Search results for: energy system

Authors: D. Aboutaleb, B. Safi

Abstract:

The borate glasses are known by their structural characterized by existence of unit’s structural composed by triangles and tetrahedrons boron in different configurations depending on the percentage of B2O3 in the glass chemical composition. In this paper, effect of lithium oxide addition on the thermal and physical properties of an alumina borate glass, was investigated. It was found that the boron abnormality has a significant effect in the change of glass properties according to the addition rate of lithium oxide.

Keywords: Borate glasses, triangles and tetrahedrons boron, Lithium oxide, Boron anomaly, thermal properties, physical properties.

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Authors: C. R. Danielle, S. Erik, T. Patrick, M. Hugh

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In the last decade there has been an increase in demand for fine grinding due to the depletion of coarse-grained orebodies and an increase of processing fine disseminated minerals and complex orebodies. These ores have provided new challenges in concentrator design because fine and ultra-fine grinding is required to achieve acceptable recovery rates. Therefore, the correct design of a grinding circuit is important for minimizing unit costs and increasing product quality. The use of ball mills for grinding in fine size ranges is inefficient and, therefore, vertical stirred grinding mills are becoming increasingly popular in the mineral processing industry due to its already known high energy efficiency. This work presents a hypothesis of a methodology to predict the product size distribution of a vertical stirred mill using a Bond ball mill. The Population Balance Model (PBM) was used to empirically analyze the performance of a vertical mill and a Bond ball mill. The breakage parameters obtained for both grinding mills are compared to determine the possibility of predicting the product size distribution of a vertical mill based on the results obtained from the Bond ball mill. The biggest advantage of this methodology is that most of the minerals processing laboratories already have a Bond ball mill to perform the tests suggested in this study. Preliminary results show the possibility of predicting the performance of a laboratory vertical stirred mill using a Bond ball mill.

Keywords: Bond ball mill, population balance model, product size distribution, vertical stirred mill.

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Authors: Danilo López, Nelson Vera, Luis Pedraza

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This paper analyzes fundamental ideas and concepts related to neural networks, which provide the reader a theoretical explanation of Long Short-Term Memory (LSTM) networks operation classified as Deep Learning Systems, and to explicitly present the mathematical development of Backward Pass equations of the LSTM network model. This mathematical modeling associated with software development will provide the necessary tools to develop an intelligent system capable of predicting the behavior of licensed users in wireless cognitive radio networks.

Keywords: Neural networks, multilayer perceptron, long short-term memory, recurrent neuronal network, mathematical analysis.

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Authors: Noor Atinah Ahmad, Shazia Javed

Abstract:

We present a discussion of three adaptive filtering algorithms well known for their one-step termination property, in terms of their relationship with the minimal residual method. These algorithms are the normalized least mean square (NLMS), Affine Projection algorithm (APA) and the recursive least squares algorithm (RLS). The NLMS is shown to be a result of the orthogonality condition imposed on the instantaneous approximation of the Wiener equation, while APA and RLS algorithm result from orthogonality condition in multi-dimensional minimal residual formulation. Further analysis of the minimal residual formulation for the RLS leads to a triangular system which also possesses the one-step termination property (in exact arithmetic)

Keywords: Adaptive filtering, minimal residual method, projection method.

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Authors: Xueting Liu, Daojin Song, Chuandai Dong, Hongkui Li

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From a set of shifted, blurred, and decimated image , super-resolution image reconstruction can get a high-resolution image. So it has become an active research branch in the field of image restoration. In general, super-resolution image restoration is an ill-posed problem. Prior knowledge about the image can be combined to make the problem well-posed, which contributes to some regularization methods. In the regularization methods at present, however, regularization parameter was selected by experience in some cases and other techniques have too heavy computation cost for computing the parameter. In this paper, we construct a new super-resolution algorithm by transforming the solving of the System stem Є=An into the solving of the equations X+A*X-1A=I , and propose an inverse iterative method.

Keywords: High-resolution MAP image, Reconstruction, Image interpolation, Motion Estimation, Hermitian positive definite solutions.

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Authors: Xizhi Li

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Both software applications and their development environment are becoming more and more distributed. This trend impacts not only the way software computes, but also how it looks. This article proposes a Human Computer Interface (HCI) template from three representative applications we have developed. These applications include a Multi-Agent System based software, a 3D Internet computer game with distributed game world logic, and a programming language environment used in constructing distributed neural network and its visualizations. HCI concepts that are common to these applications are described in abstract terms in the template. These include off-line presentation of global entities, entities inside a hierarchical namespace, communication and languages, reconfiguration of entity references in a graph, impersonation and access right, etc. We believe the metaphor that underlies an HCI concept as well as the relationships between a bunch of HCI concepts are crucial to the design of software systems and vice versa.

Keywords: HCI, MAS, computer game, programming language

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Authors: D. Tedesco, G. Feletti, P. Trucco

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The present study aims to develop a Decision Support System (DSS) to support operational decisions in Emergency Medical Service (EMS) systems regarding the assignment of medical emergency requests to Emergency Departments (ED). This problem is called “hospital selection” and concerns the definition of policies for the selection of the ED to which patients who require further treatment are transported by ambulance. The employed research methodology consists of a first phase of review of the technical-scientific literature concerning DSSs to support the EMS management and, in particular, the hospital selection decision. From the literature analysis, it emerged that current studies mainly focused on the EMS phases related to the ambulance service and consider a process that ends when the ambulance is available after completing a mission. Therefore, all the ED-related issues are excluded and considered as part of a separate process. Indeed, the most studied hospital selection policy turned out to be proximity, thus allowing to minimize the travelling time and to free-up the ambulance in the shortest possible time. The purpose of the present study consists in developing an optimization model for assigning medical emergency requests to the EDs also considering the expected time performance in the subsequent phases of the process, such as the case mix, the expected service throughput times, and the operational capacity of different EDs in hospitals. To this end, a Discrete Event Simulation (DES) model was created to compare different hospital selection policies. The model was implemented with the AnyLogic software and finally validated on a realistic case. The hospital selection policy that returned the best results was the minimization of the Time To Provider (TTP), considered as the time from the beginning of the ambulance journey to the ED at the beginning of the clinical evaluation by the doctor. Finally, two approaches were further compared: a static approach, based on a retrospective estimation of the TTP, and a dynamic approach, focused on a predictive estimation of the TTP which is determined with a constantly updated Winters forecasting model. Findings reveal that considering the minimization of TTP is the best hospital selection policy. It allows to significantly reducing service throughput times in the ED with a negligible increase in travel time. Furthermore, an immediate view of the saturation state of the ED is produced and the case mix present in the ED structures (i.e., the different triage codes) is considered, as different severity codes correspond to different service throughput times. Besides, the use of a predictive approach is certainly more reliable in terms on TTP estimation, than a retrospective approach. These considerations can support decision-makers in introducing different hospital selection policies to enhance EMSs performance.

Keywords: Emergency medical services, hospital selection, discrete event simulation, forecast model.

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Authors: S. Kherchaoui, A. Houacine

Abstract:

This paper presents a facial expression recognition system. It performs identification and classification of the seven basic expressions; happy, surprise, fear, disgust, sadness, anger, and neutral states. It consists of three main parts. The first one is the detection of a face and the corresponding facial features to extract the most expressive portion of the face, followed by a normalization of the region of interest. Then calculus of curvelet coefficients is performed with dimensionality reduction through principal component analysis. The resulting coefficients are combined with two ratios; mouth ratio and face edge ratio to constitute the whole feature vector. The third step is the classification of the emotional state using the SVM method in the feature space.

Keywords: Facial expression identification, curvelet coefficients, support vector machine (SVM).

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Authors: Shahryar Shaghaghi G., Paria Violette Shakiba , Gholamreza Irani

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Nowadays, the earth is countered with serious problem of air pollution. This problem has been started from the industrial revolution and has been faster in recent years, so that leads the earth to ecological and environmental disaster. One of its results is the global warming problem and its related increase in global temperature. The most important factors in air pollution especially in urban environments are Automobiles and residential buildings that are the biggest consumers of the fossil energies, so that if the residential buildings as a big part of the consumers of such energies reduce their consumption rate, the air pollution will be decreased. Since Metropolises are the main centers of air pollution in the world, assessment and analysis of efficient strategies in decreasing air pollution in such cities, can lead to the desirable and suitable results and can solve the problem at least in critical level. Tabriz city is one of the most important metropolises in North west of Iran that about two million people are living there. for its situation in cold dry climate, has a high rate of fossil energies consumption that make air pollution in its urban environment. These two factors, being both metropolis and in cold dry climate, make this article try to analyze the strategies of climatic design in old districts of the city and use them in new districts of the future. These strategies can be used in this city and other similar cities and pave the way to reduce energy consumption and related air pollution to save whole world.

Keywords: Air pollution, Urban Environment, Metropolis, Residential building, Fossil energies.

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Authors: Saeed Sarabadan, Kamal Rashedi

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This article presents a numerical method to find the heat flux in an inhomogeneous inverse heat conduction problem with linear boundary conditions and an extra specification at the terminal. The method is based upon applying the satisfier function along with the Ritz-Galerkin technique to reduce the approximate solution of the inverse problem to the solution of a system of algebraic equations. The instability of the problem is resolved by taking advantage of the Landweber’s iterations as an admissible regularization strategy. In computations, we find the stable and low-cost results which demonstrate the efficiency of the technique.

Keywords: Inverse problem, parabolic equations, heat equation, Ritz-Galerkin method, Landweber iterations.

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Authors: T. H. Fung

Abstract:

Coloured Petri net (CPN) has been widely adopted in various areas in Computer Science, including protocol specification, performance evaluation, distributed systems and coordination in multi-agent systems. It provides a graphical representation of a system and has a strong mathematical foundation for proving various properties. This paper proposes a novel representation of a coloured Petri net using an extension of logic programming called abductive logic programming (ALP), which is purely based on classical logic. Under such a representation, an implementation of a CPN could be directly obtained, in which every inference step could be treated as a kind of equivalence preserved transformation. We would describe how to implement a CPN under such a representation using common meta-programming techniques in Prolog. We call our framework CPN-LP and illustrate its applications in modeling an intelligent agent.

Keywords: Abduction, coloured petri net, intelligent agent, logic programming.

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Authors: V. V. Zozulya

Abstract:

New theory for functionally graded (FG) shell based on expansion of the equations of elasticity for functionally graded materials (GFMs) into Legendre polynomials series has been developed. Stress and strain tensors, vectors of displacements, traction and body forces have been expanded into Legendre polynomials series in a thickness coordinate. In the same way functions that describe functionally graded relations has been also expanded. Thereby all equations of elasticity including Hook-s law have been transformed to corresponding equations for Fourier coefficients. Then system of differential equations in term of displacements and boundary conditions for Fourier coefficients has been obtained. Cases of the first and second approximations have been considered in more details. For obtained boundary-value problems solution finite element (FE) has been used of Numerical calculations have been done with Comsol Multiphysics and Matlab.

Keywords: Shell, FEM, FGM, legendre polynomial.

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Authors: Komwit Surachat, Supasit Kajkamhaeng, Kasikrit Damkliang, Watanyoo Tiprat, Taninnuch Wacharanimit

Abstract:

An accident is an unexpected and unplanned situation that happens and affects human in a negative outcome. The accident can cause an injury to a human biological organism. Thus, the provision of initial care for an illness or injury is very important move to prepare the patients/victims before sending to the doctor. In this paper, a First Aid Application is developed to give some directions for preliminary taking care of patient/victim via Android mobile device. Also, the navigation function using Google Maps API is implemented in this paper for searching a suitable path to the nearest hospital. Therefore, in the emergency case, this function can be activated and navigate patients/victims to the hospital with the shortest path.

Keywords: First Aid Application, Android, Google Maps API, Navigation System.

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Authors: Seyed Mostafa Torabi

Abstract:

A Wireless sensor network (WSN) consists of a set of battery-powered nodes, which collaborate to perform sensing tasks in a given environment. Each node in WSN should be capable to act for long periods of time with scrimpy or no external management. One requirement for this independent is: in the presence of adverse positions, the sensor nodes must be capable to configure themselves. Hence, the nodes for determine the existence of unusual events in their surroundings should make use of position awareness mechanisms. This work approaches the problem by considering the possible unusual events as diseases, thus making it possible to diagnose them through their symptoms, namely, their side effects. Considering these awareness mechanisms as a foundation for highlevel monitoring services, this paper also shows how these mechanisms are included in the primal plan of an intrusion detection system.

Keywords: Awareness Mechanism, Intrusion Detection, Independent, Wireless Sensor Network

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Authors: Nermin Ozgulbas, Ali Serhan Koyuncugil

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One of the biggest problems of SMEs is their tendencies to financial distress because of insufficient finance background. In this study, an Early Warning System (EWS) model based on data mining for financial risk detection is presented. CHAID algorithm has been used for development of the EWS. Developed EWS can be served like a tailor made financial advisor in decision making process of the firms with its automated nature to the ones who have inadequate financial background. Besides, an application of the model implemented which covered 7,853 SMEs based on Turkish Central Bank (TCB) 2007 data. By using EWS model, 31 risk profiles, 15 risk indicators, 2 early warning signals, and 4 financial road maps has been determined for financial risk mitigation.

Keywords: Early Warning Systems, Data Mining, Financial Risk, SMEs.

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Authors: Karel Borovec, Jerzy Gorecki, Tadeas Ochodek

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Combustion of solid fuels is one of the main sources of mercury in the environment. To reduce the amount of mercury emitted to the atmosphere, it is necessary to modify or optimize old purification technologies or introduce the new ones. Effective reduction of mercury level in the flue gas requires the use of speciation systems for mercury form determination. This paper describes tests and provides comparison of two industrial portable and continuous systems for mercury speciation in the flue gas: Durag HM-1400 TRX with a speciation module and the Portable Continuous Mercury Speciation System based on the SGM-8 mercury speciation set, made by Nippon Instruments Corporation. Additionally, the paper describes a few analytical problems that were encountered during a two-year period of using the systems.

Keywords: Mercury determination, speciation, continuous measurement, flue gas.

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Authors: Juliana A. Knocikova, Yann Bouret, Médéric Argentina, Laurent Counillon

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Cell volume, together with membrane potential and intracellular hydrogen ion concentration, is an essential biophysical parameter for normal cellular activity. Cell volumes can be altered by osmotically active compounds and extracellular tonicity. In this study, a simple mathematical model of osmotically induced cell swelling and shrinking is presented. Emphasis is given to water diffusion across the membrane. The mathematical description of the cellular behavior consists in a system of coupled ordinary differential equations. We compare experimental data of cell volume alterations driven by differences in osmotic pressure with mathematical simulations under hypotonic and hypertonic conditions. Implications for a future model are also discussed.

Keywords: Eukaryotic cell, mathematical modeling, osmosis, volume alterations.

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Authors: Blesson Varghese, Gerard McKee

Abstract:

The work reported in this paper proposes Swarm-Array computing, a novel technique inspired by swarm robotics, and built on the foundations of autonomic and parallel computing. The approach aims to apply autonomic computing constructs to parallel computing systems and in effect achieve the self-ware objectives that describe self-managing systems. The constitution of swarm-array computing comprising four constituents, namely the computing system, the problem/task, the swarm and the landscape is considered. Approaches that bind these constituents together are proposed. Space applications employing FPGAs are identified as a potential area for applying swarm-array computing for building reliable systems. The feasibility of a proposed approach is validated on the SeSAm multi-agent simulator and landscapes are generated using the MATLAB toolkit.

Keywords: Swarm-Array computing, Autonomic computing, landscapes.

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Authors: E. S. Gower, M. O. J. Hawksford

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An algorithm for learning an overcomplete dictionary using a Cauchy mixture model for sparse decomposition of an underdetermined mixing system is introduced. The mixture density function is derived from a ratio sample of the observed mixture signals where 1) there are at least two but not necessarily more mixture signals observed, 2) the source signals are statistically independent and 3) the sources are sparse. The basis vectors of the dictionary are learned via the optimization of the location parameters of the Cauchy mixture components, which is shown to be more accurate and robust than the conventional data mining methods usually employed for this task. Using a well known sparse decomposition algorithm, we extract three speech signals from two mixtures based on the estimated dictionary. Further tests with additive Gaussian noise are used to demonstrate the proposed algorithm-s robustness to outliers.

Keywords: expectation-maximization, Pitman estimator, sparsedecomposition

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Authors: C. Rogerson, E. Scott

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The purpose of this paper is to consider the introduction of online courses to replace the current classroom-based staff training. The current training is practical, and must be completed before access to the financial computer system is authorized. The long term objective is to measure the efficacy, effectiveness and efficiency of the training, and to establish whether a transfer of knowledge back to the workplace has occurred. This paper begins with an overview explaining the importance of staff training in an evolving, competitive business environment and defines the problem facing this particular organization. A summary of the literature review is followed by a brief discussion of the research methodology and objective. The implementation of the alpha version of the online course is then described. This paper may be of interest to those seeking insights into, or new theory regarding, practical interventions of online learning in the real world.

Keywords: Computer-based courses, e-learning, online training, workplace training.

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Authors: Ricardo Avila, Gabriel Lopes, Vania Vidal, Jose Macedo

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This proposal aims for semantic enrichment between glossaries using the Simple Knowledge Organization System (SKOS) vocabulary to discover synonyms, hyponyms and hyperonyms semiautomatically, in Brazilian Portuguese, generating new semantic relationships based on WordNet. To evaluate the quality of this proposed model, experiments were performed by the use of two sets containing new relations, being one generated automatically and the other manually mapped by the domain expert. The applied evaluation metrics were precision, recall, f-score, and confidence interval. The results obtained demonstrate that the applied method in the field of Oil Production and Extraction (E&P) is effective, which suggests that it can be used to improve the quality of terminological mappings. The procedure, although adding complexity in its elaboration, can be reproduced in others domains.

Keywords: Ontology matching, mapping enrichment, semantic web, linked data, SKOS.

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Authors: J. Schmidt, O. Kornadt

Abstract:

The major part of light weight timber constructions consists of insulation. Mineral wool is the most commonly used insulation due to its cost efficiency and easy handling. The fiber orientation and porosity of this insulation material enables flowthrough. The air flow resistance is low. If leakage occurs in the insulated bay section, the convective flow may cause energy losses and infiltration of the exterior wall with moisture and particles. In particular the infiltrated moisture may lead to thermal bridges and growth of health endangering mould and mildew. In order to prevent this problem, different numerical calculation models have been developed. All models developed so far have a potential for completion. The implementation of the flow-through properties of mineral wool insulation may help to improve the existing models. Assuming that the real pressure difference between interior and exterior surface is larger than the prescribed pressure difference in the standard test procedure for mineral wool ISO 9053 / EN 29053, measurements were performed using the measurement setup for research on convective moisture transfer “MSRCMT". These measurements show, that structural inhomogeneities of mineral wool effect the permeability only at higher pressure differences, as applied in MSRCMT. Additional microscopic investigations show, that the location of a leak within the construction has a crucial influence on the air flow-through and the infiltration rate. The results clearly indicate that the empirical values for the acoustic resistance of mineral wool should not be used for the calculation of convective transfer mechanisms.

Keywords: convection, convective transfer, infiltration, mineralwool, permeability, resistance, leakage

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Authors: Mohanapriya Venkataraman, Rajesh Mishra, Jakub Weiner, Adnan Mazari, Jiri Militky, Veera Kumar Arumugam

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The major objective of this study is to understand the potential of a newly fabricated equipment to study the thermal properties of nonwoven textile fabrics treated with aerogel at subzero temperatures. Thermal conductivity was calculated by using the empirical relation Fourier’s law, The relationship between the thermal conductivity and thermal resistance of the samples were studied at various environmental temperatures (which was set in the clima temperature system between +25oC to -25oC). The newly fabricated equipment was found to be a suitable for measuring at subzero temperatures. This field of measurements is being developed and will be the subject of further research which will be more suitable for measurement of the various thermal characteristics.

Keywords: Thermal Measurements, Aerogel, Nonwoven, Hot plate Heading.

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Authors: M. K. Jindal, G. S. Lehal, R. K. Sharma

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Character segmentation is an important preprocessing step for text recognition. In degraded documents, existence of touching characters decreases recognition rate drastically, for any optical character recognition (OCR) system. In this paper a study of touching Gurmukhi characters is carried out and these characters have been divided into various categories after a careful analysis.Structural properties of the Gurmukhi characters are used for defining the categories. New algorithms have been proposed to segment the touching characters in middle zone. These algorithms have shown a reasonable improvement in segmenting the touching characters in degraded Gurmukhi script. The algorithms proposed in this paper are applicable only to machine printed text.

Keywords: Character Segmentation, Middle Zone, Touching Characters.

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Authors: Poonam Garg, Aditya Shastri, D.C. Agarwal

Abstract:

With the exponential growth of networked system and application such as eCommerce, the demand for effective internet security is increasing. Cryptology is the science and study of systems for secret communication. It consists of two complementary fields of study: cryptography and cryptanalysis. The application of genetic algorithms in the cryptanalysis of knapsack ciphers is suggested by Spillman [7]. In order to improve the efficiency of genetic algorithm attack on knapsack cipher, the previously published attack was enhanced and re-implemented with variation of initial assumptions and results are compared with Spillman results. The experimental result of research indicates that the efficiency of genetic algorithm attack on knapsack cipher can be improved with variation of initial assumption.

Keywords: Genetic Algorithm, Knapsack cipher, Key search.

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Authors: Rami H. Fouad

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The purpose of this study is to identify and evaluate the scale of implementation of Just-In-Time (JIT) in the different industrial sectors in the Middle East. This study analyzes the empirical data collected by a questionnaire survey distributed to companies in three main industrial sectors in the Middle East, which are: food, chemicals and fabrics. The following main hypotheses is formulated and tested: (The requirements of JIT application differ according to the type of industrial sector).Descriptive statistics and Box plot analysis were used to examine the hypotheses. This study indicates a reasonable evidence for accepting the main hypotheses. It reveals that there is no standard way to adopt JIT as a production system. But each industrial sector should concentrate in the investment on critical requirements that differ according to the nature and strategy of production followed in that sector.

Keywords: Just-In-Time, JIT, Questionnaire, Types of Industrial Sectors.

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Authors: A. M. Sagir

Abstract:

In this paper, self-starting block hybrid method of order (5,5,5,5)T is proposed for the solution of the special second order ordinary differential equations with associated initial or boundary conditions. The continuous hybrid formulations enable us to differentiate and evaluate at some grids and off – grid points to obtain four discrete schemes, which were used in block form for parallel or sequential solutions of the problems. The computational burden and computer time wastage involved in the usual reduction of second order problem into system of first order equations are avoided by this approach. Furthermore, a stability analysis and efficiency of the block method are tested on stiff ordinary differential equations, and the results obtained compared favorably with the exact solution.

Keywords: Block Method, Hybrid, Linear Multistep Method, Self – starting, Special Second Order.

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Authors: Constantin Pehoiu, Cristian Savu, Silviu Badea, Cristian Borida

Abstract:

The physiological effects of physical exercise on human body are relatively well known in literature, which describes in detail the changes that occur in the cardiovascular system, the respiratory one, in bones and other systems, both during exercise and after its delivery. However, the effects of exercise on mental processes are less treated. From the literature reviews discussed in this study, it can be detached the idea that we can not exactly say that physical exercise has beneficial effects on mental processes, but neither that it would have potentially negative effects. This uncertainty, reflected in the inability to indicate precise and unequivocal meaning, favorable-unfavorable physical effort in acting on mental processes, is a prime reason to undertake a study of the phenomenon influence effort administered physical education classes on the dynamics of mental processes like attention and memory.

Keywords: management, exercise, mental process, lesson.

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Authors: S. M. Thahab, H. Abu Hassan, Z. Hassan

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The optical properties of InGaN/GaN laser diode based on quaternary alloys stopper and superlattice layers are numerically studied using ISE TCAD (Integrated System Engineering) simulation program. Improvements in laser optical performance have been achieved using quaternary alloy as superlattice layers in InGaN/GaN laser diodes. Lower threshold current of 18 mA and higher output power and slope efficiency of 22 mW and 1.6 W/A, respectively, at room temperature have been obtained. The laser structure with InAlGaN quaternary alloys as an electron blocking layer was found to provide better laser performance compared with the ternary AlxGa1-xN blocking layer.

Keywords: Nitride semiconductors, InAlGaN quaternary, laserdiode, superlattice.

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Authors: Jae-Kyung Lee, Nam-Joon Jung, Byung-Hak Cho

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The line sleeves on power transmission line connects two conductors while the transmission line is constructing. However, the line sleeves sometimes cause transmission line break down, because the line sleeves are deteriorated and decayed by acid rain. When the transmission line is broken, the economical loss is huge. Therefore the line sleeves on power transmission lines should be inspected periodically to prevent power failure. In this paper, Korea Electric Power Research Institute reviewed several robots to inspect line status and proposes a robot to inspect line sleeve by measuring magnetic field on line sleeve. The developed inspection tool can reliable to move along transmission line and overcome several obstacles on transmission line. The developed system is also applied on power transmission line and verified the efficiency of the robot.

Keywords: Transmission line inspection, line sleeve, transmission line inspection robot, line sleeve inspection

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