Search results for: indirect vector control

Authors: B. Lonla Moffo, J. Mbihi, L. Nneme Nneme

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In this paper, a low cost duty-cycle modulation scheme is studied in depth and compared to the standard pulse width modulation technique. Using a mix of analytical reasoning and electronics simulation tools, it is shown that under the same operating conditions, most characteristics of the proposed duty-cycle modulation scheme are better than those provided by a standard pulse width modulation technique. The simulation results obtained when testing both modulation control policies on prototyping systems, indicate that the proposed duty-cycle modulation approach, appears to be a high quality control policy in a wide variety of application areas, including A/D and D/A conversion, signal transmission and switching control in power electronics.

Keywords: Duty-cycle Modulation, Operational amplifiers, Pulse width modulation, Power electronics, Signal processing.

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Authors: Essam Al Daoud

Abstract:

To improve the classification rate of the face recognition, features combination and a novel non-linear kernel are proposed. The feature vector concatenates three different radius of local binary patterns and Gabor wavelet features. Gabor features are the mean, standard deviation and the skew of each scaling and orientation parameter. The aim of the new kernel is to incorporate the power of the kernel methods with the optimal balance between the features. To verify the effectiveness of the proposed method, numerous methods are tested by using four datasets, which are consisting of various emotions, orientations, configuration, expressions and lighting conditions. Empirical results show the superiority of the proposed technique when compared to other methods.

Keywords: Face recognition, Gabor wavelet, LBP, Non-linearkerner

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Authors: B. Prebreza, I. Krasniqi, G. Kabashi, G. Pula, N. Avdiu

Abstract:

This paper discusses aspects of outages in the electric transmission network in the Kosovo Power System caused by the atmospheric discharges.

Frequency and location of the atmospheric discharges in Kosovo territory will be provided by a lightning location system ALARM (Automated Lightning Alert and Risk Management) and from the data from the Meteorological Department in Prishtina International Airport. These data will be used to make comparisons with the actual outages registered in the Kosovo Power System from the Kosovo Transmission, systems and market operator (KOSTT) during a specific time period.

The lines with the worst performance determined, regarding the atmospheric discharges, will be choose for further discussions in terms of over voltages caused by the direct or indirect lightning strokes.

Recommendations for protection in terms of insulator coordination and surge arresters will be given at the end and in this stage dynamic simulation will take part.

Keywords: Atmospheric discharges, dynamic simulations, Kosovo Power System, surge arresters.

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Authors: Husam Kaid, Abdulrahman Al-Ahmari, Zhiwu Li

Abstract:

This paper develops a robust deadlock control technique for shared and unreliable resources in automated manufacturing systems (AMSs) based on structural analysis and colored Petri nets, which consists of three steps. The first step involves using strict minimal siphon control to create a live (deadlock-free) system that does not consider resource failure. The second step uses an approach based on colored Petri net, in which all monitors designed in the first step are merged into a single monitor. The third step addresses the deadlock control problems caused by resource failures. For all resource failures in the Petri net model a common recovery subnet based on colored petri net is proposed. The common recovery subnet is added to the obtained system at the second step to make the system reliable. The proposed approach is evaluated using an AMS from the literature. The results show that the proposed approach can be applied to an unreliable complex Petri net model, has a simpler structure and less computational complexity, and can obtain one common recovery subnet to model all resource failures.

Keywords: Automated manufacturing system, colored Petri net, deadlock, siphon.

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Authors: H.S. Kim

Abstract:

In this study, control performance of a smart base isolation system consisting of a friction pendulum system (FPS) and a magnetorheological (MR) damper has been investigated. A fuzzy logic controller (FLC) is used to modulate the MR damper so as to minimize structural acceleration while maintaining acceptable base displacement levels. To this end, a multi-objective optimization scheme is used to optimize parameters of membership functions and find appropriate fuzzy rules. To demonstrate effectiveness of the proposed multi-objective genetic algorithm for FLC, a numerical study of a smart base isolation system is conducted using several historical earthquakes. It is shown that the proposed method can find optimal fuzzy rules and that the optimized FLC outperforms not only a passive control strategy but also a human-designed FLC and a conventional semi-active control algorithm.

Keywords: Fuzzy logic controller, genetic algorithm, MR damper, smart base isolation system

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Authors: Azizan Bin Saaban, Adyda Binti Ibrahim, Mohammad Shehzad, Israr Ahmad

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In chaos synchronization, the main goal is to design such controller(s) that synchronizes the states of master and slave system asymptotically globally. This paper studied and investigated the synchronization problem of two identical Chen, and identical Tigan chaotic systems and two non-identical Chen and Tigan chaotic systems using Non-linear active control algorithm. In this study, based on Lyapunov stability theory and using non-linear active control algorithm, it has been shown that the proposed schemes have excellent transient performance using only two nonlinear controllers and have shown analytically as well as graphically that synchronization is asymptotically globally stable.

Keywords: Nonlinear Active Control, Chen and Tigan Chaotic systems, Lyapunov Stability theory, Synchronization.

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Authors: Andrés Carrión García, Aura López de Murillo, José Jabaloyes Vivas, Angela Grisales del Río

Abstract:

Some quality control tools use non metric subjective information coming from experts, who qualify the intensity of relations existing inside processes, but without quantifying them. In this paper we have developed a quality control analytic tool, measuring the impact or strength of the relationship between process operations and product characteristics. The tool includes two models: a qualitative model, allowing relationships description and analysis; and a formal quantitative model, by means of which relationship quantification is achieved. In the first one, concepts from the Graphs Theory were applied to identify those process elements which can be sources of variation, that is, those quality characteristics or operations that have some sort of prelacy over the others and that should become control items. Also the most dependent elements can be identified, that is those elements receiving the effects of elements identified as variation sources. If controls are focused in those dependent elements, efficiency of control is compromised by the fact that we are controlling effects, not causes. The second model applied adapts the multivariate statistical technique of Covariance Structural Analysis. This approach allowed us to quantify the relationships. The computer package LISREL was used to obtain statistics and to validate the model.

Keywords: Characteristics matrix, covariance structure analysis, LISREL.

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Authors: Vitalice K. Oduol, C. Ardil

Abstract:

A method is presented for obtaining the error probability for block codes. The method is based on the eigenvalueeigenvector properties of the code correlation matrix. It is found that under a unary transformation and for an additive white Gaussian noise environment, the performance evaluation of a block code becomes a one-dimensional problem in which only one eigenvalue and its corresponding eigenvector are needed in the computation. The obtained error rate results show remarkable agreement between simulations and analysis.

Keywords: bit error rate, block codes, code correlation matrix, eigenstructure, soft-decision decoding, weight vector.

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Authors: Emilija Miletic, Milos Krstic, Maxim Piz, Michael Methfessel

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In this work we present a solution for DAGC (Digital Automatic Gain Control) in WLAN receivers compatible to IEEE 802.11a/g standard. Those standards define communication in 5/2.4 GHz band using Orthogonal Frequency Division Multiplexing OFDM modulation scheme. WLAN Transceiver that we have used enables gain control over Low Noise Amplifier (LNA) and a Variable Gain Amplifier (VGA). The control over those signals is performed in our digital baseband processor using dedicated hardware block DAGC. DAGC in this process is used to automatically control the VGA and LNA in order to achieve better signal-to-noise ratio, decrease FER (Frame Error Rate) and hold the average power of the baseband signal close to the desired set point. DAGC function in baseband processor is done in few steps: measuring power levels of baseband samples of an RF signal,accumulating the differences between the measured power level and actual gain setting, adjusting a gain factor of the accumulation, and applying the adjusted gain factor the baseband values. Based on the measurement results of RSSI signal dependence to input power we have concluded that this digital AGC can be implemented applying the simple linearization of the RSSI. This solution is very simple but also effective and reduces complexity and power consumption of the DAGC. This DAGC is implemented and tested both in FPGA and in ASIC as a part of our WLAN baseband processor. Finally, we have integrated this circuit in a compact WLAN PCMCIA board based on MAC and baseband ASIC chips designed from us.

Keywords: WLAN, AGC, RSSI, baseband processor

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Authors: Kyung-Jung Lee, Hyun-Sik Ahn

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This paper suggests a design methodology for the hardware and software of the electronic control unit (ECU) of safety-critical vehicle applications such as braking and steering. The architecture of the hardware is a high integrity system such thatit incorporates a high performance 32-bit CPU and a separate peripheral controlprocessor (PCP) together with an external watchdog CPU. Communication between the main CPU and the PCP is executed via a common area of RAM and events on either processor which are invoked by interrupts. Safety-related software is also implemented to provide a reliable, self-testing computing environment for safety critical and high integrity applications. The validity of the design approach is shown by using the hardware-in-the-loop simulation (HILS)for electric power steering(EPS) systemswhich consists of the EPS mechanism, the designed ECU, and monitoring tools.

Keywords: Electronic control unit, electric power steering, functional safety, hardware-in-the-loop simulation.

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Authors: Ganesh Kothapalli, Mohammed Y. Hassan

Abstract:

The hydraulic actuated excavator, being a non-linear mobile machine, encounters many uncertainties. There are uncertainties in the hydraulic system in addition to the uncertain nature of the load. The simulation results obtained in this study show that there is a need for intelligent control of such machines and in particular interval type-2 fuzzy controller is most suitable for minimizing the position error of a typical excavator-s bucket under load variations. We consider the model parameter uncertainties such as hydraulic fluid leakage and friction. These are uncertainties which also depend up on the temperature and alter bulk modulus and viscosity of the hydraulic fluid. Such uncertainties together with the load variations cause chattering of the bucket position. The interval type-2 fuzzy controller effectively eliminates the chattering and manages to control the end-effecter (bucket) position with positional error in the order of few millimeters.

Keywords: excavator, fuzzy control, hydraulics, mining, type-2

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Authors: Davod Khojasteh Salkuyeh, Sayyed Hasan Azizi

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We study the semiconvergence of Gauss-Seidel iterative methods for the least squares solution of minimal norm of rank deficient linear systems of equations. Necessary and sufficient conditions for the semiconvergence of the Gauss-Seidel iterative method are given. We also show that if the linear system of equations is consistent, then the proposed methods with a zero vector as an initial guess converge in one iteration. Some numerical results are given to illustrate the theoretical results.

Keywords: rank deficient least squares problems, AOR iterativemethod, Gauss-Seidel iterative method, semiconvergence.

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Authors: Yogesh Gupta, Ashish Saini, A.K. Saxena

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Information retrieval has become an important field of study and research under computer science due to explosive growth of information available in the form of full text, hypertext, administrative text, directory, numeric or bibliographic text. The research work is going on various aspects of information retrieval systems so as to improve its efficiency and reliability. This paper presents a comprehensive study, which discusses not only emergence and evolution of information retrieval but also includes different information retrieval models and some important aspects such as document representation, similarity measure and query expansion.

Keywords: Information Retrieval, query expansion, similarity measure, query expansion, vector space model.

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Authors: Mario Mastriani, Marcelo Naiouf

Abstract:

The Gram-Schmidt Process (GSP) is used to convert a non-orthogonal basis (a set of linearly independent vectors) into an orthonormal basis (a set of orthogonal, unit-length vectors). The process consists of taking each vector and then subtracting the elements in common with the previous vectors. This paper introduces an Enhanced version of the Gram-Schmidt Process (EGSP) with inverse, which is useful for signal and image processing applications.

Keywords: Digital filters, digital signal and image processing, Gram-Schmidt Process, orthonormalization.

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Authors: Kaveh Qaderi Bagajan, Osman Khanahmadi, Ziba Mamaghani Chaharborj, Majid Chenaparchi

Abstract:

The purpose of this study is to investigate the efficacy of the solution-focused brief therapy on improving the psychological wellbeing of family supervisor woman. This study has been carried out by semi-experimental method and in the form of pre-test, post-test performance on two groups (experimental and control), so that one sample group of 30 individuals was randomly achieved and were randomly divided in two groups of experimental (n=15) and control (n=15). To collect data, Ryff scale psychological wellbeing was used. After conducting pre-test (RSPWB) for two experimental and control groups, Solution-focused brief therapy interference was conducted on the experimental group during five two-hour sessions. Finally, Ryff scale psychological wellbeing was reused for the two groups as post-test and achieved outcomes that were analyzed using covariance. The results indicated that the significant increase of average marks of the experimental group in psychological wellbeing had better function than that of the control group. Finally, solution-focused brief therapy for improving psychological well-being of family supervisor women has a suitable capability and could be used in this way.

Keywords: Solution-Focused Brief Therapy, Short-term Therapy, Family Supervisor Women, Psychological Wellbeing.

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Authors: Nguyen Minh, Tuan, Chung-Ruey, Yen, Bui Lan, Anh

Abstract:

The study was carried out to evaluated effect of S-gridling on fruit growth and quality of wax apple. The study was laid in Random completed block design with four replicated. Four treatment were applied as follows: S-girdling, fruit thinning plus bagging with 2,4-D sprayed, fruit thinning plus bagging and the control treatment. 2,4D was sprayed at the small bud and petal fall stage. Girdling was applied three week before flowering. The effect of all treatments on fruit growth was measured weekly. Number of flower, fruit set, fruit drop, fruit crack, and fruit quality were recorded. The result indicated that S-girdling, 2,4D application produced the lowest bud drop, fruit drop compared to untreated control. S-girdling improved faster fruit growth producing the best final fruit length and diameter compared to untreated control. S-girdling also markedly enhanced fruit set, fruit weight, and total soluble solid, reduced fruit crack, titratable acidity. On the other hand, it was noticed that with 2,4-D application also increased the fruit growth rate, improved physiological and biochemical characters of fruit than control treatment. It was concluded that S-girdling was recommended as the industry norm to increase fruit set, fruit quality in wax apple. 2,4D application had a distinctive and significant effect on most of the fruit quality characteristics assessed.

Keywords: S-girdling, 2, 4D, wax apple, fruit growth, fruit quality.

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Authors: Kalyanasundaram.D., Kavitha. S

Abstract:

Field experiments were conducted at Annamalai University Experimental Farm, Department of Agronomy; to device suitable weed control measures for direct seeded puddled rice and to study the effect of the weed control measures on the soil microbial population. The treatments comprised of incorporation of pressmud @ 6.25 t ha-1 and application of herbicide butachlor @1.5 kg a. i. ha- 1 with and without safener 4 days after sowing (DAS), 8 DAS alone and also in conjunction with hand weeding at 30 DAS. Hand weeding twice and a weedy check were also maintained. At maximum tillering stage, the population of bacteria was significantly reduced by butachlor application. The injury to microbes caused by herbicide disappeared with the advancement of crop's age and at flowering stage of crop, there was no significant difference among the treatments. The fungal and actinomycetes population remained unaltered by weed control treatments at both the stages of observation.

Keywords: Butachlor, Herbicide, Direct sown rice, Microbial population

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Authors: Ahmad Gholami , Saeed Sharafi, Hamid Abbasdokht

Abstract:

The effect of magnetic field on germination characteristics of two wheat Seeds has been studied under laboratory conditions. Seeds were magnetically exposed to magnetic field strengths, 125 or 250mT for different periods of time. Mean germination time and the time required to obtain 10, 25, 50, 75 and 90%of seeds to germinate were calculated. The germination time for each treatment were in general, higher than corresponding control values, in the other word in treated seeds time required for mean seed germination time increased nearly 3 hours in compared non treated control seeds. T10 for doses D5, D6, D11 and D12 significantly higher than the control values for both cultivars. Mean germination time (MGT) in both cultivars significantly increased when the time of seed exposed at magnetic field treatments increased , about 3 and 2 hour respectively for Omid and BCR cultivars.

Keywords: wheat, cultivar, germination test, magnetic field

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Authors: Kiwon Rhee, Kyung-Jin You, Hyun-Chool Shin

Abstract:

This paper proposes a method of remotely controlling robots with arm gestures using surface electromyography (EMG) and accelerometer sensors attached to the operator’s wrists. The EMG and accelerometer sensors receive signals from the arm gestures of the operator and infer the corresponding movements to execute the command to control the robot. The movements of the robot include moving forward and backward and turning left and right. The accuracy is over 99% and movements can be controlled in real time.

Keywords: EMG, accelerometer, K-nn, entropy.

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Authors: Nopparat Pochai, Rujira Deepana

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Water pollution assessment problems arise frequently in environmental science. In this research, a finite difference method for solving the one-dimensional steady convection-diffusion equation with variable coefficients is proposed; it is then used to optimize water treatment costs.

Keywords: Finite difference, One-dimensional, Steady state, Waterpollution control, Optimization, Convection-diffusion equation.

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Authors: M. R. Rouhi, S. Shafiei, A. Taghavipour, H. Adibi-Asl, A. Doosthoseini

Abstract:

This research targets at alleviating the problem of range anxiety associated with the battery electric vehicles (BEVs) by considering mechanical and control aspects of the powertrain. In this way, all the energy consuming components and their effect on reducing the range of the BEV and battery life index are identified. On the other hand, an appropriate control strategy is designed to guarantee the performance of the BEV and the extended electric range which is evaluated by an extensive simulation procedure and a real-world driving schedule.

Keywords: Battery, electric vehicles EV, ultra-capacitor.

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Authors: Ji Xi, Cheng Song Chin, Ehsan Mesbahi

Abstract:

Structure-borne noise is an important aspect of offshore platform sound field. It can be generated either directly by vibrating machineries induced mechanical force, indirectly by the excitation of structure or excitation by incident airborne noise. Therefore, limiting of the transmission of vibration energy throughout the offshore platform is the key to control the structureborne noise. This is usually done by introducing damping treatment to the steel structures. Two types of damping treatment using onboard are presented. By conducting a Statistical Energy Analysis (SEA) simulation on a jack-up rig, the noise level in the source room, the neighboring rooms, and remote living quarter cabins are compared before and after the damping treatments been applied. The results demonstrated that, in the source neighboring room and living quarter area, there is a significant noise reduction with the damping treatment applied, whereas in the source room where air-borne sound predominates that of structure-borne sound, the impact is not obvious. The conclusion on effective damping treatment in the offshore platform is made which enable acoustic professionals to implement noise control during the design stage for offshore crews’ hearing protection and habitant comfortability.

Keywords: Statistical energy analysis, damping treatment, noise control, offshore platform.

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Authors: H. Mansor, S. B. Mohd-Noor, T. S. Gunawan, S. Khan, N. I. Othman, N. Tazali, R. B. Islam

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This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration Derivative (PID) controller with Linear Quadratic Regulator (LQR) for all travel, pitch and yaw angle of the bench-top helicopter. The performance of the PID controller is relatively good; however, its performance could also be improved if the controller is combined with adaptive element. The objective of this research is to design adaptive PID controller and then compare the performances of the adaptive PID with the standard PID. The controller design and test is focused on travel angle control only. Adaptive method used in this project is self-tuning controller, which controller’s parameters are updated online. Two adaptive algorithms those are pole-placement and deadbeat have been chosen as the method to achieve optimal controller’s parameters. Performance comparisons have shown that the adaptive (deadbeat) PID controller has produced more desirable performance compared to standard PID and adaptive (poleplacement). The adaptive (deadbeat) PID controller attained very fast settling time (5 seconds) and very small percentage of overshoot (5% to 7.5%) for 10° to 30° step change of travel angle.

Keywords: Adaptive control, bench-top helicopter, deadbeat, pole-placement, self-tuning control.

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Authors: K. Petcharat, Y. Areepong, S. Sukparungsri, G. Mititelu

Abstract:

These paper, we approximate the average run length (ARL) for CUSUM chart when observation are an exponential first order moving average sequence (EMA1). We used Gauss-Legendre numerical scheme for integral equations (IE) method for approximate ARL0 and ARL1, where ARL in control and out of control, respectively. We compared the results from IE method and exact solution such that the two methods perform good agreement.

Keywords: Cumulative Sum Chart, Moving Average Observation, Average Run Length, Numerical Approximations.

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Authors: Pamela L. Knox, Linda R. Guthrie

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Trauma in early life is widely regarded as a cause for adult mental health problems. This study explores the role of secondary trauma on later functioning in a sample of 359 university students enrolled in undergraduate psychology classes in the United States. Participants were initially divided into four groups based on 1) having directly experienced trauma (assaultive violence), 2) having directly experienced trauma and secondary traumatization through the unanticipated death of a close friend or family member or witnessing of an injury or shocking even), 3) having no experience of direct trauma but having experienced indirect trauma (secondary trauma), or 4) reporting no exposure. Participants completed a battery of measures on concepts associated with psychological functioning which included measures of psychological well-being, problem solving, coping and resiliency. Findings discuss differences in psychological functioning and resilience based on participants who experienced secondary traumatization and assaultive violence versus secondary traumatization alone.

Keywords: Psychological Functioning, Resiliency, Trauma, Abuse

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Authors: Yuki Kondo, Takanori Nagano, Yuki Takeda, Young-Bok Choi, Hiromi Okada

Abstract:

Optical burst switching(OBS) is considered as one of preferable network technologies for the next generation Internet. The Internet has two traffic classes, i.e. real-time bursts and reliable bursts. It is an important subject for OBS to achieve cooperated operation of real-time bursts and reliable bursts. In this paper, we proposes a new effective traffic control method named Separate TB+LB (Token Bucket + Leaky Bucket : TB+LB) method. The proposed method presents a new Token Bucket scheme for real-time bursts called as RBO-TB (Real-time Bursts Oriented Token Bucket). The method also applies the LB method to reliable bursts for obtaining better performance. This paper verifies the effectiveness of the Separate TB+LB method through the performance evaluation.

Keywords: leaky bucket, OBS, traffic control, token bucket.

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Authors: R. Pudasaini, R. B. Thapa, P. R. Poudel

Abstract:

An experiment was conducted to determine the effect of pollination on seed quality of rapeseed in Chitwan, Nepal during 2012-2013. The experiment was designed in Randomized Complete Block with four replications and five treatments. The rapeseed plots were caged with mosquito nets at 10% flowering except natural pollination. Two-framed colonies of Apis mellifera L. and Apis cerana F. were introduced separately for pollination, and control plot caged without pollinators. The highest germination percent was observed on Apis cerana F. pollinated plot seeds (90.50% germination) followed by Apis mellifera L. pollinated plots (87.25 %) and lowest on control plots (42.00% germination) seeds. Similarly, seed test weight of Apis cerana F. pollinated plots (3.22 gm/ 1000 seed) and Apis mellifera L. pollinated plots (2.93 gm/1000 seed) were and lowest on control plots (2.26 gm/ 1000 seed) recorded. Likewise, oil content was recorded highest on pollinated by Apis cerana F. (36.1%) followed by pollinated by Apis mellifera L. (35.4%) and lowest on control plots (32.8%). This study clearly indicated pollination increases the seed quality of rapeseed and therefore, management of honeybee is necessary for producing higher quality of rapeseed under Chitwan condition.

Keywords: Apis cerana, Apis mellifera, rapeseed pollination, seed quality.

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Authors: P. Parvizi, F. Norouzifard, S.Mohammadi

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The need to implement intelligent highways is much more emphasized with the growth of vehicle production line as well as vehicle intelligence. The control of intelligent vehicles in order to reduce human error and boost ease congestion is not accomplished solely by the aid of human resources. The present article is an attempt to introduce an intelligent control system based on a single central computer. In this project, central computer, without utilizing Global Positioning System (GPS), is capable of tracking all vehicles, crisis management and control, traffic guidance and recording traffic crimes along the highway. By the help of RFID technology, vehicles are connected to computerized systems, intelligent light poles and other available hardware along the way. By the aid of Wimax communicative technology, all components of the system are virtually connected together through local and global networks devised in them and the energy of the network is provided by the solar cells installed on the intelligent light poles.

Keywords: intelligent highway, intelligent light pole, highway automation

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Authors: M. Nayeripour, T. Niknam

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Nonlinear and unbalance loads in three phase networks create harmonics and losses. Active and passive filters are used for elimination or reduction of these effects. Passive filters have some limitations. For example, they are designed only for a specific frequency and they may cause to resonance in the network at the point of common coupling. The other drawback of a passive filter is that the sizes of required elements are normally large. The active filter can improve some of limitations of passive filter for example; they can eliminate more than one harmonic and don't cause resonance in the network. In this paper inverter analysis have been done simultaneously in three phase and the RL impedance of the line have been considered. A sliding mode control based on energy feedback of capacitors is employed in the design with this method, the dynamic speed of the filter is improved effectively and harmonics and load unbalance is compensating quickly.

Keywords: Shunt active filter, harmonic, inverter, sliding mode control, energy feedback.

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Authors: Anh Duc Dang, Joachim Horn

Abstract:

This paper presents a new approach to control robots, which can quickly find their swarm while tracking a moving target through the obstacles of the environment. In this approach, an artificial potential field is generated between each free-robot and the virtual attractive point of the swarm. This artificial potential field will lead free-robots to their swarm. The swarm-finding of these free-robots dose not influence the general motion of their swarm and nor other robots. When one singular robot approaches the swarm then its swarm-search will finish, and it will further participate with its swarm to reach the position of the target. The connections between member-robots with their neighbors are controlled by the artificial attractive/repulsive force field between them to avoid collisions and keep the constant distances between them in ordered formation. The effectiveness of the proposed approach has been verified in simulations.

Keywords: Formation control, potential field method, obstacle avoidance, swarm intelligence, multi-agent systems.

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