Search results for: internal energy policy

Authors: Y. Madani, H. Achache, B. Boutabout

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The purpose of this paper is to analyze numerically by the three-dimensional finite element method, using ABAQUS calculation code, the mechanical behavior of a unidirectional and multidirectional delaminated stratified composite under mechanical loading in Mode II. This study consists of the determination of the energy release rate G in mode II as well as the distribution of equivalent von Mises stresses along the damaged zone by varying several parameters such as the applied load and the delamination length. It allowed us to deduce that the high energy release rate favors delamination at the free edges of a stratified plate subjected to bending.

Keywords: Delamination, energy release rate, finite element method, stratified composite.

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Authors: J. Kolář, V. Dvořák

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In this work, we try to find the best setting of Computational Fluid Dynamic solver available for the problems in the field of supersonic internal flows. We used the supersonic air-toair ejector to represent the typical problem in focus. There are multiple oblique shock waves, shear layers, boundary layers and normal shock interacting in the supersonic ejector making this device typical in field of supersonic inner flows. Modeling of shocks in general is demanding on the physical model of fluid, because ordinary conservation equation does not conform to real conditions in the near-shock region as found in many works. From these reasons, we decided to take special care about solver setting in this article by means of experimental approach of color Schlieren pictures and pneumatic measurement. Fast pressure transducers were used to measure unsteady static pressure in regimes with normal shock in mixing chamber. Physical behavior of ejector in several regimes is discussed. Best choice of eddy-viscosity setting is discussed on the theoretical base. The final verification of the k-ω SST is done on the base of comparison between experiment and numerical results.

Keywords: CFD simulations, color Schlieren, k-ω SST, supersonic flows, shock waves.

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Authors: Soma Roychowdhury

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This paper deals with a periodic-review substitutable inventory system for a finite and an infinite number of periods. Here an upward substitution structure, a substitution of a more costly item by a less costly one, is assumed, with two products. At the beginning of each period, a stochastic demand comes for the first item only, which is quality-wise better and hence costlier. Whenever an arriving demand finds zero inventory of this product, a fraction of unsatisfied customers goes for its substitutable second item. An optimal ordering policy has been derived for each period. The results are illustrated with numerical examples. A sensitivity analysis has been done to examine how sensitive the optimal solution and the maximum profit are to the values of the discount factor, when there is a large number of periods.

Keywords: Multi-period model, inventory, random demand, upward substitution.

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Authors: Muhammad Tahir Qadri, M. Irfan Anis, M. Nawaz Irshad Khan

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This paper discusses the approach of real-time controlling of the energy management system using the data acquisition tool of LabVIEW. The main idea of this inspiration was to interface the Station (PC) with the system and publish the data on internet using LabVIEW. In this venture, controlling and switching of 3 phase AC loads are effectively and efficiently done. The phases are also sensed through devices. In case of any failure the attached generator starts functioning automatically. The computer sends command to the system and system respond to the request. The modern feature is to access and control the system world-wide using world wide web (internet). This controlling can be done at any time from anywhere to effectively use the energy especially in developing countries where energy management is a big problem. In this system totally integrated devices are used to operate via remote location.

Keywords: VI-server, Remote Access, Telemetry, Data Acquisition, web server.

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Authors: Ma. Rosario Concepcion O. Ang, Luis Caezar Ian K. Panganiban, Charmyne B. Mamador, Oliver Dan G. De Luna, Michael D. Bausas, Joselito P. Cruz

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PhilSHORE is a multi-site, multi-device and multicriteria decision support tool designed to support the development of tidal current energy in the Philippines. Its platform is based on Geographic Information Systems (GIS) which allows for the collection, storage, processing, analyses and display of geospatial data. Combining GIS tools with open source web development applications, PhilSHORE becomes a webGIS-based marine spatial planning tool. To date, PhilSHORE displays output maps and graphs of power and energy density, site suitability and site-device analysis. It enables stakeholders and the public easy access to the results of tidal current energy resource assessments and site suitability analyses. Results of the initial development show that PhilSHORE is a promising decision support tool for ORE project developments.

Keywords: GIS, Site Suitability Analysis, Tidal Current Energy Resource Assessment, WebGIS.

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Authors: Almutasim Billa A. Alanazi, Hal S. Tharp

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Safe performance and efficient energy consumption are essential factors for designing a control system. This paper presents a reinforcement learning (RL) model that can be applied to control applications to improve safety and reduce energy consumption. As hardware constraints and environmental disturbances are imprecise and unpredictable, conventional control methods may not always be effective in optimizing control designs. However, RL has demonstrated its value in several artificial intelligence (AI) applications, especially in the field of control systems. The proposed model intelligently monitors a system's success by observing the rewards from the environment, with positive rewards counting as a success when the controlled reference is within the desired operating zone. Thus, the model can determine whether the system is safe to continue operating based on the designer/user specifications, which can be adjusted as needed. Additionally, the controller keeps track of energy consumption to improve energy efficiency by enabling the idle mode when the controlled reference is within the desired operating zone, thus reducing the system energy consumption during the controlling operation. Water temperature control for a hydroponic system is taken as a case study for the RL model, adjusting the variance of disturbances to show the model’s robustness and efficiency. On average, the model showed safety improvement by up to 15% and energy efficiency improvements by 35%-40% compared to a traditional RL model.

Keywords: Control system, hydroponics, machine learning, reinforcement learning.

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Authors: Ammar Elyas babiker, M.Nordin B. Zakaria, Hassan Yosif, Samir B. Ibrahim

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Variable channel conditions in underwater networks, and variable distances between sensors due to water current, leads to variable bit error rate (BER). This variability in BER has great effects on energy efficiency of error correction techniques used. In this paper an efficient energy adaptive hybrid error correction technique (AHECT) is proposed. AHECT adaptively changes error technique from pure retransmission (ARQ) in a low BER case to a hybrid technique with variable encoding rates (ARQ & FEC) in a high BER cases. An adaptation algorithm depends on a precalculated packet acceptance rate (PAR) look-up table, current BER, packet size and error correction technique used is proposed. Based on this adaptation algorithm a periodically 3-bit feedback is added to the acknowledgment packet to state which error correction technique is suitable for the current channel conditions and distance. Comparative studies were done between this technique and other techniques, and the results show that AHECT is more energy efficient and has high probability of success than all those techniques.

Keywords: Underwater communication, wireless sensornetworks, error correction technique, energy efficiency

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Authors: Makan Cheraghpour, Seyed Ahmad Hosseini, Damoon Ashtary-Larky, Saeed Shirali, Matin Ghanavati, Meysam Alipour

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Background: In addition to reducing body weight, the low-calorie diets can reduce the lean body mass. It is hypothesized that in addition to reducing the body weight, the low-calorie diets can maintain the lean body mass. So, the current study aimed at evaluating the effects of high-protein diet with calorie restriction on body composition in overweight and obese individuals. Methods: 36 obese and overweight subjects were divided randomly into two groups. The first group received a normal-protein, low-energy diet (RDA), and the second group received a high-protein, low-energy diet (2×RDA). The anthropometric indices including height, weight, body mass index, body fat mass, fat free mass, and body fat percentage were evaluated before and after the study. Results: A significant reduction was observed in anthropometric indices in both groups (high-protein, low-energy diets and normal-protein, low-energy diets). In addition, more reduction in fat free mass was observed in the normal-protein, low-energy diet group compared to the high -protein, low-energy diet group. In other the anthropometric indices, significant differences were not observed between the two groups. Conclusion: Independently of the type of diet, low-calorie diet can improve the anthropometric indices, but during a weight loss, high-protein diet can help the fat free mass to be maintained.

Keywords: Diet, high-protein, body mass index, body fat percentage.

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Authors: Zheni S. Stefanova, Kandethody M. Ramachandran

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With the increasing dependency on our computer devices, we face the necessity of adequate, efficient and effective mechanisms, for protecting our network. There are two main problems that Intrusion Detection Systems (IDS) attempt to solve. 1) To detect the attack, by analyzing the incoming traffic and inspect the network (intrusion detection). 2) To produce a prompt response when the attack occurs (intrusion prevention). It is critical creating an Intrusion detection model that will detect a breach in the system on time and also challenging making it provide an automatic and with an acceptable delay response at every single stage of the monitoring process. We cannot afford to adopt security measures with a high exploiting computational power, and we are not able to accept a mechanism that will react with a delay. In this paper, we will propose an intrusion response mechanism that is based on artificial intelligence, and more precisely, reinforcement learning techniques (RLT). The RLT will help us to create a decision agent, who will control the process of interacting with the undetermined environment. The goal is to find an optimal policy, which will represent the intrusion response, therefore, to solve the Reinforcement learning problem, using a Q-learning approach. Our agent will produce an optimal immediate response, in the process of evaluating the network traffic.This Q-learning approach will establish the balance between exploration and exploitation and provide a unique, self-learning and strategic artificial intelligence response mechanism for IDS.

Keywords: Intrusion prevention, network security, optimal policy, Q-learning.

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Authors: Asma Perveen, M. P. Jahan

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Ni alloys have managed to cover wide range of applications such as automotive industries, oil gas industries, and aerospace industries. However, these alloys impose challenges while using conventional machining technologies. On the other hand, Micro-Electro-Discharge machining (micro-EDM) is a non-conventional machining method that uses controlled sparks energy to remove material irrespective of the materials hardness. There has been always a huge interest from the industries for developing optimum methodology and parameters in order to enhance the productivity of micro-EDM in terms of reducing machining time and tool wear for different alloys. Therefore, the aims of this study are to investigate the effects of the micro-EDM process parameters, in order to find their optimal values. The input process parameters include voltage, capacitance, and electrode rotational speed, whereas the output parameters considered are machining time, entrance diameter of hole, overcut, tool wear, and crater size. The surface morphology and element characterization are also investigated with the use of SEM and EDX analysis. The experimental result indicates the reduction of machining time with the increment of discharge energy. Discharge energy also contributes to the enlargement of entrance diameter as well as overcut. In addition, tool wears show reduction with the increase of discharge energy. Moreover, crater size is found to be increased in size along with the increment of discharge energy.

Keywords: Micro EDM, Ni alloy, discharge energy, micro-holes.

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Authors: Osamah A. Alsayegh, Fatma A. Fairouz

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This paper compares planning results of the electricity and water generation inventory up to year 2030 in the State of Kuwait. Currently, the generation inventory consists of oil and gas fired technologies only. The planning study considers two main cases. The first case, Reference case, examines a generation inventory based on oil and gas fired generation technologies only. The second case examines the inclusion of renewables as part of the generation inventory under two scenarios. In the first scenario, Ref-RE, renewable build-out is based on optimum economic performance of overall generation system. Result shows that the optimum installed renewable capacity with electric energy generation of 11% . In the second scenario, Ref-RE20, the renewable capacity build-out is forced to provide 20% of electric energy by 2030. The respective energy systems costs of Reference, Ref-RE and Ref-RE20 case scenarios reach US dollar 24, 10 and 14 billion annually in 2030.

Keywords: Generation inventory, solar, planning, TIMES, wind.

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Authors: M.K.Jeya Kumar

Abstract:

Many advanced Routing protocols for wireless sensor networks have been implemented for the effective routing of data. Energy awareness is an essential design issue and almost all of these routing protocols are considered as energy efficient and its ultimate objective is to maximize the whole network lifetime. However, the introductions of video and imaging sensors have posed additional challenges. Transmission of video and imaging data requires both energy and QoS aware routing in order to ensure efficient usage of the sensors and effective access to the gathered measurements. In this paper, the performance of the energy-aware QoS routing Protocol are analyzed in different performance metrics like average lifetime of a node, average delay per packet and network throughput. The parameters considered in this study are end-to-end delay, real time data generation/capture rates, packet drop probability and buffer size. The network throughput for realtime and non-realtime data was also has been analyzed. The simulation has been done in NS2 simulation environment and the simulation results were analyzed with respect to different metrics.

Keywords: Cluster nodes, end-to-end delay, QoS routing, routing protocols, sensor networks, least-cost-path.

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Authors: Aumnad Phdungsilp, Teeradej Wuttipornpun

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Decision support based upon risk analysis into comparison of the electricity generation from different renewable energy technologies can provide information about their effects on the environment and society. The aim of this paper is to develop the assessment framework regarding risks to health and environment, and the society-s benefits of the electric power plant generation from different renewable sources. The multicriteria framework to multiattribute risk analysis technique and the decision analysis interview technique are applied in order to support the decisionmaking process for the implementing renewable energy projects to the Bangkok case study. Having analyses the local conditions and appropriate technologies, five renewable power plants are postulated as options. As this work demonstrates, the analysis can provide a tool to aid decision-makers for achieving targets related to promote sustainable energy system.

Keywords: Analytic Hierarchy Process, Bangkok, MultiattributeRisk Analysis, Renewable Energy Technology.

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Authors: Fathollah Ommi, Golnaz Pourabedin, Koros Nekofa

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In recent years fuel cell vehicles are rapidly appearing all over the globe. In less than 10 years, fuel cell vehicles have gone from mere research novelties to operating prototypes and demonstration models. At the same time, government and industry in development countries have teamed up to invest billions of dollars in partnerships intended to commercialize fuel cell vehicles within the early years of the 21st century. The purpose of this study is evaluation of model and performance of fuel cell hybrid electric vehicle in different drive cycles. A fuel cell system model developed in this work is a semi-experimental model that allows users to use the theory and experimental relationships in a fuel cell system. The model can be used as part of a complex fuel cell vehicle model in advanced vehicle simulator (ADVISOR). This work reveals that the fuel consumption and energy efficiency vary in different drive cycles. Arising acceleration and speed in a drive cycle leads to Fuel consumption increase. In addition, energy losses in drive cycle relates to fuel cell system power request. Parasitic power in different parts of fuel cell system will increase when power request increases. Finally, most of energy losses in drive cycle occur in fuel cell system because of producing a lot of energy by fuel cell stack.

Keywords: Drive cycle, Energy efficiency, energy consumption, Fuel cell system.

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Authors: B. I. Lee, S. I. Kim, D. H. Suh, J. I. Kim, Y. K. Lim

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A total of 33,680 nuclear power plants (NPPs) workers were monitored and recorded from 1990 to 2007. According to the record, the average individual radiation dose has been decreasing continually from it 3.20 mSv/man in 1990 to 1.12 mSv/man at the end of 2007. After the International Commission on Radiological Protection (ICRP) 60 recommendation was generalized in South Korea, no nuclear power plant workers received above 20 mSv radiation, and the numbers of relatively highly exposed workers have been decreasing continuously. The age distribution of radiation workers in nuclear power plants was composed of mainly 20-30- year-olds (83%) for 1990 ~ 1994 and 30-40-year-olds (75%) for 2003 ~ 2007. The difference in individual average dose by age was not significant. Most (77%) of NPP radiation exposures from 1990 to 2007 occurred mostly during the refueling period. With regard to exposure type, the majority of exposures were external exposures, representing 95% of the total exposures, while internal exposures represented only 5%. External effective dose was affected mainly by gamma radiation exposure, with an insignificant amount of neutron exposure. As for internal effective dose, tritium (3H) in the pressurized heavy water reactor (PHWR) was the biggest cause of exposure.

Keywords: Dose distribution, External exposure, Nuclear powerplant, Occupational radiation dose

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Authors: H. A. Bekhet, T. Yasmin

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The aim of this paper is to examine the relationship among CO₂ per capita emissions, energy consumption, economic growth and bilateral trade between Singapore and Malaysia for the 1970-2011 period. ARDL model and Granger causality tests are employed for the analysis.  Results of bound F-statistics suggest that long-run  relationship exists between CO₂ per capita (PCO₂) and its determinants. The EKC hypothesis is not supported in Malaysia. Carbon emissions are mainly determined by energy consumption in the short and long run. While, exports to Singapore is a significant variable in explaining PCO₂ emissions in Malaysia in long-run. Furthermore, we find a unidirectional causal relationship running from economic growth to PCO₂ emissions.

Keywords: ADRL Bound Test, Bilateral trade, CO2 emission, Environmental Kuznets Curve, Energy consumption, Malaysia.

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Authors: Diah Tri Widayati, Aris Junaidi, Kresno Suharto, Amelia Oktaviani, Wahyuningsih

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The estrus female Etawah cross bred goats were synchronized estrus by controlled internal drug release (CIDR) implants for 10 days combined with PGF2α injection, and continued by artificial insemination (AI) within the hours of 24 period. Vaginal epithelium was taken to determine estrus cycle of the goats without estrus synchronization. The estrus responds (the puffy of vulva and vaginal pH) and percentage of pregnancy were investigated. The data were analyzed descriptively and Independent Sample T-Test. The results showed that the puffy of vulva and vaginal pH were significantly different in synchronized estrus goats and control goats (2.18 ± 0.33 cm vs. 1.20 ± 0.16 cm and 8.55 ± 0.63 vs. 8.22 ± 0.22). Percentage of pregnancy was higher in synchronized estrus goats (73.33%) than in control (53.3%). Estrus synchronization by using CIDR implants and PGF2, continued by AI was effective to improve reproduction performance of Etawah cross bred goats.

Keywords: Artificial insemination, Estrus synchronization, Etawah cross bred goat, Reproduction performance.

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Authors: Eleni Galiotou, Angela Ralli

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In this paper we propose a computational model for the representation and processing of morpho-phonological phenomena in a natural language, like Modern Greek. We aim at a unified treatment of inflection, compounding, and word-internal phonological changes, in a model that is used for both analysis and generation. After discussing certain difficulties cuase by well-known finitestate approaches, such as Koskenniemi-s two-level model [7] when applied to a computational treatment of compounding, we argue that a morphology-based model provides a more adequate account of word-internal phenomena. Contrary to the finite state approaches that cannot handle hierarchical word constituency in a satisfactory way, we propose a unification-based word grammar, as the nucleus of our strategy, which takes into consideration word representations that are based on affixation and [stem stem] or [stem word] compounds. In our formalism, feature-passing operations are formulated with the use of the unification device, and phonological rules modeling the correspondence between lexical and surface forms apply at morpheme boundaries. In the paper, examples from Modern Greek illustrate our approach. Morpheme structures, stress, and morphologically conditioned phoneme changes are analyzed and generated in a principled way.

Keywords: Morpho-Phonology, Natural Language Processing.

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Authors: V. Anbarasi, David V Rajan, K. Adalarasu

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Musculoskeletal problems are common in high performance dance population. This study attempts to identify lower extremity muscle flexibility parameters prevailing among bharatanatyam dancers and analyze if there is any significant difference exist between normal and injured dancers in flexibility parameters. Four hundred and one female dancers and 17 male dancers were participated in this study. Flexibility parameters (hamstring tightness, hip internal and external rotation and tendoachilles in supine and sitting posture) were measured using goniometer. Results of our study it is evident that injured female bharathnatyam dancers had significantly (p < 0.05) high hamstring tightness on left side lower extremity compared to normal female dancers. The range of motion for left tendoachilles was significantly (p < 0.05) high for the normal female group when compared to injured dancers during supine lying posture. Majority of the injured dancers had high hamstring tightness that could be a possible reason for pain and MSDs.

Keywords: External rotation (ER), Internal rotation (IR), Musculoskeletal disorder (MSD), Range of motion (ROM)

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Authors: Sabita Rani Sahoo, A.Mishra

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Delamination between layers in composite materials is a major structural failure. The delamination resistance is quantified by the critical strain energy release rate (SERR). The present investigation deals with the strain energy release rate of two woven fabric composites. Materials used are made of two types of glass fiber (360 gsm and 600 gsm) of plain weave and epoxy as matrix. The fracture behavior is studied using the mode I, double cantilever beam test and the mode II, end notched flexure test, in order to determine the energy required for the initiation and growth of an artificial crack. The delamination energy of these two materials is compared in order to study the effect of weave and reinforcement on mechanical properties. The fracture mechanism is also analyzed by means of scanning electron microscopy (SEM). It is observed that the plain weave fabric composite with lesser strand width has higher inter laminar fracture properties compared to the plain weave fabric composite with more strand width.

Keywords: Glass- epoxy composites, Fracture Tests: mode I (DCB) and mode II (ENF), Delamination, Calculation of strain energy release rate, SEM Analysis

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Authors: Nelson K. Lujara

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The paper presents a practical three-phase PWM inverter suitable for low voltage, low rating energy efficient systems. The work in the paper is conducted with the view to establishing the significance of the loss contribution from the PWM inverter in the determination of the complete losses of a photovoltaic (PV) arraypowered induction motor drive water pumping system. Losses investigated include; conduction and switching loss of the devices and gate drive losses. It is found that the PWM inverter operates at a reasonable variable efficiency that does not fall below 92% depending on the load. The results between the simulated and experimental results for the system with or without a maximum power tracker (MPT) compares very well, within an acceptable range of 2% margin.

Keywords: Energy, Inverter, Losses, Photovoltaic.

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Authors: Ching Kin Keong, Koh Tieng Wei, Abdul Azim Abd. Ghani, Khaironi Yatim Sharif

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Maintaining factory default battery endurance rate over time in supporting huge amount of running applications on energy-restricted mobile devices has created a new challenge for mobile applications developer. While delivering customers’ unlimited expectations, developers are barely aware of efficient use of energy from the application itself. Thus, developers need a set of valid energy consumption indicators in assisting them to develop energy saving applications. In this paper, we present a few software product metrics that can be used as an indicator to measure energy consumption of Android-based mobile applications in the early of design stage. In particular, Trepn Profiler (Power profiling tool for Qualcomm processor) has used to collect the data of mobile application power consumption, and then analyzed for the 23 software metrics in this preliminary study. The results show that McCabe cyclomatic complexity, number of parameters, nested block depth, number of methods, weighted methods per class, number of classes, total lines of code and method lines have direct relationship with power consumption of mobile application.

Keywords: Battery endurance, software metrics, mobile application, power consumption.

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Authors: Chizoba Chinweze, Gwen Abiola-Oloke, Chike Jideani

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There is an urgent need to conserve the biological diversity of the Nigerian Environment for the future and present generation in the face of current energy resources development. This paper gives an in-depth analysis of the impact of oil and gas activities on the biological diversity of the Nigerian Niger Delta area and its consequences on the sustainable development of the host communities as it relates to their social, economic and environmental issues, particularly on the womenfolk who are the key managers of environmental resources. Also reviewed is the frustration of these communities that is reflected in unending conflicts.

Keywords: Biodiversity, energy resources, sustainable development, and women issues.

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Authors: Ilef Ketata, Mohamed Khalil Baazaoui, Robert Fromm, Ahmad Fakhfakh, Faouzi Derbel

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The integration of wireless communication, e.g. in realor quasi-real-time applications, is related to many challenges such as energy consumption, communication range, latency, quality of service, and reliability. The improvement of wireless sensor network performance starts by enhancing the capabilities of each sensor node. While consuming less energy, wake-up receiver (WuRx) nodes have an impact on reducing latency. The solution for sensitivity improvements of sensor nodes, and WuRx in particular, with an energy consumption expense is low-noise amplifier (LNAs) blocks placed in the RF Antenna. This paper presents a comparative study for improving communication range and decreasing the energy consumption of WuRx nodes.

Keywords: Wireless sensor network, wake-up receiver, duty-cycled, low-noise amplifier, envelope detector, range study.

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Authors: Junjie Chen

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It is usually difficult for students to understand some basic theories in learning thermal energy and power engineering course. A new teaching method was proposed that we should introduce the comparison research method of those theories to help them being understood. “Homogeneous and heterogeneous catalysis” teaching is analyzed as an example by comparison research method.

Keywords: Homogeneous catalysis, heterogeneous catalysis, thermal energy and power engineering, teaching method, comparison research method.

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Authors: J. Khorshidi, E. Zare, A.R. Khademi

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The reduction of energy consumption through improvements in energy efficiency has become an important goal for all industries, in order to improve the efficiency of the economy, and to reduce the emissions of Co₂ caused by power generation. The objective of this paper is to investigate opportunities to increase process energy efficiency at the distillation unit of Shiraz oil refinery in south of Iran. The main aim of the project is to locate energy savings by use of pinch technology and to assess them. At first all the required data of hot and cold streams in preheating section of distillation unit has been extracted from the available flow sheets and then pinch analysis has been conducted. The present case study is a threshold one which does not need any utilities. After running range, targeting several heat exchanger networks were designed with respect to operating conditions and different ΔT_min. The optimal value of ΔT_min was calculated to be 22.3 °C. Based on this optimal value, there will be 5% reduction in annual total cost of heat exchanger network.

Keywords: Pinch technology, heat exchanger network, operating cost.

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Authors: J. Radojicic, D. Surdilovic, G. Schreck

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The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.

Keywords: bellows actuator, human-robot interaction, hyper redundant robot, pneumatic muscle.

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Authors: Robert Grzeszczak, Magdalena Gniadzik

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The article deals with one of the most significant issues concerning the functioning of the internal market of the European Union – the free movement of workers and free movement of persons. The purpose is to identify the political and legal effects of the “renationalisation process” on the EU and its Member States. The concept of renationalisation is expressed through Member States’ aim to verify the relationship with the EU. The tendency is more visible in the public opinion of several MS’s of the ‘EU core’ and may be confirmed by the changes applied by the regulatory body. The thesis for the article is the return of renationalisation tendencies in the area of the Single Market, which is supported by, among others, an open criticism of the foundations of EU integration or considerations on withdrawal from the EU by some MS. This analysis will focus primarily on the effects that renationalisation may have on the free movement of persons. The free movement of persons is one of the key issues for the development of the European integration. It is still subject to theoretical reflections, new doubts and practical issues. The latest developments in politics, law and jurisprudence demonstrate the need to reflect on the attempts to redefine certain principles regarding migrant EU workers and their protection against nationality-based discrimination.

Keywords: European law, European Union, common market, free movement of workers, posting of workers, case law.

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Authors: Enkelejda Koka, Denard Veshi

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Since 2011, in the name of ‘humanitarianism’ and deaths in the Mediterranean Sea, the legal and political justification delivered by Greece to manage the refugee crisis is pre-emptive interception. Although part of the EU, Greece adopted its own strategy. These practices have also created high risks for migrants generally resulting in non-rescue episodes and push-back practices having lethal consequences to the life of the irregular migrant. Thus, this article provides an analysis of the Greek ‘compassionate border work’ policy, a practice known as push-back. It is argued that these push-back practices violate international obligations, notably the ‘right to life’, the ‘duty to search and rescue’, the prohibition of inhuman or degrading treatment or punishment and the principle of non-refoulement.

Keywords: Greece, migrants, push-back policy, violation of international law.

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Authors: Le Linh, Truong Nguyen Luan Vu, Le Hieu Giang

Abstract:

In this work, the IMC-PID controller cascaded filter based on Internal Model Control (IMC) scheme is systematically proposed for the simplified decoupling control system. The simplified decoupling is firstly introduced for multivariable processes by using coefficient matching to obtain a stable, proper, and causal simplified decoupler. Accordingly, transfer functions of decoupled apparent processes can be expressed as a set of n equivalent independent processes and then derived as a ratio of the original open-loop transfer function to the diagonal element of the dynamic relative gain array. The IMC-PID controller in series with filter is then directly employed to enhance the overall performance of the decoupling control system while avoiding difficulties arising from properties inherent to simplified decoupling. Some simulation studies are considered to demonstrate the simplicity and effectiveness of the proposed method. Simulations were conducted by tuning various controllers of the multivariate processes with multiple time delays. The results indicate that the proposed method consistently performs well with fast and well-balanced closed-loop time responses.

Keywords: Coefficient matching method, internal model control scheme, PID controller cascaded filter, simplified decoupler.

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