. Linear equating produced the lowest Form effect, approaching 0%. Using linearly equated scores, the researcher conducted an ANCOVA to examine the effect size in terms of prior knowledge. The between group effect size for the Control Group versus Experimental Group participants who completed the game was 14.39% with a 4.77% effect size attributed to pre-test score. Playing and completing the game increased art history knowledge, and individuals with low prior knowledge tended to gain more from pre- to post test. Ultimately, researchers should approach test equating based on their theoretical stance on Classical Test Theory and IRT and the respective  assumptions. Regardless of the approach or method, test equating requires a representative sample of sufficient size. With small sample sizes, the application of a range of equating approaches can expose item and test features for review, inform interpretation, and identify paths for improving instruments for future study.

Keywords: Effectiveness, equipercentile equating, IRT, learning games, linear equating, mean-sigma equating.

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1131 ZMP Based Reference Generation for Biped Walking Robots

Authors: Kemalettin Erbatur, Özer Koca, Evrim Taşkıran, Metin Yılmaz, Utku Seven

Abstract:

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference trajectories possess pre-assigned single and double support phases, which are very useful in experimental tuning work. The ZMP based reference generation strategy is tested via threedimensional full-dynamics simulations of a 12-degrees-of-freedom biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.

Keywords: Biped robot, Linear Inverted Pendulum Model, Zero Moment Point, Fourier series approximation.

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1130 Assessing the Actual Status and Farmer’s Attitude towards Agroforestry in Chiniot, Pakistan

Authors: M. F. Nawaz, S. Gul, T. H. Farooq, M. T. Siddiqui, M. Asif, I. Ahmad, N. K. Niazi

Abstract:

In Pakistan, major demands of fuel wood and timber wood are fulfilled by agroforestry. However, the information regarding economic significance of agroforestry and its productivity in Pakistan is still insufficient and unreliable. Survey of field conditions to examine the agroforestry status at local level helps us to know the future trends and to formulate the policies for sustainable wood supply. The objectives of this research were to examine the actual status and potential of agroforestry and to point out the barriers that are faced by farmers in the adoption of agroforestry. Research was carried out in Chiniot district, Pakistan because it is the famous city for furniture industry that is largely dependent on farm trees. A detailed survey of district Chiniot was carried out from 150 randomly selected farmer respondents using multi-objective oriented and pre-tested questionnaire. It was found that linear tree planting method was more adopted (45%) as compared to linear + interplanting (42%) and/or compact planting (12.6%). Chi-square values at P-value <0.5 showed that age (11.35) and education (17.09) were two more important factors in the quick adoption of agroforestry as compared to land holdings (P-value of 0.7). The major reason of agroforestry adoption was to obtain income, fodder and fuelwood. The most dominant species in farmlands was shisham (Dalbergia sissoo) but since last five years, mostly farmers were growing Sufeida (Eucalyptus camaldulensis), kikar (Acacia nilotica) and popular (Populus deltoides) on their fields due to “Shisham die-back” problem. It was found that agro-forestry can be increased by providing good quality planting material to farmers and improving wood markets.

Keywords: Agroforestry, trees, services, agriculture, farmers.

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1129 Shear Strength of Reinforced Web Openings in Steel Beams

Authors: K. S. Sivakumaran, Bo Chen

Abstract:

The floor beams of steel buildings, cold-formed steel floor joists in particular, often require large web openings, which may affect their shear capacities. A cost effective way to mitigate the detrimental effects of such openings is to weld/fasten reinforcements. A difficulty associated with an experimental investigation to establish suitable reinforcement schemes for openings in shear zone is that moment always coexists with the shear, and thus, it is impossible to create pure shear state in experiments, resulting in moment influenced results. However, Finite Element Method (FEM) based analysis can be conveniently used to investigate the pure shear behaviour of webs including webs with reinforced openings. This paper presents the details associated with the finite element analysis of thick/thin-plates (representing the web of hot-rolled steel beam, and the web of a cold-formed steel member) having a large reinforced opening. The study considered simply-supported rectangular plates subjected to in-plane shear loadings until failure (including post-buckling behaviour). The plate was modelled using geometrically non-linear quadrilateral shell elements, and non-linear stress-strain relationship based on experiments. Total Langrangian with large displacement/small strain formulation was used for such analyses. The model also considered the initial geometric imperfections. This study considered three reinforcement schemes, namely, flat, lip, and angle reinforcements. This paper discusses the modelling considerations and presents the results associated with the various reinforcement schemes under consideration.

Keywords: Cold-formed steel, finite element analysis, opening, reinforcement, shear resistance.

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1128 ψ-exponential Stability for Non-linear Impulsive Differential Equations

Authors: Bhanu Gupta, Sanjay K. Srivastava

Abstract:

In this paper, we shall present sufficient conditions for the ψ-exponential stability of a class of nonlinear impulsive differential equations. We use the Lyapunov method with functions that are not necessarily differentiable. In the last section, we give some examples to support our theoretical results.

Keywords: Exponential stability, globally exponential stability, impulsive differential equations, Lyapunov function, ψ-stability.

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1127 Skew Cyclic Codes over Fq+uFq+…+uk-1Fq

Authors: Jing Li, Xiuli Li

Abstract:

This paper studies a special class of linear codes, called skew cyclic codes, over the ring R= Fq+uFq+…+uk-1Fq, where q is a prime power. A Gray map ɸ from R to Fq and a Gray map ɸ' from Rn to Fnq are defined, as well as an automorphism Θ over R. It is proved that the images of skew cyclic codes over R under map ɸ' and Θ are cyclic codes over Fq, and they still keep the dual relation.

Keywords: Skew cyclic code, gray map, automophism, cyclic code.

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1126 Growth Effects of Caffeic Acid and Thioglycolic Acid Modified Chitosans in U937 Cells

Authors: Aytekin A.O., Morimura S.

Abstract:

Chitosan is a biopolymer composed of glucosamine and N-acetyl glucosamine. Solubility and viscosity pose problems in some applications. These problems can be overcome with unique modifications. In this study, firstly, chitosan was modified by caffeic acid and thioglycolic acid, separately. Then, growing effects of these modified polymers was observed in U937 cell line. Caffeic acid is a phenolic compound and its modifications act carcinogenic inhibitors in drugs. Thiolated chitosans are commonly being used for drugdelivery systems in various routes, because of enhancing mucoadhesiveness property. U937 cell line was used model cell for leukaemia. Modifications were achieved by 1 – 15 % binding range. Increasing binding ratios showed higher radical-scavenging activity and reducing cell growth, in compared to native chitosan. Caffeic acid modifications showed higher radical-scavenging activity than thiolated chitosans at the same concentrations. Caffeic acid and thioglycolic acid modifications inhibited growth of U937, effectively.

Keywords: Chitosan, U937 cell, caffeic acid, thioglycolic acid

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1125 Properties Modification of Fiber Metal Laminates by Nanofillers

Authors: R. Eslami-Farsani, S. M. S. Mousavi Bafrouyi

Abstract:

During past decades, increasing demand of modified Fiber Metal Laminates (FMLs) has stimulated a strong trend towards the development of these structures. FMLs contain several thin layers of metal bonded with composite materials. Characteristics of FMLs such as low specific mass, high bearing strength, impact resistance, corrosion resistance and high fatigue life are attractive. Nowadays, increasing development can be observed to promote the properties of polymer-based composites by nanofillers. By dispersing strong, nanofillers in polymer matrix, modified composites can be developed and tailored to individual applications. On the other hand, the synergic effects of nanoparticles such as graphene and carbon nanotube can significantly improve the mechanical, electrical and thermal properties of nanocomposites. In present paper, the modifying of FMLs by nanofillers and the dispersing of nanoparticles in the polymers matrix are discussed. The evaluations have revealed that this approach is acceptable. Finally, a prospect is presented. This paper will lead to further work on these modified FML species.

Keywords: Fiber metal laminate, nanofiller, polymer matrix, property modification.

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1124 Blow up in Polynomial Differential Equations

Authors: Rudolf Csikja, Janos Toth

Abstract:

Methods to detect and localize time singularities of polynomial and quasi-polynomial ordinary differential equations are systematically presented and developed. They are applied to examples taken form different fields of applications and they are also compared to better known methods such as those based on the existence of linear first integrals or Lyapunov functions.

Keywords: blow up, finite escape time, polynomial ODE, singularity, Lotka–Volterra equation, Painleve analysis, Ψ-series, global existence

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1123 Reduce of Fermentation Time in Composting Process by Using a Special Microbial Consortium

Authors: S.H. Mirdamadian, S.M. Khayam-Nekoui, H. Ghanavati

Abstract:

Composting is the process in which municipal solid waste (MSW) and other organic waste materials such as biosolids and manures are decomposed through the action of bacteria and other microorganisms into a stable granular material which, applied to land, as soil conditioner. Microorganisms, especially those that are able to degrade polymeric organic material have a key role in speed up this process. The aim of this study has been established to isolation of microorganisms with high ability to production extracellular enzymes for degradation of natural polymers that are exists in MSW for decreasing time of degradation phase. Our experimental study for isolation designed in two phases: in first phase we isolated degrading microorganism with selected media that consist a special natural polymer such as cellulose, starch, lipids and etc as sole source of carbon. In second phase we selected microorganism that had high degrading enzyme production with enzymatic assay for seed production. However, our findings in pilot scale have indicated that usage of this microbial consortium had high efficiency for decreasing degradation phase.

Keywords: Biodegradation, Compost, Municipal Solid Waste, Waste Management.

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1122 On Fourier Type Integral Transform for a Class of Generalized Quotients

Authors: A. S. Issa, S. K. Q. AL-Omari

Abstract:

In this paper, we investigate certain spaces of generalized functions for the Fourier and Fourier type integral transforms. We discuss convolution theorems and establish certain spaces of distributions for the considered integrals. The new Fourier type integral is well-defined, linear, one-to-one and continuous with respect to certain types of convergences. Many properties and an inverse problem are also discussed in some details.

Keywords: Fourier type integral, Fourier integral, generalized quotient, Boehmian, distribution.

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1121 Investigation of Combined use of MFCC and LPC Features in Speech Recognition Systems

Authors: К. R. Aida–Zade, C. Ardil, S. S. Rustamov

Abstract:

Statement of the automatic speech recognition problem, the assignment of speech recognition and the application fields are shown in the paper. At the same time as Azerbaijan speech, the establishment principles of speech recognition system and the problems arising in the system are investigated. The computing algorithms of speech features, being the main part of speech recognition system, are analyzed. From this point of view, the determination algorithms of Mel Frequency Cepstral Coefficients (MFCC) and Linear Predictive Coding (LPC) coefficients expressing the basic speech features are developed. Combined use of cepstrals of MFCC and LPC in speech recognition system is suggested to improve the reliability of speech recognition system. To this end, the recognition system is divided into MFCC and LPC-based recognition subsystems. The training and recognition processes are realized in both subsystems separately, and recognition system gets the decision being the same results of each subsystems. This results in decrease of error rate during recognition. The training and recognition processes are realized by artificial neural networks in the automatic speech recognition system. The neural networks are trained by the conjugate gradient method. In the paper the problems observed by the number of speech features at training the neural networks of MFCC and LPC-based speech recognition subsystems are investigated. The variety of results of neural networks trained from different initial points in training process is analyzed. Methodology of combined use of neural networks trained from different initial points in speech recognition system is suggested to improve the reliability of recognition system and increase the recognition quality, and obtained practical results are shown.

Keywords: Speech recognition, cepstral analysis, Voice activation detection algorithm, Mel Frequency Cepstral Coefficients, features of speech, Cepstral Mean Subtraction, neural networks, Linear Predictive Coding.

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