Search results for: real time model

Authors: Tim Wollert, Fabian Behrendt

Abstract:

Value Stream Management (VSM) is a widely used methodology in the context of Lean Management for improving end-to-end material and information flows from a supplier to a customer from a company’s perspective. Whereas the design principles, e.g. Pull, value-adding, customer-orientation and further ones are still valid against the background of an increasing digitalized and dynamic environment, the methodology itself for mapping a value stream is characterized as time- and resource-intensive due to the high degree of manual activities. The digitalization of processes in the context of Industry 4.0 enables new opportunities to reduce these manual efforts and make the VSM approach more agile. The paper at hand aims at providing a modular data and calculation framework, utilizing the available business data, provided by information and communication technologies for automizing the value stream mapping process with focus on the manufacturing process.

Keywords: Industry 4.0, lean management 4.0, value stream management 4.0, value stream mapping.

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Authors: Kausik Halder, Nabendu Chaki, Ranjan Dasgupta

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We present a modeling framework that supports the engineering of early requirements specifications for design of learner centric dynamic Learning Management System. The framework is based on i* modeling tool and Means End Analysis, that adopts primitive concepts for modeling early requirements (such as actor, goal, and strategic dependency). We show how pedagogical and computational requirements for designing a learner centric Learning Management system can be adapted for the automatic early requirement engineering specifications. Finally, we presented a model on a Learner Quanta based adaptive Courseware. Our early requirement analysis shows that how means end analysis reveals gaps and inconsistencies in early requirements specifications that are by no means trivial to discover without the help of formal analysis tool.

Keywords: Adaptive Courseware, Early Requirement Engineering, Means End Analysis, Organizational Modeling, Requirement Modeling.

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Authors: Arup K. George, Wai Pan Chan, Zhi Hui Kong, Minkyu Je

Abstract:

This paper describes a low-power second-order filter for a continuous-time chopper stabilized capacitive sensor interface, integrated with a fully differential post-CMOS surface-micromachined MEMS pressure sensor. The circuit uses a single-ended folded-cascode operational amplifier and two GM-C filters connected in cascade. The circuit is realized in a 0.18 μm CMOS process and offers differential to single-ended conversion. The novelty of the scheme is the cascade of two GM-C filters to achieve a second-order filter while minimizing power dissipation. The simulated filter cutoff frequency is 1.14 kHz at common-mode voltage 1.65 V, operating from a 3.3 V supply while dissipating 172μW of power. The filter achieves an operating range of 1V for an output load of 1MOhm and 10pF.

Keywords: Chopper Stabilization, MEMS, Pressure Sensors, Low Pass Filter

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Authors: Ihor Trots, Andrzej Nowicki, Marcin Lewandowski

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The work describes the use of a synthetic transmit aperture (STA) with a single element transmitting and all elements receiving in medical ultrasound imaging. STA technique is a novel approach to today-s commercial systems, where an image is acquired sequentially one image line at a time that puts a strict limit on the frame rate and the amount of data needed for high image quality. The STA imaging allows to acquire data simultaneously from all directions over a number of emissions, and the full image can be reconstructed. In experiments a 32-element linear transducer array with 0.48 mm inter-element spacing was used. Single element transmission aperture was used to generate a spherical wave covering the full image region. The 2D ultrasound images of wire phantom are presented obtained using the STA and commercial ultrasound scanner Antares to demonstrate the benefits of the SA imaging.

Keywords: Ultrasound imaging, synthetic aperture, frame rate, beamforming.

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Authors: Farhana Mohamad Yusop, Syafrudin Masri, Dahaman Ishak, Mohamad Kamarol

Abstract:

Electromagnetic forces on three-phase five-wire (3P5W) busbar system is investigated under three-phase short-circuits current. The conductor busbar placed in compact galvanized steel enclosure is in the rectangular shape. Transient analysis from Opera-2D is carried out to develop the model of three-phase short-circuits current in the system. The result of the simulation is compared with the calculation result, which is obtained by applying the theories of Biot Savart’s law and Laplace equation. Under this analytical approach, the moment of peak short-circuit current is taken into account. The effect upon geometrical arrangement of the conductor and the present of the steel enclosure are considered by the theory of image. The result depict that the electromagnetic force due to the transient short-circuit from simulation is agreed with the calculation.

Keywords: Busbar, electromagnetic force, short-circuit current, transient analysis.

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Authors: Wittawat Wasusathien, Samran Santalunai, Thanaset Thosdeekoraphat, Chanchai Thongsopa

Abstract:

This paper presents breast cancer detection by observing the specific absorption rate (SAR) intensity for identification tumor location, the tumor is identified in coordinates (x,y,z) system. We examined the frequency between 4-8 GHz to look for the most appropriate frequency. Results are simulated in frequency 4-8 GHz, the model overview include normal breast with 50 mm radian, 5 mm diameter of tumor, and ultra wideband (UWB) bowtie antenna. The models are created and simulated in CST Microwave Studio. For this simulation, we changed antenna to 5 location around the breast, the tumor can be detected when an antenna is close to the tumor location, which the coordinate of maximum SAR is approximated the tumor location. For reliable, we experiment by random tumor location to 3 position in the same size of tumor and simulation the result again by varying the antenna position in 5 position again, and it also detectable the tumor position from the antenna that nearby tumor position by maximum value of SAR, which it can be detected the tumor with precision in all frequency between 4-8 GHz.

Keywords: Specific absorption rate (SAR), ultra wideband (UWB), coordinates and cancer detection

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Authors: Olesya Bolkhovskaya, Alexey Davydov, Alexander Maltsev

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In this paper two approaches to joint signal detection, time of arrival (ToA) and angle of arrival (AoA) estimation in multi-element antenna array are investigated. Two scenarios were considered: first one, when the waveform of the useful signal is known a priori and, second one, when the waveform of the desired signal is unknown. For first scenario, the antenna array signal processing based on multi-element matched filtering (MF) with the following non-coherent detection scheme and maximum likelihood (ML) parameter estimation blocks is exploited. For second scenario, the signal processing based on the antenna array elements covariance matrix estimation with the following eigenvector analysis and ML parameter estimation blocks is applied. The performance characteristics of both signal processing schemes are thoroughly investigated and compared for different useful signals and noise parameters.

Keywords: Antenna array, signal detection, ToA, AoA estimation.

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Authors: Wei Hoo Chong

Abstract:

System testing is actually done to the entire system against the Functional Requirement Specification and/or the System Requirement Specification. Moreover, it is an investigatory testing phase, where the focus is to have almost a destructive attitude and test not only the design, but also the behavior and even the believed expectations of the customer. It is also intended to test up to and beyond the bounds defined in the software/hardware requirements specifications. In Motorola®, Automated Testing is one of the testing methodologies uses by GSG-iSGT (Global Software Group - iDEN TM Subcriber Group-Test) to increase the testing volume, productivity and reduce test cycle-time in iDEN TM phones testing. Testing is able to produce more robust products before release to the market. In this paper, iHopper is proposed as a tool to perform stress test on iDEN TM phonse. We will discuss the value that automation has brought to iDEN TM Phone testing such as improving software quality in the iDEN TM phone together with some metrics. We will also look into the advantages of the proposed system and some discussion of the future work as well.

Keywords: Testing, automated testing, stress testing, software quality.

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Authors: Jürgen Roßmann, André Kupetz, Roland Wischnewski

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An intuitive user interface for the teleoperation of mobile rescue robots is one key feature for a successful exploration of inaccessible and no-go areas. Therefore, we have developed a novel framework to embed a flexible and modular user interface into a complete 3-D virtual reality simulation system. Our approach is based on a client-server architecture to allow for a collaborative control of the rescue robot together with multiple clients on demand. Further, it is important that the user interface is not restricted to any specific type of mobile robot. Therefore, our flexible approach allows for the operation of different robot types with a consistent concept and user interface. In laboratory tests, we have evaluated the validity and effectiveness of our approach with the help of two different robot platforms and several input devices. As a result, an untrained person can intuitively teleoperate both robots without needing a familiarization time when changing the operating robot.

Keywords: Teleoperation of mobile robots, augmented reality, user interface, virtual reality.

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Authors: İbrahim Hakkı Erkan, Özcan Tan

Abstract:

The performance of jet grout columns was affected by many controlled and uncontrolled parameters. The leading parameters for the controlled ones can be listed as injection pressure, rod pulling speed, rod rotation speed, number of nozzles, nozzle diameter and Water/Cement ratio. And the uncontrolled parameters are soil type, soil structure, soil layering condition, underground water level, the changes in strength parameters and the rheologic properties of cement in time. In this study, the performance of jet grout columns and the effects of pulling speed and rotation speed were investigated experimentally. For this purpose, a laboratory type jet grouting system was designed for the experiments. Through this system, jet grout columns were produced in three different conditions. The results of the study showed that the grout pressure and the lifting speed significantly affect the performance of the jet grouting columns.

Keywords: Jet grout, sandy soils, soil improvement, soilcrete.

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Authors: Lien-Fa Lin, Yung-Ming Li, Fu-Shun Hsieh

Abstract:

With the advancement of information technology and development of group commerce, people have obviously changed in their lifestyle. However, group commerce faces some challenging problems. The products or services provided by vendors do not satisfactorily reflect customers’ opinions, so that the sale and revenue of group commerce gradually become lower. On the other hand, the process for a formed customer group to reach group-purchasing consensus is time-consuming and the final decision is not the best choice for each group members. In this paper, we design a social decision support mechanism, by using group discussion message to recommend suitable options for group members and we consider social influence and personal preference to generate option ranking list. The proposed mechanism can enhance the group purchasing decision making efficiently and effectively and venders can provide group products or services according to the group option ranking list.

Keywords: Social network, group decision, text mining, group commerce.

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Authors: H. A. Taner, V. Önen

Abstract:

In the thermal power plants established to meet the energy need, lignite with low calorie and high ash content is used. Burning of these coals results in wastes such as fly ash, slag and flue gas. This constitutes a significant economic and environmental problems. However, fly ash can find evaluation opportunities in various sectors. In this study, the effectiveness of fly ash on suspended solid removal from marble processing wastewater containing high concentration of suspended solids was examined. Experiments were carried out for two different suspensions, marble and travertine. In the experiments, FeCl₃, Al₂(SO₄)₃ and anionic polymer A130 were used also to compare with fly ash. Coagulant/flocculant type/dosage, mixing time/speed and pH were the experimental parameters. The performances in the experimental studies were assessed with the change in the interface height during sedimentation resultant and turbidity values of treated water. The highest sedimentation efficiency was achieved with anionic flocculant. However, it was determined that fly ash can be used instead of FeCl₃ and Al₂(SO₄)₃ in the travertine plant as a coagulant.

Keywords: Dewatering, flocculant, fly ash, marble plant waste water.

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Authors: Hafizuddin W. Yussof, Syamsutajri S. Bahri, Adam P. Harvey

Abstract:

Strong anion exchange resins with QN+OH-, have the potential to be developed and employed as heterogeneous catalyst for transesterification, as they are chemically stable to leaching of the functional group. Nine different SIERs (SIER1-9) with QN+OH-were prepared by suspension polymerization of vinylbenzyl chloridedivinylbenzene (VBC-DVB) copolymers in the presence of n-heptane (pore-forming agent). The amine group was successfully grafted into the polymeric resin beads through functionalization with trimethylamine. These SIERs are then used as a catalyst for the transesterification of triacetin with methanol. A set of differential equations that represents the Langmuir-Hinshelwood-Hougen- Watson (LHHW) and Eley-Rideal (ER) models for the transesterification reaction were developed. These kinetic models of LHHW and ER were fitted to the experimental data. Overall, the synthesized ion exchange resin-catalyzed reaction were welldescribed by the Eley-Rideal model compared to LHHW models, with sum of square error (SSE) of 0.742 and 0.996, respectively.

Keywords: Anion exchange resin, Eley-Rideal, Langmuir-Hinshelwood-Hougen-Watson, transesterification.

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Authors: Ephraim Gower, Thato Tsalaile, Monageng Kgwadi, Malcolm Hawksford.

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This paper introduces a new point estimation algorithm, with particular focus on coherent noise suppression, given several measurements of the device under test where it is assumed that 1) the noise is first-order stationery and 2) the device under test is linear and time-invariant. The algorithm exploits the robustness of the Pitman estimator of the Cauchy location parameter through the initial scaling of the test signal by a centred Gaussian variable of predetermined variance. It is illustrated through mathematical derivations and simulation results that the proposed algorithm is more accurate and consistently robust to outliers for different tailed density functions than the conventional methods of sample mean (coherent averaging technique) and sample median search.

Keywords: Central limit theorem, Fisher-Cramer Rao, gamma function, Pitman estimator.

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Authors: N.Karunakaran, V.Balasubramanian

Abstract:

This paper presents the results of a study aimed at establishing the temperature distribution during the welding of magnesium alloy sheets by Pulsed Current Gas Tungsten Arc Welding (PCGTAW) and Constant Current Gas Tungsten Arc Welding (CCGTAW) processes. Pulsing of the GTAW welding current influences the dimensions and solidification rate of the fused zone, it also reduces the weld pool volume hence a narrower bead. In this investigation, the base material considered was 2mm thin AZ 31 B magnesium alloy, which is finding use in aircraft, automobile and high-speed train components. A finite element analysis was carried out using ANSYS, and the results of the FEA were compared with the experimental results. It is evident from this study that the finite element analysis using ANSYS can be effectively used to model PCGTAW process for finding temperature distribution.

Keywords: gas tungsten arc welding, pulsed current, finiteelement analysis, thermal analysis, magnesium alloy.

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Authors: Ling Shi Cai, Leau Yu Beng, Charlie Albert Lasuin, Tan Soo Fun, Chin Pei Yee

Abstract:

This paper explains the development of Multifunctional Barcode Inventory Management System (MBIMS) to manage inventory and stock ordering. Today, most of the retailing market is still manually record their stocks and its effectiveness is quite low. By providing MBIMS, it will bring effectiveness to retailing market in inventory management. MBIMS will not only save time in recording input, output and refilling the inventory stock, but also in calculating remaining stock and provide auto-ordering function. This system is developed through System Development Life Cycle (SDLC) and the flow and structure of the system is fully built based on requirements of a retailing market. Furthermore, this system has been developed from methodical research and study where each part of the system is vigilantly designed. Thus, MBIMS will offer a good solution to the retailing market in achieving effectiveness and efficiency in inventory management.

Keywords: Inventory, Retailing Market, Barcode, Automated Alerting and Ordering

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Authors: Kostyantyn Yermashov, Karsten Wolke, Karl Hayo Siemsen

Abstract:

Domain-specific languages describe specific solutions to problems in the application domain. Traditionally they form a solution composing black-box abstractions together. This, usually, involves non-deep transformations over the target model. In this paper we argue that it is potentially powerful to operate with grey-box abstractions to build a domain-specific software system. We present parametric code templates as grey-box abstractions and conceptual tools to encapsulate and manipulate these templates. Manipulations introduce template-s merging routines and can be defined in a generic way. This involves reasoning mechanisms at the code templates level. We introduce the concept of Neurath Modelling Language (NML) that operates with parametric code templates and specifies a visualisation mapping mechanism for target models. Finally we provide an example of calculating a domain-specific software system with predefined NML elements.

Keywords: software design, code templates, domain-specific languages, modelling languages, generic tools

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Authors: Gabriela Lindemann, Danilo Schmidt, Thomas Schrader, Dietmar Keune

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The amount and heterogeneity of data in biomedical research, notably in interdisciplinary fields, requires new methods for the collection, presentation and analysis of information. Important data from laboratory experiments as well as patient trials are available but come out of distributed resources. The Charité - University Hospital Berlin has established together with the German Research Foundation (DFG) a new information service centre for kidney diseases and transplantation (Open European Nephrology Science Centre - OpEN.SC). Beside a collaborative aspect to create new research groups every single partner or institution of this science information centre making his own data available is allowed to search the whole data pool of the various involved centres. A core task is the implementation of a non-restricting open data structure for the various different data sources. We decided to use a modern RDF model and in a first phase transformed original data coming from the web-based Electronic Patient Record database TBase©.

Keywords: Medical databases, Resource Description Framework (RDF), metadata repository.

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Authors: Thitipong Auttanat, Siriporn Jongpatiwut, Thirasak Rirksomboon

Abstract:

The catalytic dehydroxylation of glycerol to propylene glycol was investigated over Cu-ZnO/Al2O3 prepared by incipient wetness impregnation (IWI) method with different purity feedstocks - refined glycerol and technical grade glycerol. The main purpose is to investigate the effects of feed impurities that cause the catalyst deactivation. The prepared catalyst were tested for its catalytic activity and selectivity in a continuous flow fixed bed reactor at 523 K, 500 psig, H2/feed molar ratio of 4 and WHSV of 3 h-1. The results showed that conversion of refined glycerol and technical grade glycerol at time on stream 6 hour are 99% and 71% and selectivity to propylene glycol are 87% and 56% respectively. The ICP-EOS and TPO results indicated that the cause of catalyst deactivation was the amount of impurities in the feedstock. The higher amount of impurities (especially Na and K) the lower catalytic activity.

Keywords: Cu-ZnO/Al2O3, dehydroxylation, glycerol, propylene glycol,

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Authors: K. Ighilahriz, M. Taleb Ahmed, R. Maachi

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Oil industries are responsible for most cases of contamination of our ecosystem by oil and heavy metals. They are toxic and considered carcinogenic and dangerous even when they exist in trace amounts. At Algiers refinery, production, transportation, and refining of crude oil generate considerable waste in storage tanks; these residues result from the gravitational settling. The composition of these residues is essentially a mixture of hydrocarbon and lead. We propose in this work the application of electrooxidation treatment for the leachate of the leaden sludge. The effect of pH, current density and the electrolysis time were studied, the effectiveness of the processes is evaluated by measuring the chemical oxygen demand (COD). The dissolution is the best way to mobilize pollutants from leaden mud, so we conducted leaching before starting the electrochemical treatment. The process was carried out in batch mode using graphite anode and a stainless steel cathode. The results clearly demonstrate the compatibility of the technique used with the type of pollution studied. In fact, it allowed COD removal about 80%.

Keywords: Electrooxidation, leaching, leaden sludge, the oil industry.

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Authors: Nabli L., Dhouibi H., Collart Dutilleul S., Craye E.

Abstract:

The existence of maximal durations drastically modifies the performance evaluation in Discrete Event Systems (DES). The same particularity may be found on systems where the associated constraints do not concern the time. For example weight measures, in chemical industry, are used in order to control the quantity of consumed raw materials. This parameter also takes a fundamental part in the product quality as the correct transformation process is based upon a given percentage of each essence. Weight regulation therefore increases the global productivity of the system by decreasing the quantity of rejected products. In this paper we present an approach based on mixing different characteristics theories, the fuzzy system and Petri net system to describe the behaviour. An industriel application on a tobacco manufacturing plant, where the critical parameter is the weight is presented as an illustration.

Keywords: Petri Net, Manufacturing systems, Performance evaluation, Fuzzy logic, Tolerant system.

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Authors: Moses F. Oduori, Enoch K. Musyoka, Thomas O. Mbuya

Abstract:

The selection of materials is an essential task in mechanical design processes. This paper sets out to demonstrate the application of analytical decision making during mechanical design and, particularly, in selecting a suitable material for a given application. Equations for the mechanical design of a manual winch rope drum are used to derive quantitative material performance indicators, which are then used in a multiple attribute decision making (MADM) model to rank the candidate materials. Thus, the processing of mechanical design considerations and material properties data into information that is suitable for use in a quantitative materials selection process is demonstrated for the case of a rope drum design. Moreover, Microsoft Excel^®, a commonly available computer package, is used in the selection process. The results of the materials selection process are in agreement with current industry practice in rope drum design. The procedure that is demonstrated here should be adaptable to other design situations in which a need arises for the selection of engineering materials, and other engineering entities.

Keywords: Design Decisions, Materials Selection, Mechanical Design, Rope Drum Design.

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Authors: Joo-Hyung Oh, Dongwan Kang, JunHyung Cho, Chaetae Im

Abstract:

As the mobile Internet has become widespread in recent years, communication based on mobile networks is increasing. As a result, security threats have been posed with regard to the abnormal traffic of mobile networks, but mobile security has been handled with focus on threats posed by mobile malicious codes, and researches on security threats to the mobile network itself have not attracted much attention. In mobile networks, the IP address of the data packet is a very important factor for billing purposes. If one mobile terminal use an incorrect IP address that either does not exist or could be assigned to another mobile terminal, billing policy will cause problems. We monitor and analyze 3G mobile data networks traffics for a period of time and finds some abnormal IP packets. In this paper, we analyze the reason for abnormal IP packets on 3G Mobile Data Networks. And we also propose an algorithm based on IP address table that contains addresses currently in use within the mobile data network to detect abnormal IP packets.

Keywords: WCDMA, 3G, Abnormal IP address, Mobile Data Network Attack

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Authors: Omid Ghassemi

Abstract:

As a by-product of its "cyberspace" status, electronic commerce is global, encompassing a whole range of B2C relationships which need to be approached with solutions provided at a local level while remaining viable when applied to global issues. Today, the European Union seems to be endowed with a reliable legal framework for consumer protection. A question which remains, however, is enforcement of this protection. This is probably a matter of time and awareness from both parties in the B2C relationship. Business should realize that enhancing trust in the minds of consumers is more than a question of technology; it is a question of best practice. Best practice starts with the online service of high street banks as well as with the existence of a secure, user-friendly and cost-effective payment system. It also includes the respect of privacy and the use of smart cards as well as enhancing privacy technologies and fair information practice. In sum, only by offering this guarantee of privacy and security will the consumer be assured that, in cyberspace, his/her interests will be protected in the same manner as in a traditional commercial environment.

Keywords: Consumer, Electronic, Jurisdiction, Payment

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Authors: Rana Soltani-Zarrin, Sohrab Khanmohammadi

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In this paper, a new method for multi criteria decision making is represented whichspecifies a trajectory satisfying desired criteria including minimization of time. A rescue robot is defined to perform certain tasks before the arrival of rescue team, including evaluation of the probability of explosion in the area, detecting human-beings, and providing preliminary aidsin case of identifying signs of life, so that the security of the surroundings will have enhanced significantly for the individuals inside the disaster zone as well as the rescue team. The main idea behind our technique is using the Program Evaluation and Review Technique analysis along with Critical Path Method and use the Multi Criteria Decision Making (MCDM) method to decidewhich set of activities must be performed first. Since the disastrous event in one area may be well contagious to others, it is one of the robot's priorities to evaluate the relative adversity of the situation, using the above methods and prioritize its mission.

Keywords: PERT, CPM, MCDM.

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Authors: Dominik Böhm, Konrad Czerski

Abstract:

A customized two-stage model has been developed to simulate, analyse, and visualize distillation of actinides as a useful alternative low-pressure separation method in the nuclear recycling cases. Under the most optimal conditions of idealized thermodynamic equilibrium stages and under total reflux of distillate the investigated cases of chloride systems for the separation of such actinides are (A) UCl4-CsCl-PuCl3 and (B) ThCl4-NaCl-PuCl3. Simulatively, uranium tetrachloride in case A is successfully separated by distillation into a six-stage distillation column, and thorium tetrachloride from case B into an eight-stage distillation column. For this, a permissible mole fraction value of 1E-06 has been assumed for the residual impurification degree. With further separation effort of eleven to seventeen required separation stages, the monochlorides of plutonium trichloride from both systems A and B are simulatively shown to be separated as high pure distillation products.

Keywords: Conceptual design of a pyroprocessing unit, molten salt recovery, simulation of total-reflux distillation column, used nuclear fuel reprocessing.

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Authors: B.S.Boyanov, M.P.Sandalski, K.I.Ivanov

Abstract:

The production of glass, ceramic materials and many non-ferrous metals (Zn, Cu, Pb, etc.), ferrous metals (pig iron) and others is connected with the use of a considerable number of initial solid raw materials. Before carrying out the basic technological processes (oxidized roasting, melting, agglomeration, baking) it is necessary to mix and homogenize the raw materials that have different chemical and phase content, granulometry and humidity. For this purpose zinc sulfide concentrates differing in origin are studied for their more complete characteristics using chemical, X-ray diffraction analyses, DTA and TGA as well as Mössbauer spectroscopy. The phases established in most concentrates are: β-ZnS, mZnS.nFeS, FeS2, CuFeS2, PbS, SiO2 (α-quartz). With the help of the developed by us a Web-based information system for a continued period of time different mix proportions from zinc concentrates are calculated and used in practice (roasting in fluidized bed reactor), which have to conform to the technological requirements of the zinc hydrometallurgical technological scheme.

Keywords: fluidized bed reactor, roasting, Web-based information system, zinc concentrates.

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Authors: Toyomi Fujita

Abstract:

This paper presents a sensing system for 3D sensing and mapping by a tracked mobile robot with an arm-type sensor movable unit and a laser range finder (LRF). The arm-type sensor movable unit is mounted on the robot and the LRF is installed at the end of the unit. This system enables the sensor to change position and orientation so that it avoids occlusions according to terrain by this mechanism. This sensing system is also able to change the height of the LRF by keeping its orientation flat for efficient sensing. In this kind of mapping, it may be difficult for moving robot to apply mapping algorithms such as the iterative closest point (ICP) because sets of the 2D data at each sensor height may be distant in a common surface. In order for this kind of mapping, the authors therefore applied interpolation to generate plausible model data for ICP. The results of several experiments provided validity of these kinds of sensing and mapping in this sensing system.

Keywords: Laser Range Finder, Arm-Type Sensor Movable Unit, Tracked Mobile Robot, 3D Mapping.

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Authors: Katsunori Miura, Kiyoshi Akama, Hiroshi Mabuchi

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In the Equivalent Transformation (ET) computation model, a program is constructed by the successive accumulation of ET rules. A method by meta-computation by which a correct ET rule is generated has been proposed. Although the method covers a broad range in the generation of ET rules, all important ET rules are not necessarily generated. Generation of more ET rules can be achieved by supplementing generation methods which are specialized for important ET rules. A Specialization-by-Equation (Speq) rule is one of those important rules. A Speq rule describes a procedure in which two variables included in an atom conjunction are equalized due to predicate constraints. In this paper, we propose an algorithm that systematically and recursively generate Speq rules and discuss its effectiveness in the synthesis of ET programs. A Speq rule is generated based on proof of a logical formula consisting of given atom set and dis-equality. The proof is carried out by utilizing some ET rules and the ultimately obtained rules in generating Speq rules.

Keywords: Equivalent transformation, ET rule, Equation of two variables, Rule generation, Specialization-by-Equation rule

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Authors: Vinod Kumar, Jatinder Kumar

Abstract:

The use of hard and brittle material has become increasingly more extensive in recent years. Therefore processing of these materials for the parts fabrication has become a challenging problem. However, it is time-consuming to machine the hard brittle materials with the traditional metal-cutting technique that uses abrasive wheels. In addition, the tool would suffer excessive wear as well. However, if ultrasonic energy is applied to the machining process and coupled with the use of hard abrasive grits, hard and brittle materials can be effectively machined. Ultrasonic machining process is mostly used for the brittle materials. The present research work has developed models using finite element approach to predict the mechanical stresses sand strains produced in the tool during ultrasonic machining process. Also the flow behavior of abrasive slurry coming out of the nozzle has been studied for simulation using ANSYS CFX module. The different abrasives of different grit sizes have been used for the experimentation work.

Keywords: Stress, MRR, Flow, Ultrasonic Machining

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