Search results for: join cost

Authors: Weifeng Wang, Hengbin Zheng, Xianwei Zeng

Abstract:

The launching nose plays an important role in the incremental launching construction. The parameters of the launching nose essentially affect the internal forces of the girder during the construction. The appropriate parameters can decrease the internal forces in the girder and save the material and reduce the cost. The simplified structural model, which is made with displacement method according to the characteristic of incremental launching construction and the variation rule of the internal forces, calculates and analyzes the effect of the length, the rigidity and weight of launch nose on the internal forces of girder during the incremental launching construction. The method, which can calculate the launching nose parameters for the optimum incremental launching construction, is achieved. This method is simple, reliable and easy for practical use.

Keywords: incremental launching, launching nose, optimumanalysis, displacement method

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Authors: N. Dizadji, P. Entezar, A. Shabani

Abstract:

This study presents energy saving in general-purpose pumps widely used in industrial applications. Such pumps are normally driven by a constant-speed electrical motor which in most applications must support varying load conditions. This is equivalent to saying the loading conditions mismatch the designed optimal energy consumption requirements of the intended application thus resulting in substantial energy losses. In the held experiments it was indicated that combination of mechanical and electrical speed drives can contribute to lower energy consumption in the pump without negatively distorting the required performance indices of a typical centrifugal pump at substantially lower energy consumption. The registered energy savings were recorded to be within the 15-40% margin. It was also indicated that although VSDs are installed at a cost, the financial burden is balanced against the earnings resulting from the associated energy savings.

Keywords: Industrial motors, Pumps, Energy consumption, Energy savings, Variable speed drive.

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Authors: D. Wrzecionkowska

Abstract:

Mass media campaigns against obesity are often designed to impact large audiences. This usually means that their audience is defined based on general demographic characteristics like age, gender, occupation etc., not taking into account psychographics like behavior, motivations, wants, etc. Using psychographics, as the base for the audience segmentation, is a common practice in case of successful campaigns, as it allows developing more relevant messages. It also serves a purpose of identifying key segments, those that generate the best return on investment. For a health campaign, that would be segments that have the best chance of being converted into healthy lifestyle at the lowest cost. This paper presents the limitations of the demographic targeting, based on the findings from the reception study of IMSS (Mexican Social Security Institute) antiobesity TV commercials and proposes mothers as the first level of segmentation, in the process of identifying the key segment for these campaigns.

Keywords: Anti-obesity campaigns, mothers, segmentation, targeting.

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Authors: Tsung-yin Lin, Yi-yu Lee

Abstract:

Snoring is prevalent and is the most significant feature of sleep-disordered breathing (SDB). Ignore the therapies of SDB will lead to serious problems in health. Based on the research of mechanisms, diagnosis, and treatments of snoring, oral appliances are ensured in therapeutic effect and compliance, especially the mandibular advancement devices (MADs). Market survey includes commercial product reviews and patent analyses. Due to pay more attention to the sleep medicine, the oral appliances are considered as a standard treatment of snoring that promoted by American Academy of Sleep Medicine (AASM). There are more and more adjustable MADs developed since 1995. According to the patent analyses, there are many drawbacks existed in the present design, such as uncomfortable, high cost, bulky volume, and complex adjustment. In this study, several new designs of the MAD are proposed.

Keywords: mandibular advancement device, mechanism design, patent review

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Authors: Somayeh Sobati Moghadam

Abstract:

Business processes are crucial for organizations and help businesses to evaluate and optimize their performance and processes against current and future-state business goals. Outsourcing business processes to the cloud becomes popular due to a wide varsity of benefits and cost-saving. However, cloud outsourcing raises enterprise data security concerns, which must be incorporated in Business Process Model and Notation (BPMN). This paper, presents SeCloudBPMN, a lightweight extension for BPMN which extends the BPMN to explicitly support the security threats in the cloud as an outsourcing environment. SeCloudBPMN helps business’s security experts to outsource business processes to the cloud considering different threats from inside and outside the cloud. In this way, appropriate security countermeasures could be considered to preserve data security in business processes outsourcing to the cloud.

Keywords: BPMN, security threats, cloud computing, graphical representation.

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Authors: Gary D. Cantrell, E. Alex Baylot

Abstract:

The radius-of-curvature (ROC) defines the degree of curvature along the centerline of a roadway whereby a travelling vehicle must follow. Roadway designs must encompass ROC in mitigating the cost of earthwork associated with construction while also allowing vehicles to travel at maximum allowable design speeds. Thus, a road will tend to follow natural topography where possible, but curvature must also be optimized to permit fast, but safe vehicle speeds. The more severe the curvature of the road, the slower the permissible vehicle speed. For route planning, whether for urban settings, emergency operations, or even parcel delivery, ROC is a necessary attribute of road arcs for computing travel time. It is extremely rare for a geo-spatial database to contain ROC. This paper will present a procedure and mathematical algorithm to calculate and assign ROC to a segment pair and/or polyline.

Keywords: linear features, radius-of-curvature, roads, routing, traffic, turning

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Authors: Enrique Barra, Abel Carril, Aldo Gordillo, Joaquín Salvachúa, Juan Quemada

Abstract:

Computers and multimedia equipment have improved a lot in the last years. They have reduced their cost and size while at the same time increased their capabilities. These improvements allowed us to design and implement a portable recording system that also integrates the teacher´s tablet PC to capture what he/she writes on the slides and all that happens in it. This paper explains this system in detail and the validation of the recordings that we did after using it to record all the lectures the “Communications Software” course in our university. The results show that pupils used the recordings for different purposes and consider them useful for a variety of things, especially after missing a lecture.

Keywords: Recording System, capture dynamic presentations, lecture recording.

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Authors: C. Kalamani, S. Sowmiya, S. Dheivambigai, G. Harihara Sudhan

Abstract:

Radio Frequency Identification (RFID) is a blooming technology which uses radio frequency to track the objects. This technology transmits signals between tag and reader to fetch information from the tag with a unique serial identity. Generally, the drawbacks of RFID technology are high cost, high consumption of power and weak authentication systems between a reader and a tag. The proposed protocol utilizes less dynamic power using reversible truncated multipliers which are implemented in RFID tag-reader with mutual authentication protocol system to reduce both leakage and dynamic power consumption. The proposed system was simulated using Xilinx and Cadence tools.

Keywords: Mutual authentication, protocol, reversible gates, RFID.

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Authors: Arash Hassanpour Isfahani, Siavash Sadeghi

Abstract:

Permanent magnet synchronous machines are known as a good candidate for hybrid electric vehicles due to their unique merits. However they have two major drawbacks i.e. high cost and small speed range. In this paper an optimal design of a permanent magnet machine is presented. A reduction of permanent magnet material for a constant torque and an extension in speed and torque ranges are chosen as the optimization aims. For this purpose the analytical model of the permanent magnet synchronous machine is derived and the appropriate design algorithm is devised. The genetic algorithm is then employed to optimize some machine specifications. Finally the finite element method is used to validate the designed machine.

Keywords: Design, Finite Element, Hybrid electric vehicle, Optimization, Permanent magnet synchronous machine.

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Authors: Achiraya Jiraprasertwong, Erdogan Gulari, Sumaeth Chavadej

Abstract:

Among agricultural residues, sugarcane bagasse is one of the most convincing raw materials for the production of bioethanol due to its availability, and low cost through enzymatic hydrolysis and yeast fermentation. A pretreatment step is needed to enhance the enzymatic step. In this study, sugarcane bagasse (SCB), one of the most abundant agricultural residues in Thailand, was pretreated biologically with various microorganisms of white-rot fungus—Phanerochaete sordid (SK 7), Cellulomonas sp. (TISTR 784), and strain A 002 (Bacillus subtilis isolated from Thai higher termites). All samples with various microbial pretreatments were further hydrolyzed enzymatically by a commercial enzyme obtained from Aspergillus niger. The results showed that the pretreatment with the white-rot fungus gave the highest glucose concentration around two-fold higher when compared with the others.

Keywords: Sugarcane bagasse, Microorganisms, Pretreatment, Enzymatic hydrolysis.

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Authors: Chunchom Pongchavalit

Abstract:

For the electrical metrics that describe photovoltaic cell performance are inherently multivariate in nature, use of a univariate, or one variable, statistical process control chart can have important limitations. Development of a comprehensive process control strategy is known to be significantly beneficial to reducing process variability that ultimately drives up the manufacturing cost photovoltaic cells. The multivariate moving average or MMA chart, is applied to the electrical metrics of photovoltaic cells to illustrate the improved sensitivity on process variability this method of control charting offers. The result show the ability of the MMA chart to expand to as any variables as needed, suggests an application with multiple photovoltaic electrical metrics being used in concert to determine the processes state of control.

Keywords: The multivariate moving average control chart, Photovoltaic processes control, Multivariate system.

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Authors: Tawiwat V., Phermsak S., Noppasit C.

Abstract:

This paper deals with under actuator dynamic systems such as spring-mass-damper system when the number of control variable is less than the number of state variable. In order to apply optimal control, the controllability must be checked. There are many objective functions to be selected as the goal of the optimal control such as minimum energy, maximum energy and minimum jerk. As the objective function is the first priority, if one like to have the second goal to be applied; however, it could not fit in the objective function format and also avoiding the vector cost for the objective, this paper will illustrate the problem of under actuator dynamic systems with the easiest to deal with comparing between minimum energy and minimum jerk.

Keywords: Under actuator, Dynamic optimal control, Minimumjerk, Minimum energy.

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Authors: A. Naga Rajesh, S. Chandralingam, T. Anjaneyulu, K. Satyanarayana

Abstract:

Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.

Keywords: Electrooculography, Microcontroller, Motors, Wheelchair.

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Authors: A. Giraldo, A. Lapatka, A. Namyslak, S. Pilny, J. B. Miima

Abstract:

This paper explains how the New Jersey Institute of Technology surveying student team members designed and created an interactive GIS map, the purpose of which is to be useful to the land surveyor and engineer for project management. This was achieved by building a research and storage database that can be easily integrated into any land surveyor’s current operations through the use of ArcGIS 10, Arc Catalog, and AutoCAD. This GIS database allows for visual representation and information querying for multiple job sites, and simple access to uploaded data, which is geospatially referenced to each individual job site or project. It can also be utilized by engineers to determine design criteria, or to store important files. This cost-effective approach to a surveying map not only saves time, but saves physical storage space and paper resources.

Keywords: Data Storage, GIS, Land Surveying, Mapping.

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Authors: A. Boveiri Monji, H. Yousefnia, S. Zolghadri, B. Salimi

Abstract:

The main goal of this paper was to make use of green reagents as a substitute of perilous synthetic reagents and organic solvents for spectrophotometric determination of hafnium(IV). The extracts taken from six different kinds of tree leaves including Acer negundo, Ficus carica, Cerasus avium, Chimonanthus, Salix babylonica and Pinus brutia, were applied as green reagents for the experiments. In 6-M hydrochloric acid, hafnium reacted with the reagent to form a yellow product and showed maximum absorbance at 421 nm. Among tree leaves, Chimonanthus showed satisfactory results with a molar absorptivity value of 0.61 × 10⁴ l mol^-1 cm^-1 and the method was linear in the 0.3-9 µg mL ^-1 concentration range. The detection limit value was 0.064 µg mL^-1. The proposed method was simple, low cost, clean, and selective.

Keywords: Spectrophotometric determination, tree leaves, synthetic reagents, hafnium.

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Authors: Simon L. Madsen, Mads Dyrmann, Morten S. Laursen, Rasmus N. Jørgensen

Abstract:

Recent advances in the Unmanned Aerial System (UAS) safety and perception systems enable safe low altitude autonomous terrain following flights recently demonstrated by the consumer DJI Mavic PRO and Phamtom 4 Pro drones. This paper presents the first prototype system utilizing this functionality in form of semi-automated UAS based collection of crop/weed images where the embedded perception system ensures a significantly safer and faster gathering of weed images with sub-millimeter resolution. The system is to be used when the weeds are at cotyledon stage and prior to the harvest recognizing the grass weed species, which cannot be discriminated at the cotyledon stage.

Keywords: Weed mapping, integrated weed management, DJI SDK, automation, cotyledon plants.

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Authors: Aftab

Abstract:

This paper is a theory-oriented study that seeks to generalize the process through which terrorism leads to the disruption of international peace. For this, it scrutinizes 9/11 terrorism based on five analytical domains of threat—security disorder, political tensions, economic adversity, socio-ideological intolerance, and the fear and cost of counterterrorism—each of which is explored in light of specific indicators. By applying qualitative correlation method, the paper finds that terrorism immediately entails five distinct kinds of negative impacts that lead to both internal disorders caused by state weakness and global disorder caused by international tensions, which in consequence, causes international peace to be disrupted. Thus, in following inductive process, the findings of this paper help to make a general inference that terrorism is a threat to international peace. 

Keywords: Domains, global disorder, internal disorder, international peace, terrorism, threat.

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Authors: Chiung-Hui Chen

Abstract:

With the approaching of digital era, various interactive service platforms and systems support human beings- needs in lives by different contents and measures. Design strategies have gradually turned from function-based to user-oriented, and are often customized. In other words, how designers include users- value reaction in creation becomes the goal. Creative design service of interior design requires positive interaction and communication to allow users to obtain full design information, recognize the style and process of personal needs, develop creative service design, lower communication time and cost and satisfy users- sense of achievement. Thus, by constructing a co-design method, based on the communication between interior designers and users, this study recognizes users- real needs and provides the measure of co-design for designers and users.

Keywords: Co-Design, Customized, Design Service, Interactive Genetic Algorithm, Interior Design.

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Authors: Manas Ranjan Kabat, Rajib Mall, Chita Ranjan Tripathy

Abstract:

A scalable QoS aware multicast deployment in DiffServ networks has become an important research dimension in recent years. Although multicasting and differentiated services are two complementary technologies, the integration of the two technologies is a non-trivial task due to architectural conflicts between them. A popular solution proposed is to extend the functionality of the DiffServ components to support multicasting. In this paper, we propose an algorithm to construct an efficient QoSdriven multicast tree, taking into account the available bandwidth per service class. We also present an efficient way to provision the limited available bandwidth for supporting heterogeneous users. The proposed mechanism is evaluated using simulated tests. The simulated result reveals that our algorithm can effectively minimize the bandwidth use and transmission cost

Keywords: Differentiated Services, multicasting, QoSheterogeneity, DSCP

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Authors: Norhazwani M. Y., Khoo, C. F., Hasrul Nisham R.

Abstract:

Tourism industries are rapidly increased for the last few years especially in Malaysia. In order to attract more tourists, Malaysian Governance encourages any effort to increase Malaysian tourism industry. One of the efforts in attracting more tourists in Malacca, Malaysia is a duck tour. Duck tour is an amphibious sightseeing tour that works in two types of engines, hence, it required a huge cost to operate and maintain the vehicle. To other country, it is not so new but in Malaysia, it is just introduced, thus it does not have any systematic routing yet. Therefore, this paper proposed an optimization technique to formulate and schedule this tour to minimize the operating costs by considering it into Travelling Salesman Problem (TSP). The problem is then can be solved by one of the optimization technique especially meta-heuristics approach such as Tabu Search (TS) and Reactive Tabu Search (RTS).

Keywords: Optimization, Reactive Tabu Search, Tabu Search, Travelling Salesman Problem

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Authors: Ahmed Z. Gabr, Ahmed A. Helal, Hussein E. Said

Abstract:

With the incessant increase of power systems capacity and voltage grade, the safety of grounding grid becomes more and more prominent. In this paper, the designing substation grounding grid is presented by means of genetic algorithm (GA). This approach purposes to control the grounding cost of the power system with the aid of controlling grounding rod number and conductor lengths under the same safety limitations. The proposed technique is used for the design of the substation grounding grid in Khalda Petroleum Company “El-Qasr” power plant and the design was simulated by using CYMGRD software for results verification. The result of the design is highly complying with IEEE 80-2000 standard requirements.

Keywords: Genetic algorithm, optimum grounding grid design, power system analysis, power system protection, single layer model, substation.

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Authors: C. C. Lv, Y. L. Sun, D. W. Zuo

Abstract:

Cemented carbide balls are usually implemented in industry under the environment of high speed, high temperature, corrosiveness and strong collisions. However, its application is limited due to high fabrication cost, processing efficiency and quality. A novel eccentric lapping method with two rotatable lapping plates was proposed in this paper. A mathematical model was constructed to analyze the influence of each design parameter on this lapping method. To validate this new lapping method, an orthogonal experiment was conducted with cemented carbide balls (YG6). The simulation model was verified and the optimal lapping parameters were derived. The results show that the surface roundness of the balls reaches to 0.65um from 2um in 1 hour using this lapping method. So, using this novel lapping method, it can effectively improve the machining precision and efficiency of cemented carbide balls.

Keywords: Cemented carbide balls, eccentric lapping, high precision, lapping tracks, V-groove.

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Authors: S. S. Ngu, L. C. Kho, T. P. Tan, M. S. Osman

Abstract:

This work deals with the design of the robotic assembly system for the roller clamps. The task is characterized by high speed, high yield and safety engagement. This paper describes the design of different parts of an automated high speed machine to assemble the parts of roller clamps. The roller clamp robotic assembly system performs various processes in the assembly line which include clamp body and roller feeding, inserting the roller into the clamp body, and dividing the rejected clamp and successfully assembled clamp into their own tray. The electrical/electronics design of the machine is discussed. The target is to design a cost effective, minimum maintenance and high speed machine for the industry applications.

Keywords: Machine design, assembly machine, roller clamp, industry applications.

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Authors: N. Das, N. Samanta, L. Pandey, C. Roy Chaudhuri

Abstract:

Early diagnosis of infection like Hep-B virus in blood is important for low cost medical treatment. For this purpose, it is desirable to develop a point of care device which should be able to detect trace quantities of the target molecule in blood. In this paper, we report a nanoporous silicon oxide sensor which is capable of detecting down to 1fM concentration of Hep-B surface antigen in blood without the requirement of any centrifuge or pre-concentration. This has been made possible by the presence of resonant peak in the sensitivity characteristics. This peak is observed to be dependent only on the concentration of the specific antigen and not on the interfering species in blood serum. The occurrence of opposite impedance change within the pores and at the bottom of the pore is responsible for this effect. An electronic interface has also been designed to provide a display of the virus concentration.

Keywords: Impedance spectroscopy, Ultrasensitive detection in blood, Peak frequency, Electronic interface.

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Authors: Vivek Bharti, Inderpreet Kaur, Saurabh Verma, Renu Gangwar, Hari Kumar Singh

Abstract:

This work presents a dual-band Coplanar Waveguide (CPW) fed rectangular patch antenna designed for applications in Industrial, Scientific, and Medical (ISM) Band sensing. Fabricated on a cost-effective FR-4 substrate with specific dimensions, the antenna incorporates a rectangular slot and a copper patch, optimized through simulation to achieve desired characteristics, particularly focusing on the reflection coefficient. A unique feature is introduced through the integration of copper cells forming a Partially Reflecting Surface (PRS) to feed the antenna. Dual-band functionality is achieved, covering frequencies of 1.28 GHz-1.3 GHz and 4.9 GHz-5.2 GHz, catering to diverse communication needs within these frequency ranges. The addition of a superstrate enhances the antenna’s gain, resulting in 4.5 dBi at 1.28 GHz-1.3 GHz and 6.5 dBi at 4.9 GHz-5.2 GHz, with an efficiency of 58%.

Keywords: ISM, Coplanar waveguide fed, superstrate, circularly polarized.

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Authors: Jiří Barta

Abstract:

The paper deals with results of a project “Interoperability Workplaces to Support Teaching of Security Management in a Computer Network". This project is focused on the perspectives and possibilities of "new approaches" to education, training and crisis communication of rescue teams in the Czech Republic. It means that common technologies considering new perspectives are used to educate selected members of crisis management. The main part concentrates on possibilities of application of new technology and computer-aided tools to education and training of Integrated Rescue System teams.This project uses the COST principle for the creation of specialized centers and for all communication between these workplaces.

Keywords: Communication of Crisis Management, Information System, Interoperability, specializedcenter, Security Oriented Information System.

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Authors: Sandra Baßler, Peter Dünow, Mathias Marquardt

Abstract:

A Fourier series based learning control (FSBLC) algorithm for tracking trajectories of mechanical systems with unknown nonlinearities is presented. Two processes are introduced to which the FSBLC with PD controller is applied. One is a simplified service robot capable of climbing stairs due to special wheels and the other is a propeller driven pendulum with nearly the same requirements on control. Additionally to the investigation of learning the feed forward for the desired trajectories some considerations on the implementation of such an algorithm on low cost microcontroller hardware are made. Simulations of the service robot as well as practical experiments on the pendulum show the capability of the used FSBLC algorithm to perform the task of improving control behavior for repetitive task of such mechanical systems.

Keywords: Climbing stairs, FSBLC, ILC, Service robot.

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Authors: Mikhail V. Khachaturyan

Abstract:

The article analyzes problems of improving the management systems of the ownership risks in the conditions of the transformation of the Russian economy. Among the main sources of threats business owners should highlight is the inefficiency of the implementation of business models and interaction with hired managers. In this context, it is particularly important to analyze the relationship of business models and ownership risks. The analysis of this problem appears to be relevant for a number of reasons: Firstly, the increased risk appetite of the owner directly affects the business model and the composition of his holdings; secondly, owners with significant stakes in the company are factors in the formation of particular types of risks for owners, for which relations have a significant influence on a firm's competitiveness and ultimately determines its survival; and thirdly, inefficient system of management ownership of risk is one of the main causes of mass bankruptcies, which significantly affects the stable operation of the economy as a whole. The separation of the processes of possession, disposal and use in modern organizations is the cause of not only problems in the process of interaction between the owner and managers in managing the organization as a whole, but also the asymmetric information about the kinds and forms of the main risks. Managers tend to avoid risky projects, inhibit the diversification of the organization's assets, while owners can insist on the development of such projects, with the aim not only of creating new values for themselves and consumers, but also increasing the value of the company as a result of increasing capital. In terms of separating ownership and management, evaluation of projects by the ratio of risk-yield requires preservation of the influence of the owner on the process of development and making management decisions. It is obvious that without a clearly structured system of participation of the owner in managing the risks of their business, further development is hopeless. In modern conditions of forming a risk management system, owners are compelled to compromise between the desire to increase the organization's ability to produce new value, and, consequently, increase its cost due to the implementation of risky projects and the need to tolerate the cost of lost opportunities of risk diversification. Improving the effectiveness of the management of ownership risks may also contribute to the revitalization of creditors on implementation claims to inefficient owners, which ultimately will contribute to the efficiency models of ownership control to exclude variants of insolvency. It is obvious that in modern conditions, the success of the model of the ownership of risk management and audit is largely determined by the ability and willingness of the owner to find a compromise between potential opportunities for expanding the firm's ability to create new value through risk and maintaining the current level of new value creation and an acceptable level of risk through the use of models of diversification.

Keywords: Risk management, ownership risks, economic transformation, Russian economy, management systems.

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Authors: Mitsuhiro Taniyama, Yuu Hidaka, Masato Arai, Satoshi Kai, Hiromi Igawa, Hiroshi Yajima, Ryoichi Sasaki

Abstract:

Along with the progress of our information society, various risks are becoming increasingly common, causing multiple social problems. For this reason, risk communications for establishing consensus among stakeholders who have different priorities have become important. However, it is not always easy for the decision makers to agree on measures to reduce risks based on opposing concepts, such as security, privacy and cost. Therefore, we previously developed and proposed the “Multiple Risk Communicator" (MRC) with the following functions: (1) modeling the support role of the risk specialist, (2) an optimization engine, and (3) displaying the computed results. In this paper, MRC program version 1.0 is applied to the personal information leakage problem. The application process and validation of the results are discussed.

Keywords: Decision Making, Personal Information Leakage Problem, Risk Communication, Risk Management

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Authors: Chau Nguyen Viet, Ian Marshall

Abstract:

This paper presents a new classification algorithm using colour and texture for obstacle detection. Colour information is computationally cheap to learn and process. However in many cases, colour alone does not provide enough information for classification. Texture information can improve classification performance but usually comes at an expensive cost. Our algorithm uses both colour and texture features but texture is only needed when colour is unreliable. During the training stage, texture features are learned specifically to improve the performance of a colour classifier. The algorithm learns a set of simple texture features and only the most effective features are used in the classification stage. Therefore our algorithm has a very good classification rate while is still fast enough to run on a limited computer platform. The proposed algorithm was tested with a challenging outdoor image set. Test result shows the algorithm achieves a much better trade-off between classification performance and efficiency than a typical colour classifier.

Keywords: Colour, texture, classification, obstacle detection.

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