Search results for: Massive Open Online Courses

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 level of security served in conventional paper-based payment transactions. PKI, which is functioning as a chain of trust in security architecture, can enable security services of cryptography to epayments, in order to take advantage of the wider base either of customer or of trading partners and the reduction of cost transaction achieved by the use of Internet channels. The paper addresses the possibilities and the implementation suggestions of PKI in relevance to electronic payments by suggesting a framework that should be followed.

Keywords: Electronic Payment, Security, Trust

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Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

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Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Underactuated system, biped robot, fuzzy control, partial feedback linearization.

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Authors: Marjan Kuchaki Rafsanjani, Ali Movaghar, Faroukh Koroupi

Abstract:

As mobile ad hoc networks (MANET) have different characteristics from wired networks and even from standard wireless networks, there are new challenges related to security issues that need to be addressed. Due to its unique features such as open nature, lack of infrastructure and central management, node mobility and change of dynamic topology, prevention methods from attacks on them are not enough. Therefore intrusion detection is one of the possible ways in recognizing a possible attack before the system could be penetrated. All in all, techniques for intrusion detection in old wireless networks are not suitable for MANET. In this paper, we classify the architecture for Intrusion detection systems that have so far been introduced for MANETs, and then existing intrusion detection techniques in MANET presented and compared. We then indicate important future research directions.

Keywords: Intrusion Detection System(IDS), Misbehavingnodes, Mobile Ad Hoc Network(MANET), Security.

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Authors: Ritu Shitak

Abstract:

Humans are social mammals, of the primate order. Our biology, our behaviour and our pathologies are unique to us. In our desire to understand, reduce solitary confinement one source of information is the many reports of social isolation of other social mammals, especially primates. A behavioural study was conducted in the department of pharmacology at Indira Gandhi Medical College, Shimla in Himachalpradesh province in India using white albino mice. Different behavioural parameters were observed by using open field, tail suspension, tests for aggressive behaviour and social interactions and the effect of isolation was studied. The results were evaluated and the standard statistics were applied. The said study was done to establish facts that isolation itself impairs social behaviour and can lead to alcohol dependence as well as related drug dependence.

Keywords: Albino Mice, Drug Dependence, Social isolation.

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Authors: A. Shishkin, A. Korjakins, V. Mironovs

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Present paper describes method of obtaining clay ceramic foam (CCF) and foam concrete (FC), by direct foaming with high speed mixer-disperser (HSMD). Three foaming agents (FA) are compared for the FC and CCF production: SCHÄUMUNGSMITTEL W 53 FLÜSSIG (Zschimmer & Schwarz Gmbh, Germany), SCF- 1245 (Sika, test sample, Latvia) and FAB-12 (Elade, Latvija). CCF were obtained at 950, 1000°C, 1150°C and 1150°C firing temperature and have mechanical compressive strength 1.2, 2.55 and 4.3 MPa and porosity 79.4, 75.1, 71.6%, respectively. Obtained FC has 6-14 MPa compressive strength and porosity 44-55%. The goal of this work was development of a sustainable and durable ceramic cellular structures using HSMD.

Keywords: Ceramic foam, foam concrete, clay foam, open cell, close cell, direct foaming.

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Authors: S. Werrlich, E. Eichstetter, K. Nitsche, G. Notni

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Augmented Reality (AR) is a strong growing research topic in different training domains such as medicine, sports, military, education and industrial use cases like assembly and maintenance tasks. AR claims to improve the efficiency and skill-transfer of training tasks. This paper gives a comprehensive overview of evaluations using AR for assembly and maintenance training tasks published between 1992 and 2017. We search in a structured way in four different online databases and get 862 results. We select 17 relevant articles focusing on evaluating AR-based training applications for assembly and maintenance tasks. This paper also indicates design guidelines which are necessary for creating a successful application for an AR-based training. We also present five scientific limitations in the field of AR-based training for assembly tasks. Finally, we show our approach to solve current research problems using Design Science Research (DSR).

Keywords: Assembly, augmented reality, survey, training.

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Authors: Sameerchand Pudaruth, Avinash Mantaye

Abstract:

E-learning refers to the specific kind of learning experienced within the domain of educational technology, which can be used in or out of the classroom. In this paper, we give an overview of an e-learning platform 'An Innovative Interactive and Online English Platform for Upper Primary Students' is an interactive web-based application which will serve as an aid to the primary school students in Mauritius. The objectives of this platform are to offer quality learning resources for the English subject at our primary level of education, encourage self-learning and hence promote e-learning. The platform developed consists of several interesting features, for example, the English Verb Conjugation tool, Negative Form tool, Interrogative Form tool and Close Test Generator. Thus, this learning platform will be useful at a time where our country is looking for an alternative to private tuition and also, looking forward to increase the pass rate.

Keywords: educational technology, e-learning, Mauritius.

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Authors: Allouche Moez, Souissi Mansour, Chaabane Mohamed, Mehdi Driss

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This paper deals with the synthesis of fuzzy state feedback controller of induction motor with optimal performance. First, the Takagi-Sugeno (T-S) fuzzy model is employed to approximate a non linear system in the synchronous d-q frame rotating with electromagnetic field-oriented. Next, a fuzzy controller is designed to stabilise the induction motor and guaranteed a minimum disturbance attenuation level for the closed-loop system. The gains of fuzzy control are obtained by solving a set of Linear Matrix Inequality (LMI). Finally, simulation results are given to demonstrate the controller-s effectiveness.

Keywords: Rejection disturbance, fuzzy modelling, open-loop control, Fuzzy feedback controller, fuzzy observer, Linear Matrix Inequality (LMI)

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Authors: Donglan Zha, Ning Ding

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Taking the provincial capital, labor and energy as inputs, regional GDP as output from 1995 to 2007, the paper quantifies the vertical and lateral energy saving potential by introducing the radial adjustment and slack adjustment of DEA. The results show that by the vertical, the achievement of energy saving in 2007 is better than their respective historical performances. By horizontal, in 2007 it can be found that Tianjin, Liaoning, Shanghai and Yunnan do better in energy saving than other provinces. In national wide, the higher of energy efficiency, the larger of per capita GDP and the proportion of the tertiary industry in the national economy, the more open to the outside, the lower the energy saving potential demonstrates, while the energy endowment has negative effect on energy saving potential.

Keywords: radial adjustment; slack adjustment; regional disparity; energy saving potential

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Authors: Amogh Katti, J. Sai Asritha, D. Nivedh, M. Kalyan Srinivas, B. Somnath Chakravarthi

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Today's modern education system uses Learning Management System (LMS) portals for the scoring and grading of student performances, to maintain student records, and teachers are instructed to accept assignments through online submissions of .pdf, .doc, .ppt, etc. There is a risk of data tampering in the traditional portals; we will apply the Blockchain model instead of this traditional model to avoid data tampering and also provide a decentralized mechanism for overall fairness. Blockchain technology is a better and also recommended model because of the following features: consensus mechanism, decentralized system, cryptographic encryption, smart contracts, Ethereum blockchain. The proposed system ensures data integrity and tamper-proof assignment submission and grading, which will be helpful for both students and also educators.

Keywords: Education technology, learning management system, decentralized applications, blockchain.

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Authors: Mohammad Javad Kargar, Fatemeh Azimzadeh

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The vast amount of information on the World Wide Web is created and published by many different types of providers. Unlike books and journals, most of this information is not subject to editing or peer review by experts. This lack of quality control and the explosion of web sites make the task of finding quality information on the web especially critical. Meanwhile new facilities for producing web pages such as Blogs make this issue more significant because Blogs have simple content management tools enabling nonexperts to build easily updatable web diaries or online journals. On the other hand despite a decade of active research in information quality (IQ) there is no framework for measuring information quality on the Blogs yet. This paper presents a novel experimental framework for ranking quality of information on the Weblog. The results of data analysis revealed seven IQ dimensions for the Weblog. For each dimension, variables and related coefficients were calculated so that presented framework is able to assess IQ of Weblogs automatically.

Keywords: Information Quality, Weblog, Web Ranking, Web- Quality.

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Authors: Jyh-Da Wei, Hsin-Chen Tsai

Abstract:

This work presents a novel means of extracting fixedlength parameters from voice signals, such that words can be recognized in linear time. The power and the zero crossing rate are first calculated segment by segment from a voice signal; by doing so, two feature sequences are generated. We then construct an FIR system across these two sequences. The parameters of this FIR system, used as the input of a multilayer proceptron recognizer, can be derived by recursive LSE (least-square estimation), implying that the complexity of overall process is linear to the signal size. In the second part of this work, we introduce a weighting factor λ to emphasize recent input; therefore, we can further recognize continuous speech signals. Experiments employ the voice signals of numbers, from zero to nine, spoken in Mandarin Chinese. The proposed method is verified to recognize voice signals efficiently and accurately.

Keywords: Speech Recognition, FIR system, Recursive LSE, Multilayer Perceptron

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Authors: Ambika Vishal Pawar, Ajay Dani

Abstract:

Considering the complexities involved in Cloud computing, there are still plenty of issues that affect the privacy of data in cloud environment. Unless these problems get solved, we think that the problem of preserving privacy in cloud databases is still open. In tokenization and homomorphic cryptography based solutions for privacy preserving cloud database querying, there is possibility that by colluding with service provider adversary may run brute force attacks that will reveal the attribute values.

In this paper we propose a solution by defining the variant of K –means clustering algorithm that effectively detects such brute force attacks and enhances privacy of cloud database querying by preventing this attacks.

Keywords: Privacy, Database, Cloud Computing, Clustering, K-means, Cryptography.

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Authors: Umar Mujahid, Greatzel Unabia, Hongsik Choi, Binh Tran

Abstract:

Radio Frequency Identification (RFID) is one of the most commonly used technologies in IoTs and Wireless Sensor Networks which makes the devices identification and tracking extremely easy to manage. Since RFID uses wireless channel for communication, which is open for all types of adversaries, researchers have proposed many Ultralightweight Mutual Authentication Protocols (UMAPs) to ensure security and privacy in a cost-effective manner. These UMAPs involve simple bitwise logical operators such as XOR, AND, OR & Rot, etc., to design the protocol messages. However, most of these UMAPs were later reported to be vulnerable against many malicious attacks. In this paper, we have presented a detailed overview of some eminent UMAPs and also discussed the many security attacks on them. Finally, some recommendations and suggestions have been discussed, which can improve the design of the UMAPs.

Keywords: RFID, UMAP, SASI, IoTs.

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Authors: L. Novakova-Marcincinova, J. Novak-Marcincin, M. Janak

Abstract:

The computer aided for design, analysis, control, visualization and simulation of robotized workcells is very interesting in this time. Computer Aided Robot Control (CARC) is a subsystem of the system CIM including the computer aided systems of all activities connected with visualization and working of robotized workcells. There are three basic ideas: current CAD/CAM/CAE systems for design and 3D visualization, special PC based control and simulation systems and Augmented Reality Aided Manufacturing (ARAM) systems. This paper describes example of Open Source software application that can to be utilized at planning of the robotized workcells, visualization and off-line programming the automated processes realized by authors.

Keywords: Intelligent control, augmented reality, robot.

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Authors: Yuan Zhang

Abstract:

Along with large population and great demands for urban development, Hong Kong serves as a typical high-density city with multiple altitudes, advanced three-dimensional traffic system, rich city open space, etc. This paper contributes to analyzing its complex urban form and evolution mechanism from three aspects of view, separately as time, space and buildings. Taking both horizontal and vertical dimension into consideration, this paper provides a perspective to explore the fascinating process of growing and space folding in the urban form of high-density city, also as a research reference for related high-density urban design.

Keywords: Evolution mechanism, high-density city, Hong Kong, urban form.

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Authors: Ali Hajiha, Farhad Ghaffari, Nooshin Gholamali Tehrani

Abstract:

This study aims at investigating the empirical relationships between risk preference, internet preference, and internet knowledge which are known as user characteristics, in addition to perceived risk of the customers on the internet purchase intention. In order to test the relationships between the variables of model 174, a questionnaire was collected from the students with previous online experience. For the purpose of data analysis, confirmatory factor analysis (CFA) and structural equation model (SEM) was used. Test results show that the perceived risk affects the internet purchase intention, and increase or decrease of perceived risk influences the purchase intention when the customer does the internet shopping. Other factors such as internet preference, knowledge of the internet, and risk preference affect the internet purchase intention.

Keywords: Perceived risk, Internet preference, Internetknowledge, Risk preference, Internet purchase intention

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Authors: Ambuj Kumar, Sunil Kumar Singh, Shrikant Singh

Abstract:

Sweep frequency response analysis has been turning out a powerful tool for investigation of mechanical as well as electrical integration of transformers. In this paper various aspect of practical application of SFRA has been studied. Open circuit and short circuit measurement were done on different phases of high voltage and low voltage winding. A case study was presented for the transformer of rating 31.5 MVA for various frequency ranges. A clear picture was presented for sub- frequency ranges for HV as well as LV winding. The main motive of work is to investigate high voltage short circuit response. The theoretical concept about SFRA responses is validated with expert system software results.

Keywords: Frequency deviation, OCT & SCT, SFRA, Transformer winding.

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Authors: M. O. Ezegbogu, H. B. Osadolor

Abstract:

Lipsticks constitute a significant source of transfer evidence, and can, therefore, provide corroborative or inclusionary evidence in criminal investigation. This study aimed to determine the uniqueness and persistence of different lipstick smears using Thin Layer Chromatography (TLC), and Gas Chromatography with a Flame Ionisation Detector (GC-FID). In this study, we analysed lipstick smears retrieved from tea cups exposed to the environment for up to four weeks. The n-alkane content of each sample was determined using GC-FID, while TLC was used to determine the number of bands, and retention factor of each band per smear. This study shows that TLC gives more consistent results over a 4-week period than GC-FID. It also proposes a maximum exposure time of two weeks for the analysis of lipsticks left in the open using GC-FID. Finally, we conclude that neither TLC nor GC-FID can distinguish lipstick evidence recovered from hypothetical crime scenes.

Keywords: Forensic science, chromatography, identification, lipstick.

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Authors: Lynn. J. MacFarlane. A

Abstract:

Within the healthcare system, training and continued professional development although essential, can be effected by cost and logistical restraints due to the nature of healthcare provision e.g employee shift patterns, access to expertise, cost factors in releasing staff to attend training etc. The use of multimedia technology for the development of e-learning applications is also a major cost consideration for healthcare management staff, and this type of media whether optical or on line requires careful planning in order to remain inclusive of all staff with potentially varied access to multimedia computing. This paper discusses a project in which the use of DVD authoring technology has been successfully implemented to meet the needs of distance learning and user considerations, and is based on film production techniques and reduced product turnaround deadlines.

Keywords: DVD, healthcare, distance learning, cost.

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Authors: A. I. Dounis, P. Tiropanis, D. Tseles, G. Nikolaou, G. P. Syrcos

Abstract:

The prediction of meteorological parameters at a meteorological station is an interesting and open problem. A firstorder linear dynamic model GM(1,1) is the main component of the grey system theory. The grey model requires only a few previous data points in order to make a real-time forecast. In this paper, we consider the daily average ambient temperature as a time series and the grey model GM(1,1) applied to local prediction (short-term prediction) of the temperature. In the same case study we use a fuzzy predictive model for global prediction. We conclude the paper with a comparison between local and global prediction schemes.

Keywords: Fuzzy predictive model, grey model, local andglobal prediction, meteorological forecasting, time series.

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Authors: E.G. Bautista, F. Méndez, O. Bautista, J.C. Arcos

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In this work we study analytically and numerically the performance of the mean heave motion of an OWC coupled with the governing equation of the spreading ocean waves due to the wide variation in an open parabolic channel with constant depth. This paper considers that the ocean wave propagation is under the assumption of a shallow flow condition. In order to verify the effect of the waves in the OWC firstly we establish the analytical model in a non-dimensional form based on the energy equation. The proposed wave-power system has to aims: one is to perturb the ocean waves as a consequence of the channel shape in order to concentrate the maximum ocean wave amplitude in the neighborhood of the OWC and the second is to determine the pressure and volume oscillation of air inside the compression chamber.

Keywords: Oscillating water column, Shallow flow, Waveenergy.

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Authors: Manssour A. Abdulsalam Bin Miskeen, Ahmed Mohamed Alhodairi, Riza Atiq Abdullah Bin O. K. Rahmat

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In the planning point of view, it is essential to have mode choice, due to the massive amount of incurred in transportation systems. The intercity travellers in Libya have distinct features, as against travellers from other countries, which includes cultural and socioeconomic factors. Consequently, the goal of this study is to recognize the behavior of intercity travel using disaggregate models, for projecting the demand of nation-level intercity travel in Libya. Multinomial Logit Model for all the intercity trips has been formulated to examine the national-level intercity transportation in Libya. The Multinomial logit model was calibrated using nationwide revealed preferences (RP) and stated preferences (SP) survey. The model was developed for deference purpose of intercity trips (work, social and recreational). The variables of the model have been predicted based on maximum likelihood method. The data needed for model development were obtained from all major intercity corridors in Libya. The final sample size consisted of 1300 interviews. About two-thirds of these data were used for model calibration, and the remaining parts were used for model validation. This study, which is the first of its kind in Libya, investigates the intercity traveler’s mode-choice behavior. The intercity travel mode-choice model was successfully calibrated and validated. The outcomes indicate that, the overall model is effective and yields higher precision of estimation. The proposed model is beneficial, due to the fact that, it is receptive to a lot of variables, and can be employed to determine the impact of modifications in the numerous characteristics on the need for various travel modes. Estimations of the model might also be of valuable to planners, who can estimate possibilities for various modes and determine the impact of unique policy modifications on the need for intercity travel.

Keywords: Multinomial logit model, improved intercity transport, intercity mode-choice behavior, disaggregate analysis.

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Authors: Kesari Verma, Aniruddha S. Thoke, Pritam Singh

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Automatic face detection is a complex problem in image processing. Many methods exist to solve this problem such as template matching, Fisher Linear Discriminate, Neural Networks, SVM, and MRC. Success has been achieved with each method to varying degrees and complexities. In proposed algorithm we used upright, frontal faces for single gray scale images with decent resolution and under good lighting condition. In the field of face recognition technique the single face is matched with single face from the training dataset. The author proposed a neural network based face detection algorithm from the photographs as well as if any test data appears it check from the online scanned training dataset. Experimental result shows that the algorithm detected up to 95% accuracy for any image.

Keywords: Face Detection, Face Recognition, NN Approach, PCA Algorithm.

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Authors: John Justo Ambuchi, Zhaohan Zhang, Yujie Feng

Abstract:

Quick development and usage of nanotechnology have resulted to massive use of various nanoparticles, such as iron oxide nanoparticles (IONPs) and multi-wall carbon nanotubes (MWCNTs). Thus, this study investigated the role of IONPs and MWCNTs in enhancing bioenergy recovery. Results show that IONPs at a concentration of 750 mg/L and MWCNTs at a concentration of 1500 mg/L induced faster substrate utilization and biogas production rates than the control. IONPs exhibited higher carbon oxygen demand (COD) removal efficiency than MWCNTs while on the contrary, MWCNT performance on biogas generation was remarkable than IONPs. Furthermore, scanning electron microscopy (SEM) investigation revealed extracellular polymeric substances (EPS) excretion from AGS had an interaction with nanoparticles. This interaction created a protective barrier to microbial consortia hence reducing their cytotoxicity. Microbial community analyses revealed genus predominance of bacteria of Anaerolineaceae and Longilinea. Their role in biodegradation of the substrate could have highly been boosted by nanoparticles. The archaea predominance of the genus level of Methanosaeta and Methanobacterium enhanced methanation process. The presence of bacteria of genus Geobacter was also reported. Their presence might have significantly contributed to direct interspecies electron transfer in the system. Exposure of AGS to nanoparticles promoted direct interspecies electron transfer among the anaerobic fermenting bacteria and their counterpart methanogens during the anaerobic digestion process. This results provide useful insightful information in understanding the response of microorganisms to IONPs and MWCNTs in the complex natural environment.

Keywords: Anaerobic granular sludge, extracellular polymeric substances, iron oxide nanoparticles, multi-wall carbon nanotubes.

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Authors: Soran Tarkhani

Abstract:

The phenomenon of significant Arab support for Russia's invasion of Ukraine, despite widespread condemnation from Arab leaders, poses a puzzling scenario. This paper delves into the paradox by employing multiple regression analysis on the online reactions of Arab audiences to the conflict as reported by seven major news networks: CNN Arabic, BBC Arabic, Sky News Arabic, France24 Arabic, DW, Aljazeera, and Al-Arabiya. It hypothesizes that this support stems from prevalent anti-Western sentiment within the Arab world. The empirical findings corroborate the hypothesis, providing insight into the underlying motivations for Arab backing of Russia against Ukraine, despite their historical familiarity with the harsh realities of war.

Keywords: Anti-Western Sentiment, Arab World, Russia-Ukraine Conflict, social media analysis, political sentiment, international relations, regional influence.

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Authors: Raj Kumar Rajak, Bharat Mishra

Abstract:

Bio-batteries represent an entirely new long-term, reasonable, reachable, and eco-friendly approach to generation of sustainable energy. In the present experimental work, we have studied the effect of the generation of power by bio-battery using different electrode pairs. The tests show that it is possible to generate electricity using cow’s urine as an electrolyte. C-Mg electrode pair shows maximum Voltage and Short Circuit Current (SCC), while C-Zn electrode pair shows less Open Circuit Voltage (OCV) and SCC. By the studies of cow urine and different electrodes, it is found that C-Zn electrode battery is more economical. The cow urine battery with C-Zn electrode provides maximum power (707.4 mW) and durability (up to 145 h). This result shows that the bio-batteries have the potency to full fill the need of electricity demand for lower energy equipment.

Keywords: Bio-batteries, cow’s urine, electrodes, non-conventional.

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Authors: Hadjikhani R.

Abstract:

Anxiety is a common disorder that attacks many people in society and often accompanied by physiological sensations such as tachycardia, chest pain, shortness of breath, insensitivity and etc. The purpose of this study is to characterize the putative anxiolytic-like effects of DEV (dichloromethane extracts of valerian) using the elevated plus maze (EPM) in rats. DEV was dissolved in DMSO and orally administered at different doses to adult male wistar rats, 0.5, 1.5 and 3 hours before behavioral evaluation in an EPM respectively. Control rats were treated with an equal volume of DMSO. Single treatment of DEV (at 0.1,0.2. 0.3, and 0.4 g/kg) significantly increased time-spent and arm entries into open arms of EPM versus control groups (p<0.05).However, no changes in the locomotor activity ccured. This result suggests that DEV might prove to be an effective anxiolytic agent.

Keywords: Anxiety, Dichloromethane extracts, Valerian, Rat

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Authors: A. Hossain, M. A. Gafur, F. Gulshan, A. S. W. Kurny

Abstract:

Al-Si-Mg-Ni(-Cu) alloys are widely used in the automotive industry. They have the advantage of low weight associated with low coefficient of thermal expansion and excellent mechanical properties – mainly at high temperatures. The corrosion resistance of these alloys in coastal area, particularly sea water, however is not yet known. In this investigation, electrochemical impedance spectroscopy (EIS) and potentiodynamic polarization have been used to evaluate the corrosion resistance of Al-6Si-0.5Mg-2Ni (-2Cu) alloys in simulated sea water environments. The potentiodynamic polarization curves reveal that 2 wt% Cu content alloy (Alloy-2) is more prone to corrosion than the Cu free alloy (Alloy-1). But the EIS test results showed that corrosion resistance or charge transfer resistance (Rct) increases with the addition of Cu. Due to addition of Cu and thermal treatment, the magnitude of open circuit potential (OCP), corrosion potential (Ecorr) and pitting corrosion potential (Epit) of Al-6Si-0.5Mg-2Ni alloy in NaCl solution were shifted to the more noble direction.

Keywords: Al-Si alloy, potentiodynamic polarization, EIS, SEM.

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Authors: Chun-Ta Chen, Te-Tan Liao, Hoang-Vuong Pham

Abstract:

In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger-s safety. Equations of motion based on the skid-steering analysis are developed for the trajectory planning and motion analysis on climbing winding stairs. Since the robotic wheelchair must climb a winding staircase stably, the winding trajectory becomes a constraint equation to be followed, and the Baumgarte-s method is used to solve for the constrained dynamics equations. Experimental results validate the behavior of the prototype as it climbs a winding stair.

Keywords: Climb, robotic wheelchair, skid-steering, windingstair .

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