Search results for: hydronic radiant systems

Authors: Fu E. Tang, Vun J. Ngu

Abstract:

The pollutant removal efficiency of the Intermittently Decanted Extended Aeration (IDEA) wastewater treatment system at Curtin University Sarawak Campus, and conventional activated sludge wastewater treatment system at a local resort, Resort A, is monitored. The influent and effluent characteristics are tested during wet and dry weather conditions, and peak and off peak periods. For the wastewater treatment systems at Curtin Sarawak and Resort A, during dry weather and peak season, it was found that the BOD5 concentration in the influent is 121.7mg/L and 80.0mg/L respectively, and in the effluent, 18.7mg/L and and 18.0mg/L respectively. Analysis of the performance of the IDEA treatment system showed that the operational costs can be minimized by 3%, by decreasing the number of operating cycles. As for the treatment system in Resort A, by utilizing a smaller capacity air blower, a saving of 12% could be made in the operational costs.

Keywords: Conventional Activated Sludge, IDEA, Performance Monitoring, Wastewater Treatment

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Authors: Parvinder S. Sandhu, Jagdeep Singh, Vikas Gupta, Mandeep Kaur, Sonia Manhas, Ramandeep Sidhu

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Prediction of fault-prone modules provides one way to support software quality engineering. Clustering is used to determine the intrinsic grouping in a set of unlabeled data. Among various clustering techniques available in literature K-Means clustering approach is most widely being used. This paper introduces K-Means based Clustering approach for software finding the fault proneness of the Object-Oriented systems. The contribution of this paper is that it has used Metric values of JEdit open source software for generation of the rules for the categorization of software modules in the categories of Faulty and non faulty modules and thereafter empirically validation is performed. The results are measured in terms of accuracy of prediction, probability of Detection and Probability of False Alarms.

Keywords: K-Means, Software Fault, Classification, ObjectOriented Metrics.

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Authors: Ciprian Dobre

Abstract:

The scale, complexity and worldwide geographical spread of the LHC computing and data analysis problems are unprecedented in scientific research. The complexity of processing and accessing this data is increased substantially by the size and global span of the major experiments, combined with the limited wide area network bandwidth available. We present the latest generation of the MONARC (MOdels of Networked Analysis at Regional Centers) simulation framework, as a design and modeling tool for large scale distributed systems applied to HEP experiments. We present simulation experiments designed to evaluate the capabilities of the current real-world distributed infrastructure to support existing physics analysis processes and the means by which the experiments bands together to meet the technical challenges posed by the storage, access and computing requirements of LHC data analysis within the CMS experiment.

Keywords: Modeling and simulation, evaluation, large scale distributed systems, LHC experiments, CMS.

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Authors: Alexander L. Pyayt, Ilya I. Mokhov, Bernhard Lang, Valeria V. Krzhizhanovskaya, Robert J. Meijer

Abstract:

More and more natural disasters are happening every year: floods, earthquakes, volcanic eruptions, etc. In order to reduce the risk of possible damages, governments all around the world are investing into development of Early Warning Systems (EWS) for environmental applications. The most important task of the EWS is identification of the onset of critical situations affecting environment and population, early enough to inform the authorities and general public. This paper describes an approach for monitoring of flood protections systems based on machine learning methods. An Artificial Intelligence (AI) component has been developed for detection of abnormal dike behaviour. The AI module has been integrated into an EWS platform of the UrbanFlood project (EU Seventh Framework Programme) and validated on real-time measurements from the sensors installed in a dike.

Keywords: Early Warning System, intelligent environmentalmonitoring, machine learning, flood protection.

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Authors: Abolhassan Razminia, Mohammad-Ali Sadrnia

Abstract:

Chua’s circuit is one of the most important electronic devices that are used for Chaos and Bifurcation studies. A central role of secure communication is devoted to it. Since the adaptive control is used vastly in the linear systems control, here we introduce a new trend of application of adaptive method in the chaos controlling field. In this paper, we try to derive a new adaptive control scheme for Chua’s circuit controlling because control of chaos is often very important in practical operations. The novelty of this approach is for sake of its robustness against the external perturbations which is simulated as an additive noise in all measured states and can be generalized to other chaotic systems. Our approach is based on Lyapunov analysis and the adaptation law is considered for the feedback gain. Because of this, we have named it NAFT (Nonlinear Adaptive Feedback Technique). At last, simulations show the capability of the presented technique for Chua’s circuit.

Keywords: Chaos, adaptive control, nonlinear control, Chua's circuit.

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Authors: A.V.Naresh Babu, S.Sivanagaraju

Abstract:

A considerable progress has been achieved in transient stability analysis (TSA) with various FACTS controllers. But, all these controllers are associated with single transmission line. This paper is intended to discuss a new approach i.e. a multi-line FACTS controller which is interline power flow controller (IPFC) for TSA of a multi-machine power system network. A mathematical model of IPFC, termed as power injection model (PIM) presented and this model is incorporated in Newton-Raphson (NR) power flow algorithm. Then, the reduced admittance matrix of a multi-machine power system network for a three phase fault without and with IPFC is obtained which is required to draw the machine swing curves. A general approach based on L-index has also been discussed to find the best location of IPFC to reduce the proximity to instability of a power system. Numerical results are carried out on two test systems namely, 6-bus and 11-bus systems. A program in MATLAB has been written to plot the variation of generator rotor angle and speed difference curves without and with IPFC for TSA and also a simple approach has been presented to evaluate critical clearing time for test systems. The results obtained without and with IPFC are compared and discussed.

Keywords: Flexible alternating current transmission system (FACTS), first swing stability, interline power flow controller (IPFC), power injection model (PIM).

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Authors: D. R. Ambika, K. R. Radhika, D. Seshachalam

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Unconstrained authentication is an important component for personal automated systems and human-computer interfaces. Existing solutions mostly use face as the primary object of analysis. The performance of face-based systems is largely determined by the extent of deformation caused in the facial region and amount of useful information available in occluded face images. Periocular region is a useful portion of face with discriminative ability coupled with resistance to deformation. A reliable portion of periocular area is available for occluded images. The present work demonstrates that joint representation of periocular texture and periocular structure provides an effective expression and poses invariant representation. The proposed methodology provides an effective and compact description of periocular texture and shape. The method is tested over four benchmark datasets exhibiting varied acquisition conditions.

Keywords: Periocular authentication, Zernike moments, LBPV, shape and texture fusion.

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Authors: Leila Kazemi, Akram Pourmohammad, Zargham OstadiAsl, Maryam Jahandideh, Ahadollah Azami

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Due to its geographical location, Iran is considered one of the earthquake-prone areas where the best way to decrease earthquake effects is supposed to be strengthening the buildings. Even though, one idea suggests that the use of adobe in constructing buildings be prohibited for its weak function especially in earthquake-prone areas, however, regarding ecological considerations, sustainability and other local skills, another idea pays special attention to adobe as one of the construction technologies which is popular among people. From the architectural and technological point of view, as strong sustainable building construction materials, compressed adobe construction materials make most of the construction in urban or rural areas ranging from small to big industrial buildings used to replace common earth blocks in traditional systems and strengthen traditional adobe buildings especially against earthquake. Mentioning efficient construction using compressed adobe system as a reliable replacement for traditional soil construction materials , this article focuses on the experiences of India in the fields of sustainable development of compressed adobe systems in the form of system in which the compressed soil is combined with cement, load bearing building with brick/solid concrete block system, brick system using rat trap bond, metal system with adobe infill and finally emphasizes on the use of these systems in the earthquake-struck city of Bam in Iran.

Keywords: Local Materials, Compressed Earth Blocks, Sustainable Construction, Retrofitting

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Authors: Shinji Kawakura, Ryosuke Shibasaki

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We have been grouping and developing various kinds of practical, promising sensing applied systems concerning agricultural advancement and technical tradition (guidance). These include advanced devices to secure real-time data related to worker motion, and we analyze by methods of various advanced statistics and human dynamics (e.g. primary component analysis, Ward system based cluster analysis, and mapping). What is more, we have been considering worker daily health and safety issues. Targeted fields are mainly common farms, meadows, and gardens. After then, we observed and discussed time-line style, changing data. And, we made some suggestions. The entire plan makes it possible to improve both the aforementioned applied systems and farms.

Keywords: Advanced statistical analysis, wearable sensing system, tradition of skill, supporting for workers, detecting crisis.

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Authors: Thi-Quynh Bui, Oum-El-Kheir Aktouf

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This paper studies the dependability of componentbased applications, especially embedded ones, from the diagnosis point of view. The principle of the diagnosis technique is to implement inter-component tests in order to detect and locate the faulty components without redundancy. The proposed approach for diagnosing faulty components consists of two main aspects. The first one concerns the execution of the inter-component tests which requires integrating test functionality within a component. This is the subject of this paper. The second one is the diagnosis process itself which consists of the analysis of inter-component test results to determine the fault-state of the whole system. Advantage of this diagnosis method when compared to classical redundancy faulttolerant techniques are application autonomy, cost-effectiveness and better usage of system resources. Such advantage is very important for many systems and especially for embedded ones.

Keywords: Dependability, diagnosis, middlewares, embeddedsystems, fault tolerance, inter-component testing.

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Authors: Chidentree Treesatayapun

Abstract:

A direct adaptive controller for a class of unknown nonlinear discrete-time systems is presented in this article. The proposed controller is constructed by fuzzy rules emulated network (FREN). With its simple structure, the human knowledge about the plant is transferred to be if-then rules for setting the network. These adjustable parameters inside FREN are tuned by the learning mechanism with time varying step size or learning rate. The variation of learning rate is introduced by main theorem to improve the system performance and stabilization. Furthermore, the boundary of adjustable parameters is guaranteed through the on-line learning and membership functions properties. The validation of the theoretical findings is represented by some illustrated examples.

Keywords: Neuro-Fuzzy, learning algorithm, nonlinear discrete time.

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Authors: Tomoaki Hashimoto

Abstract:

In recent decades, probabilistic constrained optimal control problems have attracted much attention in many research fields. Although probabilistic constraints are generally intractable in an optimization problem, several tractable methods haven been proposed to handle probabilistic constraints. In most methods, probabilistic constraints are reduced to deterministic constraints that are tractable in an optimization problem. However, there is a gap between the transformed deterministic constraints in case of known and unknown probability distribution. This paper examines the conservativeness of probabilistic constrained optimization method for unknown probability distribution. The objective of this paper is to provide a quantitative assessment of the conservatism for tractable constraints in probabilistic constrained optimization with unknown probability distribution.

Keywords: Optimal control, stochastic systems, discrete-time systems, probabilistic constraints.

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Authors: Ajay Joshi, Surya Ismail

Abstract:

This paper will present the initial findings of a research into distributed computer rendering. The goal of the research is to create a distributed computer system capable of rendering a 3D model into an MPEG-4 stream. This paper outlines the initial design, software architecture and hardware setup for the system. Distributed computing means designing and implementing programs that run on two or more interconnected computing systems. Distributed computing is often used to speed up the rendering of graphical imaging. Distributed computing systems are used to generate images for movies, games and simulations. A topic of interest is the application of distributed computing to the MPEG-4 standard. During the course of the research, a distributed system will be created that can render a 3D model into an MPEG-4 stream. It is expected that applying distributed computing principals will speed up rendering, thus improving the usefulness and efficiency of the MPEG-4 standard

Keywords: Cluster, parallel architecture, rendering, MPEG-4.

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Authors: Wilfred Fritz

Abstract:

The accreditation process of engineering degree programmes is based on various reports evaluated by the relevant governing bodies of the institution of higher education. One of the aforementioned reports for the accreditation process is a self-assessment report which is to be completed by the applying institution. This paper seeks to emphasise the importance of analysis of internal quality management systems and self-examination processes in the engineering accreditation processes. A description of how the programme fulfils the criteria should be given. Relevant stakeholders all need to contribute in the writing and structuring of the self-assessment report. The last step is to gather evidence in the form of supporting documentation. In conclusion, the paper also identifies learning outcomes in a case study in seeking accreditation from an international relevant professional body.

Keywords: Accreditation, governing bodies, self-assessment report, quality management.

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Authors: Pawel P. Czapski, Andrzej Sluzek

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This paper presents preliminary results regarding system-level power awareness for FPGA implementations in wireless sensor networks. Re-configurability of field programmable gate arrays (FPGA) allows for significant flexibility in its applications to embedded systems. However, high power consumption in FPGA becomes a significant factor in design considerations. We present several ideas and their experimental verifications on how to optimize power consumption at high level of designing process while maintaining the same energy per operation (low-level methods can be used additionally). This paper demonstrates that it is possible to estimate feasible power consumption savings even at the high level of designing process. It is envisaged that our results can be also applied to other embedded systems applications, not limited to FPGA-based.

Keywords: Power optimization, FPGA, system-level designing, wireless sensor networks.

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Authors: G.P. Nguyen, H.J. Andersen

Abstract:

Building intelligent traffic guide systems has been an interesting subject recently. A good system should be able to observe all important visual information to be able to analyze the context of the scene. To do so, signs in general, and traffic signs in particular, are usually taken into account as they contain rich information to these systems. Therefore, many researchers have put an effort on sign recognition field. Sign localization or sign detection is the most important step in the sign recognition process. This step filters out non informative area in the scene, and locates candidates in later steps. In this paper, we apply a new approach in detecting sign locations using a new color invariant model. Experiments are carried out with different datasets introduced in other works where authors claimed the difficulty in detecting signs under unfavorable imaging conditions. Our method is simple, fast and most importantly it gives a high detection rate in locating signs.

Keywords: Sign localization, color-based segmentation.

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Authors: Da-kuan Wei, Xian-zhong Zhou, Dong-jun Xin, Zhi-wei Chen

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The information systems with incomplete attribute values and fuzzy decisions commonly exist in practical problems. On the base of the notion of variable precision rough set model for incomplete information system and the rough set model for incomplete and fuzzy decision information system, the variable rough set model for incomplete and fuzzy decision information system is constructed, which is the generalization of the variable precision rough set model for incomplete information system and that of rough set model for incomplete and fuzzy decision information system. The knowledge reduction and heuristic algorithm, built on the method and theory of precision reduction, are proposed.

Keywords: Rough set, Incomplete and fuzzy decision information system, Limited valued tolerance relation, Knowledge reduction, Variable rough set model

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Authors: Phong Tran

Abstract:

A research effort to find the reality of the business of Japan-s software globalization of enterprise-level business software systems has found that while the number of Japan-made enterpriselevel software systems is comparable with those of the other G7 countries, the business is limited to the East and Southeast Asian markets. This indicates that this business has a problem in the European and USA markets. Based on the knowledge that the research has established, the research concludes that the communication problems arise from the lack of individualists' communication styles and foreign language skills in Japan's software globalization is compensated by similarities in certain Japanese cultural factors and Japan's cultural power in the East and Southeast Asian markets and that this business does not have this compensation factor in the European and American markets due to dissimilarities and no cultural power.

Keywords: Cultural factors, global business, Japan, software globalization.

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Authors: Jin Fan, M. Ala Saadeghvaziri

Abstract:

Unmanned aerial vehicles (UAVs), also referred to as drones, equipped with various kinds of advanced detecting or surveying systems, are effective and low-cost in data acquisition, data delivery and sharing, which can benefit the building of infrastructures. This paper will give an overview of applications of drones in planning, designing, construction and maintenance of infrastructures. The drone platform, detecting and surveying systems, and post-data processing systems will be introduced, followed by cases with details of the applications. Challenges from different aspects will be addressed. Opportunities of drones in infrastructure include but not limited to the following. Firstly, UAVs equipped with high definition cameras or other detecting equipment are capable of inspecting the hard to reach infrastructure assets. Secondly, UAVs can be used as effective tools to survey and map the landscape to collect necessary information before infrastructure construction. Furthermore, an UAV or multi-UVAs are useful in construction management. UVAs can also be used in collecting roads and building information by taking high-resolution photos for future infrastructure planning. UAVs can be used to provide reliable and dynamic traffic information, which is potentially helpful in building smart cities. The main challenges are: limited flight time, the robustness of signal, post data analyze, multi-drone collaboration, weather condition, distractions to the traffic caused by drones. This paper aims to help owners, designers, engineers and architects to improve the building process of infrastructures for higher efficiency and better performance.

Keywords: Bridge, construction, drones, infrastructure, information.

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Authors: M. Taha, Hala H. Zayed, T. Nazmy, M. Khalifa

Abstract:

Recently, traffic monitoring has attracted the attention of computer vision researchers. Many algorithms have been developed to detect and track moving vehicles. In fact, vehicle tracking in daytime and in nighttime cannot be approached with the same techniques, due to the extreme different illumination conditions. Consequently, traffic-monitoring systems are in need of having a component to differentiate between daytime and nighttime scenes. In this paper, a HSV-based day/night detector is proposed for traffic monitoring scenes. The detector employs the hue-histogram and the value-histogram on the top half of the image frame. Experimental results show that the extraction of the brightness features along with the color features within the top region of the image is effective for classifying traffic scenes. In addition, the detector achieves high precision and recall rates along with it is feasible for real time applications.

Keywords: Day/night detector, daytime/nighttime classification, image classification, vehicle tracking, traffic monitoring.

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Authors: Hooman Jafarabadi

Abstract:

In this paper application of artificial intelligence for baby and children caring is studied. Then a new idea for injury prevention and safety announcement is presented by using digital image processing. The paper presents the structure of the proposed system. The system determines the possibility of the dangers for children and babies in yards, gardens and swimming pools or etc. In the presented idea, multi camera System is used and receiver videos are processed to find the hazardous areas then the entrance of children and babies in the determined hazardous areas are analyzed. In this condition the system does the programmed action capture, produce alarm or tone or send message.

Keywords: Baby and children Care and Nursing, Intelligent Control Systems for Nursing, Electronic Care and Nursing, Dangers and safety for children and babies, Motion detection, Expert danger alarm systems.

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Authors: Cheng-Lung Huang, Han-Yu Chien, Michael Conyette

Abstract:

Social bookmarking is an environment in which the user gradually changes interests over time so that the tag data associated with the current temporal period is usually more important than tag data temporally far from the current period. This implies that in the social tagging system, the newly tagged items by the user are more relevant than older items. This study proposes a novel recommender system that considers the users- recent tag preferences. The proposed system includes the following stages: grouping similar users into clusters using an E-M clustering algorithm, finding similar resources based on the user-s bookmarks, and recommending the top-N items to the target user. The study examines the system-s information retrieval performance using a dataset from del.icio.us, which is a famous social bookmarking web site. Experimental results show that the proposed system is better and more effective than traditional approaches.

Keywords: Recommender systems, Social bookmarking, Tag

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Authors: Manal Rayes

Abstract:

In its efforts to utilize the information and communication technology to enhance the quality of public service delivery, national and local governments around the world are competing to introduce more ICT applications as tools to automate processes related to law enforcement or policy execution, increase citizen orientation, trust, and satisfaction, and create one-stop-shops for public services. In its implementation, e-Government ICTs need to maintain transparency, participation, and collaboration. Due to this diverse of mixed goals and requirements, e-Government systems need to be designed based on special design considerations in order to eliminate the risks of failure to compliance to government regulations, citizen dissatisfaction, or market repulsion. In this article we suggest a framework with guidelines for designing government information systems that takes into consideration the special requirements of the public sector. Then we introduce two case studies and show how applying those guidelines would result in a more solid system design.

Keywords: e-government, framework, guidelines, system design.

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Authors: Yannick Verbelen, Tim Dekegel, Ann Peeters, Klara Stinders, Niek Blondeel, Sam De Winne, An Braeken, Abdellah Touhafi

Abstract:

Matching an embedded electronic application with a cantilever vibration energy harvester remains a difficult endeavour due to the large number of factors influencing the output power. In the presented work, complementary balanced energy harvester parametrization is used as a methodology for simplification of harvester integration in electronic applications. This is achieved by a dual approach consisting of an adaptation of the general parametrization methodology in conjunction with a straight forward harvester benchmarking strategy. For this purpose, the design and implementation of a suitable user friendly cantilever energy harvester benchmarking platform is discussed. Its effectiveness is demonstrated by applying the methodology to a commercially available Mide V21BL vibration energy harvester, with excitation amplitude and frequency as variables.

Keywords: Energy harvesting, vibrations, piezoelectric transducers, embedded systems, harvester parametrization.

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Authors: Matta S. N. S. Kiran, Manikantadhar Maheswaram, Akshat Upadhyay, Rohit Mishra, Bhagat Singh

Abstract:

A bearing is a very common and useful component of mechanical systems in order to transfer power from one end to another. Therefore, to ensure the accountability and robustness of the rotating mechanical systems, the bearing part's health condition must be checked at regular intervals, also known as preventive maintenance. This condition may lead to unnecessary higher maintenance costs and later result in higher production costs. These costs can be minimized by diagnosing the faulty bearing in its incipient stage. This paper describes an approach to detect rolling bearing defects based on Empirical Mode Decomposition. The novelty of the proposed methodology is validated experimentally using Case Western Reserve University bearing's data sets. The selected data sets comprise the two vibration signals, i.e., inner race and outer, for healthy and faulty conditions.

Keywords: Ball bearing, denoising, signal processing, statistical indicators.

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Authors: Gerrit Alves, Jürgen Roßmann, Roland Wischnewski

Abstract:

Today, transport and logistic systems are often tightly integrated in the production. Lean production and just-in-time delivering create multiple constraints that have to be fulfilled. As transport networks often have evolved over time they are very expensive to change. This paper describes a discrete-event-simulation system which simulates transportation models using real time resource routing and collision avoidance. It allows for the specification of own control algorithms and validation of new strategies. The simulation is integrated into a virtual reality (VR) environment and can be displayed in 3-D to show the progress. Simulation elements can be selected through VR metaphors. All data gathered during the simulation can be presented as a detailed summary afterwards. The included cost-benefit calculation can help to optimize the financial outcome. The operation of this approach is shown by the example of a timber harvest simulation.

Keywords: Discrete-Event-Simulation, Logistic, Simulation, Virtual Reality.

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Authors: Amit Kumar, Pushpinder Singh, Parampreet Kaur, Amarpreet Kaur

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Ranking of fuzzy numbers play an important role in decision making, optimization, forecasting etc. Fuzzy numbers must be ranked before an action is taken by a decision maker. In this paper, with the help of several counter examples it is proved that ranking method proposed by Chen and Chen (Expert Systems with Applications 36 (2009) 6833-6842) is incorrect. The main aim of this paper is to propose a new approach for the ranking of generalized trapezoidal fuzzy numbers. The main advantage of the proposed approach is that the proposed approach provide the correct ordering of generalized and normal trapezoidal fuzzy numbers and also the proposed approach is very simple and easy to apply in the real life problems. It is shown that proposed ranking function satisfies all the reasonable properties of fuzzy quantities proposed by Wang and Kerre (Fuzzy Sets and Systems 118 (2001) 375-385).

Keywords: Ranking function, Generalized trapezoidal fuzzy numbers

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Authors: M. R. Vaezi, R. Ghasemi, A. Akramizadeh

Abstract:

Frequency stability of microgrids under islanded operation attracts particular attention recently. A new cooperative frequency control strategy based on centralized multi-agent system (CMAS) is proposed in this study. Based on this strategy, agents sent data and furthermore each component has its own to center operating decisions (MGCC).After deciding on the information, they are returned. Frequency control strategies include primary and secondary frequency control and disposal of multi-stage load in which this study will also provide a method and algorithm for load shedding. This could also be a big problem for the performance of micro-grid in times of disaster. The simulation results show the promising performance of the proposed structure of the controller based on multi agent systems.

Keywords: Frequency Control, Islanded Micro-grid, Load shedding, Multi-agent System.

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Authors: Nemat Abazari, Ilgin Sager

Abstract:

In this paper smooth trajectories are computed in the Lie group SO(2, 1) as a motion planning problem by assigning a Frenet frame to the rigid body system to optimize the cost function of the elastic energy which is spent to track a timelike curve in Minkowski space. A method is proposed to solve a motion planning problem that minimize the integral of the square norm of Darboux vector of a timelike curve. This method uses the coordinate free Maximum Principle of Optimal control and results in the theory of integrable Hamiltonian systems. The presence of several conversed quantities inherent in these Hamiltonian systems aids in the explicit computation of the rigid body motions.

Keywords: Optimal control, Hamiltonian vector field, Darboux vector, maximum principle, lie group, Rigid body motion, Lorentz metric.

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Authors: Tarek Mohammad

Abstract:

The amplitude response of infrared (IR) sensors depends on the reflectance properties of the target. Therefore, in order to use IR sensor for measuring distances accurately, prior knowledge of the surface must be known. This paper describes the Phong Illumination Model for determining the properties of a surface and subsequently calculating the distance to the surface. The angular position of the IR sensor is computed as normal to the surface for simplifying the calculation. Ultrasonic (US) sensor can provide the initial information on distance to obtain the parameters for this method. In addition, the experimental results obtained by using LabView are discussed. More care should be taken when placing the objects from the sensors during acquiring data since the small change in angle could show very different distance than the actual one. Since stereo camera vision systems do not perform well under some environmental conditions such as plain wall, glass surfaces, or poor lighting conditions, the IR and US sensors can be used additionally to improve the overall vision systems of mobile robots.

Keywords: Distance Measurement, Infrared sensor, Surface properties, Ultrasonic sensor.

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