Search results for: Supermarket Store Layout

Authors: Mona Masood, Norshazlina Shaik Othman

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The purpose of this study was to investigate graduate students’ visual attention and perceptions of a Prezi presentation. Ten postgraduate master students were presented with a Prezi presentation at the Centre for Instructional Technology and Multimedia, Universiti Sains Malaysia (USM). The eye movement indicators such as dwell time, average fixation on the areas of interests, heat maps and focus maps were abstracted to indicate the students’ visual attention. Descriptive statistics was employed to analyze the students’ perception of the Prezi presentation in terms of text, slide design, images, layout and overall presentation. The result revealed that the students paid more attention to the text followed by the images and sub heading presented through the Prezi presentation.

Keywords: Eye tracking, Prezi, visual attention, visual perception.

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Authors: Hadj Bourdoucen, Adel Gastli

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In this paper, an approach for finding optimized layouts for connecting PV units delivering maximum array output power is suggested. The approach is based on considering the different varying parameters of PV units that might be extracted from a general two-diode model. These are mainly, solar irradiation, reverse saturation currents, ideality factors, series and shunt resistances in addition to operating temperature. The approach has been tested on 19 possible 2×3 configurations and allowed to determine the optimized configurations as well as examine the effects of the different units- parameters on the maximum output power. Thus, using this approach, standard arrays with n×m units can be configured for maximum generated power and allows designing PV based systems having reduced surfaces to fit specific required power, as it is the case for solar cars and other mobile systems.

Keywords: Photovoltaic, PV unit, optimum configuration, maximum power, Orcad.

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Authors: El Mahdi Barrah, Said Safi, Abdessamad Malaoui

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In this paper, we describe an application for face recognition. Many studies have used local descriptors to characterize a face, the performance of these local descriptors remain low by global descriptors (working on the entire image). The application of local descriptors (cutting image into blocks) must be able to store both the advantages of global and local methods in the Discrete Cosine Transform (DCT) domain. This system uses neural network techniques. The letter method provides a good compromise between the two approaches in terms of simplifying of calculation and classifying performance. Finally, we compare our results with those obtained from other local and global conventional approaches.

Keywords: Face detection, face recognition, discrete cosine transform (DCT), FPLBP, TPLBP, NN.

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Authors: Muhammad Salam, Nasir Rashid, Shah Khalid, Muhammad Raees Khan

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In this paper a modified version NXM of traditional 5X5 playfair cipher is introduced which enable the user to encrypt message of any Natural language by taking appropriate size of the matrix depending upon the size of the natural language. 5X5 matrix has the capability of storing only 26 characters of English language and unable to store characters of any language having more than 26 characters. To overcome this limitation NXM matrix is introduced which solve this limitation. In this paper a special case of Urdu language is discussed. Where # is used for completing odd pair and * is used for repeating letters.

Keywords: cryptography, decryption, encryption, playfair cipher, traditional cipher.

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Authors: A-M. Saarela

Abstract:

At the Savonia University of Applied Sciences (UAS), curriculum and studies have been improved by applying an Open Innovation Space approach (OIS). It is based on multidisciplinary action learning. The key elements of OIS-ideology are work-life orientation, and student-centric communal learning. In this approach, every participant can learn from each other and innovations will be created. In this social innovation educational approach, all practices are carried out in close collaboration with enterprises in real-life settings, not in classrooms. As an example, in this paper, Savonia UAS’s Future Food RDI hub (FF) shows how OIS practices are implemented by providing food product development and consumer research services for enterprises in close collaboration with academicians, students and consumers. In particular one example of OIS experimentation in the field is provided by a consumer research carried out utilizing verbal analysis protocol combined with audiovisual observation (VAP-WAVO). In this case, all co-learners were acting together in supermarket settings to collect the relevant data for a product development and the marketing department of a company. The company benefitted from the results obtained, students were more satisfied with their studies, educators and academicians were able to obtain good evidence for further collaboration as well as renewing curriculum contents based on the requirements of working life. In addition, society will benefit over time as young university adults find careers more easily through their OIS related food science studies. Also this knowledge interaction model re-news education practices and brings working-life closer to educational research institutes.

Keywords: Collaboration, education, food science, industry, knowledge transfer, RDI, student.

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Authors: Leo Galambos, Jan Lansky, Katsiaryna Chernik

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EGOTHOR is a search engine that indexes the Web and allows us to search the Web documents. Its hit list contains URL and title of the hits, and also some snippet which tries to shortly show a match. The snippet can be almost always assembled by an algorithm that has a full knowledge of the original document (mostly HTML page). It implies that the search engine is required to store the full text of the documents as a part of the index. Such a requirement leads us to pick up an appropriate compression algorithm which would reduce the space demand. One of the solutions could be to use common compression methods, for instance gzip or bzip2, but it might be preferable if we develop a new method which would take advantage of the document structure, or rather, the textual character of the documents. There already exist a special compression text algorithms and methods for a compression of XML documents. The aim of this paper is an integration of the two approaches to achieve an optimal level of the compression ratio

Keywords: Compression, search engine, HTML, XML.

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Authors: Sun Ailu, Zhao Wanmin

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In the process of rapid urbanization, old urban renewal is an important task in China's urban construction. This study, using status survey and Analytic Hierarchy Process (AHP) method, taking Chongqing of China as an example, puts forward the problems faced by the old urban area from the aspects of function, facilities and environment. Further, this study summarizes the types of the old urban area and proposes space renewal strategies for three typical old urban areas, such as old residential area, old factory and old market. These old urban areas are confronted with the problems of functional layout confounding, lack of infrastructure and poor living environment. At last, this paper proposes spatial strategies for urban renewal, which are hoped to be useful for urban renewal management in China.

Keywords: Old urban renewal, renewal mode, renewal strategy, Chongqing, China.

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Authors: Hsin-Yun Lee, Hao-Hsi Tseng

Abstract:

Previous studies mass evacuation route network does not fully reflect the step-by-step behavior and evacuees make routing decisions. Therefore, they do not work as expected when applied to the evacuation route planning is valid. This article describes where evacuees may have to make a direction to select all areas were identified as guiding points to improve evacuation routes network. This improved route network can be used as a basis for the layout can be used to guide the signs indicate that provides the required evacuation direction. This article also describes that combines simulation and artificial bee colony algorithm to provide the proposed routing solutions, to plan an integrated routing mode. The improved network and the model used is the cinema as a case study to assess the floor. The effectiveness of guidance solution in the total evacuation time is significant by verification.

Keywords: Artificial bee colony, Evacuation, Simulation.

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Authors: Erika Yamaguchi, Sirawadee Arunyanrt, Shunichi Ohmori, Kazuho Yoshimoto

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In this paper, we suggest a simulation tool to make a decision of monthly production planning for maximizing a profit of Specialty store retailer of Private label Apparel (SPA) firms. Most of SPA firms are fabless and make outsourcing deals for productions with factories of their subcontractors. Every month, SPA firms make a booking for production lines and manpower in the factories. The booking is conducted a few months in advance based on a demand prediction and a monthly production planning at that time. However, the demand prediction is updated month by month, and the monthly production planning would change to meet the latest demand prediction. Then, SPA firms have to change the capacities initially booked within a certain range to suit to the monthly production planning. The booking system is called “capacity-booking”. These days, though it is an issue for SPA firms to make precise monthly production planning, many firms are still conducting the production planning by empirical rules. In addition, it is also a challenge for SPA firms to match their products and factories with considering their demand predictabilities and regulation abilities. In this paper, we suggest a model for considering these two issues. An objective is to maximize a total profit of certain periods, which is sales minus costs of production, inventory, and capacity-booking penalty. To make a better monthly production planning at SPA firms, these points should be considered: demand predictabilities by random trends, previous and next month’s production planning of the target month, and regulation abilities of the capacity-booking. To decide matching products and factories for outsourcing, it is important to consider seasonality, volume, and predictability of each product, production possibility, size, and regulation ability of each factory. SPA firms have to consider these constructions and decide orders with several factories per one product. We modeled these issues as a linear programming. To validate the model, an example of several computational experiments with a SPA firm is presented. We suppose four typical product groups: basic, seasonal (Spring / Summer), seasonal (Fall / Winter), and spot product. As a result of the experiments, a monthly production planning was provided. In the planning, demand predictabilities from random trend are reduced by producing products which are different product types. Moreover, priorities to produce are given to high-margin products. In conclusion, we developed a simulation tool to make a decision of monthly production planning which is useful when the production planning is set every month. We considered the features of capacity-booking, and matching of products and factories which have different features and conditions.

Keywords: Capacity-booking, SPA, monthly production planning, linear programming.

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Authors: Erik Hedin, Lars Strandén, Johannes Lundsten

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In 2002 an amendment to SOLAS opened for lightweight material constructions in vessels if the same fire safety as in steel constructions could be obtained. FISPAT (FIreSPread Analysis Tool) is a computer application that simulates fire spread and fault injection in cruise vessels and identifies fire sensitive areas. It was developed to analyze cruise vessel designs and provides a method to evaluate network layout and safety of cruise vessels. It allows fast, reliable and deterministic exhaustive simulations and presents the result in a graphical vessel model. By performing the analysis iteratively while altering the cruise vessel design it can be used along with fire chamber experiments to show that the lightweight design can be as safe as a steel construction and that SOLAS regulations are fulfilled.

Keywords: Fire spread, network, safety, simulation.

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Authors: Chaiwat Kongsom, Vitoon Panyakul

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The objective of this study was to assess the production and market of certified organic products in Thailand. A purposive sampling technique was used to identify a sample group of 154 organic entrepreneurs for the study. A survey and in-depth interview were employed for data collection. Also, secondary data from organic agriculture certification body and publications was collected. Then descriptive statistics and content analysis technique were used to describe about production and market of certified organic products in Thailand. Results showed that there were 9,218 farmers on 213,183.68 Rai (83,309.2 acre) of certified organic agriculture land (0.29% of national agriculture land). A total of 57.8% of certified organic agricultural lands were certified by the international certification body. Organic farmers produced around 71,847 tons/year and worth around THB 1,914 million (Euro 47.92 million). Excluding primary producers, 471 operators involved in the Thai organic supply chains, including processors, exporters, distributors, green shops, modern trade shops (supermarket shop), farmer’s markets and food establishments were included. Export market was the major market channel and most of organic products were exported to Europe and North America. The total Thai organic market in 2014 was estimated to be worth around THB 2,331.55 million (Euro 58.22 million), of which, 77.9% was for export and 22.06% was for the domestic market. The largest exports of certified organic products were processed foods (66.1% of total export value), followed by organic rice (30.4%). In the domestic market, modern trade was the largest sale channel, accounting for 59.48% of total domestic sales, followed by green shop (29.47%) and food establishment (5.85%). To become a center of organic farming and trading within ASEAN, the Thai organic sector needs to have more policy support in regard to agricultural chemicals, GMO, and community land title. In addition, appropriate strategies need to be developed.

Keywords: Certified organic products, production, market, Thailand.

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Authors: Sanjoy Das, Akash Arya, Rishi Pal Singh

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Vehicular Ad hoc Network is basically the solution of several problems associated while vehicles are plying on the road. In this paper, we have focused on the detection of imposter node while it has stolen the ID's of the authenticated vehicle in the network. The purpose is to harm the network through imposter messages. Here, we have proposed a protocol namely Imposter Detection based on Location (IDBL), which will store the location coordinate of the each vehicle as the key of the authenticity of the message so that imposter node can be detected. The imposter nodes send messages from a stolen ID and show that it is from an authentic node ID. So, to detect this anomaly, the first location is checked and observed different from original vehicle location. This node is known as imposter node. We have implemented the algorithm through JAVA and tested various types of node distribution and observed the detection probability of imposter node.

Keywords: Authentication, detection, IDBL protocol, imposter node, node detection.

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Authors: Orod Zarrin, Mohsen Ramezan Shirazi

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Rehabilitation of dam components such as foundations, buttresses, spillways and overtopping protection require a wide range of construction and design methodologies. Geotechnical Engineering considerations play an important role in the design and construction of foundations of new dams. Much investigation is required to assess and evaluate the existing dams. The application of roller compacting concrete (RCC) has been accepted as a new method for constructing new dams or rehabilitating old ones. In the past 40 years there have been so many changes in the usage of RCC and now it is one of most satisfactory solutions of water and hydropower resource throughout the world. The considerations of rehabilitation and construction of dams might differ due to upstream reservoir and its influence on penetrating and dewatering of downstream, operations requirements and plant layout. One of the advantages of RCC is its rapid placement which allows the dam to be operated quickly. Unlike ordinary concrete it is a drier mix, and stiffs enough for compacting by vibratory rollers. This paper evaluates some different aspects of RCC and focuses on its preparation progress.

Keywords: Spillway, Vibrating Consistency, Fly Ash, Water Tightness, Foundation.

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Authors: S.A.M. Yatim, Z.B. Ibrahim, K.I. Othman, F. Ismail

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The implicit block methods based on the backward differentiation formulae (BDF) for the solution of stiff initial value problems (IVPs) using variable step size is derived. We construct a variable step size block methods which will store all the coefficients of the method with a simplified strategy in controlling the step size with the intention of optimizing the performance in terms of precision and computation time. The strategy involves constant, halving or increasing the step size by 1.9 times the previous step size. Decision of changing the step size is determined by the local truncation error (LTE). Numerical results are provided to support the enhancement of method applied.

Keywords: Backward differentiation formulae, block backwarddifferentiation formulae, stiff ordinary differential equation, variablestep size.

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Authors: Ladan Tajaddini

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Iranians- imagination of heaven, which is the reward of a person-s good deeds during their life, has shown itself in pleasant and green gardens where earthly gardens were made as representations of paradise. Iranians are also quite interested in making their earthly gardens and plantations around their buildings. With Iran-s hot and dry climate with a lack of sufficient water for plantation coverage, it becomes noticeable how important it is to Iranians- art in making gardens. This study, with regard to examples, documents and library studies, investigates the characteristics of Persian gardens. The result shows that elements such as soil, water, plants and layout have been used in forming a unique style of Persian gardens. Bagh-e Shah Zadeh Mahan (Mahan prince garden) is a typical example and has been carefully studied. In this paper I try to investigate and evaluate the characteristics of a Persian garden by means of a descriptive approach.

Keywords: environmental planning, Persian garden, landscape, shah zadeh garden, soil and water, gardening.

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Authors: Stanislovas Buteliauskas, Aušrius Juozapavičius

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City road transport contributes significantly to climate change, and the ongoing world urbanization is only increasing the problem. The paper describes a city planning concept minimizing the number of vehicles on the roads while increasing overall mobility. This becomes possible by utilizing a recently invented two-level road junction with a unique property of serving both as an intersection of uninterrupted traffic and an easily accessible transport hub capable of accumulating private vehicles, and therefore becoming an especially effective park-and-ride solution, and a logistics or business center. Optimized layouts of city road infrastructure, living and work areas, and major roads are presented. The layouts are suitable both for the development of new cities as well as for the expansion of existing ones. Costs of the infrastructure and a positive impact on climate are evaluated in comparison to current city growth patterns.

Keywords: Congestion, city infrastructure, park-and-ride, road junctions.

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Authors: A. Giraldo, A. Lapatka, A. Namyslak, S. Pilny, J. B. Miima

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This paper explains how the New Jersey Institute of Technology surveying student team members designed and created an interactive GIS map, the purpose of which is to be useful to the land surveyor and engineer for project management. This was achieved by building a research and storage database that can be easily integrated into any land surveyor’s current operations through the use of ArcGIS 10, Arc Catalog, and AutoCAD. This GIS database allows for visual representation and information querying for multiple job sites, and simple access to uploaded data, which is geospatially referenced to each individual job site or project. It can also be utilized by engineers to determine design criteria, or to store important files. This cost-effective approach to a surveying map not only saves time, but saves physical storage space and paper resources.

Keywords: Data Storage, GIS, Land Surveying, Mapping.

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Authors: Olufisayo A. Olufayo, Fred A. O. Otieno, George M. Ochieng

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Abstraction of water from the dry river sand-beds is well-known as an alternative source of water during dry seasons. Internally, because of the form of sand particles, voids are created which can store water in the riverbeds. Large rivers are rare in South Africa. Many rivers are sand river types and without water during the prolonged dry periods. South Africa has not taken full advantage of water storage in sand as a solution to the growing water scarcity both in urban and rural areas. The paper reviews the benefits of run-off storage in sand reservoirs gained from other arid areas and need for adoption in rural areas of South Africa as an alternative water supply where it is probable.

Keywords: Groundwater, Perennial river, Run-off storage, Sandreservoir.

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Authors: C. Rajan, K. Geetha, S. Geetha

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The motivation of image compression technique is to reduce the irrelevance and redundancy of the image data in order to store or pass data in an efficient way from one place to another place. There are several types of compression methods available. Without the help of compression technique, the file size is knowingly larger, usually several megabytes, but by doing the compression technique, it is possible to reduce file size up to 10% as of the original without noticeable loss in quality. Image compression can be lossless or lossy. The compression technique can be applied to images, audio, video and text data. This research work mainly concentrates on methods of encoding, DCT, compression methods, security, etc. Different methodologies and network simulations have been analyzed here. Various methods of compression methodologies and its performance metrics has been investigated and presented in a table manner.

Keywords: Image compression techniques, encoding, DCT, lossy compression, lossless compression, JPEG.

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Authors: Domingo López-Rodríguez, Enrique Mérida-Casermeiro, Juan M. Ortiz-de-Lazcano-Lobato

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Hopfield model of associative memory is studied in this work. In particular, two main problems that it possesses: the apparition of spurious patterns in the learning phase, implying the well-known effect of storing the opposite pattern, and the problem of its reduced capacity, meaning that it is not possible to store a great amount of patterns without increasing the error probability in the retrieving phase. In this paper, a method to avoid spurious patterns is presented and studied, and an explanation of the previously mentioned effect is given. Another technique to increase the capacity of a network is proposed here, based on the idea of using several reference points when storing patterns. It is studied in depth, and an explicit formula for the capacity of the network with this technique is provided.

Keywords: Associative memory, Hopfield network, network capacity, spurious patterns.

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Authors: Andreas Savvides, Chloe Kadi

Abstract:

The objective of this study is to investigate how the planning and design of open parks within neighborhoods and communities can promote physical activity in order to enhance the health of the local population. A review of relevant literature was conducted for studies regarding the relationship between health and physical activity and the park characteristics that can promote physical activity among people. The findings of the literature review were then compared and analyzed, in order to identify the main characteristics of urban parks that can promote physical activity and enhance public health. In order to find out how the characteristics identified in the literature were applied in real life, an analysis of three existing parks in three different countries was conducted. The parks, apart from their geographical location, also vary in size and layout. The parks were chosen because they are urban open parks and they include facilities for physical activity.

Keywords: Urban planning, active living behavior, open parks, sustainable mobility.

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Authors: S. Yunus, A. Suratman, N. Mohamad Nor, M. Othman

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This paper presents the measurement and simulation results by Finite Element Method (FEM) for earth resistance (R_DC) for interconnected vertical ground rod configurations. The soil resistivity was measured using the Wenner four-pin Method, and R_DC was measured using the Fall of Potential (FOP) method, as outlined in the standard. Genetic Algorithm (GA) is employed to interpret the soil resistivity to that of a 2-layer soil model. The same soil resistivity data that were obtained by Wenner four-pin method were used in FEM for simulation. This paper compares the results of R_DC obtained by FEM simulation with the real measurement at field site. A good agreement was seen for R_DC obtained by measurements and FEM. This shows that FEM is a reliable software to be used for design of earthing systems. It is also found that the parallel rod system has a better performance compared to a similar setup using a grid layout.

Keywords: Earthing systems, earth electrodes, Finite Element Method, FEM, Genetic Algorithm, GA, earth resistances.

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Authors: Mateen Abbas, Abdul Muqeet Khan, Muhammad Rafique Asi, Javed Akhtar

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Mycotoxin (aflatoxins) contamination of peanuts is a great concern for human health. A total of 72 samples of unripe, roasted, and salty peanuts were collected randomly from Pothohar plateau of Pakistan for the assessment of aflatoxin. Samples were dried, ground and extracted by acetonitrile (84%). The filtered extracts were cleaned up by MycoSep-226 and analyzed by high performance liquid chromatography with flourescence detector. Quantification limit of Aflatoxin was 1 μg/kg and 70% Recovery was observed in spiked samples in the range 1–10 μg/kg. The screening of mycotoxins indicated that aflatoxins were present in most of the samples being detected in 82%, in concentrations from 14.25 μg/kg to 98.80 μg/kg. Optimal conditions for mycotoxin production and fungal growth are frequently found in the crop fields as well as in store houses. Human exposure of such toxin can be controlled by pointed out such awareness and implemented the regulations.

Keywords: Aflatoxin, HPLC, Pakistan, Peanuts, Punjab

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Authors: Pavel Vazan, Pavol Tanuska, Michal Kebisek

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The paper gives the pilot results of the project that is oriented on the use of data mining techniques and knowledge discoveries from production systems through them. They have been used in the management of these systems. The simulation models of manufacturing systems have been developed to obtain the necessary data about production. The authors have developed the way of storing data obtained from the simulation models in the data warehouse. Data mining model has been created by using specific methods and selected techniques for defined problems of production system management. The new knowledge has been applied to production management system. Gained knowledge has been tested on simulation models of the production system. An important benefit of the project has been proposal of the new methodology. This methodology is focused on data mining from the databases that store operational data about the production process.

Keywords: data mining, data warehousing, management of production system, simulation

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Authors: Akerke B. Abagan, Baiyan N. Jubatova

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It is well known that the phraseology of a language - the phenomenon of identity. This uniqueness is due to the fact that "there are idioms image-based views of reality that shows mainly of everyday empirical, historical and spiritual experience of a language community, associated with its cultural traditions. The article says that the phraseological units very clearly show the image of the people and give us a great view of the national identity. With the phraseology of the Kazakh and Korean language can understand the mentality of the nation, identity, perception of people. It is in the phraseological units can surprise the culture and customs of the people. Phraseological units store and transmit information about the level of material and spiritual culture of the people, his life, past and present, the development of society in general. And in Korean and Kazakh languages idioms occupy a particularly important role.

Keywords: Comparative method, idioms, lingvoculture, phraseology.

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Authors: T. Balogh, L. G. Vigh

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Seismic design may require non-conventional concept, due to the fact that the stiffness and layout of the structure have a great effect on the overall structural behaviour, on the seismic load intensity as well as on the internal force distribution. To find an economical and optimal structural configuration the key issue is the optimal design of the lateral load resisting system. This paper focuses on the optimal design of regular, concentric braced frame (CBF) multi-storey steel building structures. The optimal configurations are determined by a numerical method using genetic algorithm approach, developed by the authors. Aim is to find structural configurations with minimum structural cost. The design constraints of objective function are assigned in accordance with Eurocode 3 and Eurocode 8 guidelines. In this paper the results are presented for various building geometries, different seismic intensities, and levels of energy dissipation.

Keywords: Dissipative Structures, Genetic Algorithm, Seismic Effects, Structural Optimization.

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Authors: Jyotsna Singh, Parul Garg, Alok Nath De

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In this paper, we present a non-blind technique of adding the watermark to the Fourier spectral components of audio signal in a way such that the modified amplitude does not exceed the maximum amplitude spread (MAS). This MAS is due to individual Discrete fourier transform (DFT) coefficients in that particular frame, which is derived from the Energy Spreading function given by Schroeder. Using this technique one can store double the information within a given frame length i.e. overriding the watermark on the host of equal length with least perceptual distortion. The watermark is uniformly floating on the DFT components of original signal. This helps in detecting any intentional manipulations done on the watermarked audio. Also, the scheme is found robust to various signal processing attacks like presence of multiple watermarks, Additive white gaussian noise (AWGN) and mp3 compression.

Keywords: Discrete Fourier Transform, Spreading Function, Watermark, Pseudo Noise Sequence, Spectral Masking Effect

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Authors: Nicoletta Adamo-Villani

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The object of this research is the design and evaluation of an immersive Virtual Learning Environment (VLE) for deaf children. Recently we have developed a prototype immersive VR game to teach sign language mathematics to deaf students age K- 4 [1] [2]. In this paper we describe a significant extension of the prototype application. The extension includes: (1) user-centered design and implementation of two additional interactive environments (a clock store and a bakery), and (2) user-centered evaluation including development of user tasks, expert panel-based evaluation, and formative evaluation. This paper is one of the few to focus on the importance of user-centered, iterative design in VR application development, and to describe a structured evaluation method.

Keywords: 3D Animation, Virtual Reality, Virtual Learning Environments, User-Centered Design, User-centered Evaluation.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

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New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

Abstract:

New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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