Search results for: return period
197 The Influence of Biofuels on the Permeability of Sand-Bentonite Liners
Authors: Mousa Bani Baker, Maria Elektorowicz, Adel Hanna, Altayeb Qasem
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Liners are made to protect the groundwater table from the infiltration of leachate which normally carries different kinds of toxic materials from landfills. Although these liners are engineered to last for long period of time; unfortunately these liners fail; therefore, toxic materials pass to groundwater. This paper focuses on the changes of the hydraulic conductivity of a sand-bentonite liner due to the infiltration of biofuel and ethanol fuel. Series of laboratory tests were conducted in 20-cm-high PVC columns. Several compositions of sand-bentonite liners were tested: 95% sand: 5% bentonite; 90% sand: 10% bentonite; and 100% sand (passed mesh #40). The columns were subjected to extreme pressures of 40 kPa, and 100 kPa to evaluate the transport of alternative fuels (biofuel and ethanol fuel). For comparative studies, similar tests were carried out using water. Results showed that hydraulic conductivity increased due to the infiltration of alternative fuels through the liners. Accordingly, the increase in the hydraulic conductivity showed significant dependency on the type of liner mixture and the characteristics of the liquid. The hydraulic conductivity of a liner (subjected to biofuel infiltration) consisting of 5% bentonite: 95% sand under pressure of 40 kPa and 100 kPa had increased by one fold. In addition, the hydraulic conductivity of a liner consisting of 10% bentonite: 90% sand under pressure of 40 kPa and 100 kPa and infiltrated by biofuel had increased by three folds. On the other hand, the results obtained by water infiltration under 40 kPa showed lower hydraulic conductivities of 1.50×10-5 and 1.37×10-9 cm/s for 5% bentonite: 95% sand, and 10% bentonite: 90% sand, respectively. Similarly, under 100 kPa, the hydraulic conductivities were 2.30×10-5 and 1.90×10-9 cm/s for 5% bentonite: 95% sand, and 10% bentonite: 90% sand, respectively.Keywords: Biofuel, Ethanol; Hydraulic conductivity Landfill, Leakage, Liner failure, Liner performance Fine-grained soils, Particle size, Sand-bentonite.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2009196 A Look at the History of Calligraphy in Decoration of Mosques in Iran: 630-1630 AD
Authors: Cengiz Tavşan, Niloufar Akbarzadeh
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Architecture in Iran has a continuous history from at least 5000 BC to the present, and numerous Iranian pre-Islamic elements have contributed significantly to the formation of Islamic art. At first, decoration was limited to small objects and containers and then progressed in the art of plaster and brickwork. They later applied in architecture as well. The art of gypsum and brickwork, which was prevalent in the form of motifs (animals and plants) in pre-Islam, was used in the aftermath of Islam with the art of calligraphy in decorations. The splendor and beauty of Iranian architecture, especially during the Islamic era, are related to decoration and design. After the invasion of Iran by the Arabs and the introduction of Islam to Iran, the arrival of the Iranian classical architecture significantly changed, and we saw the Arabic calligraphy decoration of the mosques in Iran. The principles of aesthetics in the art of calligraphy in Iran are based precisely on the principles of the beauty of ancient Iranian and Islamic art. On the other hand, after Islam, calligraphy was one of the most important sources of Islamic art in Islam and one of the important features of Islamic culture. First, the calligraphy had no cultural meaning and was only for decoration and beautification, it had the same meaning only in the inscriptions; however, over time, it became meaningful. This article provides a summary of the history of calligraphy in the mosques (from the entrance to Islam until the Safavid period), which cannot ignore the role of the calligraphy in their decorative ideas; and also, the important role that decorative elements play in creating a public space in terms of social and aesthetic performance. This study was conducted using library studies and field studies. The purpose of this study is to show the characteristics of architecture and art of decorations in Iran, especially in the mosque's architecture, which reaches the pinnacle of progress. We will see that religious beliefs and artistic practices are merging and trying to bring a single concept.Keywords: Islamic art, Islamic architecture, decorations in Iranian mosques, calligraphy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2196195 A Discrete Event Simulation Model to Manage Bed Usage for Non-Elective Admissions in a Geriatric Medicine Speciality
Authors: Muhammed Ordu, Eren Demir, Chris Tofallis
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Over the past decade, the non-elective admissions in the UK have increased significantly. Taking into account limited resources (i.e. beds), the related service managers are obliged to manage their resources effectively due to the non-elective admissions which are mostly admitted to inpatient specialities via A&E departments. Geriatric medicine is one of specialities that have long length of stay for the non-elective admissions. This study aims to develop a discrete event simulation model to understand how possible increases on non-elective demand over the next 12 months affect the bed occupancy rate and to determine required number of beds in a geriatric medicine speciality in a UK hospital. In our validated simulation model, we take into account observed frequency distributions which are derived from a big data covering the period April, 2009 to January, 2013, for the non-elective admission and the length of stay. An experimental analysis, which consists of 16 experiments, is carried out to better understand possible effects of case studies and scenarios related to increase on demand and number of bed. As a result, the speciality does not achieve the target level in the base model although the bed occupancy rate decreases from 125.94% to 96.41% by increasing the number of beds by 30%. In addition, the number of required beds is more than the number of beds considered in the scenario analysis in order to meet the bed requirement. This paper sheds light on bed management for service managers in geriatric medicine specialities.
Keywords: Bed management, bed occupancy rate, discrete event simulation, geriatric medicine, non-elective admission.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1910194 Electricity Price Forecasting: A Comparative Analysis with Shallow-ANN and DNN
Authors: Fazıl Gökgöz, Fahrettin Filiz
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Electricity prices have sophisticated features such as high volatility, nonlinearity and high frequency that make forecasting quite difficult. Electricity price has a volatile and non-random character so that, it is possible to identify the patterns based on the historical data. Intelligent decision-making requires accurate price forecasting for market traders, retailers, and generation companies. So far, many shallow-ANN (artificial neural networks) models have been published in the literature and showed adequate forecasting results. During the last years, neural networks with many hidden layers, which are referred to as DNN (deep neural networks) have been using in the machine learning community. The goal of this study is to investigate electricity price forecasting performance of the shallow-ANN and DNN models for the Turkish day-ahead electricity market. The forecasting accuracy of the models has been evaluated with publicly available data from the Turkish day-ahead electricity market. Both shallow-ANN and DNN approach would give successful result in forecasting problems. Historical load, price and weather temperature data are used as the input variables for the models. The data set includes power consumption measurements gathered between January 2016 and December 2017 with one-hour resolution. In this regard, forecasting studies have been carried out comparatively with shallow-ANN and DNN models for Turkish electricity markets in the related time period. The main contribution of this study is the investigation of different shallow-ANN and DNN models in the field of electricity price forecast. All models are compared regarding their MAE (Mean Absolute Error) and MSE (Mean Square) results. DNN models give better forecasting performance compare to shallow-ANN. Best five MAE results for DNN models are 0.346, 0.372, 0.392, 0,402 and 0.409.Keywords: Deep learning, artificial neural networks, energy price forecasting, Turkey.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1098193 Contribution of Vitaton (Β-Carotene) to the Rearing Factors Survival Rate and Visual Flesh Color of Rainbow Trout Fish in Comparison With Astaxanthin
Authors: M.Ghotbi, M.Ghotbi, Gh. Azari Takami
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In this study Vitaton (an organic supplement which contains fermentative β-carotene) and synthetic astaxanthin (CAROPHYLL® Pink) were evaluated as pro-growth factors in Rainbow trout diet. An 8 week feeding trial was conducted to determine the effects of Vitaton versus astaxanthin on rearing factors, survival rate and visual flesh color of Rainbow trout (Oncorhnchynchus mykiss) with initial weight of 196±5. Four practical diets were formulated to contain 50 and 80 (ppm) of β- carotene and astaxanthin and also a control diet was prepared without any pigment. Each diet was fed to triplicate groups of fish rearing in fresh water. Fish were fed twice daily. The water temperature fluctuated from 12 to 15 (C˚) and also dissolved oxygen content was between 7 to 7.5 (mg/lit) during the experimental period. At the end of the experiment, growth and food utilization parameters and survival rate were unaffected by dietary treatments (p>0.05). Also, there was no significant difference between carcass yield within treatments (p>0.05). No significant difference recognized between visual flesh color (SalmoFan score) of fish fed Vitaton-containing diets. On the contrary, feeding on diets containing 50 and 80 (ppm) of astaxanthin, increased SalmoFan score (flesh astaxanthin concentration) from <20 (<1 mg/kg) to 23.33 (2.03 mg/kg) and 27.67 (5.74 mg/kg), respectively. Ultimately, a significant difference was seen between flesh carotenoid concentrations of fish feeding on astaxanthin containing treatments and control treatment (P<0.05). It should be mentioned that just raw fillet color of fish belonged to 80 (ppm) of astaxanthin treatment was seen to be close to color targets (SalmoFan scores) adopted for harvest-size fish.Keywords: Astaxanthin, Flesh color, Rainbow trout, Vitaton, β- carotene,
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3429192 A Review on Cloud Computing and Internet of Things
Authors: Sahar S. Tabrizi, Dogan Ibrahim
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Cloud Computing is a convenient model for on-demand networks that uses shared pools of virtual configurable computing resources, such as servers, networks, storage devices, applications, etc. The cloud serves as an environment for companies and organizations to use infrastructure resources without making any purchases and they can access such resources wherever and whenever they need. Cloud computing is useful to overcome a number of problems in various Information Technology (IT) domains such as Geographical Information Systems (GIS), Scientific Research, e-Governance Systems, Decision Support Systems, ERP, Web Application Development, Mobile Technology, etc. Companies can use Cloud Computing services to store large amounts of data that can be accessed from anywhere on Earth and also at any time. Such services are rented by the client companies where the actual rent depends upon the amount of data stored on the cloud and also the amount of processing power used in a given time period. The resources offered by the cloud service companies are flexible in the sense that the user companies can increase or decrease their storage requirements or the processing power requirements at any time, thus minimizing the overall rental cost of the service they receive. In addition, the Cloud Computing service providers offer fast processors and applications software that can be shared by their clients. This is especially important for small companies with limited budgets which cannot afford to purchase their own expensive hardware and software. This paper is an overview of the Cloud Computing, giving its types, principles, advantages, and disadvantages. In addition, the paper gives some example engineering applications of Cloud Computing and makes suggestions for possible future applications in the field of engineering.
Keywords: Cloud computing, cloud services, IaaS, PaaS, SaaS, IoT.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1392191 Evaluation of Gingival Hyperplasia Caused by Medications
Authors: Ilma Robo, Saimir Heta, Greta Plaka, Vera Ostreni
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Purpose: Drug gingival hyperplasia is an uncommon pathology encountered during routine work in dental units. The purpose of this paper is to present the clinical appearance of gingival hyperplasia caused by medications. There are already three classes of medications that cause hyperplasia and based on data from the literature, the clinical cases encountered and included in this study have been compared. Materials and Methods: The study was conducted in a total of 311 patients, out of which 182 patients were included in our study, meeting the inclusion criteria. After each patient's history was recorded and it was found that patients were in their knowledge of chronic illness, undergoing treatment of gingivitis hypertrophic drugs was performed with a clinical examination of oral cavity and assessment by vertical and horizontal evaluation according to the periodontal indexes. Results: Of the data collected during the study, it was observed that 97% of patients with gingival hyperplasia are treated with nifedipine. 84% of patients treated with selected medicines and gingival hyperplasia in the oral cavity has been exposed at time period for more than 1 year and 1 month. According to the GOI, in the first rank of this index are about 21% of patients, in the second rank are 52%, in the third rank are 24% and in the fourth grade are 3%. According to the horizontal growth index of gingival hyperplasia, grade 1 included about 61% of patients and grade 2 included about 39% of patients with gingival hyperplasia. Bacterial index divides patients by degrees: grading 0 - 8.2%, grading 1 - 32.4%, grading 2 - 14% and grading 3 - 45.1%. Conclusions: The highest percentage of gingival hyperplasia caused by drugs is due to dosing of nifedipine for a duration of dosing and application for systemic healing for more than 1 year.
Keywords: Drug gingival hyperplasia, horizontal growth index, vertical growth index.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 476190 Assessment of Urban Heat Island through Remote Sensing in Nagpur Urban Area Using Landsat 7 ETM+ Satellite Images
Authors: Meenal Surawar, Rajashree Kotharkar
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Urban Heat Island (UHI) is found more pronounced as a prominent urban environmental concern in developing cities. To study the UHI effect in the Indian context, the Nagpur urban area has been explored in this paper using Landsat 7 ETM+ satellite images through Remote Sensing and GIS techniques. This paper intends to study the effect of LU/LC pattern on daytime Land Surface Temperature (LST) variation, contributing UHI formation within the Nagpur Urban area. Supervised LU/LC area classification was carried to study urban Change detection using ENVI 5. Change detection has been studied by carrying Normalized Difference Vegetation Index (NDVI) to understand the proportion of vegetative cover with respect to built-up ratio. Detection of spectral radiance from the thermal band of satellite images was processed to calibrate LST. Specific representative areas on the basis of urban built-up and vegetation classification were selected for observation of point LST. The entire Nagpur urban area shows that, as building density increases with decrease in vegetation cover, LST increases, thereby causing the UHI effect. UHI intensity has gradually increased by 0.7°C from 2000 to 2006; however, a drastic increase has been observed with difference of 1.8°C during the period 2006 to 2013. Within the Nagpur urban area, the UHI effect was formed due to increase in building density and decrease in vegetative cover.
Keywords: Land use, land cover, land surface temperature, remote sensing, urban heat island.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2611189 The Impact of Large-Scale Wind Energy Development on Islands’ Interconnection to the Mainland System
Authors: Marina Kapsali, John S. Anagnostopoulos
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Greek islands’ interconnection (IC) with larger power systems, such as the mainland grid, is a crucial issue that has attracted a lot of interest; however, the recent economic recession that the country undergoes together with the highly capital intensive nature of this kind of projects have stalled or sifted the development of many of those on a more long-term basis. On the other hand, most of Greek islands are still heavily dependent on the lengthy and costly supply chain of oil imports whilst the majority of them exhibit excellent potential for wind energy (WE) applications. In this respect, the main purpose of the present work is to investigate −through a parametric study which varies both in wind farm (WF) and submarine IC capacities− the impact of large-scale WE development on the IC of the third in size island of Greece (Lesbos) with the mainland system. The energy and economic performance of the system is simulated over a 25-year evaluation period assuming two possible scenarios, i.e. S(a): without the contribution of the local Thermal Power Plant (TPP) and S(b): the TPP is maintained to ensure electrification of the island. The economic feasibility of the two options is investigated in terms of determining their Levelized Cost of Energy (LCOE) including also a sensitivity analysis on the worst/reference/best Cases. According to the results, Lesbos island IC presents considerable economic interest for covering part of island’s future electrification needs with WE having a vital role in this challenging venture.
Keywords: Electricity generation cost, levelized cost of energy, mainland grid, wind energy rejection.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1028188 Reliability-Based Maintenance Management Methodology to Minimise Life Cycle Cost of Water Supply Networks
Authors: Mojtaba Mahmoodian, Joshua Phelan, Mehdi Shahparvari
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With a large percentage of countries’ total infrastructure expenditure attributed to water network maintenance, it is essential to optimise maintenance strategies to rehabilitate or replace underground pipes before failure occurs. The aim of this paper is to provide water utility managers with a maintenance management approach for underground water pipes, subject to external loading and material corrosion, to give the lowest life cycle cost over a predetermined time period. This reliability-based maintenance management methodology details the optimal years for intervention, the ideal number of maintenance activities to perform before replacement and specifies feasible renewal options and intervention prioritisation to minimise the life cycle cost. The study was then extended to include feasible renewal methods by determining the structural condition index and potential for soil loss, then obtaining the failure impact rating to assist in prioritising pipe replacement. A case study on optimisation of maintenance plans for the Melbourne water pipe network is considered in this paper to evaluate the practicality of the proposed methodology. The results confirm that the suggested methodology can provide water utility managers with a reliable systematic approach to determining optimum maintenance plans for pipe networks.Keywords: Water pipe networks, maintenance management, reliability analysis, optimum maintenance plan.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1256187 Effect of Sodium Hydroxide Treatment on the Mechanical Properties of Crushed and Uncrushed Luffa cylindrica Fibre Reinforced rLDPE Composites
Authors: Paschal A. Ubi, Salawu Abdul Rahman Asipita
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Sustainability and eco-friendly requirement of engineering materials are sort for in recent times, thus giving rise to the development of bio-composites. However, the natural fibres to matrix interface interactions remain a key issue in getting the desired mechanical properties from such composites. Treatment of natural fibres is essential in improving matrix to filler adhesion, hence improving its mechanical properties. In this study, investigations were carried out to determine the effect of sodium hydroxide treatment on the tensile, flexural, impact and hardness properties of crushed and uncrushed Luffa cylindrica fibre reinforced recycled low density polyethylene composites. The LC (Luffa cylindrica) fibres were treated with 0%, 2%, 4%, 6%, 8% and 10% wt. sodium hydroxide (NaOH) concentrations for a period of 24 hours under room temperature conditions. A formulation ratio of 80/20 g (matrix to reinforcement) was maintained for all developed samples. Analysis of the results showed that the uncrushed luffa fibre samples gave better mechanical properties compared with the crushed luffa fibre samples. The uncrushed luffa fibre composites had a maximum tensile and flexural strength of 7.65 MPa and 17.08 Mpa respectively corresponding to a young modulus and flexural modulus of 21.08 MPa and 232.22 MPa for the 8% and 4% wt. NaOH concentration respectively. Results obtained in the research showed that NaOH treatment with the 8% NaOH concentration improved the mechanical properties of the LC fibre reinforced composites when compared with other NaOH treatment concentration values.
Keywords: Flexural strength, LC fibres, LC/rLDPE composite, Tensile strength.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2612186 Continuous FAQ Updating for Service Incident Ticket Resolution
Authors: Kohtaroh Miyamoto
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As enterprise computing becomes more and more complex, the costs and technical challenges of IT system maintenance and support are increasing rapidly. One popular approach to managing IT system maintenance is to prepare and use a FAQ (Frequently Asked Questions) system to manage and reuse systems knowledge. Such a FAQ system can help reduce the resolution time for each service incident ticket. However, there is a major problem where over time the knowledge in such FAQs tends to become outdated. Much of the knowledge captured in the FAQ requires periodic updates in response to new insights or new trends in the problems addressed in order to maintain its usefulness for problem resolution. These updates require a systematic approach to define the exact portion of the FAQ and its content. Therefore, we are working on a novel method to hierarchically structure the FAQ and automate the updates of its structure and content. We use structured information and the unstructured text information with the timelines of the information in the service incident tickets. We cluster the tickets by structured category information, by keywords, and by keyword modifiers for the unstructured text information. We also calculate an urgency score based on trends, resolution times, and priorities. We carefully studied the tickets of one of our projects over a 2.5-year time period. After the first 6 months we started to create FAQs and confirmed they improved the resolution times. We continued observing over the next 2 years to assess the ongoing effectiveness of our method for the automatic FAQ updates. We improved the ratio of tickets covered by the FAQ from 32.3% to 68.9% during this time. Also, the average time reduction of ticket resolution was between 31.6% and 43.9%. Subjective analysis showed more than 75% reported that the FAQ system was useful in reducing ticket resolution times.
Keywords: FAQ System, Resolution Time, Service Incident Tickets, IT System Maintenance.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2495185 Time Series Forecasting Using Various Deep Learning Models
Authors: Jimeng Shi, Mahek Jain, Giri Narasimhan
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Time Series Forecasting (TSF) is used to predict the target variables at a future time point based on the learning from previous time points. To keep the problem tractable, learning methods use data from a fixed length window in the past as an explicit input. In this paper, we study how the performance of predictive models change as a function of different look-back window sizes and different amounts of time to predict into the future. We also consider the performance of the recent attention-based transformer models, which had good success in the image processing and natural language processing domains. In all, we compare four different deep learning methods (Recurrent Neural Network (RNN), Long Short-term Memory (LSTM), Gated Recurrent Units (GRU), and Transformer) along with a baseline method. The dataset (hourly) we used is the Beijing Air Quality Dataset from the website of University of California, Irvine (UCI), which includes a multivariate time series of many factors measured on an hourly basis for a period of 5 years (2010-14). For each model, we also report on the relationship between the performance and the look-back window sizes and the number of predicted time points into the future. Our experiments suggest that Transformer models have the best performance with the lowest Mean Absolute Errors (MAE = 14.599, 23.273) and Root Mean Square Errors (RSME = 23.573, 38.131) for most of our single-step and multi-steps predictions. The best size for the look-back window to predict 1 hour into the future appears to be one day, while 2 or 4 days perform the best to predict 3 hours into the future.
Keywords: Air quality prediction, deep learning algorithms, time series forecasting, look-back window.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1173184 Pesticides Use in Rural Settings in Romania
Authors: Anca E. Gurzau, Alexandru Coman, Eugen S. Gurzau, Marinela Penes, Daniela Dumitrescu, DorinMarchean, Ioan Chera
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The environment pollution with pesticides and heavy metals is a recognized problem nowadays, with extension to the global scale the tendency of amplification. Even with all the progress in the environmental field, both in the emphasize of the effect of the pollutants upon health, the linked studies environment-health are insufficient, not only in Romania but all over the world also. We aim to describe the particular situation in Romania regarding the uncontrolled use of pesticides, to identify and evaluate the risk zones for health and the environment in Romania, with the final goal of designing adequate programs for reduction and control of the risk sources. An exploratory study was conducted to determine the magnitude of the pesticide use problem in a population living in Saliste, a rural setting in Transylvania, Romania. The significant stakeholders in Saliste region were interviewed and a sample from the population living in Saliste area was selected to fill in a designed questionnaire. All the selected participants declared that they used pesticides in their activities for more than one purpose. They declared they annually applied pesticides for a period of time between 11 and 30 years, from 5 to 9 days per year on average, mainly on crops situated at some distance from the houses but high risk behavior was identified as the volunteers declared the use of pesticides in the backyard gardens, near their homes, where children were playing. The pesticide applicators did not have the necessary knowledge about safety and exposure. The health data must be correlated with exposure biomarkers in attempt to identify the possible health effects of the pesticides exposure. Future plans include educational campaigns to raise the awareness of the population on the danger of uncontrolled use of pesticides.Keywords: Pesticides, health effects, Romania, Saliste.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1820183 Evaluation of Produced Water Treatment Using Advanced Oxidation Processes and Sodium Ferrate(VI)
Authors: Erica T. R. Mendonça, Caroline M. B. de Araujo, Filho, Osvaldo Chiavone, Sobrinho, Maurício A. da Motta
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Oil and gas exploration is an essential activity for modern society, although the supply of its global demand has caused enough damage to the environment, mainly due to produced water generation, which is an effluent associated with the oil and gas produced during oil extraction. It is the aim of this study to evaluate the treatment of produced water, in order to reduce its oils and greases content (OG), by using flotation as a pre-treatment, combined with oxidation for the remaining organic load degradation. Thus, there has been tested Advanced Oxidation Process (AOP) using both Fenton and photo-Fenton reactions, as well as a chemical oxidation treatment using sodium ferrate(VI), Na2[FeO4], as a strong oxidant. All the studies were carried out using real samples of produced water from petroleum industry. The oxidation process using ferrate(VI) ion was studied based on factorial experimental designs. The factorial design was used in order to study how the variables pH, temperature and concentration of Na2[FeO4] influences the O&G levels. For the treatment using ferrate(VI) ion, the results showed that the best operating point is obtained when the temperature is 28 °C, pH 3, and a 2000 mg.L-1 solution of Na2[FeO4] is used. This experiment has achieved a final O&G level of 4.7 mg.L-1, which means 94% percentage removal efficiency of oils and greases. Comparing Fenton and photo-Fenton processes, it was observed that the Fenton reaction did not provide good reduction of O&G (around 20% only). On the other hand, a degradation of approximately 80.5% of oil and grease was obtained after a period of seven hours of treatment using photo-Fenton process, which indicates that the best process combination has occurred between the flotation and the photo-Fenton reaction using solar radiation, with an overall removal efficiency of O&G of approximately 89%.
Keywords: Advanced oxidation process, ferrate(VI) ion, oils and greases removal, produced water treatment.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1794182 Emergence of New Capitalist Class and Issues of Market, Merit and Social Justice: The Business and Economics of Higher Education in India
Authors: Subramaniam Chandran
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This paper analyses the structural changes in education sector since the introduction of liberalization policy in India. This paper explains how the so-called non-profit trusts and societies appropriated the liberalization policy and enhanced themselves as new capitalist class in higher education sector. Over the decades, the policy witnessed the role of private sector in terms of maintaining market equilibrium. The state also witnessed the incompatibility of the private sector in inculcating the values of social justice. The most important consequence of the policy is to witness the rise of new capitalist class and academic capitalism. When the state came to realize that it no longer cope up with market demands, it opens the entry of private sector in higher education. Concessions and tax exemptions were provided to the trusts and societies to establish higher education institutions. There is a basic difference between western countries and India in providing higher education by the trusts and societies. In western countries the big business houses contributed their surplus revenues to promote higher education and research as a complementary service to society and nation. In India, several entrepreneurs came up with business motive using education sector. Over the period, they accumulated wealth at the cost of students and concessions from the government. Four major results can now be identified: production of manpower in view of market demands; reduction of standards in higher education; bypassing the values of social justice; and the rise of new capitalist class from the business of education. This paper tries to substantiate these issues with the inputs from case studies.Keywords: New capitalism, market, social justice, higher education
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1472181 Effect of Supplementary Premium on the Optimal Portfolio Policy in a Defined Contribution Pension Scheme with Refund of Premium Clauses
Authors: Edikan E. Akpanibah Obinichi C. Mandah Imoleayo S. Asiwaju
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In this paper, we studied the effect of supplementary premium on the optimal portfolio policy in a defined contribution (DC) pension scheme with refund of premium clauses. This refund clause allows death members’ next of kin to withdraw their relative’s accumulated wealth during the accumulation period. The supplementary premium is to help sustain the scheme and is assumed to be stochastic. We considered cases when the remaining wealth is equally distributed and when it is not equally distributed among the remaining members. Next, we considered investments in cash and equity to help increase the remaining accumulated funds to meet up with the retirement needs of the remaining members and composed the problem as a continuous time mean-variance stochastic optimal control problem using the actuarial symbol and established an optimization problem from the extended Hamilton Jacobi Bellman equations. The optimal portfolio policy, the corresponding optimal fund size for the two assets and also the efficient frontier of the pension members for the two cases was obtained. Furthermore, the numerical simulations of the optimal portfolio policies with time were presented and the effect of the supplementary premium on the optimal portfolio policy was discussed and observed that the supplementary premium decreases the optimal portfolio policy of the risky asset (equity). Secondly we observed a disparity between the optimal policies for the two cases.
Keywords: Defined contribution pension scheme, extended Hamilton Jacobi Bellman equations, optimal portfolio policies, refund of premium clauses, supplementary premium.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 661180 Perceived Determinants of Obesity among Primary School Pupils in Eti Osa Local Government Area of Lagos State, Nigeria
Authors: B. O. Diyaolu, E. A. Okebanjo
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Children in today’s world need attention and care even with their physique as obesity is also at the increased. Several factors can be responsible for obesity in children and adequate attention is paramount in other not to accommodate it into adolescent period. This study investigated perceived determinants of obesity among primary school pupils in Eti Osa Local Government area of Lagos State. Descriptive survey research design was used and population was all obese pupils in Eti Osa Local Government Area of Lagos State. 92 pupils were selected from randomly picked 12 primary schools while purposive sampling technique was used to pick primary 4-6 pupils. With the aid of body mass index (BMI) and age percentile chart the obese pupils were selected. The instrument for the study was a self-developed and structured questionnaire on perceived determinant of obesity. The questionnaire was divided into three sections. The Cronbach’s Alpha reliability coefficient of 0.74 was obtained. The hypotheses were tested at 0.05 significant levels. The completed questionnaire was collated coded and analyzed using descriptive statistics of frequency counts and percentage and inferential statistics of chi-square (X2). Findings of this study revealed that physical activities and parental influences were determinant of obesity. Physical activity is essential in reducing the rate of obesity in Eti Osa Local Government Area both at home and within the school environment. Primary schools need to create more playing ground for pupils to exercise themselves. Parents need to cater for their children diet ensuring not just the quantity but the quality as well.
Keywords: Feeding pattern, obese pupils, parental influence, physical activities.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 610179 LCA and Multi-Criteria Analysis of Fly Ash Concrete Pavements
Authors: M. Ondova, A. Estokova
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Rapid industrialization results in increased use of natural resources bring along serious ecological and environmental imbalance due to the dumping of industrial wastes. Principles of sustainable construction have to be accepted with regard to the consumption of natural resources and the production of harmful emissions. Cement is a great importance raw material in the building industry and today is its large amount used in the construction of concrete pavements. Concerning raw materials cost and producing CO2 emission the replacing of cement in concrete mixtures with more sustainable materials is necessary. To reduce this environmental impact people all over the world are looking for a solution. Over a period of last ten years, the image of fly ash has completely been changed from a polluting waste to resource material and it can solve the major problems of cement use. Fly ash concretes are proposed as a potential approach for achieving substantial reductions in cement. It is known that it improves the workability of concrete, extends the life cycle of concrete roads, and reduces energy use and greenhouse gas as well as amount of coal combustion products that must be disposed in landfills.
Life cycle assessment also proved that a concrete pavement with fly ash cement replacement is considerably more environmentally friendly compared to standard concrete roads. In addition, fly ash is cheap raw material, and the costs saving are guaranteed. The strength properties, resistance to a frost or de-icing salts, which are important characteristics in the construction of concrete pavements, have reached the required standards as well. In terms of human health it can´t be stated that a concrete cover with fly ash could be dangerous compared with a cover without fly ash. Final Multi-criteria analysis also pointed that a concrete with fly ash is a clearly proper solution.
Keywords: Life cycle assessment, fly ash, waste, concrete pavements
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3503178 Morphological Characteristics and Development of the Estuary Area of Lam River, Vietnam
Authors: Hai Nguyen Tien
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On the basis of the structure of alluvial sediments explained by echo sounding data and remote sensing images, the following results can be given: The estuary of Lam river from Ben Thuy Bridge (original word: Bến Thủy) to Cua Hoi (original word: Cửa Hội) is divided into three channels (location is calculated according to the river bank on the Nghe An Province, original word: Nghệ An): i) channel I (from Ben Thuy Bridge to Hung Hoa, original word: Hưng Hòa) is the branching river; ii) channel II (from Hung Hoa to Nghi Thai, original word: Nghi Thái)is a channel develops in a meandering direction with a concave side toward Ha Tinh Province (Hà Tĩnh); iii) channel III (from Nghi Thai to Cua Hoi)is a channel develops in a meandering direction with a concave side toward Nghe An province.This estuary area is formed in the period from after the sea level dropped below 0m (current water level) to the present: i) Channel II developed moving towards Ha Tinh Province; ii) Channel III developed moving towards Nghe An Province; iii) In channel I, a second river branch is formed because the flow of river cuts through the Hong Lam- Hong Nhat mudflat (original word: Hồng Lam -Hồng Nhất),at the same time creating an island.Morphological characteristics of the estuary area of Lam River are the main result of erosion and deposition activities corresponding to two water levels: the water level is about 2 m lower than the current water level and the current water level.Characteristics of the sediment layers on the riverbed in the estuary can be used to determine the sea levels in Late Holocene to the present.
Keywords: Lam River, development, Cua Hoi, river morphology
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 430177 The Effect of Cow Reproductive Traits on Lifetime Productivity and Longevity
Authors: Lāsma Cielava, Daina Jonkus, Līga Paura
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The age of first calving (AFC) is one of the most important factors that have a significant impact on cow productivity in different lactations and its whole life. A belated AFC leads to reduced reproductive performance and it is one of the main reasons for reduced longevity. Cows that calved in time period from 2001-2007 and in this time finished at least four lactations were included in the database. Data were obtained from 68841 crossbred Holstein Black and White (HM), crossbred Latvian Brown (LB), and Latvian Brown genetic resources (LBGR) cows. Cows were distributed in four groups depending on age at first calving. The longest lifespan was conducted for LBGR cows, but they were also characterized with lowest lifetime milk yield and life day milk yield. HM breed cows had the shortest lifespan, but in the lifespan of 2862.2 days was obtained in average 37916.4 kg milk accordingly 13.2 kg milk in one life day. HM breed cows were also characterized with longer calving intervals (CI) in first four lactations, but LBGR cows had the shortest CI in the study group. Age at first calving significantly affected the length of CI in different lactations (p<0.05). HM cows that first time calved >30 months old in the fourth lactation had the longest CI in all study groups (421.4 days). The LBGR cows were characterized with the shortest CI, but there was slight increase in second and third lactation. Age at first calving had a significant impact on cows’ age in each calving time. In the analysis, cow group was conducted that cows with age at first calving <24 months or in average 580.5 days at the time of fifth calving were 2156.7 days (5.9 years) old, but cows with age at first calving >30 months (932.6 days) at the time of fifth calving were 2560.9 days (7.3 years) old.
Keywords: Age at first calving, calving interval, longevity, milk yield.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1636176 Nitrification Efficiency and Community Structure of Municipal Activated Sewage Sludge
Authors: Oluyemi O. Awolusi, Abimbola M. Enitan, Sheena Kumari, Faizal Bux
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Nitrification is essential to biological processes designed to remove ammonia and/or total nitrogen. It removes excess nitrogenous compound in wastewater which could be very toxic to the aquatic fauna or cause serious imbalance of such aquatic ecosystem. Efficient nitrification is linked to an in-depth knowledge of the structure and dynamics of the nitrifying community structure within the wastewater treatment systems. In this study, molecular technique was employed for characterizing the microbial structure of activated sludge [ammonia oxidizing bacteria (AOB) and nitrite oxidizing bacteria (NOB)] in a municipal wastewater treatment with intention of linking it to the plant efficiency. PCR based phylogenetic analysis was also carried out. The average operating and environmental parameters as well as specific nitrification rate of plant was investigated during the study. During the investigation the average temperature was 23±1.5oC. Other operational parameters such as mixed liquor suspended solids and chemical oxygen demand inversely correlated with ammonia removal. The dissolved oxygen level in the plant was constantly lower than the optimum (between 0.24 and 1.267 mg/l) during this study. The plant was treating wastewater with influent ammonia concentration of 31.69 and 24.47 mg/L. The influent flow rates (ML/Day) was 96.81 during period. The dominant nitrifiers include: Nitrosomonas spp. Nitrobacter spp. and Nitrospira spp. The AOB had correlation with nitrification efficiency and temperature. This study shows that the specific ammonia oxidizing rate and the specific nitrate formation rates can serve as good indicator of the plant overall nitrification performance.Keywords: Ammonia monooxygenase α-subunit (amoA) gene, ammonia-oxidizing bacteria (AOB), nitrite-oxidizing bacteria (NOB), specific nitrification rate, PCR.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2324175 A Challenge to Acquire Serious Victims’ Locations during Acute Period of Giant Disasters
Authors: Keiko Shimazu, Yasuhiro Maida, Tetsuya Sugata, Daisuke Tamakoshi, Kenji Makabe, Haruki Suzuki
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In this paper, we report how to acquire serious victims’ locations in the Acute Stage of Large-scale Disasters, in an Emergency Information Network System designed by us. The background of our concept is based on the Great East Japan Earthquake occurred on March 11th, 2011. Through many experiences of national crises caused by earthquakes and tsunamis, we have established advanced communication systems and advanced disaster medical response systems. However, Japan was devastated by huge tsunamis swept a vast area of Tohoku causing a complete breakdown of all the infrastructures including telecommunications. Therefore, we noticed that we need interdisciplinary collaboration between science of disaster medicine, regional administrative sociology, satellite communication technology and systems engineering experts. Communication of emergency information was limited causing a serious delay in the initial rescue and medical operation. For the emergency rescue and medical operations, the most important thing is to identify the number of casualties, their locations and status and to dispatch doctors and rescue workers from multiple organizations. In the case of the Tohoku earthquake, the dispatching mechanism and/or decision support system did not exist to allocate the appropriate number of doctors and locate disaster victims. Even though the doctors and rescue workers from multiple government organizations have their own dedicated communication system, the systems are not interoperable.
Keywords: Crisis management, disaster mitigation, messing, MGRS, Satellite communication system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 830174 Determination of Soil Loss by Erosion in Different Land Covers Categories and Slope Classes in Bovilla Watershed, Tirana, Albania
Authors: Valmir Baloshi, Fran Gjoka, Nehat Çollaku, Elvin Toromani
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As a sediment production mechanism, soil erosion is the main environmental threat to the Bovilla watershed, including the decline of water quality of the Bovilla reservoir that provides drinking water to Tirana city (the capital of Albania). Therefore, an experiment with 25 erosion plots for soil erosion monitoring has been set up since June 2017. The aim was to determine the soil loss on plot and watershed scale in Bovilla watershed (Tirana region) for implementation of soil and water protection measures or payments for ecosystem services (PES) programs. The results of erosion monitoring for the period June 2017 - May 2018 showed that the highest values of surface runoff were noted in bare land of 38829.91 liters on slope of 74% and the lowest values in forest land of 12840.6 liters on slope of 64% while the highest values of soil loss were found in bare land of 595.15 t/ha on slope of 62% and lowest values in forest land of 18.99 t/ha on slope of 64%. These values are much higher than the average rate of soil loss in the European Union (2.46 ton/ha/year). In the same sloping class, the soil loss was reduced from orchard or bare land to the forest land, and in the same category of land use, the soil loss increased with increasing land slope. It is necessary to conduct chemical analyses of sediments to determine the amount of chemical elements leached out of the soil and end up in the reservoir of Bovilla. It is concluded that PES programs should be implemented for rehabilitation of sub-watersheds Ranxe, Vilez and Zall-Bastar of the Bovilla watershed with valuable conservation practices.
Keywords: ANOVA, Bovilla, land cover, slope, soil loss, watershed management.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 887173 “Protection” or “Destruction”: Taking the Cultural Heritage Protection of the Grand Canal in Huaxian and Xunxian Sections of Henan Province as Example
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The Grand Canal of China has been in use for more than two thousand years. It runs through the central and eastern regions of China and communicates with the five major river systems of Haihe River, Yellow River, Huaihe River, Yangtze River and Qiantang River from north to south. It is a complex, systematic and comprehensive water conservancy project in the period of agricultural civilization and includes the three parts of the Beijing-Hangzhou Canal, the Sui and Tang Dynasties Canal and the Eastern Zhejiang Canal. It covers eight provinces and cities including Beijing, Tianjin, Hebei, Shandong, Jiangsu, Zhejiang, Henan and Anhui. The Grand Canal is an important channel connecting the Central Plains and the Beijing-Hangzhou Canal, and it is also an important waterway trade channel. Nowadays, although the Grand Canal no longer bears the burden of communicating water transportation between the north and the south, the site of the Grand Canal is still a “historical museum” of the lifestyle of people who lived on the canal from the Ming and Qing Dynasties to the Republic of China. By means of literature reading and field investigation, this paper compares the different protection strategies of the Grand Canal in the region between the ancient villages of Huaxian and Xunxian, which witness the vicissitudes of canal water transport, to explore whether the protective renovation of historical and cultural routes is “protection” or “destruction”, and puts forward some protection suggestions.
Keywords: The Grand Canal, heritage conservation, cultural route, ancient villages, strategies.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 725172 Traumatic Ankle Pain: Adequacy of Clinical Information in X-Ray Request with Reference to the Ottawa Ankle Rule
Authors: Rania Mustafa
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This audit was conducted at Manchester University NHS Foundation Trust, Wythenshawe Hospital Radiology and Accident and Emergency [A&E] Department to assess the appropriateness of clinical information in X-ray requests, specifically in cases of acute ankle injuries. As per the Ottawa Ankle Rules and the recommendations of National Institute for Health and Care Excellence [NICE] and the Royal College of Radiology, we aimed to evaluate the appropriateness of referrals and the thoroughness of clinical information provided by Emergency Department [ED] clinicians for ankle radiography. Our goal was to achieve 100% compliance with these guidelines. The audit involved a comprehensive analysis spanning the period from August 2022 to January 2023, encompassing patient records, radiographic orders, and clinical assessments. Data collection included patient demographics, presenting complaints, clinical assessments, adherence to Ottawa Ankle Rules criteria, and subsequent radiography orders. Here we conducted two audit cycles, involving 38 patients in the first cycle and 86 patients in the second cycle. The data were furtherly filtered to include all patients who were referred from the ED for an ankle Xray with a history of acute trauma and age of more than 18 years. The key finding was that in August 2022, 60% of cases met the Ottawa Ankle Rules criteria accurately, indicating a need for improvement in adherence. However, by January 2023, there was a notable improvement, with 95% of cases accurately meeting the criteria. This significant change reflects an increased alignment with best practices for ankle radiography referrals.
Keywords: Ankle, injuries, Ottawa Ankle Rule, X-rays.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 291171 Combined Effect of Heat Stimulation and Delayed Addition of Superplasticizer with Slag on Fresh and Hardened Property of Mortar
Authors: Faraidoon Rahmanzai, Mizuki Takigawa, Yu Bomura, Shigeyuki Date
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To obtain the high quality and essential workability of mortar, different types of superplasticizers are used. The superplasticizers are the chemical admixture used in the mix to improve the fluidity of mortar. Many factors influenced the superplasticizer to disperse the cement particle in the mortar. Nature and amount of replaced cement by slag, mixing procedure, delayed addition time, and heat stimulation technique of superplasticizer cause the varied effect on the fluidity of the cementitious material. In this experiment, the superplasticizers were heated for 1 hour under 60 °C in a thermostatic chamber. Furthermore, the effect of delayed addition time of heat stimulated superplasticizers (SP) was also analyzed. This method was applied to two types of polycarboxylic acid based ether SP (precast type superplasticizer (SP2) and ready-mix type superplasticizer (SP1)) in combination with a partial replacement of normal Portland cement with blast furnace slag (BFS) with 30% w/c ratio. On the other hands, the fluidity, air content, fresh density, and compressive strength for 7 and 28 days were studied. The results indicate that the addition time and heat stimulation technique improved the flow and air content, decreased the density, and slightly decreased the compressive strength of mortar. Moreover, the slag improved the flow of mortar by increasing the amount of slag, and the effect of external temperature of SP on the flow of mortar was decreased. In comparison, the flow of mortar was improved on 5-minute delay for both kinds of SP, but SP1 has improved the flow in all conditions. Most importantly, the transition points in both types of SP appear to be the same, at about 5±1 min. In addition, the optimum addition time of SP to mortar should be in this period.
Keywords: Combined effect, delayed addition, heat stimulation, flow of mortar.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 847170 Patterns of Malignant and Benign Breast Lesions in Hail Region: A Retrospective Study at King Khalid Hospital
Authors: Laila Seada, Ashraf Ibrahim, Amjad Al Shammari
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Background and Objectives: Breast carcinoma is the most common cancer of females in Hail region, accounting for 31% of all diagnosed cancer cases followed by thyroid carcinoma (25%) and colorectal carcinoma (13%). Methods: In the present retrospective study, all cases of breast lesions received at the histopathology department in King Khalid Hospital, Hail, during the period from May 2011 to April 2016 have been retrieved from department files. For all cases, a trucut biopsy, lumpectomy, or modified radical mastectomy was available for histopathologic diagnosis, while 105/140 (75%) had, as well, preoperative fine needle aspirates (FNA). Results: 49 cases out of 140 (35%) breast lesions were carcinomas: 44/49 (89.75%) was invasive ductal, 2/49(4.1%) invasive lobular carcinomas, 1/49(2.05%) intracystic low grade papillary carcinoma and 2/49 (4.1%) ductal carcinoma in situ (DCIS). Mean age for malignant cases was 45.06 (+/-10.58): 32.6% were below the age of 40 and 30.6 below 50 years, 18.3% below 60 and 16.3% below 70 years. For the benign group, mean age was 32.52 (+/10.5) years. Benign lesions were in order of frequency: 34 fibroadenomas, 14 fibrocystic disease, 12 chronic mastitis, five granulomatous mastitis, three intraductal papillomas, and three benign phyllodes tumor. Tubular adenoma, lipoma, skin nevus, pilomatrixoma, and breast reduction specimens constituted the remaining specimens. Conclusion: Breast lesions are common in our series and invasive carcinoma accounts for more than 1/3rd of the lumps, with 63.2% incidence in pre-menopausal ladies, below the age of 50 years. FNA as a non-invasive procedure, proved to be an effective tool in diagnosing both benign and malignant/suspicious breast lumps and should continue to be used as a first assessment line of palpable breast masses.
Keywords: Age incidence, breast carcinoma, fine needle aspiration, Hail Region.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 937169 Foreign Direct Investment on Economic Growth by Industries in Central and Eastern European Countries
Authors: Shorena Pharjiani
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Present empirical paper investigates the relationship between FDI and economic growth by 10 selected industries in 10 Central and Eastern European countries from the period 1995 to 2012. Different estimation approaches were used to explore the connection between FDI and economic growth, for example OLS, RE, FE with and without time dummies. Obtained empirical results leads to some main consequences: First, the Central and East European countries (CEEC) attracted foreign direct investment, which raised the productivity of industries they entered in. It should be concluded that the linkage between FDI and output growth by industries is positive and significant enough to suggest that foreign firm’s participation enhanced the productivity of the industries they occupied. There had been an endogeneity problem in the regression and fixed effects estimation approach was used which partially corrected the regression analysis in order to make the results less biased. Second, it should be stressed that the results show that time has an important role in making FDI operational for enhancing output growth by industries via total factor productivity. Third, R&D positively affected economic growth and at the same time, it should take some time for research and development to influence economic growth. Fourth, the general trends masked crucial differences at the country level: over the last 20 years, the analysis of the tables and figures at the country level show that the main recipients of FDI of the 11 Central and Eastern European countries were Hungary, Poland and the Czech Republic. The main reason was that these countries had more open door policies for attracting the FDI. Fifth, according to the graphical analysis, while Hungary had the highest FDI inflow in this region, it was not reflected in the GDP growth as much as in other Central and Eastern European countries.Keywords: Central and East European countries (CEEC), economic growth, FDI, panel data.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1665168 Acceleration-Based Motion Model for Visual SLAM
Authors: Daohong Yang, Xiang Zhang, Wanting Zhou, Lei Li
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Visual Simultaneous Localization and Mapping (VSLAM) is a technology that gathers information about the surrounding environment to ascertain its own position and create a map. It is widely used in computer vision, robotics, and various other fields. Many visual SLAM systems, such as OBSLAM3, utilize a constant velocity motion model. The utilization of this model facilitates the determination of the initial pose of the current frame, thereby enhancing the efficiency and precision of feature matching. However, it is often difficult to satisfy the constant velocity motion model in actual situations. This can result in a significant deviation between the obtained initial pose and the true value, leading to errors in nonlinear optimization results. Therefore, this paper proposes a motion model based on acceleration that can be applied to most SLAM systems. To provide a more accurate description of the camera pose acceleration, we separate the pose transformation matrix into its rotation matrix and translation vector components. The rotation matrix is now represented by a rotation vector. We assume that, over a short period, the changes in rotating angular velocity and translation vector remain constant. Based on this assumption, the initial pose of the current frame is estimated. In addition, the error of the constant velocity model is analyzed theoretically. Finally, we apply our proposed approach to the ORBSLAM3 system and evaluate two sets of sequences from the TUM datasets. The results show that our proposed method has a more accurate initial pose estimation, resulting in an improvement of 6.61% and 6.46% in the accuracy of the ORBSLAM3 system on the two test sequences, respectively.
Keywords: Error estimation, constant acceleration motion model, pose estimation, visual SLAM.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 254