Search results for: Global Positioning System

Authors: Sungjoon Sim, Soongyu Kwon, Dongjae Song, Jong Tae Kim

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Flash memory has become an important storage device in many embedded systems because of its high performance, low power consumption and shock resistance. Multi-level cell (MLC) is developed as an effective solution for reducing the cost and increasing the storage density in recent years. However, most of flash file system cannot handle the error correction sufficiently. To correct more errors for MLC, we implement Reed-Solomon (RS) code to YAFFS, what is widely used for flash-based file system. RS code has longer computing time but the correcting ability is much higher than that of Hamming code.

Keywords: Reed-Solomon, NAND flash memory, YAFFS, ErrorCorrecting Code, Flash File System

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Authors: Dimitris Balios, Stefanos Tantos

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Economic growth and social evolution are connected to trust relationships in a society. The quality of the accounting information, the tax information system and the tax audit mechanism evolve multiple benefits in an economy. Tax evasion, the illegal practice where people and companies do not pay taxes, is a crime because of the negative effect in economy and society. In this paper, we describe a theoretical framework on the characteristics of a fair and efficient tax auditing information system which could be a tool against tax evasion, a tool for an economy to grow, especially in countries that face fluctuations in economic activity. We conclude that a fair and efficient tax auditing information system increases the reliability of tax administration, improves taxpayers’ tax compliance and causes a developmental trajectory for the economy.

Keywords: Auditing information system, auditing mechanism, tax evasion, taxation, quality of accounting information.

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Authors: Hao Mi, Ming Yang, Tian-yue Yang

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Ultrasonic infrared nondestructive testing is a kind of testing method with high speed, accuracy and localization. However, there are still some problems, such as the detection requires manual real-time field judgment, the methods of result storage and viewing are still primitive. An intelligent non-destructive detection system based on embedded linux is put forward in this paper. The hardware part of the detection system is based on the ARM (Advanced Reduced Instruction Set Computer Machine) core and an embedded linux system is built to realize image processing and defect detection of thermal images. The CLAHE algorithm and the Butterworth filter are used to process the thermal image, and then the boa server and CGI (Common Gateway Interface) technology are used to transmit the test results to the display terminal through the network for real-time monitoring and remote monitoring. The system also liberates labor and eliminates the obstacle of manual judgment. According to the experiment result, the system provides a convenient and quick solution for industrial non-destructive testing.

Keywords: Remote monitoring, non-destructive testing, embedded linux system, image processing.

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Authors: Jagmohan Mago, Parvinder S. Sandhu, Neeru Chawla

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In this paper, a Bayesian Network (BN) based system is presented for providing clinical decision support to healthcare practitioners in rural or remote areas of India for young infants or children up to the age of 5 years. The government is unable to appoint child specialists in rural areas because of inadequate number of available pediatricians. It leads to a high Infant Mortality Rate (IMR). In such a scenario, Intelligent Pediatric System provides a realistic solution. The prototype of an intelligent system has been developed that involves a knowledge component called an Intelligent Pediatric Assistant (IPA); and User Agents (UA) along with their Graphical User Interfaces (GUI). The GUI of UA provides the interface to the healthcare practitioner for submitting sign-symptoms and displaying the expert opinion as suggested by IPA. Depending upon the observations, the IPA decides the diagnosis and the treatment plan. The UA and IPA form client-server architecture for knowledge sharing.

Keywords: Network, Based Intelligent, Pediatric System

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Authors: Musthafah b. Mohd.Tahir, Noboru Yamada, Tetsuya Hoshino

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This paper describes the experimental efficiency of a compact organic Rankine cycle (ORC) system with a compact rotary-vane-type expander. The compact ORC system can be used for power generation from low-temperature heat sources such as waste heat from various small-scale heat engines, fuel cells, electric devices, and solar thermal energy. The purpose of this study is to develop an ORC system with a low power output of less than 1 kW with a hot temperature source ranging from 60°C to 100°C and a cold temperature source ranging from 10°C to 30°C. The power output of the system is rather less due to limited heat efficiency. Therefore, the system should have an economically optimal efficiency. In order to realize such a system, an efficient and low-cost expander is indispensable. An experimental ORC system was developed using the rotary-vane-type expander which is one of possible candidates of the expander. The experimental results revealed the expander performance for various rotation speeds, expander efficiencies, and thermal efficiencies. Approximately 30 W of expander power output with 48% expander efficiency and 4% thermal efficiency with a temperature difference between the hot and cold sources of 80°C was achieved.

Keywords: Organic Rankine cycle, Thermodynamic cycle, Thermal efficiency, Turbine efficiency, Waste heat recovery, Powergeneration, Low temperature heat engine.

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Authors: Shaival H. Nagarsheth, Utpal Pandya, Hemant J. Nagarsheth

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Cross flow water tube heat exchanger can be designed and made operational using methods of model building and simulation of the system. This paper projects the design and development of a model of cross flow water tube heat-exchanger system, simulation and validation of control analysis of different tuning methods. Feedback and override control system is developed using inputs acquired with the help of sensory system. A mathematical model is formulated for analysis of system behaviour. The temperature is regulated at the desired set point automatically.

Keywords: Heat Exchanger, Feedback, Override, Temperature, PID.

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Authors: Wudhichai Assawinchaichote

Abstract:

This paper examines the problem of designing robust H controllers for for HIV/AIDS infection system with dual drug dosages described by a Takagi-Sugeno (S) fuzzy model. Based on a linear matrix inequality (LMI) approach, we develop an H controller which guarantees the L2-gain of the mapping from the exogenous input noise to the regulated output to be less than some prescribed value for the system. A sufficient condition of the controller for this system is given in term of Linear Matrix Inequalities (LMIs). The effectiveness of the proposed controller design methodology is finally demonstrated through simulation results. It has been shown that the anti-HIV vaccines are critically important in reducing the infected cells.

Keywords: H∞ Fuzzy control; Takagi-Sugeno (TS) fuzzy model; Linear Matrix Inequalities (LMIs); HIV/AIDS infection system

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Authors: Xinli Zhang

Abstract:

In this paper, we consider the nonlinear delay dynamic system xΔ(t) = p(t)f1(y(t)), yΔ(t) = −q(t)f2(x(t − τ )). We obtain some necessary and sufficient conditions for the existence of nonoscillatory solutions with special asymptotic properties of the system. We generalize the known results in the literature. One example is given to illustrate the results.

Keywords: Dynamic system, oscillation, time scales, two-dimensional.

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Authors: Jan Busch, Maurice Schmidt, Peter Nyhuis

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The change of conditions for production companies in high-wage countries is characterized by the globalization of competition and the transition of a supplier´s to a buyer´s market. The companies need to face the challenges of reacting flexibly to these changes. Due to the significant and increasing degree of automation, assembly has become the most expensive production process. Regarding the reduction of production cost, assembly consequently offers a considerable rationalizing potential. Therefore, an aerodynamic feeding system has been developed at the Institute of Production Systems and Logistics (IFA), Leibniz Universitaet Hannover. This system has been enabled to adjust itself by using a genetic algorithm. The longer this genetic algorithm is executed the better is the feeding quality. In this paper, the relation between the system´s setting time and the feeding quality is observed and a function which enables the user to achieve the minimum of the total feeding time is presented.

Keywords: Aerodynamic feeding system, batch size, optimisation, setting time.

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Authors: Pimploi Tirastittam, Phutthiwat Waiyawuththanapoom

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Nowadays the promotion of the public transportation system in the Bangkok Metropolitan Area is increased such as the “Free Bus for Thai Citizen” Campaign and the prospect of the several MRT       routes to increase the convenient and comfortable to the Bangkok Metropolitan area citizens. But citizens do not make full use of them it because the citizens are lack of the data and information and also the confident to the public transportation system of Thailand especially in the time and safety aspects. This research is the Public Transport Planning System by Dijkstra Algorithm: Case Study Bangkok Metropolitan Area by focusing on buses, BTS and MRT schedules/routes to give the most information to passengers. They can choose the way and the routes easily by using Dijkstra STAR Algorithm of Graph Theory which also shows the fare of the trip. This Application was evaluated by 30 normal users to find the mean and standard deviation of the developed system. Results of the evaluation showed that system is at a good level of satisfaction (4.20 and 0.40). From these results we can conclude that the system can be used properly and effectively according to the objective.

Keywords: Dijkstra Algorithm, Graph Theory, Shortest Route, Public Transport, Bangkok Metropolitan Area.

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Authors: Bhim Singh

Abstract:

Due to increased pressure from global competitors, manufacturing organizations are switching over to lean philosophies from traditional mass production. Lean manufacturing is a manufacturing philosophy which focuses on elimination of various types of wastes and creates maximum value for the end customers. Lean thinking aims to produce high quality products and services at the lowest possible cost with maximum customer responsiveness. Indian Industry is facing lot of problems in this transformation from traditional mass production to lean production. Through this paper an attempt has been made to identify various lean implementation hurdles in Indian industries with the help of a structured survey. Identified hurdles are grouped with the help of factor analysis and rated by calculating descriptive statistics. To show the effect of lean implementation hurdles a hypothesis “Organizations having higher level of lean implementation hurdles will have poor (negative) performance” has been postulated and tested using correlation matrix between performance parameters of the organizations and identified hurdles. The findings of the paper will be helpful to prepare road map to identify and eradicate the lean implementation hurdles.

Keywords: Factor analysis, global competition, lean implementation and lean hurdles.

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Authors: Ag. S. Abd. Hamid, S. K. Lee, J. Dayou, R. Yusoff, F. Sulaiman

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The mixture between two fluids of different salinity has been proven to capable of producing electricity in an ocean salinity energy conversion system known as hydrocratic generator. The system relies on the difference between the salinity of the incoming fresh water and the surrounding sea water in the generator. In this investigation, additional parameter is introduced which is the temperature difference between the two fluids; hence the system is known as Ocean Salinity and Temperature Energy Conversion System (OSTEC). The investigation is divided into two papers. This first paper of Part 1 presents the theoretical formulation by considering the effect of fluid dynamic viscosity known as Viscosity Model and later compares with the conventional formulation which is Density Model. The dynamic viscosity model is used to predict the dynamic of the fluids in the system which in turns gives the analytical formulation of the potential power output that can be harvested. 

Keywords: Buoyancy, density, frictional head loss, kinetic power, viscosity.

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Authors: G. Papageorgiou, A. Hadjis

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This paper examines the problem of strategic management in highly turbulent dynamic business environmental conditions. As shown the high complexity of the problem can be managed with the use of System Dynamics Models and Computer Simulation in obtaining insights, and thorough understanding of the interdependencies between the organizational structure and the business environmental elements, so that effective product –market strategies can be designed. Simulation reveals the underlying forces that hold together the structure of an organizational system in relation to its environment. Such knowledge will contribute to the avoidance of fundamental planning errors and enable appropriate proactive well focused action.

Keywords: Strategic Management, System Dynamics, Modelingand Simulation, Strategic Planning, Organizational Dynamics

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Authors: Viriyavudh Sim, Woo Young Jung

Abstract:

Performance of Basalt Fiber Reinforced Polymer (BFRP) sandwich infill panel system under diagonal compression was studied by means of numerical analysis. Furthermore, the variation of temperature was considered to affect the mechanical properties of BFRP, since their composition was based on polymeric material. Moreover, commercial finite element analysis platform ABAQUS was used to model and analyze this infill panel system. Consequently, results of the analyses show that the overall performance of BFRP panel had a 15% increase compared to that of GFRP infill panel system. However, the variation of buckling load in terms of temperature for the BFRP system showed a more sensitive nature compared to those of GFRP system.

Keywords: Basalt Fiber Reinforced Polymer, Buckling performance, numerical simulation, temperature dependent materials.

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Authors: M. E. Soto-López, I. Gaxiola-Avendaño, A. Reyes-Salazar, E. Bojórquez, S. E. Ruiz

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The seismic responses of steel buildings with semirigid post-tensioned connections (PC) are estimated and compared with those of steel buildings with typical rigid (welded) connections (RC). The comparison is made in terms of global and local response parameters. The results indicate that the seismic responses in terms of interstory shears, roof displacements, axial load and bending moments are smaller for the buildings with PC connection. The difference is larger for global than for local parameters, which in turn varies from one column location to another. The reason for this improved behavior is that the buildings with PC dissipate more hysteretic energy than those with RC. In addition, unlike the case of buildings with WC, for the PC structures the hysteretic energy is mostly dissipated at the connections, which implies that structural damage in beams and columns is not significant. According to these results, steel buildings with PC are a viable option in high seismicity areas because of their smaller response and self-centering connection capacity as well as the fact that brittle failure is avoided.

Keywords: Inter-story drift, Nonlinear time-history analysis, Post-tensioned connections, Steel buildings.

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Authors: Arpan Dwivedi, Yogesh Pahariya

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In this paper, optimal design of hybrid standalone power supply system (SAPS) is done for off grid applications in remote areas where transmission of power is difficult. The hybrid SAPS system uses two primary energy sources, wind and solar, and in addition to these diesel generator is also connected to meet the load demand in case of failure of wind and solar system. This paper presents mathematical modeling of 1.4 MW hybrid SAPS system for rural electrification. This paper firstly focuses on mathematical modeling of PV module connected in a string, secondly focuses on modeling of permanent magnet wind turbine generator (PMWTG). The hybrid controller is also designed for selection of power from the source available as per the load demand. The power output of hybrid SAPS system is analyzed for meeting load demands at urban as well as for rural areas.

Keywords: SAPS, DG, PMWTG, rural area, off grid, PV module.

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Authors: Paul Diaconu, Nicoleta Coman

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This paper explores the idea of globalisation and considers accounting-s role in that process in order to develop new spaces for accounting research. That-s why in this paper we are looking for questions not necessary for answers. Adopting an 'alternative' view of accounting it-s related to the fact that we sees accounting as social and evolutionist process, that pays heed to those voices arguing for greater social and environmental justice, and that draws attention to the role of accounting researchers in the process of globalisation. The paper defines globalisation and expands the globalisation and accounting research agenda introducing in this context the harmonization process in accounting. There are the two main systems which are disputing the first stage of being the benchmark: GAAP and IFRS. Each of them has his pluses and minuses on being the selected one. Due to this fact a convergence of the two, joining the advantages and disadvantages of the two should be the solution for an unique international accounting solution. Is this idea realizable, what steps has been made until now, what should be done in the future. The paper is emphasising the role of the cultural differences in the process of imposing of an unique international accounting system by the global organizations..

Keywords: Investors, capital markets, international accounting.

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Authors: T. Wanyama, B. Far

Abstract:

Automatic irrigation systems usually conveniently protect landscape investment. While conventional irrigation systems are known to be inefficient, automated ones have the potential to optimize water usage. In fact, there is a new generation of irrigation systems that are smart in the sense that they monitor the weather, soil conditions, evaporation and plant water use, and automatically adjust the irrigation schedule. In this paper, we present an agent based smart irrigation system. The agents are built using a mix of commercial off the shelf software, including MATLAB, Microsoft Excel and KEPServer Ex5 OPC server, and custom written code. The Irrigation Scheduler Agent uses fuzzy logic to integrate the information that affect the irrigation schedule. In addition, the Multi-Agent system uses Open Platform Connectivity (OPC) technology to share data. OPC technology enables the Irrigation Scheduler Agent to communicate over the Internet, making the system scalable to a municipal or regional agent based water monitoring, management, and optimization system. Finally, this paper presents simulation and pilot installation test result that show the operational effectiveness of our system.

Keywords: Community water usage, fuzzy logic, irrigation, multi-agent system.

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Authors: R. Masarova, M. Juhas, B. Juhasova, Z. Sutova

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In dynamic system theory a mathematical model is often used to describe their properties. In order to find a transfer matrix of a dynamic system we need to calculate an inverse matrix. The paper contains the fusion of the classical theory and the procedures used in the theory of automated control for calculating the inverse matrix. The final part of the paper models the given problem by the Matlab.

Keywords: Dynamic system, transfer matrix, inverse matrix, modeling.

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Authors: Sheng Ge, Jian-Peng Wang, Hai-Ying Tang, Xi Xiao, Wen Wu

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This research proposed a new design of helmet-shaped array transcranial magnetic stimulation coil system. It was constructed using several sagittal directional wires and several coronal directional wires. By varying the current direction and strength on each wire, this array coil system could be constructed into the circular coil and figure-eight coil of different size. Also, this proposed coil system can flexibly not only change the stimulation location, range, type and strength, but also change the shape and the channel number of coil dynamically.

Keywords: TMS, circular coils, figure-eight coil, array coil

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Authors: V. Boguslauskas, G. Jakstonyte, L. Giriunas

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Many foreign and Lithuanian scientists, analyzing the evaluation of the tax system in respect of the burden of taxation, agree that the latter, in principle, depends on how many individuals and what units of the residents constitute a household. Therefore, the aim of scientific research is to substantiate or to deny the significance of a household, but not a resident, as a statistical unit, during the evaluation of tax system, to be precise, determination of the value of the burden of taxation. A performed scientific research revealed that evaluation of the tax system in respect of a household, but not a resident, as a statistical unit, allows not only to evaluate the efficiency of the tax system more objectively, but also to forecast practicably existing poverty line, burden of taxation, and to capacitate the initiation of efficient decisions in social and tax fields creating the environment of existence.

Keywords: burden of taxation, household, tax systemevaluation.

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Authors: A. L. Y. Ng, W. H. Hii

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A series of tests on cold-formed steel (CFS) wall plate system subjected to uplift force at the mid span of the wall plate is presented. The aim of the study was to study the behaviour and identify the modes of failure of CFS wall plate system. Two parameters were considered in these studies: 1) different dimension of U-bracket at the supports and 2) different sizes of lipped C-channel. The lipped C-channels used were C07508, C07512 and C10012. The dimensions of the leg of U-bracket were 50x35 mm and 50x60 mm respectively, where 25 mm clearance was provided to the connections for specimens with clearance. Results show that specimens with and without clearance experienced the same mode of failure. Failure began with the yielding of the connectors followed by distortional buckling of the wall plate. However, when C075 sections were used as wall plate, the system behaved differently. There was a large deformation in the wall plate and failure began in the distortional buckling of the wall plate followed by bearing of the connecting plates at the supports (U-bracket). The ultimate strength of the system also decreased dramatically when C075 sections were used.

Keywords: Cold-formed steel, wall plate system, distortional buckling, full scale laboratory test.

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Authors: Priyanka Paliwal, N. P. Patidar, R. K. Nema

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Battery storage system is emerging as an essential component of hybrid power system based on renewable energy resources such as solar and wind in order to make these sources dispatchable. Accurate modeling of battery storage system is ssential in order to ensure optimal planning of hybrid power systems incorporating battery storage. Majority of the system planning studies involving battery storage assume battery charging efficiency to be constant. However a strong correlation exists between battery charging efficiency and battery state of charge. In this work a Fuzzy logic based model has been presented for determining battery charging efficiency relative to a particular SOC. In order to demonstrate the efficacy of proposed approach, reliability evaluation studies are carried out for a hypothetical autonomous hybrid power system located in Jaisalmer, Rajasthan, India. The impact of considering battery charging efficiency as a function of state of charge is compared against the assumption of fixed battery charging efficiency for three different configurations comprising of wind-storage, solar-storage and wind-solar-storage.

Keywords: Battery Storage, Charging efficiency, Fuzzy Logic, Hybrid Power System, Reliability

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Authors: Amir Anvar, Dong Yang Li

Abstract:

This paper presents an overview of the Ocean wave kinetic energy harvesting system. Energy harvesting is a concept by which energy is captured, stored, and utilized using various sources by employing interfaces, storage devices, and other units. Ocean wave energy harvesting in which the kinetic and potential energy contained in the natural oscillations of Ocean waves are converted into electric power. The kinetic energy harvesting system could be used for a number of areas. The main applications that we have discussed in this paper are to how generate the energy from Ocean wave energy (kinetic energy) to electric energy that is to eliminate the requirement for continual battery replacement.

Keywords: Energy harvesting, power system, oceanic, sensors, autonomous.

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Authors: Mei-Fang Wu, Shu-Li Wang, Feng-Tsung Cheng

Abstract:

Highly developed technology and highly competitive global market highlight the important role of competitive advantages and operation performances in sustainable company operation. Activity-Based Costing (ABC) provides accurate operation cost and operation performance information. Rich literatures provide relevant research with cases study on Activity-Based Costing application, but the research on cause relationship between key success factors and its specific outcome, such as profitability or share market are few. These relationships provide the ways to handle the key success factors to achieve the specific outcomes for ensuring to promote the competitive advantages and operation performances. The main purposes of this research are exploring the key success paths by Key Success Paths approach which will lead the ways to apply Activity-Base Costing. The Key Success Paths is the innovative method which is exploring the cause relationships and explaining what are the effects of key success factors to specific outcomes of Activity-Based Costing implementation. The cause relationships between key success factors and successful specific outcomes are Key Success Paths (KSPs). KSPs are the guidelines to lead the cost management strategies to achieve the goals of competitive advantages and operation performances. The research findings indicate that good management system design may affect the well outcomes of Activity-Based Costing application and achieve to outstanding competitive advantage, operating performance and profitability as well by KSPs exploration.

Keywords: Activity-Based Costing, Key success factors, Key success paths approach, Key success paths, Key failure paths.

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Authors: Viet Dzung Nguyen, Duc Thuan Nguyen, Tien Dzung Nguyen, Van Thanh Pham

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Mammography is the most effective procedure for an early diagnosis of the breast cancer. Nowadays, people are trying to find a way or method to support as much as possible to the radiologists in diagnosis process. The most popular way is now being developed is using Computer-Aided Detection (CAD) system to process the digital mammograms and prompt the suspicious region to radiologist. In this paper, an automated CAD system for detection and classification of massive lesions in mammographic images is presented. The system consists of three processing steps: Regions-Of- Interest detection, feature extraction and classification. Our CAD system was evaluated on Mini-MIAS database consisting 322 digitalized mammograms. The CAD system-s performance is evaluated using Receiver Operating Characteristics (ROC) and Freeresponse ROC (FROC) curves. The archived results are 3.47 false positives per image (FPpI) and sensitivity of 85%.

Keywords: classification, computer-aided detection, featureextraction, mass detection.

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Authors: Vahid Fayaz , Asieh Tavakol

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To investigate the applicability of the EDR-2 film for clinical radiation dosimetry, percentage depth-doses, profiles and distributions in open and dynamically wedged fields were measured using film and compared with data from a Treatment Planning system.The validity of the EDR2 film to measure dose in a plane parallel to the beam was tested by irradiating 10 cm×10 cm and 4 cm×4 cm fields from a Siemens, primus linac with a 6MV beam and a source-to-surface distance of 100 cm. The film was placed Horizontally between solid water phantom blocks and marked with pin holes at a depth of 10 cm from the incident beam surface. The film measurement results, in absolute dose, were compared with ion chamber measurements using a Welhoffer scanning water tank system and Treatment Planning system. Our results indicate a maximum underestimate of calculated dose of 8 % with Treatment Planning system.

Keywords: 6MV Photon , EDR-2 film, Radiotherapy, TreatmentPlanning system

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Authors: Shield B. Lin, Ziraguen O. Williams

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In a task to assist NASA in analyzing the dynamic forces caused by operational countermeasures of an astronaut’s exercise platform impacting the spacecraft, an active proportional-integral-derivative controller commanding a linear actuator is proposed in a vibration isolation system to regulate the movement of the exercise platform. Computer simulation shows promising results that most exciter forces can be reduced or even eliminated. This paper emphasizes on parameter uncertainties, variations and exciter force variations. Drift and variations of system parameters in the vibration isolation system for astronaut’s exercise platform are analyzed. An active controlled scheme is applied with the goals to reduce the platform displacement and to minimize the force being transmitted to the spacecraft structure. The controller must be robust enough to accommodate the wide variations of system parameters and exciter forces. Computer simulation for the vibration isolation system was performed via MATLAB/Simulink and Trick. The simulation results demonstrate the achievement of force reduction with small platform displacement under wide ranges of variations in system parameters. 

Keywords: control, counterweight, isolation, vibration

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Authors: Jian Wang, Lu Yang, Jiong Peng

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Internal circulation two-platen clamping system for injection molding machine (IMM) has many potential advantages on energy-saving. In order to estimate its properties, experiments were carried out in this paper. Displacement and pressure of the components were measured. In comparison, the model of hydraulic clamping system was established by using AMESim. The related parameters as well as the energy consumption could be calculated. According to the analysis, the hydraulic system was optimized in order to reduce the energy consumption.

Keywords: AMESim, energy-saving, injection molding machine, internal circulation.

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Authors: Young-Lim Choi, Nak-Yun Choi, Jae-Yong Seo, Sang-Il Park, Jong-Wook Kim

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This paper proposes a prototype of a lower-limb rehabilitation system for recovering and strengthening patients- injured lower limbs. The system is composed of traction motors for each leg position, a treadmill as a walking base, tension sensors, microcontrollers controlling motor functions and a main system with graphic user interface. For derivation of reference or normal velocity profiles of the body segment point, kinematic method is applied based on the humanoid robot model using the reference joint angle data of normal walking.

Keywords: Rehabilitation, lower limb, treadmill, humanoid robot.

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