Search results for: MATLAB Software

Authors: Peyman Naderi, Ali Farhadi, S. Mohammad Taghi Bathaee

Abstract:

One of the best ways for achievement of conventional vehicle changing to hybrid case is trustworthy simulation result and using of driving realities. For this object, in this paper, at first sevendegree- of-freedom dynamical model of vehicle will be shown. Then by using of statically model of engine, gear box, clutch, differential, electrical machine and battery, the hybrid automobile modeling will be down and forward simulation of vehicle for pedals to wheels power transformation will be obtained. Then by design of a fuzzy controller and using the proper rule base, fuel economy and regenerative braking will be marked. Finally a series of MATLAB/SIMULINK simulation results will be proved the effectiveness of proposed structure.

Keywords: Hybrid, Driving, Fuzzy, Regeneration.

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Authors: H. Abaali, M. T. Lamchich, M. Raoufi

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There are a variety of reference current identification methods, for the shunt active power filter (SAPF), such as the instantaneous active and reactive power, the instantaneous active and reactive current and the synchronous detection method are evaluated and compared under ideal, non sinusoidal and unbalanced voltage conditions. The SAPF performances, for the investigated identification methods, are tested for a non linear load. The simulation results, using Matlab Power System Blockset Toolbox from a complete structure, are presented and discussed.

Keywords: Shunt active power filter, Current perturbation, Non sinusoidal and unbalanced voltage conditions.

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Authors: Khan Farhan Rafat, M. Junaid Hussain

Abstract:

Seamless modification of an entity for the purpose of hiding a message of significance inside its substance in a manner that the embedding remains oblivious to an observer is known as steganography. Together with today's pervasive registering frameworks, steganography has developed into a science that offers an assortment of strategies for stealth correspondence over the globe that must, however, need a critical appraisal from security breach standpoint. Microsoft Word is amongst the preferably used word processing software, which comes as a part of the Microsoft Office suite. With a user-friendly graphical interface, the richness of text editing, and formatting topographies, the documents produced through this software are also most suitable for stealth communication. This research aimed not only to epitomize the fundamental concepts of steganography but also to expound on the utilization of Microsoft Word document as a carrier for furtive message exchange. The exertion is to examine contemporary message hiding schemes from security aspect so as to present the explorative discoveries and suggest enhancements which may serve a wellspring of information to encourage such futuristic research endeavors.

Keywords: Hiding information in plain sight, stealth communication, oblivious information exchange, conceal, steganography.

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Authors: Tiexin Wang, Sebastien Truptil, Frederick Benaben

Abstract:

Model transformation, as a pivotal aspect of Modeldriven engineering, attracts more and more attentions both from researchers and practitioners. Many domains (enterprise engineering, software engineering, knowledge engineering, etc.) use model transformation principles and practices to serve to their domain specific problems; furthermore, model transformation could also be used to fulfill the gap between different domains: by sharing and exchanging knowledge. Since model transformation has been widely used, there comes new requirement on it: effectively and efficiently define the transformation process and reduce manual effort that involved in. This paper presents an automatic model transformation methodology based on semantic and syntactic comparisons, and focuses particularly on granularity issue that existed in transformation process. Comparing to the traditional model transformation methodologies, this methodology serves to a general purpose: crossdomain methodology. Semantic and syntactic checking measurements are combined into a refined transformation process, which solves the granularity issue. Moreover, semantic and syntactic comparisons are supported by software tool; manual effort is replaced in this way.

Keywords: Automatic model transformation, granularity issue, model-driven engineering, semantic and syntactic comparisons.

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Authors: Hakan Gürkan, Ahmet Denker

Abstract:

The Ministry of Defense (MoD) spends hundreds of millions of dollars on software to support its infrastructure, operate its weapons and provide command, control, communications, computing, intelligence, surveillance, and reconnaissance (C4ISR) functions. These and other all new advanced systems have a common critical component is information technology. Defense and Aerospace environment is continuously striving to keep up with increasingly sophisticated Information Technology (IT) in order to remain effective in today-s dynamic and unpredictable threat environment. This makes it one of the largest and fastest growing expenses of Defense. Hundreds of millions of dollars spent a year on IT projects. But, too many of those millions are wasted on costly mistakes. Systems that do not work properly, new components that are not compatible with old once, trendily new applications that do not really satisfy defense needs or lost though poorly managed contracts. This paper investigates and compiles the effective strategies that aim to end exasperation with low returns and high cost of Information Technology Acquisition for defense; it tries to show how to maximize value while reducing time and expenditure.

Keywords: Iterative Process, Acquisition Management, Project management, Software Economics, Requirement analysis.

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Authors: Yingjie Zhang

Abstract:

This paper is concerned with an improved algorithm based on the piecewise-smooth Mumford and Shah (MS) functional for an efficient and reliable segmentation. In order to speed up convergence, an additional force, at each time step, is introduced further to drive the evolution of the curves instead of only driven by the extensions of the complementary functions u + and u - . In our scheme, furthermore, the piecewise-constant MS functional is integrated to generate the extra force based on a temporary image that is dynamically created by computing the union of u + and u - during segmenting. Therefore, some drawbacks of the original algorithm, such as smaller objects generated by noise and local minimal problem also are eliminated or improved. The resulting algorithm has been implemented in Matlab and Visual Cµ, and demonstrated efficiently by several cases.

Keywords: Active contours, energy minimization, image segmentation, level sets.

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Authors: Z. Feng, V. Viswanathan, D. Navarro, I. O'Connor

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This paper presents a new high speed simulation methodology to solve the long simulation time problem of CMOS image sensor matrix. Generally, for integrating the pixel matrix in SOC and simulating the system performance, designers try to model the pixel in various modeling languages such as VHDL-AMS, SystemC or Matlab. We introduce a new alternative method based on spice model in cadence design platform to achieve accuracy and reduce simulation time. The simulation results indicate that the pixel output voltage maximum error is at 0.7812% and time consumption reduces from 2.2 days to 13 minutes achieving about 240X speed-up for the 256x256 pixel matrix.

Keywords: CMOS image sensor, high speed simulation, image sensor matrix simulation.

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Authors: Jaimin Patel

Abstract:

Cloud computing is one of the most sharp and important movement in various computing technologies. It provides flexibility to users, cost effectiveness, location independence, easy maintenance, enables multitenancy, drastic performance improvements, and increased productivity. On the other hand, there are also major issues like security. Being a common server, security for a cloud is a major issue; it is important to provide security to protect user’s private data, and it is especially important in e-commerce and social networks. In this paper, encryption algorithms such as Advanced Encryption Standard algorithms, their vulnerabilities, risk of attacks, optimal time and complexity management and comparison with other algorithms based on software implementation is proposed. Encryption techniques to improve the performance of AES algorithms and to reduce risk management are given. Secure Hash Algorithms, their vulnerabilities, software implementations, risk of attacks and comparison with other hashing algorithms as well as the advantages and disadvantages between hashing techniques and encryption are given.

Keywords: Cloud computing, encryption algorithm, secure hashing algorithm, brute force attack, birthday attack, plaintext attack, man-in-the-middle attack.

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Authors: Sarah Odofin, Zhiwei Gao, Sun Kai

Abstract:

Operations, maintenance and reliability of wind turbines have received much attention over the years due to the rapid expansion of wind farms. This paper explores early fault diagnosis technique for a 5MW wind turbine system subjected to multiple faults, where genetic optimization algorithm is employed to make the residual sensitive to the faults, but robust against disturbances. The proposed technique has a potential to reduce the downtime mostly caused by the breakdown of components and exploit the productivity consistency by providing timely fault alarms. Simulation results show the effectiveness of the robust fault detection methods used under Matlab/Simulink/Gatool environment.

Keywords: Disturbance robustness, fault monitoring and detection, genetic algorithm and observer technique.

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Authors: Dr. L. Arockiam, A. Aloysius

Abstract:

In general, class complexity is measured based on any one of these factors such as Line of Codes (LOC), Functional points (FP), Number of Methods (NOM), Number of Attributes (NOA) and so on. There are several new techniques, methods and metrics with the different factors that are to be developed by the researchers for calculating the complexity of the class in Object Oriented (OO) software. Earlier, Arockiam et.al has proposed a new complexity measure namely Extended Weighted Class Complexity (EWCC) which is an extension of Weighted Class Complexity which is proposed by Mishra et.al. EWCC is the sum of cognitive weights of attributes and methods of the class and that of the classes derived. In EWCC, a cognitive weight of each attribute is considered to be 1. The main problem in EWCC metric is that, every attribute holds the same value but in general, cognitive load in understanding the different types of attributes cannot be the same. So here, we are proposing a new metric namely Attribute Weighted Class Complexity (AWCC). In AWCC, the cognitive weights have to be assigned for the attributes which are derived from the effort needed to understand their data types. The proposed metric has been proved to be a better measure of complexity of class with attributes through the case studies and experiments

Keywords: Software Complexity, Attribute Weighted Class Complexity, Weighted Class Complexity, Data Type

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Authors: Fuyang Peng, Donghong Li

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The aim of information systems integration is to make all the data sources, applications and business flows integrated into the new environment so that unwanted redundancies are reduced and bottlenecks and mismatches are eliminated. Two issues have to be dealt with to meet such requirements: the software architecture that supports resource integration, and the adaptor development tool that help integration and migration of legacy applications. In this paper, a service-enabled dependable integration environment (SDIE), is presented, which has two key components, i.e., a dependable service integration platform and a legacy application integration tool. For the dependable platform for service integration, the service integration bus, the service management framework, the dependable engine for service composition, and the service registry and discovery components are described. For the legacy application integration tool, its basic organization, functionalities and dependable measures taken are presented. Due to its service-oriented integration model, the light-weight extensible container, the service component combination-oriented p-lattice structure, and other features, SDIE has advantages in openness, flexibility, performance-price ratio and feature support over commercial products, is better than most of the open source integration software in functionality, performance and dependability support.

Keywords: Application integration, dependability, legacy, SOA.

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Authors: Hanaa T. El-Madany, Faten H. Fahmy, Ninet M. A. El-Rahman, Hassen T. Dorrah

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Advancements in the field of artificial intelligence (AI) made during this decade have forever changed the way we look at automating spacecraft subsystems including the electrical power system. AI have been used to solve complicated practical problems in various areas and are becoming more and more popular nowadays. In this paper, a mathematical modeling and MATLAB–SIMULINK model for the different components of the spacecraft power system is presented. Also, a control system, which includes either the Neural Network Controller (NNC) or the Fuzzy Logic Controller (FLC) is developed for achieving the coordination between the components of spacecraft power system as well as control the energy flows. The performance of the spacecraft power system is evaluated by comparing two control systems using the NNC and the FLC.

Keywords: Spacecraft, Neural network, Fuzzy logic control, Photovoltaic array.

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Authors: Wael M. El-Mamlouk, Metwally A. El-Sharkawy, Hossam. E. Mostafa

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In this paper, we analyze and test a scheme for the estimation of electrical fundamental frequency signals from the harmonic load current and voltage signals. The scheme was based on using two different Multi Layer Artificial Neural Networks (ML-ANN) one for the current and the other for the voltage. This study also analyzes and tests the effect of choosing the optimum artificial neural networks- sizes which determine the quality and accuracy of the estimation of electrical fundamental frequency signals. The simulink tool box of the Matlab program for the simulation of the test system and the test of the neural networks has been used.

Keywords: Harmonics, Neural Networks, Modeling, Simulation, Active filters, electric Networks.

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Authors: Pyone Lai Swe, Wanna Swe, Kyaw Myo Lin

Abstract:

Voltage stability has become an important issue to many power systems around the world due to the weak systems and long line on power system networks. In this paper, MATLAB load flow program is applied to obtain the weak points in the system combined with finding the voltage stability limit. The maximum permissible loading of a system, within the voltage stability limit, is usually determined. The methods for varying tap ratio (using tap changing transformer) and applying different values of shunt capacitor injection to improve the voltage stability within the limit are also provided.

Keywords: Load flow, Voltage stability, Tap changingtransformer, Shunt capacitor injection, Voltage stability limit

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Authors: Rajendar Kandan, Mohammad Zakaria Alli, Hong Ong

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Cloud computing is a business model which provides an easier management of computing resources. Cloud users can request virtual machine and install additional softwares and configure them if needed. However, user can also request virtual appliance which provides a better solution to deploy application in much faster time, as it is ready-built image of operating system with necessary softwares installed and configured. Large numbers of virtual appliances are available in different image format. User can download available appliances from public marketplace and start using it. However, information published about the virtual appliance differs from each providers leading to the difficulty in choosing required virtual appliance as it is composed of specific OS with standard software version. However, even if user choses the appliance from respective providers, user doesn’t have any flexibility to choose their own set of softwares with required OS and application. In this paper, we propose a referenced architecture for dynamically customizing virtual appliance and provision them in an easier manner. We also add our experience in integrating our proposed architecture with public marketplace and Mi-Cloud, a cloud management software.

Keywords: Cloud computing, marketplace, virtualization, virtual appliance.

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Authors: Meltem Serhatli, Ferda N. Alpaslan

Abstract:

Processing the data by computers and performing reasoning tasks is an important aim in Computer Science. Semantic Web is one step towards it. The use of ontologies to enhance the information by semantically is the current trend. Huge amount of domain specific, unstructured on-line data needs to be expressed in machine understandable and semantically searchable format. Currently users are often forced to search manually in the results returned by the keyword-based search services. They also want to use their native languages to express what they search. In this paper, an ontology-based automated question answering system on software test documents domain is presented. The system allows users to enter a question about the domain by means of natural language and returns exact answer of the questions. Conversion of the natural language question into the ontology based query is the challenging part of the system. To be able to achieve this, a new algorithm regarding free text to ontology based search engine query conversion is proposed. The algorithm is based on investigation of suitable question type and parsing the words of the question sentence.

Keywords: Description Logics, ontology, question answering, reasoning.

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Authors: Mohamed A. Elhaj, Salahedin A. Aljahime

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An actual power plant, which is the power plant of Iron and Steel Factory at Misurata city in Libya , has been modeled using Matlab in order to compare its results to the actual results of the actual cycle. This paper concentrates on two factors: a- The comparison between exergy losses in the actual cycle and the modeled cycle. b- The effect of extracting pressure on temperature water at boiler inlet. Closed heat exchangers used in this plant have been substituted by open heat exchangers in the current study of the modeled power plant and the required changes in the pressure have been considered. In the following investigation the two points mentioned above are taken in consideration.

Keywords: Steam Power Plant, Contact Heat exchanger, Exergy, Cycle Efficiency.

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Authors: Jehad Al Dallal

Abstract:

Program slicing is the task of finding all statements in a program that directly or indirectly influence the value of a variable occurrence. The set of statements that can affect the value of a variable at some point in a program is called a program backward slice. In several software engineering applications, such as program debugging and measuring program cohesion and parallelism, several slices are computed at different program points. The existing algorithms for computing program slices are introduced to compute a slice at a program point. In these algorithms, the program, or the model that represents the program, is traversed completely or partially once. To compute more than one slice, the same algorithm is applied for every point of interest in the program. Thus, the same program, or program representation, is traversed several times. In this paper, an algorithm is introduced to compute all forward static slices of a computer program by traversing the program representation graph once. Therefore, the introduced algorithm is useful for software engineering applications that require computing program slices at different points of a program. The program representation graph used in this paper is called Program Dependence Graph (PDG).

Keywords: Program slicing, static slicing, forward slicing, program dependence graph (PDG).

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Authors: Shuen-Tai Wang, Hsi-Ya Chang

Abstract:

Cloud computing is becoming more and more matured over the last few years and consequently the demands for better cloud services is increasing rapidly. One of the research topics to improve cloud services is the desktop computing in virtualized environment. This paper aims at the development of an adaptive virtual desktop service in cloud computing platform based on our previous research on the virtualization technology. We implement cloud virtual desktop and application software streaming technology that make it possible for providing Virtual Desktop as a Service (VDaaS). Given the development of remote desktop virtualization, it allows shifting the user’s desktop from the traditional PC environment to the cloud-enabled environment, which is stored on a remote virtual machine rather than locally. This proposed effort has the potential to positively provide an efficient, resilience and elastic environment for online cloud service. Users no longer need to burden the platform maintenances and drastically reduces the overall cost of hardware and software licenses. Moreover, this flexible remote desktop service represents the next significant step to the mobile workplace, and it lets users access their desktop environments from virtually anywhere.

Keywords: Cloud Computing, Virtualization, Virtual Desktop, VDaaS.

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Authors: M. Nassereddine, J. Rizk, M. Nagrial

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Green house effect has becomes a serious concern in many countries due to the increase consumption of the fossil fuel. There have been many studies to find an alternative power source. Wind energy found to be one of the most useful solutions to help in overcoming the air pollution and global. There is no agreed solution to conversion of wind energy to electrical energy. In this paper, the advantages of using a Switched Reluctance Generator (SRG) for wind energy applications. The theoretical study of the self excitation of a SRG and the determination of the variable parameters in a SRG design are discussed. The design parameters for the maximum power output of the SRG are computed using Matlab simulation. The designs of the circuit to control the variable parameters in a SRG to provide the maximum power output are also discussed.

Keywords: Switched Reluctance Generator, Wind Power, Electrical Machines.

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Authors: Jehad Al Dallal

Abstract:

Class cohesion is a key object-oriented software quality attribute that is used to evaluate the degree of relatedness of class attributes and methods. Researchers have proposed several class cohesion measures. However, the effect of considering the special methods (i.e., constructors, destructors, and access and delegation methods) in cohesion calculation is not thoroughly theoretically studied for most of them. In this paper, we address this issue for three popular connectivity-based class cohesion measures. For each of the considered measures we theoretically study the impact of including or excluding special methods on the values that are obtained by applying the measure. This study is based on analyzing the definitions and formulas that are proposed for the measures. The results show that including/excluding special methods has a considerable effect on the obtained cohesion values and that this effect varies from one measure to another. For each of the three connectivity-based measures, the proposed theoretical study recommended excluding the special methods in cohesion measurement.

Keywords: Object-oriented class, software quality, class cohesion measure, class cohesion, special methods.

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Authors: Nimisha R. Shirbhate, Sanjay Bokade

Abstract:

Bone Scaffolds are fundamental architecture or a support structure that allows the regeneration of lost or damaged tissues and they are developed as a crucial tool in biomedical engineering. The structure of bone scaffolds plays an important role in treating bone defects. The shape of the bone scaffold performs a vital role, specifically pore size and shape, which help understand the behavior and strength of the scaffold. In this article, first, fundamental aspects of bone scaffold design are established. Second, the behavior of each architecture of the bone scaffold with biomaterials is discussed. Finally, for each structure, the stress analysis was carried out. This study aimed to design a porous and mechanically strong bone regeneration scaffold that can be successfully manufactured. Four porous architectures of the bone scaffold were designed using Rhinoceros solid modelling software. The structure model consisted of repeatable unit cells arranged in layers to fill the chosen scaffold volume. The mechanical behavior of used biocompatible material is studied with the help of ANSYS 19.2 software. It is also playing significant role to predict the strength of defined structures or 3 dimensional models.

Keywords: Bone scaffold, stress analysis, porous structure, static loading.

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Authors: M. Owlia, M. H. Azarsa, M. Khabbazan, A. Mirbagheri

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Proprioceptive neuromuscular facilitation exercises are a series of stretching techniques that are commonly used in rehabilitation and exercise therapy. Assessment of these exercises for true maneuvering requires extensive experience in this field and could not be down with patients themselves. In this paper, we developed software that uses Microsoft Kinect sensor, a spherical color marker, and real-time image processing methods to evaluate patient’s performance in generating true patterns of movements. The software also provides the patient with a visual feedback by showing his/her avatar in a Virtual Reality environment along with the correct path of moving hand, wrist and marker. Primary results during PNF exercise therapy of a patient in a room environment shows the ability of the system to identify any deviation of maneuvering path and direction of the hand from the one that has been performed by an expert physician.

Keywords: Image processing, Microsoft Kinect, proprioceptive neuromuscular facilitation, upper extremities assessment, virtual reality.

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Authors: Shield B. Lin, Sameer Abdali

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Computer simulations were performed using MATLAB/Simulink for a vibration isolation system for astronaut’s exercise platform. Simulation parameters initially were based on an on-going experiment in a laboratory at NASA Johnson Space Center. The authors expanded later simulations to include other parameters. A discrete proportional-integral-derivative controller with a low-pass filter commanding a linear actuator served as the active control unit to push and pull a counterweight in balancing the disturbance forces. A spring-damper device is used as an optional passive control unit. Simulation results indicated such design could achieve near complete vibration isolation with small displacements of the exercise platform.

Keywords: Control, counterweight, isolation, vibration.

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Authors: M. Reza Bagerzadeh Karimi, M. Mahdi Bagerzadeh Karimi

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In the present paper, active control system is used in different heights of the building and the most effective part was studied where the active control system is applied. The mathematical model of the building is established in MATLAB and in order to active control the system FLC method was used. Three different locations of the building are chosen to apply active control system, namely at the lowest story, the middle height of the building, and at the highest point of the building with TMD system. The equation of motion was written for high rise building and it was solved by statespace method. Also passive control was used with Tuned Mass Damper (TMD) at the top floor of the building to show the robustness of FLC method when compared with passive control system.

Keywords: Fuzzy Logic Controller (FLC), Tuned Mass Damper(TMD), Active control, passive control

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Authors: K. N. Dinesh Babu, R. Ramaprabha, V. Rajini, V. Nagarajan

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In this paper, various methods of providing restricted earth fault protection are discussed. The proper operation of high and low impedance Restricted Earth Fault (REF) protection for various applications has been discussed. The maloperation of a relay due to improper placement of CTs has been identified and a simple/unique solution has been proposed in this work with a case study. Moreover, it is found that the proper placement of CT in high impedance method will provide the same result with reduced CT. This methodology has been successfully implemented in Al Takreer refinery for a 2000 KVA transformer. The outcome of the paper may be included in IEEEC37.91 standard to give the proper guidance for protection engineers to sort out the issues related to mal functioning of REF relays.

Keywords: Relay maloperation, transformer, low impedance REF, MatLab, 64R, IEEE C37.91.

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Authors: Ondrej Baran, Miroslav Kasal, Petr Vagner, Tomas Urbanec

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This paper deals with the modeling and the evaluation of a multiplicative phase noise influence on the bit error ratio in a general space communication system. Our research is focused on systems with multi-state phase shift keying modulation techniques and it turns out, that the phase noise significantly affects the bit error rate, especially for higher signal to noise ratios. These results come from a system model created in Matlab environment and are shown in a form of constellation diagrams and bit error rate dependencies. The change of a user data bit rate is also considered and included into simulation results. Obtained outcomes confirm theoretical presumptions.

Keywords: Additive thermal noise, AWGN, BER, bit error rate, multiplicative phase noise, phase shift keying.

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Authors: M. Velasco, D. While, P. Raju, J. Krasniewicz, A. Amini, L. Hernandez-Munoz

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Web service adaptation involves the creation of adapters that solve Web services incompatibilities known as mismatches. Since the importance of Web services adaptation is increasing because of the frequent implementation and use of online Web services, this paper presents a literature review of web services to investigate the main methods of adaptation, their theoretical underpinnings and the metrics used to measure adapters performance. Eighteen publications were reviewed independently by two researchers. We found that adaptation techniques are needed to solve different types of problems that may arise due to incompatibilities in Web service interfaces, including protocols, messages, data and semantics that affect the interoperability of the services. Although adapters are non-invasive methods that can improve Web services interoperability and there are current approaches for service adaptation; there is, however, not yet one solution that fits all types of mismatches. Our results also show that only a few research projects incorporate theoretical frameworks and that metrics to measure adapters’ performance are very limited. We conclude that further research on software adaptation should improve current adaptation methods in different layers of the service interoperability and that an adaptation theoretical framework that incorporates a theoretical underpinning and measures of qualitative and quantitative performance needs to be created.

Keywords: Web services adapters, software adaptation, web services mismatches, web services interoperability.

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Authors: I. L. Ahmad, M. Mohamed, N. A. Ab. Ghani

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This paper presents the work of signal discrimination specifically for Electrocardiogram (ECG) waveform. ECG signal is comprised of P, QRS, and T waves in each normal heart beat to describe the pattern of heart rhythms corresponds to a specific individual. Further medical diagnosis could be done to determine any heart related disease using ECG information. The emphasis on QRS Complex classification is further discussed to illustrate the importance of it. Pan-Tompkins Algorithm, a widely known technique has been adapted to realize the QRS Complex classification process. There are eight steps involved namely sampling, normalization, low pass filter, high pass filter (build a band pass filter), derivation, squaring, averaging and lastly is the QRS detection. The simulation results obtained is represented in a Graphical User Interface (GUI) developed using MATLAB.

Keywords: ECG, Pan Tompkins Algorithm, QRS Complex, Simulation

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Authors: Tarek M. Nazih El-Derini, Ahmed K. El-Shenawy

Abstract:

This paper presents the hardware implemented and validation for a special system to assist the unprofessional users of car with back trailers. The system consists of two platforms; the front car platform (C) and the trailer platform (T). The main objective is to control the Trailer platform using the actuators found in the front platform (c). The mobility of the platform (C) is investigated and inverse and forward kinematics model is obtained for both platforms (C) and (T).The system is simulated using Matlab M-file and the simulation examples results illustrated the system performance. The system is constructed with a hardware setup for the front and trailer platform. The hardware experimental results and the simulated examples outputs showed the validation of the hardware setup.

Keywords: Kinematics, Modeling, Wheeled Mobile Robot.

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