Search results for: Command shaping

Authors: Lochan Basyal

Abstract:

Global Automation is an emerging technology of today’s era and is based on Internet of Things (IoT). Global automation deals with the controlling of electrical appliances throughout the world. The fabrication of this system has been carried out with interfacing an electrical control system module to Raspberry Pi. An electrical control system module includes a relay driver mechanism through which appliances are controlled automatically in respective condition. In this research project, one email ID has been assigned to Raspberry Pi, and the users from different location having different email ID can mail to Raspberry Pi on assigned email address “[email protected]” with subject heading “Device Control” with predefined command on compose email line. Also, a notification regarding current working condition of this system has been updated on respective user email ID. This approach is an innovative way of implementing smart automation system through which a user can control their electrical appliances like light, fan, television, refrigerator, etc. in their home with the use of email facility. The development of this project helps to enhance the concept of smart home application as well as industrial automation.

Keywords: Control circuit, email, global automation, internet of things, Raspberry Pi.

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Authors: Nan-Chyuan Tsai, Din-Chang Chen, Rong-Mao Lee, Bai-Lu Wang

Abstract:

This paper presents how the real-time chatter prevention can be realized by feedback of acoustic cutting signal, and the efficacy of the proposed adaptive spindle speed tuning algorithm is verified by intensive experimental simulations. A pair of microphones, perpendicular to each other, is used to acquire the acoustic cutting signal resulting from milling chatter. A real-time feedback control loop is constructed for spindle speed compensation so that the milling process can be ensured to be within the stability zone of stability lobe diagram. Acoustic Chatter Signal Index (ACSI) and Spindle Speed Compensation Strategy (SSCS) are proposed to quantify the acoustic signal and actively tune the spindle speed respectively. By converting the acoustic feedback signal into ACSI, an appropriate Spindle Speed Compensation Rate (SSCR) can be determined by SSCS based on real-time chatter level or ACSI. Accordingly, the compensation command, referred to as Added-On Voltage (AOV), is applied to increase/decrease the spindle motor speed. By inspection on the precision and quality of the workpiece surface after milling, the efficacy of the real-time chatter prevention strategy via acoustic signal feedback is further assured.

Keywords: Chatter compensation, Stability lobes, Non-invasivemeasurement.

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Authors: Jan Ceselsky

Abstract:

Construction and reconstruction of settlements and individual municipalities, environmental management and the creation, deployment of the forces of production and building transport and technical equipment requires a large expenditure of material and human resources. That is why the economic aspects of the majority decision in these planes built in the foreground and are often decisive. Thereby but more serious is that the economic aspects of the settlement, the creation and function remain in their whole, unprocessed, and cannot speak of a set of individual techniques and methods traditional indicators and experiments with new approaches. This is true both at the level of the national economy, and in their own urban designs. Still a few remain identified specific economic shaping patterns of settlement and the less it is possible to speak of their control. Also practical assessing economics of specific solutions are often used non-apt indicators in addition to economics usually identifies with the lowest acquisition cost or high-intensity land use with little regard for functional efficiency and little studied much higher operating and maintenance costs".

Keywords: Investment, municipal engineering, value for money.

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Authors: M.R. Mansoujian, N. Hedayat, M. Mashal, H, Kiamanesh

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Analytical investigation of the sedimentation processes in the river engineering and hydraulic structures is of vital importance as this can affect water supply for the cultivating lands in the command area. The reason being that gradual sediment formation behind the reservoir can reduce the nominal capacity of these dams. The aim of the present paper is to analytically investigate sedimentation process along the river course and behind the storage reservoirs in general and the Eastern Intake of the Dez Diversion weir in particular using the SHARC software. Results of the model indicated the water level at 115.97m whereas the real time measurement from the river cross section was 115.98 m which suggests a significantly close relation between them. The average transported sediment load in the river was measured at 0.25mm , from which it can be concluded that nearly 100% of the suspended loads in river are moving which suggests no sediment settling but indicates that almost all sediment loads enters into the intake. It was further showed the average sediment diameter entering the intake to be 0.293 mm which in turn suggests that about 85% of suspended sediments in the river entre the intake. Comparison of the results from the SHARC model with those obtained form the SSIIM software suggests quite similar outputs but distinguishing the SHARC model as more appropriate for the analysis of simpler problems than other model.

Keywords: SHARC, Eastern Intake, Dez Diversion Weir.

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Authors: Abdel-Samad M. Ali

Abstract:

Given the motivation of maps impact in enhancing the perception of the quality of life in a region, this work examines the use of spatial analytical techniques in exploring the role of space in shaping human development patterns in Assiut governorate. Variations of human development index (HDI) of the governorate-s villages, districts and cities are mapped using geographic information systems (GIS). Global and local spatial autocorrelation measures are employed to assess the levels of spatial dependency in the data and to map clusters of human development. Results show prominent disparities in HDI between regions of Assiut. Strong patterns of spatial association were found proving the presence of clusters on the distribution of HDI. Finally, the study indicates several "hot-spots" in the governorate to be area of more investigations to explore the attributes of such levels of human development. This is very important for accomplishing the development plan of poorest regions currently adopted in Egypt.

Keywords: Human development, Egypt, GIS, Spatial analysis.

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Authors: Mohammad Ali Molaei

Abstract:

New Growth Theory helps us make sense of the ongoing shift from a resource-based economy to a knowledge-based economy. It underscores the point that the economic processes which create and diffuse new knowledge are critical to shaping the growth of nations, communities and individual firms. In all too many contributions to New (Endogenous) Growth Theory – though not in all – central reference is made to 'a stock of knowledge', a 'stock of ideas', etc., this variable featuring centre-stage in the analysis. Yet it is immediately apparent that this is far from being a crystal clear concept. The difficulty and uncertainty of being able to capture the value associated with knowledge is a real problem. The intent of this paper is introducing new thinking and theorizing about the knowledge and its measurability in new growth theory. Moreover the study aims to synthesize various strain of the literature with a practical bearing on knowledge concept. By contribution of institution framework which is found within NGT, we can indirectly measure the knowledge concept. Institutions matter because they shape the environment for production and employment of new knowledge

Keywords: Institution Framework, Knowledge, New GrowthTheory (NGT)

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Authors: Alessio Plebe

Abstract:

One astonishing capability of humans is to recognize thousands of different objects visually, and to learn the semantic association between those objects and words referring to them. This work is an attempt to build a computational model of such capacity,simulating the process by which infants learn how to recognize objects and words through exposure to visual stimuli and vocal sounds.One of the main fact shaping the brain of a newborn is that lights and colors come from entities of the world. Gradually the visual system learn which light sensations belong to same entities, despite large changes in appearance. This experience is common between humans and several other mammals, like non-human primates. But humans only can recognize a huge variety of objects, most manufactured by himself, and make use of sounds to identify and categorize them. The aim of this model is to reproduce these processes in a biologically plausible way, by reconstructing the essential hierarchy of cortical circuits on the visual and auditory neural paths.

Keywords: Auditory cortex, object recognition, self-organizingmaps

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Authors: Sarita D. Jackson

Abstract:

Agriculture remains a sensitive issue during multilateral trade negotiations within the World Trade Organization (WTO). Similar problems arise at the bilateral level, as in the case of trade talks between the United States and the Dominican Republic. The study explores the determinant of agricultural industry competitiveness in the 21^st century, particularly in the case of U.S. and Dominican agriculture in each other’s market. Complementing existing scholarship on industry competitiveness, the study argues that trade rules that are established under preferential access programs and trade agreements play a significant role in shaping an industry’s ability to compete. The final analysis is used to offer recommendations to the same sector in Cuba. Cuba currently relies heavily on U.S. food imports and is experiencing the gradual opening of trade with the United States.

Keywords: Agriculture, bargaining, competitiveness, Dominican Republic, DR-CAFTA, free trade agreement, institutions.

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Authors: M. Mika, L. Pina, M. Landova, L. Sveda, R. Havlikova, V. Marsikova, R. Hudec, A. Inneman

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Future astronomical projects on large space x-ray imaging telescopes require novel substrates and technologies for the construction of their reflecting mirrors. The mirrors must be lightweight and precisely shaped to achieve large collecting area with high angular resolution. The new materials and technologies must be cost-effective. Currently, the most promising materials are glass or silicon foils. We focused on precise shaping these foils by thermal forming process. We studied free and forced slumping in the temperature region of hot plastic deformation and compared the shapes obtained by the different slumping processes. We measured the shapes and the surface quality of the foils. In the experiments, we varied both heat-treatment temperature and time following our experiment design. The obtained data and relations we can use for modeling and optimizing the thermal forming procedure.

Keywords: Glass, silicon, thermal forming, x-ray

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Authors: Andrii Shalaginov, Katrin Franke, Xiongwei Huang

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One of the leading problems in Cyber Security today is the emergence of targeted attacks conducted by adversaries with access to sophisticated tools. These attacks usually steal senior level employee system privileges, in order to gain unauthorized access to confidential knowledge and valuable intellectual property. Malware used for initial compromise of the systems are sophisticated and may target zero-day vulnerabilities. In this work we utilize common behaviour of malware called ”beacon”, which implies that infected hosts communicate to Command and Control servers at regular intervals that have relatively small time variations. By analysing such beacon activity through passive network monitoring, it is possible to detect potential malware infections. So, we focus on time gaps as indicators of possible C2 activity in targeted enterprise networks. We represent DNS log files as a graph, whose vertices are destination domains and edges are timestamps. Then by using four periodicity detection algorithms for each pair of internal-external communications, we check timestamp sequences to identify the beacon activities. Finally, based on the graph structure, we infer the existence of other infected hosts and malicious domains enrolled in the attack activities.

Keywords: Malware detection, network security, targeted attack.

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Authors: Regius Asiimwe, Amir Anvar

Abstract:

This paper describes the process used in the automation of the Maritime UAV commands using the Kinect sensor. The AR Drone is a Quadrocopter manufactured by Parrot [1] to be controlled using the Apple operating systems such as iPhones and Ipads. However, this project uses the Microsoft Kinect SDK and Microsoft Visual Studio C# (C sharp) software, which are compatible with Windows Operating System for the automation of the navigation and control of the AR drone. The navigation and control software for the Quadrocopter runs on a windows 7 computer. The project is divided into two sections; the Quadrocopter control system and the Kinect sensor control system. The Kinect sensor is connected to the computer using a USB cable from which commands can be sent to and from the Kinect sensors. The AR drone has Wi-Fi capabilities from which it can be connected to the computer to enable transfer of commands to and from the Quadrocopter. The project was implemented in C#, a programming language that is commonly used in the automation systems. The language was chosen because there are more libraries already established in C# for both the AR drone and the Kinect sensor. The study will contribute toward research in automation of systems using the Quadrocopter and the Kinect sensor for navigation involving a human operator in the loop. The prototype created has numerous applications among which include the inspection of vessels such as ship, airplanes and areas that are not accessible by human operators.

Keywords: UAV, AR drone, Kinect Sensors, Automation, Real time, C sharp, Microsoft Kinect SDK.

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Authors: Guangyu Liu

Abstract:

In the last decade, energy based control theory has undergone a significant breakthrough in dealing with underactated mechanical systems with two successful and similar tools, controlled Lagrangians and controlled Hamiltanians (IDA-PBC). However, because of the complexity of these tools, successful case studies are lacking, in particular, MIMO cases. The seminal theoretical paper of controlled Lagrangians proposed by Bloch and his colleagues presented a benchmark example–a 4 d.o.f underactuated pendulum on a cart but a detailed and completed design is neglected. To compensate this ignorance, the note revisit their design idea by addressing explicit control functions for a similar device motivated by a vector thrust body hovering in the air. To the best of our knowledge, this system is the first MIMO, underactuated example that is stabilized by using energy based tools at the courtesy of the original design idea. Some observations are given based on computer simulation.

Keywords: Controlled Lagrangian, Energy Shaping, Spherical Inverted Pendulum, Controlled Hamiltonian.

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Authors: I. V. Kuzminov

Abstract:

The proposed article is an analytical review of previously published articles in the series "Physics of Gravity", "The Picture of the World by Second Law of Thermodynamics" and others. The article shows the key role of the forces of gravity and the action of the second law of thermodynamics in shaping the picture of the world. In other words, the second law of thermodynamics can be called the law of matter cooling. The action in the compartment of the inverse temperature dependence of the forces of gravity and the second law of thermodynamics is carried out by the processes of separation, condensation, phase transitions, and transformation of matter. On the basis of the proposed concept, along the way, completely new versions of the development of events in the biography of the Earth are put forward. For example, new versions of the origin of planets, the origin of continents and others are being put forward. This article contains a list of articles and videos that are somehow related to the proposed topic. Articles and videos are presented in English and Russian.

Keywords: Gravity, the second law of thermodynamics, electron rotation, inverse temperature dependence, inertia forces, centrifugal forces.

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Authors: V. J. Pillewan, D. N. Raut, K. N. Patil, D. K. Shinde

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Forging, milling, turning, grinding and shaping etc. are the various industrial manufacturing processes which generate the metal waste. Grinding is extensively used in the finishing operation. The waste generated contains significant impurities apart from the metal particles. Due to these significant impurities, it becomes difficult to process and gets usually dumped in the landfills which create environmental problems. Therefore, it becomes essential to reuse metal waste to create value added products. Powder injection molding process is used for producing the porous metal matrix framework. This paper discusses the presented design of the porous framework to be used for the liquid filter application. Different parameters are optimized to obtain the better strength framework with variable porosity. Carbon nanotubes are used as reinforcing materials to enhance the strength of the metal matrix framework.

Keywords: Grinding waste, powder injection molding, carbon nanotubes, metal matrix composites.

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Authors: Yizhi Gai, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru

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Motion control of flexible arms is more difficult than that of rigid arms, however utilizing its dynamics enables improved performance such as a fast motion in short operation time. This paper investigates a ball throwing robot with one rigid link and one flexible link. This robot throws a ball at a set speed with a proper control torque. A mathematical model of this ball throwing robot is derived through Hamilton’s principle. Several patterns of torque input are designed and tested through the proposed simulation models. The parameters of each torque input pattern is optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO). Then, the residual vibration of the manipulator after throwing is suppressed with input shaping technique. Finally, a real experiment is set up for the model checking.

Keywords: Motion control, flexible robotic arm, CEVEPSO, ball throwing robot.

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Authors: M. Karassartova, D. Shormanbayeva, A. Beissenova, S.Balshikeyev

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Forming a legal culture among citizens is a complicated and lengthy process, influencing all spheres of social life. It includes promoting justice, learning rights and duties, the introduction of juridical norms and knowledge, and also a process of developing a system of legal acts and constitutional norms. Currently, the evaluative and emotional influence of attempts to establish a legal culture among the citizens of Kazakhstan is limited by real legal practice. As a result, the values essential to a sound civil society are absent from the consciousness of the Kazakh people who are thus, in turn, not able to develop respect for these values. One of the disadvantages of the modern Kazakh educational system is a tendency to underrate the actual forces shaping the worldview of Kazakh youths. The mass-media, which are going through a personnel crisis, cannot provide society with the legal and political information necessary to form the sort of legal culture required for a true civil society.

Keywords: Kazakhstan society, Legal education, legal culture.

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Authors: Shiuh-Jer Huang, Chen-Zon Yan, C. K. Huang, Chun-Chien Ting

Abstract:

Since the vision system application in industrial environment for autonomous purposes is required intensely, the image recognition technique becomes an important research topic. Here, deep learning algorithm is employed in image system to recognize the industrial object and integrate with a 7A6 Series Manipulator for object automatic gripping task. PC and Graphic Processing Unit (GPU) are chosen to construct the 3D Vision Recognition System. Depth Camera (Intel RealSense SR300) is employed to extract the image for object recognition and coordinate derivation. The YOLOv2 scheme is adopted in Convolution neural network (CNN) structure for object classification and center point prediction. Additionally, image processing strategy is used to find the object contour for calculating the object orientation angle. Then, the specified object location and orientation information are sent to robotic controller. Finally, a six-axis manipulator can grasp the specific object in a random environment based on the user command and the extracted image information. The experimental results show that YOLOv2 has been successfully employed to detect the object location and category with confidence near 0.9 and 3D position error less than 0.4 mm. It is useful for future intelligent robotic application in industrial 4.0 environment.

Keywords: Deep learning, image processing, convolution neural network, YOLOv2, 7A6 series manipulator.

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Authors: Smriti H. Bhandari, S. M. Deshpande

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Surface metrology with image processing is a challenging task having wide applications in industry. Surface roughness can be evaluated using texture classification approach. Important aspect here is appropriate selection of features that characterize the surface. We propose an effective combination of features for multi-scale and multi-directional analysis of engineering surfaces. The features include standard deviation, kurtosis and the Canny edge detector. We apply the method by analyzing the surfaces with Discrete Wavelet Transform (DWT) and Dual-Tree Complex Wavelet Transform (DT-CWT). We used Canberra distance metric for similarity comparison between the surface classes. Our database includes the surface textures manufactured by three machining processes namely Milling, Casting and Shaping. The comparative study shows that DT-CWT outperforms DWT giving correct classification performance of 91.27% with Canberra distance metric.

Keywords: Dual-tree complex wavelet transform, surface metrology, surface roughness, texture classification.

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Authors: M. Malekyarand, M. Shariati Ghalehno, A. Mokhber Dezfuli, H. Saebi Monfared, S. R. Ghoraishi K.

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Shape and form of the watermelon fruits are important factors to save spaces and reducing damage during storing of the fruits. In order to save spaces and prevent fruit damage in watermelon the following experiment was carried out in the farm. The fruits were boxed when they were approximately one cm less than the box diameter. The cubic, hexagonal forms were compared in this research. To do this, different boxes were designed with different holes on the sides to holes the watermelons fruits for shaping. The shapes of the boxes were hexagonal and cubic. The boxes holes sizes were the same with 10mm diameter each. Each side of the boxes had different holes including: without holes to 75 holes. The result showed that the best shape for watermelon storing to save space and prevent fruit damage was hexagonal form. The percentages of the fruit damage were 33 to 80 respectively.

Keywords: Cubic form, fruit damage, hexagonal, watermelon shape.

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Authors: Yasemin Gülşen Yılmaz, Süleyman Hakan Yılmaz, Muhammet Erbay

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Military interventions have an important place in the Turkish Political History. Military interventions are commonly called coup in the society. By coup we mean that the armed forces seize political power either by a group of officer in the army or by chain of command. Coups not only weaken but also suspend the democracy in a country. All periods of coup created its own victims. Two military coups which took place in May 27, 1960 and September 12, 1980 are the most important ones in terms of political and social effect in the Turkish Political History. Apart these, March 12, 1971, February 28, 1997 and April 27, 2007 e-memorandum are the periods when Army submitted a memorandum and intervened the political government indirectly. Beside the memorandums and coups there were also many coup attempts that have been experienced in the Turkish Political History. In this study, we examined the coup attempted by FETO’s military members in the evening of July 15, 2016 from the point of the Turkish Press. Cumhuriyet, Haber Türk, Hürriyet, Milliyet, Sabah, Star, Yeni Akit and Yeni Şafak Newspapers which have different publication policies were examined within the scope of the study. The first pages of the newspapers dated July 16, 2016 were examined using content analysis method. The headlines, news, news headlines and the visual materials used for news were examined and the collected data were analysed.

Keywords: July 15, news, military coup, press.

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Authors: Zhe Ginnie Wang

Abstract:

With the unprecedented spread of cultural Chinese fashion design in the global fashion system, the under-identified ‘Guochao’ aesthetic that has emerged in the global market needs to be academically emphasized with a methodological approach looking at the Western-Eastern cultural hybridization present in fashion visualization. Through an in-depth and comprehensive investigation of a representative international-based Chinese designer, Angel Chen’s fashion show ‘Madam Qing’, this paper provides a methodological approach on how a form of traditional culture can be effectively extracted and applied to modern design using the most effective techniques. The central approach examined in this study involves creating aesthetic revolutions by addressing Chinese cultural identity through re-creating and modernizing traditional Chinese culture in design.

Keywords: Style modernization, design identity, fashion show, Guochao, Chinese culture, Angel Chen.

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Authors: Salah Algabli

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As online learning takes center stage, Arabic language instructors face the imperative to adapt their practices for the digital realm. This study investigates the experiences of online Arabic instructors to unveil the pedagogical opportunities and challenges this format presents. Utilizing a transcendental phenomenological approach with 15 diverse participants, the research shines a light on the unique realities of online language teaching at the university level, specifically in the United States. The study proposes theoretical and practical solutions to maximize the benefits of online language learning while mitigating its challenges. Recommendations cater to instructors, researchers, and program coordinators, paving the way for enhancing the quality of online Arabic language education. The findings highlight the need for pedagogical approaches tailored to the online environment, ultimately shaping a future where both instructors and learners thrive in this digital landscape.

Keywords: Online Arabic language learning, pedagogical opportunities and challenges, online Arabic teachers, online language instruction, digital pedagogy.

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Authors: Bachir Chemani, Halima Chemani

Abstract:

This paper studies the application of a variety of sawdust materials in the production of lightweight insulating bricks. First, the mineralogical and chemical composition of clays was determined. Next, ceramic bricks were fabricated with different quantities of materials (3–6 and 9 wt. % for sawdust, 65 wt. % for grey clay, 24–27 and 30 wt. % for yellow clay and 2 wt% of tuff). These bricks were fired at 800 and 950 °C. The effect of adding this sawdust on the technological behaviour of the brick was assessed by drying and firing shrinkage, water absorption, porosity, bulk density and compressive strength. The results have shown that the optimum sintering temperature is 950 °C. Below this temperature, at 950 °C, increased open porosity was observed, which decreased the compressive strength of the bricks. Based on the results obtained, the optimum amounts of waste were 9 wt. % sawdust of eucalyptus, 24 wt. % shaping moisture and 1.6 particle size diameter. These percentages produced bricks whose mechanical properties were suitable for use as secondary raw materials in ceramic brick production.

Keywords: Clay brick, Porosity, Sawdust.

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Authors: Christos A. Ioannou, Panagiotis Panagiotopoulos, Lampros Stergioulas

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The new status generated by technological advancements and changes in the global economy raises important issues on how communities and organisations need to innovate upon their traditional processes in order to adapt to the challenges of the Knowledge Society. The DialogoS+ European project aims to study the role of and promote social dialogue in the banking sector, strengthen the link between old and new members and make social dialogue at the European level a force for innovation and change, also given the context of the international crisis emerging in 2008- 2009. Under the scope of DialogoS+, this paper describes how the community of Europe-s banking sector trade unions attempted to adapt to the challenges of the Knowledge Society by exploiting the benefits of new channels of communication, learning, knowledge generation and diffusion focusing on the concept of roadmapping. Important dimensions of social dialogue such as collective bargaining and working conditions are addressed.

Keywords: Banking sector, knowledge society, road mapping, social dialogue.

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Authors: Svetlana Perović

Abstract:

Out of all visual arts including: painting, sculpture, graphics, photography, architecture, and others, architecture is by far the most complex one, because the art category is only one of its determinants. Architecture, to some extent includes other arts which can significantly influence the shaping of an urban space (artistic interventions). These arts largely shape the visual culture in combination with other categories: film, TV, Internet, information technologies that are "changing the world" etc. In the area of architecture and urbanism, visual culture is achieved through the aspects of visual spatial effects. In this context, a complex visual deliberation about designing urban areas in order to contribute to the urban visual culture, and with it restore the cultural identity of the city, is becoming almost the primary concept of contemporary urban and architectural practice. Research in this paper relate to the city of Niksic and its place in the visual urban culture. We are looking at the city’s existing visual effects and determining the directions of transformability of its physical structure in order to achieve the visual realization of an urban area and the renewal of cultural identity of a modern city.

Keywords: Nikšić, transformability, visual culture, visual realization.

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Authors: Haitham Assiri, Majed Eljazzar, Priyadarsi Nanda

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The world is gradually entering the fourth industrial revolution. E-Government services are scaling government operations across the globe. However, as promising as an e-Government system would be, it is also susceptible to malicious attacks if not properly secured. In our study, we found that in Saudi Arabia, the e-Government website, Yesser, is vulnerable to external attacks. Obviously, this can lead to a breach of data integrity and privacy. In this paper, a systematic literature review (SLR) was conducted to explore possible ways the Kingdom of Saudi Arabia can take necessary measures to strengthen its e-Government system using blockchain. Blockchain is one of the emerging technologies shaping the world through its applications in finance, elections, healthcare, etc. It secures systems and brings more transparency. A total of 28 papers were selected for this SLR, and 19 of the papers significantly showed that blockchain could enhance the security and privacy of Saudi’s e-Government system. Other papers also concluded that blockchain is effective, albeit with the integration of other technologies like IoT, AI and big data. These papers have been analyzed to sieve out the findings and set the stage for future research into the subject.

Keywords: blockchain, data integrity, e-Government, security threats

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Authors: Riccardo Fratini, Riccardo Santini, Jacopo Serafini, Massimo Gennaretti, Stefano Panzieri

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This paper presents a nonlinear differential model, for a three-bladed horizontal axis wind turbine (HAWT) suited for control applications. It is based on a 8-dofs, lumped parameters structural dynamics coupled with a quasi-steady sectional aerodynamics. In particular, using the Euler-Lagrange Equation (Energetic Variation approach), the authors derive, and successively validate, such model. For the derivation of the aerodynamic model, the Greenbergs theory, an extension of the theory proposed by Theodorsen to the case of thin airfoils undergoing pulsating flows, is used. Specifically, in this work, the authors restricted that theory under the hypothesis of low perturbation reduced frequency k, which causes the lift deficiency function C(k) to be real and equal to 1. Furthermore, the expressions of the aerodynamic loads are obtained using the quasi-steady strip theory (Hodges and Ormiston), as a function of the chordwise and normal components of relative velocity between flow and airfoil Ut, Up, their derivatives, and section angular velocity ε˙. For the validation of the proposed model, the authors carried out open and closed-loop simulations of a 5 MW HAWT, characterized by radius R =61.5 m and by mean chord c = 3 m, with a nominal angular velocity Ωn = 1.266rad/sec. The first analysis performed is the steady state solution, where a uniform wind Vw = 11.4 m/s is considered and a collective pitch angle θ = 0.88◦ is imposed. During this step, the authors noticed that the proposed model is intrinsically periodic due to the effect of the wind and of the gravitational force. In order to reject this periodic trend in the model dynamics, the authors propose a collective repetitive control algorithm coupled with a PD controller. In particular, when the reference command to be tracked and/or the disturbance to be rejected are periodic signals with a fixed period, the repetitive control strategies can be applied due to their high precision, simple implementation and little performance dependency on system parameters. The functional scheme of a repetitive controller is quite simple and, given a periodic reference command, is composed of a control block Crc(s) usually added to an existing feedback control system. The control block contains and a free time-delay system eτs in a positive feedback loop, and a low-pass filter q(s). It should be noticed that, while the time delay term reduces the stability margin, on the other hand the low pass filter is added to ensure stability. It is worth noting that, in this work, the authors propose a phase shifting for the controller and the delay system has been modified as e^(−(T−γk)), where T is the period of the signal and γk is a phase shifting of k samples of the same periodic signal. It should be noticed that, the phase shifting technique is particularly useful in non-minimum phase systems, such as flexible structures. In fact, using the phase shifting, the iterative algorithm could reach the convergence also at high frequencies. Notice that, in our case study, the shifting of k samples depends both on the rotor angular velocity Ω and on the rotor azimuth angle Ψ: we refer to this controller as a spatial repetitive controller. The collective repetitive controller has also been coupled with a C(s) = PD(s), in order to dampen oscillations of the blades. The performance of the spatial repetitive controller is compared with an industrial PI controller. In particular, starting from wind speed velocity Vw = 11.4 m/s the controller is asked to maintain the nominal angular velocity Ωn = 1.266rad/s after an instantaneous increase of wind speed (Vw = 15 m/s). Then, a purely periodic external disturbance is introduced in order to stress the capabilities of the repetitive controller. The results of the simulations show that, contrary to a simple PI controller, the spatial repetitive-PD controller has the capability to reject both external disturbances and periodic trend in the model dynamics. Finally, the nominal value of the angular velocity is reached, in accordance with results obtained with commercial software for a turbine of the same type.

Keywords: Wind turbines, aeroelasticity, repetitive control, periodic systems.

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Authors: Meng Fanchao, Zhan Dechen, Xu Xiaofei

Abstract:

Software reuse can be considered as the most realistic and promising way to improve software engineering productivity and quality. Automated assistance for software reuse involves the representation, classification, retrieval and adaptation of components. The representation and retrieval of components are important to software reuse in Component-Based on Software Development (CBSD). However, current industrial component models mainly focus on the implement techniques and ignore the semantic information about component, so it is difficult to retrieve the components that satisfy user-s requirements. This paper presents a method of business component retrieval based on specification matching to solve the software reuse of enterprise information system. First, a business component model oriented reuse is proposed. In our model, the business data type is represented as sign data type based on XML, which can express the variable business data type that can describe the variety of business operations. Based on this model, we propose specification match relationships in two levels: business operation level and business component level. In business operation level, we use input business data types, output business data types and the taxonomy of business operations evaluate the similarity between business operations. In the business component level, we propose five specification matches between business components. To retrieval reusable business components, we propose the measure of similarity degrees to calculate the similarities between business components. Finally, a business component retrieval command like SQL is proposed to help user to retrieve approximate business components from component repository.

Keywords: Business component, business operation, business data type, specification matching.

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Authors: Grzegorz Sierpiński, Ireneusz Celiński, Marcin Staniek

Abstract:

The article discusses multimodal mobility in contemporary societies as a main planning and organization issue in the functioning of administrative bodies, a problem which really exists in the space of contemporary cities in terms of shaping modern transport systems. The article presents classification of available resources and initiatives undertaken for developing multimodal mobility. Solutions can be divided into three groups of measures – physical measures in the form of changes of the transport network infrastructure, organizational ones (including transport policy) and information measures. The latter ones include in particular direct support for people travelling in the transport network by providing information about ways of using available means of transport. A special measure contributing to this end is a trip planner. The article compares several selected planners. It includes a short description of the Green Travelling Project, which aims at developing a planner supporting environmentally friendly solutions in terms of transport network operation. The article summarizes preliminary findings of the project.

Keywords: Mobility, modal split, multimodal trip, multimodal platforms, sustainable transport.

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Authors: Zohreh Bang Tavakoli, Shuktika Chatterjee

Abstract:

This study is investigating the impact of ideological structures in terms of conservative and liberal on shaping immigration acceptance attitudes under the contribution of socio-economic status. According to motivated reasoning theory, political ideology is identified as a recurrent impact on the formation of attitude, while conservatives tend to express more hostility toward immigrants in comparison to liberals which are proposed to be more tolerant towards immigrants. Our finding suggests that political ideology will structure individual attitudes when citizens socio-economic vulnerability and level of education are low enough to consider immigrants as a threat. Therefore, economic vulnerability is proposed to weaken the ideological predispositions’ resistance. There has been some threats and factors such as level of education and economic condition proposed by group competition theory and labor market competition theory as fundamental factors which can strengthen or weaken the effects of political ideology on individuals’ attitudes towards immigration; those mechanisms for liberals and conservatives will be operated differently.

Keywords: Conservative, immigration, liberal, political ideology.

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