Search results for: modified atmosphere packaging

Authors: Mustafa Qaseem Hielat, Ahmad Mohammad Al-Shabatat

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Jordan exerts many efforts to nurture their academically gifted students in special schools since 2001. During the past nine years of launching these schools, their learning and excellence environments were believed to be distinguished compared to public schools. This study investigated the environments of gifted students compared with other non-gifted, using a survey instrument that measures the dimensions of family, peers, teachers, school- support, society, and resources –dimensions rooted deeply in supporting gifted education, learning, and achievement. A total number of 109 were selected from excellence schools for academically gifted students, and 119 non-gifted students were selected from public schools. Around 8.3% of the non-gifted students reported that they “Never" received any support from their surrounding environments, 14.9% reported “Seldom" support, 23.7% reported “ Often" support, 26.0% reported “Frequent" support, and 32.8% reported “Very frequent" support. Where the gifted students reported more “Never" support than the non-gifted did with 11.3%, “Seldom" support with 15.4%, “Often" support with 26.6%, “Frequent" support with 29.0%, and reported “Very frequent" support less than the non-gifted students with 23.6%. Unexpectedly, statistical differences were found between the two groups favoring non-gifted students in perception of their surrounding environments in specific dimensions, namely, school- support, teachers, and society. No statistical differences were found in the other dimensions of the survey, namely, family, peers, and resources. As the differences were found in teachers, school- support, and society, the nurturing environments for the excellence schools need to be revised to adopt more creative teaching styles, rich school atmosphere and infrastructures, interactive guiding for the students and their parents, promoting for the excellence environments, and re-build successful identification models. Thus, families, schools, and society should increase their cooperation, communication, and awareness of the gifted supportive environments. However, more studies to investigate other aspects of promoting academic giftedness and excellence are recommended.

Keywords: Academic giftedness, Supportive environment, Excellence schools, Gifted grouping, Gifted nurturing.

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Authors: Mohamed Sanad, Noha Hassan

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A low wind-load light-weight broad-band multi-beam base station antenna has been developed. It can generate any required number of beams with the required beamwidths. It can have horizontal and vertical sectorization at the same time. Vertical sectorization doubles the overall number of beams. It will be very valuable in LTE-A and 5G. It can be used to serve vertically split inner and outer cells, which improves system performance. The intersection between the beams of the proposed multi-beam antenna can be controlled by optimizing the design parameters of the antenna. The gain at the points of intersection between the beams, the null filling and the overlap between the beams can all be modified. The proposed multi-beam base station antenna can cover an unlimited number of wireless applications, regardless of their frequency bands. It can simultaneously cover all, current and future, wireless technology generations such as 2G, 3G, 4G (LTE), --- etc. For example, in LTE, it covers the bands 450-470 MHz, 690-960 MHz, 1.4-2.7 GHz and 3.3-3.8 GHz. It has at least 2 ports for each band in each beam for ±45° polarizations. It can include up to 72 ports or even more, which could facilitate any further needed capacity expansions.

Keywords: Base station antenna, multi-beam antenna, smart antenna, vertical sectorization.

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Authors: Jamel Miri, Bechir Nsiri, Ridha Bouallegue

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Ultra WidBand-IR physical layer technology has seen a great development during the last decade which makes it a promising candidate for short range wireless communications, as they bring considerable benefits in terms of connectivity and mobility. However, like all wireless communication they suffer from vulnerabilities in terms of security because of the open nature of the radio channel. To face these attacks, distance bounding protocols are the most popular counter measures. In this paper, we presented a protocol based on distance bounding to thread the most popular attacks: Distance Fraud, Mafia Fraud and Terrorist fraud. In our work, we study the way to adapt the best secure distance bounding protocols to mapping code of ultra-wideband (TH-UWB) radios. Indeed, to ameliorate the performances of the protocol in terms of security communication in TH-UWB, we combine the modified protocol to ultra-wideband impulse radio technology (IR-UWB). The security and the different merits of the protocols are analyzed.

Keywords: Distance bounding, mapping code ultra-wideband, Terrorist Fraud.

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Authors: Punit Kumar, Niraj Kumar

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The traction behavior of lubricants with the linear pressure-viscosity response in EHL line contacts is investigated numerically for smooth as well as rough surfaces. The analysis involves the simultaneous solution of Reynolds, elasticity and energy equations along with the computation of lubricant properties and surface temperatures. The temperature modified Doolittle-Tait equations are used to calculate viscosity and density as functions of fluid pressure and temperature, while Carreau model is used to describe the lubricant rheology. The surface roughness is assumed to be sinusoidal and it is present on the nearly stationary surface in near-pure sliding EHL conjunction. The linear P-V oil is found to yield much lower traction coefficients and slightly thicker EHL films as compared to the synthetic oil for a given set of dimensionless speed and load parameters. Besides, the increase in traction coefficient attributed to surface roughness is much lower for the former case. The present analysis emphasizes the importance of employing realistic pressure-viscosity response for accurate prediction of EHL traction.

Keywords: EHL, linear pressure-viscosity, surface roughness, traction, water/glycol.

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Authors: B. A. Berns, V. Romanovicz, M. M. de Camargo Forte, D. E. O. S. Carpenter

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The Proton Exchange Membranes (PEM) are largely studied because they operate at low temperatures and they are suitable for mobile applications. However, there are some deficiencies in their operation, mainly those that use ethanol as a hydrogen source, that require a certain attention. Therefore, this research aimed to develop Nafion® composite membranes, mixing clay minerals, kaolin and halloysite to the polymer matrix in order to improve the ethanol molecule retentions and, at the same time, to keep the system’s protonic conductivity. The modified Nafion/Kaolin, Nafion/Halloysite composite membranes were prepared in weight proportion of 0.5, 1.0 and 1.5. The membranes obtained were characterized as to their ethanol permeability, protonic conductivity and water absorption. The composite morphology and structure are characterized by SEM and EDX and the thermal behavior is determined by TGA and DSC. The analysis of the results shows ethanol permeability reduction from 48% to 63%. However, the protonic conductivity results are lower in relation to pure Nafion®. As to the thermal behavior, the Nafion® composite membranes were stable up to a temperature of 325ºC.

Keywords: Polymer-matrix composites (PMCs), Thermal properties, Nanoclay, Differential scanning calorimetry.

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Authors: P. Kanakasabapathy, Radhika. S,

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In the competitive electricity market environment, the profit of the pumped-storage plant in the energy market can be maximized by operating it as a generator, when market clearing price is high and as a pump, to pump water from lower reservoir to upper reservoir, when the price is low. An optimal self-scheduling plan has been developed for a pumped-storage plant, carried out on weekly basis in order to maximize the profit of the plant, keeping into account of all the major uncertainties such as the sudden ancillary service delivery request and the price forecasting errors. For a pumped storage power plant to operate in a real time market successive self scheduling has to be done by considering the forecast of the day-ahead market and the modified reservoir storage due to the ancillary service request of the previous day. Sliding Window Technique has been used for successive self scheduling to ensure profit for the plant.

Keywords: Ancillary services, BPSO, Power System Economics (Electricity markets), Self-Scheduling, Sliding Window Technique.

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Authors: M. Geetha Priya, D. Krishnaveni

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Snow depth estimation and monitoring studies have been carried out for decades using empirical relationship or extrapolation of point measurements carried out in field. With the development of advanced satellite based remote sensing techniques, a modified approach is proposed in the present study to estimate the winter accumulated snow depth at basin scale. Assessment of snow depth by differencing Digital Elevation Model (DEM) generated at the beginning and end of winter season can be experimented for the region of interest (Himalayan and polar regions) accounting for winter accumulation (solid precipitation). The proposed approach is based on existing geodetic method that is being used for glacier mass balance estimation. Considering the satellite datasets purely acquired during beginning and end of winter season, it is possible to estimate the change in depth or thickness for the snow that is accumulated during the winter as it takes one year for the snow to get transformed into firn (snow that has survived one summer or one-year old snow).

Keywords: Digital elevation model, snow depth, geodetic method, snow cover.

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Authors: Wilhelm Hoeflinger, Thomas Laminger, Johannes Wolfslehner

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For vacuum cleaned dust filters there exist no calculation methods to determine design parameters (e.g. traverse velocity of the nozzle, filter area…). In this work a method to calculate the optimum traverse velocity of the nozzle of an industrial-size flat dust filter at a given mean pressure drop and filter face velocity was elaborated. Well-known equations for the design of a cleanable multi-chamber bag-house-filter were modified in order to take into account a continuously regeneration of a dust filter by a nozzle. Thereby, the specific filter medium resistance and the specific cake resistance values are needed which can be derived from filter tests under constant operation conditions.

A lab-scale filter test rig was used to derive the specific filter media resistance value and the specific cake resistance value for vacuum cleaned filter operation. Three different filter media were tested and the determined parameters were compared to each other.

Keywords: Design of dust filter, Dust removing, Filter regeneration, Operation parameters.

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Authors: Sudhakar.R, Jayaraman.S

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Large volumes of fingerprints are collected and stored every day in a wide range of applications, including forensics, access control etc. It is evident from the database of Federal Bureau of Investigation (FBI) which contains more than 70 million finger prints. Compression of this database is very important because of this high Volume. The performance of existing image coding standards generally degrades at low bit-rates because of the underlying block based Discrete Cosine Transform (DCT) scheme. Over the past decade, the success of wavelets in solving many different problems has contributed to its unprecedented popularity. Due to implementation constraints scalar wavelets do not posses all the properties which are needed for better performance in compression. New class of wavelets called 'Multiwavelets' which posses more than one scaling filters overcomes this problem. The objective of this paper is to develop an efficient compression scheme and to obtain better quality and higher compression ratio through multiwavelet transform and embedded coding of multiwavelet coefficients through Set Partitioning In Hierarchical Trees algorithm (SPIHT) algorithm. A comparison of the best known multiwavelets is made to the best known scalar wavelets. Both quantitative and qualitative measures of performance are examined for Fingerprints.

Keywords: Mutiwavelet, Modified SPIHT Algorithm, SPIHT, Wavelet.

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Authors: Abraham Varghese, Kannan Balakrishnan, Reji R. Varghese, Joseph S. Paul

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Magnetic Resonance Imaging play a vital role in the decision-diagnosis process of brain MR images. For an accurate diagnosis of brain related problems, the experts mostly compares both T1 and T2 weighted images as the information presented in these two images are complementary. In this paper, rotational and translational invariant form of Local binary Pattern (LBP) with additional gray scale information is used to retrieve similar slices of T1 weighted images from T2 weighted images or vice versa. The incorporation of additional gray scale information on LBP can extract more local texture information. The accuracy of retrieval can be improved by extracting moment features of LBP and reweighting the features based on users feedback. Here retrieval is done in a single subject scenario where similar images of a particular subject at a particular level are retrieved, and multiple subjects scenario where relevant images at a particular level across the subjects are retrieved.

Keywords: Local Binary pattern (LBP), Modified Local Binary pattern (MOD-LBP), T1 and T2 weighted images, Moment features.

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Authors: Hamed Alqahtani, Manolya Kavakli-Thorne

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The large pose discrepancy is one of the critical challenges in face recognition during video surveillance. Due to the entanglement of pose attributes with identity information, the conventional approaches for pose-independent representation lack in providing quality results in recognizing largely posed faces. In this paper, we propose a practical approach to disentangle the pose attribute from the identity information followed by synthesis of a face using a classifier network in latent space. The proposed approach employs a modified generative adversarial network framework consisting of an encoder-decoder structure embedded with a classifier in manifold space for carrying out factorization on the latent encoding. It can be further generalized to other face and non-face attributes for real-life video frames containing faces with significant attribute variations. Experimental results and comparison with state of the art in the field prove that the learned representation of the proposed approach synthesizes more compelling perceptual images through a combination of adversarial and classification losses.

Keywords: Video surveillance, disentanglement, face detection.

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Authors: K. Bommanna Raja, M.Madheswaran, K.Thyagarajah

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A higher order spline interpolated contour obtained with up-sampling of homogenously distributed coordinates for segmentation of kidney region in different classes of ultrasound kidney images has been developed and presented in this paper. The performance of the proposed method is measured and compared with modified snake model contour, Markov random field contour and expert outlined contour. The validation of the method is made in correspondence with expert outlined contour using maximum coordinate distance, Hausdorff distance and mean radial distance metrics. The results obtained reveal that proposed scheme provides optimum contour that agrees well with expert outlined contour. Moreover this technique helps to preserve the pixels-of-interest which in specific defines the functional characteristic of kidney. This explores various possibilities in implementing computer-aided diagnosis system exclusively for US kidney images.

Keywords: Ultrasound Kidney Image – Kidney Segmentation –Active Contour – Markov Random Field – Higher Order SplineInterpolation

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Authors: Asmir Gogic, Aljo Mujcic, Sandra Ibric, Nermin Suljanovic

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Ubiquity of natural disasters during last few decades have risen serious questions towards the prediction of such events and human safety. Every disaster regardless its proportion has a precursor which is manifested as a disruption of some environmental parameter such as temperature, humidity, pressure, vibrations and etc. In order to anticipate and monitor those changes, in this paper we propose an overall system for disaster prediction and monitoring, based on wireless sensor network (WSN). Furthermore, we introduce a modified and simplified WSN routing protocol built on the top of the trickle routing algorithm. Routing algorithm was deployed using the bluetooth low energy protocol in order to achieve low power consumption. Performance of the WSN network was analyzed using a real life system implementation. Estimates of the WSN parameters such as battery life time, network size and packet delay are determined. Based on the performance of the WSN network, proposed system can be utilized for disaster monitoring and prediction due to its low power profile and mesh routing feature.

Keywords: Bluetooth low energy, disaster prediction, mesh routing protocols, wireless sensor networks.

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Authors: Asmawi A., Affendey L. S., Udzir N. I., Mahmod R.

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The topic of enhancing security in XML databases is important as it includes protecting sensitive data and providing a secure environment to users. In order to improve security and provide dynamic access control for XML databases, we presented XLog file to calculate user trust values by recording users’ bad transaction, errors and query severities. Severity-aware trust-based access control for XML databases manages the access policy depending on users' trust values and prevents unauthorized processes, malicious transactions and insider threats. Privileges are automatically modified and adjusted over time depending on user behaviour and query severity. Logging in database is an important process and is used for recovery and security purposes. In this paper, the Xlog file is presented as a dynamic and temporary log file for XML databases to enhance the level of security.

Keywords: XML database, trust-based access control, severity-aware, trust values, log file.

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Authors: D. Vijayakumar, R. K. Nema

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Over Current Relays (OCRs) and Directional Over Current Relays (DOCRs) are widely used for the radial protection and ring sub transmission protection systems and for distribution systems. All previous work formulates the DOCR coordination problem either as a Non-Linear Programming (NLP) for TDS and Ip or as a Linear Programming (LP) for TDS using recently a social behavior (Particle Swarm Optimization techniques) introduced to the work. In this paper, a Modified Particle Swarm Optimization (MPSO) technique is discussed for the optimal settings of DOCRs in power systems as a Non-Linear Programming problem for finding Ip values of the relays and for finding the TDS setting as a linear programming problem. The calculation of the Time Dial Setting (TDS) and the pickup current (Ip) setting of the relays is the core of the coordination study. PSO technique is considered as realistic and powerful solution schemes to obtain the global or quasi global optimum in optimization problem.

Keywords: Directional over current relays, Optimization techniques, Particle swarm optimization, Power system protection.

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Authors: Talbi Mourad, Salhi Lotfi, Chérif Adnen

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In this work, we are interested in developing a speech denoising tool by using a discrete wavelet packet transform (DWPT). This speech denoising tool will be employed for applications of recognition, coding and synthesis. For noise reduction, instead of applying the classical thresholding technique, some wavelet packet nodes are set to zero and the others are thresholded. To estimate the non stationary noise level, we employ the spectral entropy. A comparison of our proposed technique to classical denoising methods based on thresholding and spectral subtraction is made in order to evaluate our approach. The experimental implementation uses speech signals corrupted by two sorts of noise, white and Volvo noises. The obtained results from listening tests show that our proposed technique is better than spectral subtraction. The obtained results from SNR computation show the superiority of our technique when compared to the classical thresholding method using the modified hard thresholding function based on u-law algorithm.

Keywords: Enhancement, spectral subtraction, SNR, discrete wavelet packet transform, spectral entropy Histogram

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Authors: Loralee P. Potter, Peter J. Schubert

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Solid-state hydrogen storage using catalytically-modified porous silicon can be rapidly charged at moderate pressures (8 bar) without exothermic runaway. Discharge requires temperatures of approximately 110oC, so for larger storage vessels a means is required for thermal energy to penetrate bulk storage media. This can be realized with low-density metal foams, such as Celmet™. This study explores several material and dimensional choices of the metal foam to produce rapid heating of bulk silicon particulates. Experiments run under vacuum and in a pressurized hydrogen environment bracket conditions of empty and full hydrogen storage vessels, respectively. Curve-fitting of the heating profiles at various distances from an external heat source is used to derive both a time delay and a characteristic time constant. System performance metrics of a hydrogen storage subsystem are derived from the experimental results. A techno-economic analysis of the silicon and metal foam provides comparison with other methods of storing hydrogen for mobile and portable applications. 

Keywords: conduction, convection, kinetics, fuel cell

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Authors: M. D. Stelescu, E. Manaila, G. Craciun, D. Ighigeanu

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The goal of the paper is to present the results regarding the influence of the irradiation dose and amount of multifunctional monomer trimethylol-propane trimethacrylate (TMPT) on ethylene-propylene-diene terpolymer rubber (EPDM) mixtures irradiated in electron beam. Blends, molded on an electrically heated laboratory roller mill and compressed in an electrically heated hydraulic press, were irradiated using the ALID 7 of 5.5 MeV linear accelerator in the dose range of 22.6 kGy to 56.5 kGy in atmospheric conditions and at room temperature of 25 °C. The share of cross-linking and degradation reactions was evaluated by means of sol-gel analysis, cross-linking density measurements, FTIR studies and Charlesby-Pinner parameter (p₀/q₀) calculations. The blends containing different concentrations of TMPT (3 phr and 9 phr) and irradiated with doses in the mentioned range have present the increasing of gel content and cross-linking density. Modified and new bands in FTIR spectra have appeared, because of both cross-linking and chain scission reactions.

Keywords: Electron beam irradiation, EPDM rubber, crosslinking density, gel fraction.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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Authors: Samir K. Deshmukh, Mayur M. Tajane

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In this work Membrane Distillation is applied to concentrate orange Juice. Clarified orange juice (11o Brix) obtained from fresh fruits and a sugar solution was subjected to membrane distillation. The experiments were performed on a flat sheet module using orange juice and sucrose solution as feeds. The concentration of a sucrose solution, used as a model fruit juice and also orange juice, was carried out in a direct contact membrane distillation using hydrophobic PTFE membrane of pore size 0.2 μm and porosity 70%. Surface modification of PTFE membrane has been carried out by treating membrane with alcohol and water solution to make it hydrophilic and then hydrophobicity was regained by drying. The influences of the feed temperature, feed concentration, flow rate, operating time on the permeate flux were studied for treated and non treated membrane. In this work treated and non treated membrane were compared in terms of water flux, Within the tested range, MD with surface modified membrane the water flux has been significantly improved by treating the membrane surface.

Keywords: Membrane Distillation, Surface Modification, Orange Juice. Polytetrafluoroethylene.

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Authors: Alireza Tavakolinia

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In order to understand the role of the injured party's fault in dividing liability, we studied its historical background. In common law, the traditional contributory negligence rule was a complete defense. Then the legislature and judicial procedure modified that rule to one of apportionment. In Islamic law, too, the Action rule was at first used when the injured party was the sole cause, but jurists expanded the scope of this rule, so this rule was used in cases where both the injured party's fault and that of the other party are involved. There are some popular approaches for apportionment of damages. Some common law countries like Britain had chosen ‘the causal potency approach’ and ‘fixed apportionment’. Islamic countries like Iran have chosen both ‘the relative blameworthiness’ and ‘equal apportionment’ approaches. The article concludes that both common law and Islamic law believe in the division of responsibility between a wrongdoer claimant and the defendant. In contrast, in the apportionment of responsibility, Islamic law mostly believes in equal apportionment that is way easier and saves time and money, but common law legal systems have chosen the causal potency approach which is more complicated than the rival approach but is fairer.

Keywords: Contributory negligence, common law, Islamic Law, Tort Law.

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Authors: F. Ahwide, Y. Aldali

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This article presents a current and future energy situation in Libya. The electric power efficiency and operating hours in power plants are evaluated from 2005 to 2010. Carbon dioxide emissions in most of power plants are estimated. In 2005, the efficiency of steam power plants achieved a range of 20% to 28%. While, the gas turbine power plants efficiency ranged between 9% and 25%, this can be considered as low efficiency. However, the efficiency improvement has clearly observed in some power plants from 2008 to 2010, especially in the power plant of North Benghazi and west Tripoli. In fact, these power plants have modified to combine cycle. The efficiency of North Benghazi power plant has increased from 25% to 46.6%, while in Tripoli it is increased from 22% to 34%. On the other hand, the efficiency improvement is not observed in the gas turbine power plants. When compared to the quantity of fuel used, the carbon dioxide emissions resulting from electricity generation plants were very high. Finally, an estimation of the energy demand has been done to the maximum load and the annual load factor (i.e., the ratio between the output power and installed power).

Keywords: Power plant, Efficiency improvement, Carbon dioxide Emissions.

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Authors: Z. Zainuddin, W. D. Wan Rosli, R. Lanouette, S. Sathasivam

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This paper reports work done to improve the modeling of complex processes when only small experimental data sets are available. Neural networks are used to capture the nonlinear underlying phenomena contained in the data set and to partly eliminate the burden of having to specify completely the structure of the model. Two different types of neural networks were used for the application of pulping problem. A three layer feed forward neural networks, using the Preconditioned Conjugate Gradient (PCG) methods were used in this investigation. Preconditioning is a method to improve convergence by lowering the condition number and increasing the eigenvalues clustering. The idea is to solve the modified odified problem M-1 Ax= M-1b where M is a positive-definite preconditioner that is closely related to A. We mainly focused on Preconditioned Conjugate Gradient- based training methods which originated from optimization theory, namely Preconditioned Conjugate Gradient with Fletcher-Reeves Update (PCGF), Preconditioned Conjugate Gradient with Polak-Ribiere Update (PCGP) and Preconditioned Conjugate Gradient with Powell-Beale Restarts (PCGB). The behavior of the PCG methods in the simulations proved to be robust against phenomenon such as oscillations due to large step size.

Keywords: Convergence, pulping modeling, neural networks, preconditioned conjugate gradient.

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Authors: Taisuke Sakaki, Toshihiko Shimokawa, Nobuhiro Ushimi, Koji Murakami, Yong-Kwun Lee, Kazuhiro Tsuruta, Kanta Aoki, Kaoru Fujiie, Ryuji Katamoto, Atsushi Sugyo

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Recently attention has been focused on incomplete spinal cord injuries (SCI) to the central spine caused by pressure on parts of the white matter conduction pathway, such as the pyramidal tract. In this paper, we focus on a training robot designed to assist with primary walking-pattern training. The target patient for this training robot is relearning the basic functions of the usual walking pattern; it is meant especially for those with incomplete-type SCI to the central spine, who are capable of standing by themselves but not of performing walking motions. From the perspective of human engineering, we monitored the operator’s actions to the robot and investigated the movement of joints of the lower extremities, the circumference of the lower extremities, and exercise intensity with the machine. The concept of the device was to provide mild training without any sudden changes in heart rate or blood pressure, which will be particularly useful for the elderly and disabled. The mechanism of the robot is modified to be simple and lightweight with the expectation that it will be used at home.

Keywords: Training, rehabilitation, SCI patient, welfare, robot.

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Authors: Divya Agarwal, Pushpendra S. Bharti

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Autonomous mobile robots (AMR) are expected as smart tools for operations in every automation industry. Path planning and obstacle avoidance is the backbone of AMR as robots have to reach their goal location avoiding obstacles while traversing through optimized path defined according to some criteria such as distance, time or energy. Path planning can be classified into global and local path planning where environmental information is known and unknown/partially known, respectively. A number of sensors are used for data collection. A number of algorithms such as artificial potential field (APF), rapidly exploring random trees (RRT), bidirectional RRT, Fuzzy approach, Purepursuit, A* algorithm, vector field histogram (VFH) and modified local path planning algorithm, etc. have been used in the last three decades for path planning and obstacle avoidance for AMR. This paper makes an attempt to review some of the path planning and obstacle avoidance algorithms used in the field of AMR. The review includes comparative analysis of simulation and mathematical computations of path planning and obstacle avoidance algorithms using MATLAB 2018a. From the review, it could be concluded that different algorithms may complete the same task (i.e. with a different set of instructions) in less or more time, space, effort, etc.

Keywords: Autonomous mobile robots, obstacle avoidance, path planning, and processing time.

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Authors: Petri Kouvo, Aino Kainulainen, Kimmo Koivunen

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Separate collection system for recyclable wastes in the Helsinki region was ranked second best of European capitals. The collection system includes paper, cardboard, glass, metals and biowaste. Residual waste is collected and used in energy production. The collection system excluding paper is managed by the Helsinki Region Environmental Services HSY, a public organization owned by four municipalities (Helsinki, Espoo, Kauniainen and Vantaa). Paper collection is handled by the producer responsibility scheme. The efficiency of the collection system in the Helsinki region relies on a good coverage of door-to-door-collection. All properties with 10 or more dwelling units are required to source separate biowaste and cardboard. This covers about 75% of the population of the area. The obligation is extended to glass and metal in properties with 20 or more dwelling units. Other success factors include public awareness campaigns and a fee system that encourages recycling. As a result of waste management regulations for source separation of recyclables and biowaste, nearly 50 percent of recycling rate of household waste has been reached. For households and small and medium size enterprises, there is a sorting station fleet of five stations available. More than 50 percent of wastes received at sorting stations is utilized as material. The separate collection of plastic packaging in Finland will begin in 2016 within the producer responsibility scheme. HSY started supplementing the national bring point system with door-to-door-collection and pilot operations will begin in spring 2016. The result of plastic packages pilot project has been encouraging. Until the end of 2016, over 3500 apartment buildings have been joined the piloting, and more than 1800 tons of plastic packages have been collected separately. In the summer 2015 a novel partial flow digestion process combining digestion and tunnel composting was adopted for source separated household and commercial biowaste management. The product gas form digestion process is converted in to heat and electricity in piston engine and organic Rankine cycle process with very high overall efficiency. This paper describes the efficient collection system and discusses key success factors as well as main obstacles and lessons learned as well as the partial flow process for biowaste management.

Keywords: Biowaste, HSY, MSW, plastic packages, recycling, separate collection.

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Authors: A. A. K. Abou-Arab, M. A. Abou Donia, Nevin E. Sharaf, Sherif R. Mohamed, A. K. Enab

Abstract:

Lead being a toxic heavy metal that mankind is exposed to the highest levels of this metal from environmental pollutants. A total of 180 Male scalp hair samples were collected from different environments in Greater Cairo (GC), i.e. industrial, heavy traffic and rural areas (60 samples from each) having different activities during the period of, 1/5/2010 to 1/11/2012. Hair samples were collected during five stages. Data proved that the concentration of lead in male industrial areas of Cairo ranged between 6.2847 to 19.0432 μg/g, with mean value of 12.3288 μg/g. On the other hand, lead content of hair samples of residential-traffic areas ranged between 2.8634 to 16.3311 μg/g with mean value of 9.7552 μg/g. While lead concentration on the hair of the male residents living in rural area ranged between 1.0499-9.0402μg/g with mean value of 4.7327 μg/g. The Pb concentration in scalp hair of Cairo residents of residential-traffic and rural traffic areas was observed to follow the same pattern. The pattern was that of decrease concentration of summer and its increase in winter. Then, there was a marked increase in Pb concentration of summer 2012, and this increase was significant. These were obviously seen for the residential-traffic and rural areas residents. Pb pollution in residents of industrial areas showed the same seasonal pattern, but there was marked to decrease in Pb concentration of summer 2012, and this decrease was significant. Lead pollution in residents of GC was serious. It is worth noting that the atmosphere is still contaminated by lead despite a decade of using unleaded gasoline. Strong seasonal variation in higher Pb concentration on winter than in summer was found. Major contributions to the pollution with Pb could include industry emissions, motor vehicle emissions and long transported dust from outside Cairo. More attention should be paid to the reduction of Pb content of the urban aerosol and to the Pb pollution health.

Keywords: Hair, lead, environmental exposure, seasonal variations, Egypt.

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Authors: M. R. Dahmardeh Ghaleno, M. Nohtani, S. Khaledi

Abstract:

Flood simulation and prediction is one of the most active research areas in surface water management. WetSpa is a distributed, continuous, and physical model with daily or hourly time step that explains precipitation, runoff, and evapotranspiration processes for both simple and complex contexts. This model uses a modified rational method for runoff calculation. In this model, runoff is routed along the flow path using Diffusion-Wave equation which depends on the slope, velocity, and flow route characteristics. Golestan Dam Basin is located in Golestan province in Iran and it is passing over coordinates 55° 16´ 50" to 56° 4´ 25" E and 37° 19´ 39" to 37° 49´ 28"N. The area of the catchment is about 224 km², and elevations in the catchment range from 414 to 2856 m at the outlet, with average slope of 29.78%. Results of the simulations show a good agreement between calculated and measured hydrographs at the outlet of the basin. Drawing upon Nash-Sutcliffe model efficiency coefficient for calibration periodic model estimated daily hydrographs and maximum flow rate with an accuracy up to 59% and 80.18%, respectively.

Keywords: Watershed simulation, WetSpa, stream flow, flood prediction.

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Authors: A. Malakahmad, S.M. Zain, N.E. Ahmad Basri, S. R. Mohamed Kutty, M. H. Isa

Abstract:

Anaerobic digestion process is one of the alternative methods to convert organic waste into methane gas which is a fuel and energy source. Activities of various kinds of microorganisms are the main factor for anaerobic digestion which produces methane gas. Therefore, in this study a modified Anaerobic Baffled Reactor (ABR) with working volume of 50 liters was designed to identify the microorganisms through biogas production. The mixture of 75% kitchen waste and 25% sewage sludge was used as substrate. Observations on microorganisms in the ABR showed that there exists a small amount of protozoa (5%) and fungi (2%) in the system, but almost 93% of the microorganism population consists of bacteria. It is definitely clear that bacteria are responsible for anaerobic biodegradation of kitchen waste. Results show that in the acidification zone of the ABR (front compartments of reactor) fast growing bacteria capable of growth at high substrate levels and reduced pH was dominant. A shift to slower growing scavenging bacteria that grow better at higher pH was occurring towards the end of the reactor. Due to the ability of activity in acetate environment the percentages of Methanococcus, Methanosarcina and Methanotrix were higher than other kinds of methane former in the system.

Keywords: Anaerobic microorganism identification, Kitchenwaste, Biogas.

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Authors: Woo-tai Jung, Sung-yong Choi, Young-hwan Park

Abstract:

The composite pavement system considered in this paper is composed of a functional surface layer, a fiber reinforced asphalt middle layer and a fiber reinforced lean concrete base layer. The mix design of the fiber reinforced lean concrete corresponds to the mix composition of conventional lean concrete but reinforced by fibers. The quasi-absence of research on the durability or long-term performances (fatigue, creep, etc.) of such mix design stresses the necessity to evaluate experimentally the long-term characteristics of this layer composition. This study tests the creep characteristics as one of the long-term characteristics of the fiber reinforced lean concrete layer for composite pavement using a new creep device. The test results reveal that the lean concrete mixed with fiber reinforcement and fly ash develops smaller creep than the conventional lean concrete. The results of the application of the CEB-FIP prediction equation indicate that a modified creep prediction equation should be developed to fit with the new mix design of the layer.

Keywords: Creep, Lean concrete, Pavement, Fiber reinforced concrete, Base.

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