Search results for: and high distributed file system.
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 13148

Search results for: and high distributed file system.

5438 Virtual Reality Design Platform to Easily Create Virtual Reality Experiences

Authors: J. Casteleiro- Pitrez

Abstract:

The interest in Virtual Reality (VR) keeps increasing among the community of designers. To develop this type of immersive experience, the understanding of new processes and methodologies is as fundamental as its complex implementation which usually implies hiring a specialized team. In this paper, we introduce a case study, a platform that allows designers to easily create complex VR experiences, present its features, and its development process. We conclude that this platform provides a complete solution for the design and development of VR experiences, no-code needed.

Keywords: Designers, virtual reality, virtual reality design platform, virtual reality system, no-coding.

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5437 Dynamic Shock Bank Liquidity Analysis

Authors: C. Recommandé, J.C. Blind, A. Clavel, R. Gourichon, V. Le Gal

Abstract:

Simulations are developed in this paper with usual DSGE model equations. The model is based on simplified version of Smets-Wouters equations in use at European Central Bank which implies 10 macro-economic variables: consumption, investment, wages, inflation, capital stock, interest rates, production, capital accumulation, labour and credit rate, and allows take into consideration the banking system. Throughout the simulations, this model will be used to evaluate the impact of rate shocks recounting the actions of the European Central Bank during 2008.

Keywords: CC-LM, Central Bank, DSGE, Liquidity Shock, Non-standard Intervention.

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5436 A Network Traffic Prediction Algorithm Based On Data Mining Technique

Authors: D. Prangchumpol

Abstract:

This paper is a description approach to predict incoming and outgoing data rate in network system by using association rule discover, which is one of the data mining techniques. Information of incoming and outgoing data in each times and network bandwidth are network performance parameters, which needed to solve in the traffic problem. Since congestion and data loss are important network problems. The result of this technique can predicted future network traffic. In addition, this research is useful for network routing selection and network performance improvement.

Keywords: Traffic prediction, association rule, data mining.

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5435 Energy Consumption in Forward Osmosis Desalination Compared to other Desalination Techniques

Authors: Ali Shoeb Moon, Moonyong Lee

Abstract:

The draw solute separation process in Forward Osmosis desalination was simulated in Aspen Plus chemical process modeling software, to estimate the energy consumption and compare it with other desalination processes, mainly the Reverse Osmosis process which is currently most prevalent. The electrolytic chemistry for the system was retrieved using the Elec – NRTL property method in the Aspen Plus database. Electrical equivalent of energy required in the Forward Osmosis desalination technique was estimated and compared with the prevalent desalination techniques.

Keywords: Desalination, Energy, Forward Osmosis, Separation

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5434 Mass Transfer Modeling in a Packed Bed of Palm Kernels under Supercritical Conditions

Authors: I. Norhuda, A. K. Mohd Omar

Abstract:

Studies on gas solid mass transfer using Supercritical fluid CO2 (SC-CO2) in a packed bed of palm kernels was investigated at operating conditions of temperature 50 °C and 70 °C and pressures ranges from 27.6 MPa, 34.5 MPa, 41.4 MPa and 48.3 MPa. The development of mass transfer models requires knowledge of three properties: the diffusion coefficient of the solute, the viscosity and density of the Supercritical fluids (SCF). Matematical model with respect to the dimensionless number of Sherwood (Sh), Schmidt (Sc) and Reynolds (Re) was developed. It was found that the model developed was found to be in good agreement with the experimental data within the system studied.

Keywords: Mass Transfer, Palm Kernel, Supercritical fluid.

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5433 Methodologies for Management of Sustainable Tourism: A Case Study in Jalapão/Tocantins/Brazil

Authors: Mary L. G. S. Senna, Veruska C. Dutra, Afonso R. Aquino

Abstract:

The study is in application and analysis of two tourism management tools that can contribute to making public managers decision: the Barometer of Tourism Sustainability (BTS) and the Ecological Footprint (EF). The results have shown that BTS allows you to have an integrated view of the tourism system, awakening to the need for planning of appropriate actions so that it can achieve the positive scale proposed (potentially sustainable). Already the methodology of ecological tourism footprint is an important tool to measure potential impacts generated by tourism to tourist reality.

Keywords: Barometer of tourism sustainability, ecological footprint of tourism, Jalapão/Brazil, sustainable tourism.

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5432 An Approach on the Design of a Solar Cell Characterization Device

Authors: Christoph Mayer, Dominik Holzmann

Abstract:

This paper presents the development of a compact, portable and easy to handle solar cell characterization device. The presented device reduces the effort and cost of single solar cell characterization to a minimum. It enables realistic characterization of cells under sunlight within minutes. In the field of photovoltaic research the common way to characterize a single solar cell or a module is, to measure the current voltage curve. With this characteristic the performance and the degradation rate can be defined which are important for the consumer or developer. The paper consists of the system design description, a summary of the measurement results and an outline for further developments.

Keywords: Solar cell, photovoltaics, PV, characterization.

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5431 On the Strong Solutions of the Nonlinear Viscous Rotating Stratified Fluid

Authors: A. Giniatoulline

Abstract:

A nonlinear model of the mathematical fluid dynamics which describes the motion of an incompressible viscous rotating fluid in a homogeneous gravitational field is considered. The model is a generalization of the known Navier-Stokes system with the addition of the Coriolis parameter and the equations for changeable density. An explicit algorithm for the solution is constructed, and the proof of the existence and uniqueness theorems for the strong solution of the nonlinear problem is given. For the linear case, the localization and the structure of the spectrum of inner waves are also investigated.

Keywords: Galerkin method, Navier-Stokes equations, nonlinear partial differential equations, Sobolev spaces, stratified fluid.

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5430 Analysis of Threats in Interoperability of Medical Devices

Authors: M. Sandhya, R. M. Madhumitha, Sharmila Sankar

Abstract:

Interoperable medical devices (IMDs) face threats due to the increased attack surface accessible by interoperability and the corresponding infrastructure. Initiating networking and coordination functionalities primarily modify medical systems' security properties. Understanding the threats is a vital first step in ultimately crafting security solutions for such systems. The key to this problem is coming up with some common types of threats or attacks with those of security and privacy, and providing this information as a roadmap. This paper analyses the security issues in interoperability of devices and presents the main types of threats that have to be considered to build a secured system.

Keywords: Interoperability, threats, attacks, medical devices.

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5429 Assessing the Theoretical Suitability of Sentinel-2 and WorldView-3 Data for Hydrocarbon Mapping of Spill Events, Using HYSS

Authors: K. Tunde Olagunju, C. Scott Allen, F.D. (Freek) van der Meer

Abstract:

Identification of hydrocarbon oil in remote sensing images is often the first step in monitoring oil during spill events. Most remote sensing methods adopt techniques for hydrocarbon identification to achieve detection in order to model an appropriate cleanup program. Identification on optical sensors does not only allow for detection but also for characterization and quantification. Until recently, in optical remote sensing, quantification and characterization were only potentially possible using high-resolution laboratory and airborne imaging spectrometers (hyperspectral data). Unlike multispectral, hyperspectral data are not freely available, as this data category is mainly obtained via airborne survey at present. In this research, two operational high-resolution multispectral satellites (WorldView-3 and Sentinel-2) are theoretically assessed for their suitability for hydrocarbon characterization, using the Hydrocarbon Spectra Slope model (HYSS). This method utilized the two most persistent hydrocarbon diagnostic/absorption features at 1.73 µm and 2.30 µm for hydrocarbon mapping on multispectral data. In this research, spectra measurement of seven different hydrocarbon oils (crude and refined oil) taken on 10 different substrates with the use of laboratory ASD Fieldspec were convolved to Sentinel-2 and WorldView-3 resolution, using their full width half maximum (FWHM) parameter. The resulting hydrocarbon slope values obtained from the studied samples enable clear qualitative discrimination of most hydrocarbons, despite the presence of different background substrates, particularly on WorldView-3. Due to close conformity of central wavelengths and narrow bandwidths to key hydrocarbon bands used in HYSS, the statistical significance for qualitative analysis on WorldView-3 sensors for all studied hydrocarbon oil returned with 95% confidence level (P-value ˂ 0.01), except for Diesel. Using multifactor analysis of variance (MANOVA), the discriminating power of HYSS is statistically significant for most hydrocarbon-substrate combinations on Sentinel-2 and WorldView-3 FWHM, revealing the potential of these two operational multispectral sensors as rapid response tools for hydrocarbon mapping. One notable exception is highly transmissive hydrocarbons on Sentinel-2 data due to the non-conformity of spectral bands with key hydrocarbon absorptions and the relatively coarse bandwidth (> 100 nm).

Keywords: hydrocarbon, oil spill, remote sensing, hyperspectral, multispectral, hydrocarbon – substrate combination, Sentinel-2, WorldView-3

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5428 Trust and Security in Electronic Payments: What We Have and Need to Know?

Authors: Theodosios Tsiakis, George Stephanides, George Pekos

Abstract:

The growth of open networks created the interest to commercialise it. The establishment of an electronic business mechanism must be accompanied by a digital-electronic payment system to transfer the value of transactions. Financial organizations are requested to offer a secure e-payment synthesis with equivalent levels of trust and security served in conventional paper-based payment transactions. The paper addresses the challenge of the first trade problem in e-commerce, provides a brief literature review on electronic payment and attempts to explain the underlying concept and method of trust in relevance to electronic payment.

Keywords: Electronic payment, security, trust, electronic business mechanism.

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5427 Comparative Study of Sedimentation in Hydraulic Structures using Sharc and Ssiim Soft Wares - A Case of the Dez and Hamidieh Intake Structures in Iran

Authors: A.H. Sajedipoor, N. Hedayat , M. Mashal, R. Nazarzadeh

Abstract:

Sedimentation formation is a complex hydraulic phenomenon that has emerged as a major operational and maintenance consideration in modern hydraulic engineering in general and river engineering in particular. Sediments accumulation along the river course and their eventual storage in a form of islands affect water intake in the canal systems that are fed by the storage reservoirs. Without proper management, sediment transport can lead to major operational challenges in water distribution system of arid regions like the Dez and Hamidieh command areas. The paper aims to investigate sedimentation in the Western Canal of Dez Diversion Weir using the SHARC model and compare the results with the two intake structures of the Hamidieh dam in Iran using SSIIM model. The objective was to identify the factors which influence the process, check reliability of outcome and provide ways in which to mitigate the implications on operation and maintenance of the structures. Results estimated sand and silt bed loads concentrations to be 193 ppm and 827ppm respectively. This followed ,ore or less similar pattern in Hamidieh where the sediment formation impeded water intake in the canal system. Given the available data on average annual bed loads and average suspended sediment loads of 165ppm and 837ppm in the Dez, there was a significant statistical difference (16%) between the sand grains, whereas no significant difference (1.2%) was find in the silt grain sizes. One explanation for such finding being that along the 6 Km river course there was considerable meandering effects which explains recent shift in the hydraulic behavior along the stream course under investigation. The sand concentration in downstream relative to present state of the canal showed a steep descending curve. Sediment trapping on the other hand indicated a steep ascending curve. These occurred because the diversion weir was not considered in the simulation model. The comparative study showed very close similarities in the results which explains the fact that both software can be used as accurate and reliable analytical tools for simulation of the sedimentation in hydraulic engineering.

Keywords: SHARC, SSIIM, sedimentation, Dez diversion weir, Hamidieh dam, Intake structures

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5426 A Novel Methodology for Synthesis of Fault Trees from MATLAB-Simulink Model

Authors: F. Tajarrod, G. Latif-Shabgahi

Abstract:

Fault tree analysis is a well-known method for reliability and safety assessment of engineering systems. In the last 3 decades, a number of methods have been introduced, in the literature, for automatic construction of fault trees. The main difference between these methods is the starting model from which the tree is constructed. This paper presents a new methodology for the construction of static and dynamic fault trees from a system Simulink model. The method is introduced and explained in detail, and its correctness and completeness is experimentally validated by using an example, taken from literature. Advantages of the method are also mentioned.

Keywords: Fault tree, Simulink, Standby Sparing and Redundancy

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5425 An Analysis of Global Stability of Cohen-Grossberg Neural Networks with Multiple Time Delays

Authors: Zeynep Orman, Sabri Arik

Abstract:

This paper presents a new sufficient condition for the existence, uniqueness and global asymptotic stability of the equilibrium point for Cohen-Grossberg neural networks with multiple time delays. The results establish a relationship between the network parameters of the neural system independently of the delay parameters. The results are also compared with the previously reported results in the literature.

Keywords: Equilibrium and stability analysis, Cohen-Grossberg Neural Networks, Lyapunov Functionals.

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5424 Image Retrieval: Techniques, Challenge, and Trend

Authors: Hui Hui Wang, Dzulkifli Mohamad, N.A Ismail

Abstract:

This paper attempts to discuss the evolution of the retrieval techniques focusing on development, challenges and trends of the image retrieval. It highlights both the already addressed and outstanding issues. The explosive growth of image data leads to the need of research and development of Image Retrieval. However, Image retrieval researches are moving from keyword, to low level features and to semantic features. Drive towards semantic features is due to the problem of the keywords which can be very subjective and time consuming while low level features cannot always describe high level concepts in the users- mind.

Keywords: content based image retrieval, keyword based imageretrieval, semantic gap, semantic image retrieval.

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5423 Block Homotopy Perturbation Method for Solving Fuzzy Linear Systems

Authors: Shu-Xin Miao

Abstract:

In this paper, we present an efficient numerical algorithm, namely block homotopy perturbation method, for solving fuzzy linear systems based on homotopy perturbation method. Some numerical examples are given to show the efficiency of the algorithm.

Keywords: Homotopy perturbation method, fuzzy linear systems, block linear system, fuzzy solution, embedding parameter.

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5422 Numerical Study of Hypersonic Glide Vehicle based on Blunted Waverider

Authors: Liu Jian-xia, Hou Zhong-xi, Chen Xiao-qing

Abstract:

The waverider is proved to be a remarkably useful configuration for hypersonic glide vehicle (HGV) in terms of the high lift-to-drag ratio. Due to the severe aerodynamic heating and the processing technical restriction, the sharp leading edge of waverider should be blunted, and then the flow characteristics and the aerodynamic performance along the trajectory will change. In this paper, the flow characteristics of a HGV, including the rarefied gas effect and transition phenomenon, were studied based on a reference trajectory. A numerical simulation was carried out to study the performance of the HGV under a typical condition.

Keywords: Aerodynamic, CFD, Thermodynamic, Waverider

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5421 Sliding Mode Based Behavior Control

Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan

Abstract:

In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.

Keywords: Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.

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5420 2n Positive Periodic Solutions to n Species Non-autonomous Lotka-Volterra Competition Systems with Harvesting Terms

Authors: Yongkun Li, Kaihong Zhao

Abstract:

By using Mawhin-s continuation theorem of coincidence degree theory, we establish the existence of 2n positive periodic solutions for n species non-autonomous Lotka-Volterra competition systems with harvesting terms. An example is given to illustrate the effectiveness of our results.

Keywords: Positive periodic solutions, Lotka-Volterra competition system, coincidence degree, harvesting term.

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5419 In-Flight Radiometric Performances Analysis of an Airborne Optical Payload

Authors: Caixia Gao, Chuanrong Li, Lingli Tang, Lingling Ma, Yaokai Liu, Xinhong Wang, Yongsheng Zhou

Abstract:

Performances analysis of remote sensing sensor is required to pursue a range of scientific research and application objectives. Laboratory analysis of any remote sensing instrument is essential, but not sufficient to establish a valid inflight one. In this study, with the aid of the in situ measurements and corresponding image of three-gray scale permanent artificial target, the in-flight radiometric performances analyses (in-flight radiometric calibration, dynamic range and response linearity, signal-noise-ratio (SNR), radiometric resolution) of self-developed short-wave infrared (SWIR) camera are performed. To acquire the inflight calibration coefficients of the SWIR camera, the at-sensor radiances (Li) for the artificial targets are firstly simulated with in situ measurements (atmosphere parameter and spectral reflectance of the target) and viewing geometries using MODTRAN model. With these radiances and the corresponding digital numbers (DN) in the image, a straight line with a formulation of L = G × DN + B is fitted by a minimization regression method, and the fitted coefficients, G and B, are inflight calibration coefficients. And then the high point (LH) and the low point (LL) of dynamic range can be described as LH= (G × DNH + B) and LL= B, respectively, where DNH is equal to 2n − 1 (n is the quantization number of the payload). Meanwhile, the sensor’s response linearity (δ) is described as the correlation coefficient of the regressed line. The results show that the calibration coefficients (G and B) are 0.0083 W·sr−1m−2µm−1 and −3.5 W·sr−1m−2µm−1; the low point of dynamic range is −3.5 W·sr−1m−2µm−1 and the high point is 30.5 W·sr−1m−2µm−1; the response linearity is approximately 99%. Furthermore, a SNR normalization method is used to assess the sensor’s SNR, and the normalized SNR is about 59.6 when the mean value of radiance is equal to 11.0 W·sr−1m−2µm−1; subsequently, the radiometric resolution is calculated about 0.1845 W•sr-1m-2μm-1. Moreover, in order to validate the result, a comparison of the measured radiance with a radiative-transfer-code-predicted over four portable artificial targets with reflectance of 20%, 30%, 40%, 50% respectively, is performed. It is noted that relative error for the calibration is within 6.6%.

Keywords: Calibration, dynamic range, radiometric resolution, SNR.

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5418 Chemical Analysis of PM2.5 during Dry Deforestation Season in Southeast Asia

Authors: Bahareh Khezri, Richard D. Webster

Abstract:

In Southeast Asia, during the dry season (August to October) forest fires in Indonesia emit pollutants into the atmosphere. For two years during this period, a total of 67 samples of 2.5 μm particulate matters were collected and analyzed for total mass and elemental composition with ICP - MS after microwave digestion. A study of 60 elements measured during these periods suggest that the concentration of most of elements, even those usually related to crustal source, are extremely high and unpredictable during the haze period. In By contrast, trace element concentration in non - haze months is more stable and covers a lower range. Other unexpected events and their effects on the findings are discussed.

Keywords: Haze, ICP - MS, Particulate Patter, Transboundary Air Pollution.

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5417 Using Hermite Function for Solving Thomas-Fermi Equation

Authors: F. Bayatbabolghani, K. Parand

Abstract:

In this paper, we propose Hermite collocation method for solving Thomas-Fermi equation that is nonlinear ordinary differential equation on semi-infinite interval. This method reduces the solution of this problem to the solution of a system of algebraic equations. We also present the comparison of this work with solution of other methods that shows the present solution is more accurate and faster convergence in this problem.

Keywords: Collocation method, Hermite function, Semi-infinite, Thomas-Fermi equation.

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5416 Phase Equilibrium in Aqueous Two-phase Systems Containing Poly (propylene glycol) and Sodium Citrate at Different pH

Authors: Farshad Rahimpour, Ali Reza Baharvand

Abstract:

The phase diagrams and compositions of coexisting phases have been determined for aqueous two-phase systems containing poly(propylene glycol) with average molecular weight of 425 and sodium citrate at various pH of 3.93, 4.44, 4.6, 4.97, 5.1, 8.22. The effect of pH on the salting-out effect of poly (propylene glycol) by sodium citrate has been studied. It was found that, an increasing in pH caused the expansion of two-phase region. Increasing pH also increases the concentration of PPG in the PPGrich phase, while the salt-rich phase will be somewhat mole diluted.

Keywords: Aqueous two-phase system, Phase equilibrium, Biomolecules purification

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5415 Sigma-Delta ADCs Converter a Study Case

Authors: Thiago Brito Bezerra, Mauro Lopes de Freitas, Waldir Sabino da Silva Júnior

Abstract:

The Sigma-Delta A/D converters have been proposed as a practical application for A/D conversion at high rates because of its simplicity and robustness to imperfections in the circuit, also because the traditional converters are more difficult to implement in VLSI technology. These difficulties with conventional conversion methods need precise analog components in their filters and conversion circuits, and are more vulnerable to noise and interference. This paper aims to analyze the architecture, function and application of Analog-Digital converters (A/D) Sigma-Delta to overcome these difficulties, showing some simulations using the Simulink software and Multisim.

Keywords: Analysis, Oversampling Modulator, A/D converters, Sigma-Delta.

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5414 Energy Efficiency: An Engineering Pathway towards Sustainability

Authors: A. M. Hasna

Abstract:

Today global warming, climate change and energy supply are of greater concern as it is widely realized that the planet earth does not provide an infinite capacity for absorbing human industrialization in the 21st century. The aim of this paper is to analyze upstream and downstream electricity production in selected case studies: a coal power plant, a pump system and a microwave oven covering and consumption to explore the position of energy efficiency in engineering sustainability. Collectively, the analysis presents energy efficiency as a major pathway towards sustainability that requires an inclusive and a holistic supply chain response in the engineering design process.

Keywords: Sustainability, technology, efficiency, engineering, energy.

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5413 Modeling of CO2 Removal from Gas Mixtureby 2-amino-2-methyl-1-propanol (AMP) Using the Modified Kent Eisenberg Model

Authors: H. Pahlavanzadeh, A.R.Jahangiri, I. Noshadi

Abstract:

In this paper, the solubility of CO2 in AMP solution have been measured at temperature range of ( 293, 303 ,313,323) K.The amine concentration ranges studied are (2.0, 2.8, and 3.4) M. A solubility apparatus was used to measure the solubility of CO2 in AMP solution on samples of flue gases from Thermal and Central Power Plants of Esfahan Steel Company. The modified Kent Eisenberg model was used to correlate and predict the vapor-liquid equilibria of the (CO2 + AMP + H2O) system. The model predicted results are in good agreement with the experimental vapor-liquid equilibrium measurements.

Keywords: AMP, Carbon dioxide; loading, Flue gases, Modified Kent Eisenberg model

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5412 Epileptic Seizure Prediction by Exploiting Signal Transitions Phenomena

Authors: Mohammad Zavid Parvez, Manoranjan Paul

Abstract:

A seizure prediction method is proposed by extracting global features using phase correlation between adjacent epochs for detecting relative changes and local features using fluctuation/ deviation within an epoch for determining fine changes of different EEG signals. A classifier and a regularization technique are applied for the reduction of false alarms and improvement of the overall prediction accuracy. The experiments show that the proposed method outperforms the state-of-the-art methods and provides high prediction accuracy (i.e., 97.70%) with low false alarm using EEG signals in different brain locations from a benchmark data set.

Keywords: Epilepsy, Seizure, Phase Correlation, Fluctuation, Deviation.

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5411 Social Structure, Involuntary Relations, and Urban Poverty

Authors: Mahmood Niroobakhsh

Abstract:

This article deals with special structuralism approaches to explain a certain kind of social problem. Widespread presence of poverty is a reminder of deep-rooted unresolved problems of social relations. The expected role from an individual for the social system recognizes poverty derived from an interrelated social structure. By the time, enabled to act on his role in the course of social interaction, reintegration of the poor in society may take place. Poverty and housing type are reflections of the underlying social structure, primarily structure’s elements, systemic interrelations, and the overall strength or weakness of that structure. Poverty varies based on social structure in that the stronger structures are less likely to produce poverty.

Keywords: Absolute poverty, relative poverty, social structure, urban poverty.

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5410 Exponential Stability of Linear Systems under a Class of Unbounded Perturbations

Authors: Safae El Alaoui, Mohamed Ouzahra

Abstract:

In this work, we investigate the exponential stability of a linear system described by x˙ (t) = Ax(t) − ρBx(t). Here, A generates a semigroup S(t) on a Hilbert space, the operator B is supposed to be of Desch-Schappacher type, which makes the investigation more interesting in many applications. The case of Miyadera-Voigt perturbations is also considered. Sufficient conditions are formulated in terms of admissibility and observability inequalities and the approach is based on some energy estimates. Finally, the obtained results are applied to prove the uniform exponential stabilization of bilinear partial differential equations.

Keywords: Exponential stabilization, unbounded operator, Desch-Schappacher, Miyadera-Voigt operator.

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5409 Swarm Navigation in a Complex Environment

Authors: Jai Raj, Jito Vanualailai, Bibhya Sharma, Shonal Singh

Abstract:

This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm of boids exhibiting collective emergent behaviors. A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws are demonstrated via computer simulations of an emergent behavior.

Keywords: Swarm, practical stability, motion planning, emergent.

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