Search results for: shell targeting.

Authors: Zeljko Panian

Abstract:

Web intelligence, if made personal, can fuel the process of building communications around the interests and preferences of each individual customer or prospect, by providing specific behavioral insights about each individual. To become fully efficient, Web intelligence must reach a stage of a high-level maturity, passing throughout a process that involves five steps: (1) Web site analysis; (2) Web site and advertising optimization; (3) Segment targeting; (4) Interactive marketing (online only); and (5) Interactive marketing (online and offline). Discussing these steps in detail, the paper uncovers the real gold mine that is personal-level Web intelligence.

Keywords: Web intelligence, web analytics, informationtechnology (IT), interactive marketing.

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Authors: Schehrazad Selmane

Abstract:

We present a deterministic model which describes the dynamics of tuberculosis in Algerian population where the vaccination program with BCG is in place since 1969 and where the WHO recommendations regarding the DOTS (directly-observed treatment, short course) strategy are in application. The impact of an intervention program, targeting recently infected people among all close contacts of active cases and their treatment to prevent endogenous reactivation, on the incidence of tuberculosis, is investigated. We showed that a widespread treatment of latently infected individuals for some years is recommended to shift from higher to lower equilibrium state and thereafter relaxation is recommended.

Keywords: Deterministic model, reproduction number, stability, tuberculosis.

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Authors: Kamila Tislerova, Marta Zambochova

Abstract:

Market segmentation is one of the most fundamental strategic marketing concepts. The better the segment which is chosen for targeting by a particular organisation, the more successful the organisation is assumed to be in the marketplace. Also higher education institutions have to improve their marketing tools for attracting foreign students, particularly when demanding tuition fees. This contribution aims at demonstrating the proper usage of the cluster analysis for segmentation (represented by students' willingness to study abroad) and also, based on large international survey, offers some practical marketing implications.

Keywords: Market Segmentation, Students' Preferences, Study Abroad, Cluster Analysis

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Authors: A. Andreasyan, C. Connors

Abstract:

The Elliptic Curve Digital Signature algorithm-based X509v3 certificates are becoming more popular due to their short public and private key sizes. Moreover, these certificates can be stored in Internet of Things (IoT) devices, with limited resources, using less memory and transmitted in network security protocols, such as Internet Key Exchange (IKE), Transport Layer Security (TLS) and Secure Shell (SSH) with less bandwidth. The proposed method gives another advantage, in that it increases the performance of the above-mentioned protocols in terms of key exchange by saving one scalar multiplication operation.

Keywords: Cryptography, elliptic curve digital signature algorithm, key exchange, network security protocols.

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Authors: T. Yui Khing, M. A. Zahari, S. S. Dol

Abstract:

Ocean current is always available around the surrounding of SHELL Sabah Water Platform and data are collected every 10 minutes, 24 hours a day, for a period of 365 days. Due to low current speed, conventional hydrokinetic power generation is not feasible, thus leading to the study of low current enabled vortex induced vibration power generation application. In this case, the design of a vortex induced vibration application is studied to obtain an optimum design for the VIV oscillator. Power output is then determined to study the feasibility of the VIV application in low current condition.

Keywords: Renewable energy, Vortex induced vibration, Turbulence, Lock-in.

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Authors: F.H. Liu, S.H. Chen, R.T. Lee, W.S. Lin, Y.S. Liao

Abstract:

This paper describes a rapid prototyping (RP) technology for forming a hydroxyapatite (HA) bone scaffold model. The HA powder and a silica sol are mixed into bioceramic slurry form under a suitable viscosity. The HA particles are embedded in the solidified silica matrix to form green parts via a wide range of process parameters after processing by selective laser sintering (SLS). The results indicate that the proposed process was possible to fabricate multilayers and hollow shell structure with brittle property but sufficient integrity for handling prior to post-processing. The fabricated bone scaffold models had a surface finish of 25

Keywords: bioceramic, bone scaffold, rapid prototyping, selective laser sintering

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Authors: A. Darvizeh, H. Rajabi, S. Fatahtooei Nejad, A. Khaheshi, P. Haghdoust

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In this article, biomechanical aspects of hen-s eggshell as a natural ceramic structure are studied. The images, taken by a scanning electron microscope (SEM), are used to investigate the microscopic aspects of the egg. It is observed that eggshell has a three-layered microstructure with different morphological and structural characteristics. Studies on the eggshell membrane (ESM) as a prosperous tissue suggest that it is placed to prevent the penetration of microorganisms into the egg. Finally, numerical models of the egg are presented to study the stress distribution and its deformation under different loading conditions. The effects of two different types of loading (hydrostatic and point loadings) on two different shell models (with constant and variable thicknesses) are investigated in detail.

Keywords: Eggshell, biomechanical properties, Scanning electron microscope, Numerical Modeling.

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Authors: K. Abbaspoursani, M. Allahyari, M. Rahmani

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Thermal conductivity is an important characteristic of a nanofluid in laminar flow heat transfer. This paper presents an improved model for the prediction of the effective thermal conductivity of nanofluids based on dimensionless groups. The model expresses the thermal conductivity of a nanofluid as a function of the thermal conductivity of the solid and liquid, their volume fractions and particle size. The proposed model includes a parameter which accounts for the interfacial shell, brownian motion, and aggregation of particle. The validation of the model is verified by applying the results obtained by the experiments of Tio2-water and Al2o3-water nanofluids.

Keywords: Critical particle size, nanofluid, model, and thermal conductivity.

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Authors: R. Amornmaneekul, S. Chadsuthi, D. Triampo, W. Triampo

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We apply a particle tracking technique to track the motion of individual pathogenic Leptospira. We observe and capture images of motile Leptospira by means of CCD and darkfield microscope. Image processing, statistical theories and simulations are used for data analysis. Based on trajectory patterns, mean square displacement, and power spectral density characteristics, we found that the motion modes are most likely to be directed motion mode (70%) and the rest are either normal diffusion or unidentified mode. Our findings may support the fact that why leptospires are very well efficient toward targeting internal tissues as a result of increase in virulence factor.

Keywords: Leptospirosis, spirochetes, patterns, motion.

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Authors: Archana Mukherjee, Aruna Korde, Sudipta Chakraborty, H. D. Sarma, Grace Samuel, M. R. A. Pillai

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Radiolabeled cyclic RGD peptides targeting integrin αvβ3 are reported as promising agents for the early diagnosis of metastatic tumors. With an aim to improve tumor uptake and retention of the peptide, cyclic RGD peptide dimer E[c (RGDfK)] 2 (E = Glutamic acid, f = phenyl alanine, K = lysine) coupled to the bifunctional chelator DOTA was custom synthesized and radiolabelled with 68Ga. Radiolabelling of cyclic RGD peptide dimer with 68Ga was carried out using HEPES buffer and biological evaluation of the complex was done in nude mice bearing HT29 tumors.

Keywords: 68Ga peptides, Angiogenesis imaging, Cyclic RGD peptides, PET Imaging.

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Authors: N.A.Johan, S.R.M.Kutty, M. H. Isa, N.S.Muhamad, H.Hashim

Abstract:

Many non-conventional adsorbent have been studied as economic alternative to commercial activated carbon and mostly agricultural waste have been introduced such as rubber leaf powder and hazelnut shell. Microwave Incinerated Rice Husk Ash (MIRHA), produced from the rice husk is one of the low-cost materials that were used as adsorbent of heavy metal. The aim of this research was to study the feasibility of using MIRHA500 and MIRHA800 as adsorbent for the removal of Cu(II) metal ions from aqueous solutions by the batch studies. The adsorption of Cu(II) into MIRHA500 and MIRH800 favors Fruendlich isotherm and imply pseudo – kinetic second order which applied chemisorptions

Keywords: Copper (II) aqueous solution, batch study, MIRHA500, MIRHA800, Microwave Incinerated Rice Husk Ash(MIRHA)

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Authors: Isabel Brás, Artur Figueirinha, Bruno Esteves, Luísa P. Cruz-Lopes

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The agriculture lignocellulosic by-products are receiving increased attention, namely in the search for filter materials that retain contaminants from water. These by-products, specifically almond and hazelnut shells are abundant in Portugal once almond and hazelnuts production is a local important activity. Hazelnut and almond shells have as main constituents lignin, cellulose and hemicelluloses, water soluble extractives and tannins. Along the adsorption of heavy metals from contaminated waters, water soluble compounds can leach from shells and have a negative impact in the environment. Usually, the chemical characterization of treated water by itself may not show environmental impact caused by the discharges when parameters obey to legal quality standards for water. Only biological systems can detect the toxic effects of the water constituents. Therefore, the evaluation of toxicity by biological tests is very important when deciding the suitability for safe water discharge or for irrigation applications.

The main purpose of the present work was to assess the potential impacts of waters after been treated for heavy metal removal by hazelnut and almond shells adsorption systems, with short term acute toxicity tests.

To conduct the study, water at pH 6 with 25 mg.L^-1 of lead, was treated with 10 g of shell per litre of wastewater, for 24 hours. This procedure was followed for each bark. Afterwards the water was collected for toxicological assays; namely bacterial resistance, seed germination, Lemna minor L. test and plant grow. The effect in isolated bacteria strains was determined by disc diffusion method and the germination index of seed was evaluated using lettuce, with temperature and humidity germination control for 7 days. For aquatic higher organism, Lemnas were used with 4 days contact time with shell solutions, in controlled light and temperature. For terrestrial higher plants, biomass production was evaluated after 14 days of tomato germination had occurred in soil, with controlled humidity, light and temperature.

Toxicity tests of water treated with shells revealed in some extent effects in the tested organisms, with the test assays showing a close behaviour as the control, leading to the conclusion that its further utilization may not be considered to create a serious risk to the environment.

Keywords: Acute toxicity tests, adsorption, lignocellulosic wastes, risk assessment.

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Authors: Boonorm Chomtee, John J. Borkowski

Abstract:

The objective of the research is to study and compare response surface designs: Central composite designs (CCD), Box- Behnken designs (BBD), Small composite designs (SCD), Hybrid designs, and Uniform shell designs (USD) over sets of reduced models when the design is in a spherical region for 3 and 4 design variables. The two optimality criteria ( D and G ) are considered which larger values imply a better design. The comparison of design optimality criteria of the response surface designs across the full second order model and sets of reduced models for 3 and 4 factors based on the two criteria are presented.

Keywords: design optimality criteria, reduced models, response surface design, spherical design region

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Authors: Chukwudi Henry Dike

Abstract:

We explore targeted subsidy in a set-up for which manufacturing firms in a waste-spillover network make endogenous production decisions. Here, games of substitution in digraphs arises where waste-producing firms internalise negative externality in a quadratic fashion. We find neutrality in intervention policies that create or reduce spillover links. Most importantly, we observe centrality distinction in asymmetric digraphs so that the dependence and power of each firm play unique roles. Here we see that in targeted subsidy, a firm with greater centrality guarantees optimal welfare improvement. This centrality however measures the weakness of each firm’s Nash-based link to other neighbourhood firms i.e., lower negative externality.

Keywords: Centrality, externality, key-player, Nash-Equilibrium.

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Authors: Inamullah Bhatti, Khadija Qureshi, R. A. Kazi, Abdul Khalique Ansari

Abstract:

Activated carbon was prepared from agricultural waste “almond (Prunus amygdalus) nut shells" by chemical activation with phosphoric acid as an activating agent at 450 °C for 24 hr soaking time. The physical and chemical properties were analyzed. The adsorption of chromium VI from aqueous solution on almond nut shell activated carbon (ASAC) was investigated. The adsorption process parameters pH, agitation speed, agitation time, adsorbent dose were optimized. 98% of Cr VI was sorbed at pH 2 and stirring speed 200 rpm.. Surface structure showed that ASAC has a spongy type structure showing large number of pores

Keywords: adsorption, sorbent , sorbate and activation

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Authors: Ae Hee Park, So Hyun Park, Hee Yong Youn

Abstract:

Multi-agent system is composed by several agents capable of reaching the goal cooperatively. The system needs an agent platform for efficient and stable interaction between intelligent agents. In this paper we propose a flexible and scalable agent platform by composing the containers with multiple hierarchical agent groups. It also allows efficient implementation of multiple domain presentations of the agents unlike JADE. The proposed platform provides both group management and individual management of agents for efficiency. The platform has been implemented and tested, and it can be used as a flexible foundation of the dynamic multi-agent system targeting seamless delivery of ubiquitous services.

Keywords: Agent platform, container, multi-agent system, services, ubiquitous computing

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Authors: Anam Ashraf, Arif Raza

Abstract:

In this era of globalization, adoption of technology is quite difficult for people with physical disabilities compared to people with normal abilities. The advancement in mobile based accessible applications have opened up several different avenues for the visually challenged across the globe. Smartphones applications are not very common for blind people, but they access and use these applications in their daily lives to some extent. Several smartphone applications have a number of usability issues for the visually impaired. In this paper, we evaluate the usability of various android & iPhone applications for blind people through analysis and surveys. This paper aspires to provide guidance in order to increase smartphone application accessibility for the visually impaired. An abstract application design is also proposed to overcome usability issues in smartphone applications for visually challenged people.

Keywords: Eyes-free shell, human computer interaction, usability engineering, visually challenged.

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Authors: Shun-Qi Zhang, Shu-Yang Zhang, Min Chen

Abstract:

Applying strong electric field on piezoelectric actuators, on one hand very significant electroelastic material nonlinear effects will occur, on the other hand piezo plates and shells may undergo large displacements and rotations. In order to give a precise prediction of piezolaminated smart structures under large electric field, this paper develops a finite element (FE) model accounting for both electroelastic material nonlinearity and geometric nonlinearity with large rotations based on the first order shear deformation (FSOD) hypothesis. The proposed FE model is applied to analyze a piezolaminated semicircular shell structure.

Keywords: Smart structures, piezolamintes, material nonlinearity, geometric nonlinearity, strong electric field.

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Authors: Stepan Petrosyan, Ashkhen Yesayan, Suren Nersesyan

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We have developed an analytic model for the radial pn-junction in a nanowire (NW) core-shell structure utilizing as a new building block in different semiconductor devices. The potential distribution through the p-n-junction is calculated and the analytical expressions are derived to compute the depletion region widths. We show that the widths of space charge layers, surrounding the core, are the functions of core radius, which is the manifestation of so called classical size effect. The relationship between the depletion layer width and the built-in potential in the asymptotes of infinitely large core radius transforms to square-root dependence specific for conventional planar p-n-junctions. The explicit equation is derived to compute the capacitance of radial p-n-junction. The current-voltage behavior is also carefully determined taking into account the “short base" effects.

Keywords: Snanowire, p-n- junction, barrier capacitance, high injection.

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Authors: Peter N. Khakina, Mohammed I. Ali, Enchun Zhu, Huazhang Zhou, Baydaa H. Moula

Abstract:

Rise/span ratio has been mentioned as one of the reasons which contribute to the lower buckling load as compared to the Classical theory buckling load but this ratio has not been quantified in the equation. The purpose of this study was to determine a more realistic buckling load by quantifying the effect of the rise/span ratio because experiments have shown that the Classical theory overestimates the load. The buckling load equation was derived based on the theorem of work done and strain energy. Thereafter, finite element modeling and simulation using ABAQUS was done to determine the variables that determine the constant in the derived equation. The rise/span was found to be the determining factor of the constant in the buckling load equation. The derived buckling load correlates closely to the load obtained from experiments.

Keywords: Buckling, Finite element, Rise/span ratio, Sphericalcap

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Authors: Pavel Zikl, Nikola Holoubková, Hana Karásková, Tereza B. Veselíková

Abstract:

The article presents the research results focused on comparing the level of gross motor skills in children with mild intellectual disabilities and intact children. The data collection used the standard test (Test of Gross Motor Development). The research sample consisted of a total of 114 students with an average age of 10 years. The results present the differences between the two groups of students in locomotor skills and object control skills. The presented results can serve as a basis for better targeting of special-pedagogical support for children with mild intellectual disabilities and as a basis for innovation of the curriculum for this group of children, as well as a basis for further research activities in this area.

Keywords: Gross motor, mild intellectual disability, Test of Gross Motor Development.

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Authors: A.Atash J ameh

Abstract:

Sarkhoon gas plant, located in south of Iran, has been installed to removal H2S contained in a high pressure natural gas stream. The solvent used for the H2S removal from gaseous stream is 34% by weight (wt%) Di-ethanol amine (DEA) solutions. Due to increasing concentration of heat stable salt (HSS) in solvent, corrosivity of amine solution had been increased. Reports indicated that there was corrosion on the shell of regeneration column. Because source formation of HSS was unknown, we decided to control the amount of HSS at the limit less than 3% wt amine solvent. Therefore, two small columns were filled by strong anionic base and carbon active, and then polluted amine was passed through beds. Finally a temporary amine recovery package on industrial scale was made based on laboratory’s results. From economical point of view we could save $700000 beside corrosion occurrence of the stripping column has been vigorously decreased.

Keywords: Amines, corrosion, heat stable salt, resin anionic.

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Authors: S. Chabrier, G. Molle, E. Conte, C. Carlier

Abstract:

Fishing has always been an essential component of the Polynesians- life. Fishhooks, mostly in pearl shell, found during archaeological excavations are the artifacts related to this activity the most numerous. Thanks to them, we try to reconstruct the ancient techniques of resources exploitation, inside the lagoons and offshore. They can also be used as chronological and cultural indicators. The shapes and dimensions of these artifacts allow comparisons and classifications used in both functional approach and chrono-cultural perspective. Hence it is very important for the ethno-archaeologists to dispose of reliable methods and standardized measurement of these artifacts. Such a reliable objective and standardized method have been previously proposed. But this method cannot be envisaged manually because of the very important time required to measure each fishhook manually and the quantity of fishhooks to measure (many hundreds). We propose in this paper a detailed acquisition protocol of fishhooks and an automation of every step of this method. We also provide some experimental results obtained on the fishhooks coming from three archaeological excavations sites.

Keywords: Automated measures, extraction, fishhook, segmentation.

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Authors: Ravindra Mallya, B. Satish Shenoy, B. Raghuvir Pai

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The study deals with the challenges in developing a test rig to test the performance of water lubricated journal bearing. The test rig is designed to simulate the working conditions of the bearing in order to understand their performance before they are put in operation. The bearing that is studied is the commercially available water lubricated bearing which has a rubber liner bonded with a rigid metal shell. The lubricant enters the bearing axially through a pressurized inlet tank and exits to an outlet tank which is at sufficiently low pressure. The load on the bearing is applied through the dead weight system which acts both in upward and downward direction so that net load acts on the bearing. The issues in feeding the lubricant into the bearing from the inlet side and preventing the leakage of the lubricant is discussed. The application of the load on the test bearing while maintaining the bearing afloat is also discussed.

Keywords: Axial groove, hydrodynamic pressure, journal bearing, test rig, water lubrication.

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Authors: Mussarat Abdullah, Fazal Wahab

Abstract:

Data hiding into text documents itself involves pretty complexities due to the nature of text documents. A robust text watermarking scheme targeting an object based environment is presented in this research. The heart of the proposed solution describes the concept of watermarking an object based text document where each and every text string is entertained as a separate object having its own set of properties. Taking advantage of the z-ordering of objects watermark is applied with the z-axis letting zero fidelity disturbances to the text. Watermark sequence of bits generated against user key is hashed with selected properties of given document, to determine the bit sequence to embed. Bits are embedded along z-axis and the document has no fidelity issues when printed, scanned or photocopied.

Keywords: Digital Watermarking, Object Based Environment, Watermark, z-ordering.

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Authors: A. Mourtzikou, D. Sygkridou, T. Georgakopoulos, G. Katsagounos, E. Stathatos

Abstract:

Over 60% highly transparent quasi-solid-state dye-sensitized solar cells (DSSCs) with dimension of 50x50 cm² were fabricated via inkjet printing process using nanocomposite inks as raw materials and tested under outdoor illumination conditions. The cells were electrically characterized, and their possible application to the shell of greenhouses was also examined. The panel design was in Z-interconnection, where the working electrode was inkjet printed on one conductive glass and the counter electrode on a second glass in a sandwich configuration. Silver current collective fingers were printed on the glasses to make the internal electrical connections. In that case, the adjacent cells were connected in series via silver fingers and finally insulated using a UV curing resin to protect them from the corrosive (I^-/I₃^-) redox couple of the electrolyte.

Keywords: Dye-sensitized solar panels, inkjet printing, quasi-solid-state electrolyte, semi-transparency, scale up.

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Authors: Saroj Kumar Sarangi, M. C. Ray

Abstract:

This paper deals with the analysis of active constrained layer damping (ACLD) of doubly curved laminated composite shells using active fiber composite (AFC) materials. The constraining layer of the ACLD treatment has been considered to be made of the AFC materials. A three dimensional energy based finite element model of the smart doubly curved laminated composite shell integrated with a patch of such ACLD treatment has been developed to demonstrate the performance of the patch on enhancing the damping characteristics of the doubly curved laminated composite shells. Particular emphasis has been placed on studying the effect of variation of piezoelectric fiber orientation angle in the constraining AFC layer on the control authority of the ACLD patch.

Keywords: Active constrained layer damping, Active fibercomposites, Finite element modeling, First order shear deformationtheory.

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Authors: M. Michael Gromiha, Y. Yabuki, K. Imai, P. Horton, K. Fukui

Abstract:

We have developed a database for membrane protein functions, which has more than 3000 experimental data on functionally important amino acid residues in membrane proteins along with sequence, structure and literature information. Further, we have proposed different methods for identifying membrane proteins based on their functions: (i) discrimination of membrane transport proteins from other globular and membrane proteins and classifying them into channels/pores, electrochemical and active transporters, and (ii) β-signal for the insertion of mitochondrial β-barrel outer membrane proteins and potential targets. Our method showed an accuracy of 82% in discriminating transport proteins and 68% to classify them into three different transporters. In addition, we have identified a motif for targeting β-signal and potential candidates for mitochondrial β-barrel membrane proteins. Our methods can be used as effective tools for genome-wide annotations.

Keywords: Membrane proteins, database, transporters, discrimination, β-signal.

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Authors: Joan Antony

Abstract:

Outcome in any learning process should target three goals – propelling the underachiever’s engagement in the learning process, enhancing the drive to achieve, and modifying attitudes and beliefs in his/her capabilities. An intervention study with a three-pronged approach incorporating self-regulatory training targeting three categories of strategies – cognitive, metacognitive and motivational – was designed adopting the before and after control-experimental group design. The evaluation of the training process was based on pre- and post-intervention measures obtained through three indices of measurement – academic scores based on grades on school examinations and comprehension tests, affective variables scores and level of strategy use obtained through responses on scales and questionnaires, and content analysis of subjective responses to open-ended probes. The evaluation relied on three sources – student, teacher and parent. The t-test results for the experimental and control groups on the pre- and post-intervention measurements indicate a significant increase on comprehension tasks for the experimental group. Though statistically significant difference was not found on the school examination scores for the experimental group, there was considerable decline in performance for the control group. Analysis of covariance (ANCOVA) was applied on the scores obtained on affective variables, namely, self-esteem, personal achievement goals, personal ego goals, personal task goals, and locus of control. The experimental group showed increase in personal achievement goals and personal ego goals as compared to the control group. Responses given by the experimental group to the open-ended probes on causal attributions indicated a considerable shift from external to internal causes when moving from the pre- to post-intervention stage. ANCOVA results revealed significantly higher use of learning strategies inclusive of mental learning strategies, behavioral learning strategies, self-regulatory strategies, and an improvement in study orientation encompassing study habits and study attitudes among the experimental group students. Parents and teachers reported significant progressive transformation towards constructive engagement with study material and self-imposed regulation. The implications of this study are three-fold: firstly, strategies training (cognitive, metacognitive and motivational) should be embedded into daily classroom routine; secondly, scaffolding by teachers through activities based on curriculum will eventually enable students to rely more on their own judgements of effective strategy use; thirdly, enhanced confidence will radiate to the affective aspects with enduring effects on other domains of life as well. The cyclic nature of the interaction between utilizing one’s resources, managing effort and regulating emotions forms the foundation for academic achievement.

Keywords: Academic achievement, cognitive strategies, metacognitive strategies, motivational strategies.

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Authors: Chung-Chun Hsiao, Yu-Kai, Ting, Kai-Yuan Liu, Pang-Wei Yen, Jia-Ying Tu

Abstract:

In this paper, a new design of spherical robotic system based on the concepts of gimbal structure and gyro dynamics is presented. Robots equipped with multiple wheels and complex steering mechanics may increase the weight and degrade the energy transmission efficiency. In addition, the wheeled and legged robots are relatively vulnerable to lateral impact and lack of lateral mobility. Therefore, the proposed robotic design uses a spherical shell as the main body for ground locomotion, instead of using wheel devices. Three spherical shells are structured in a similar way to a gimbal device and rotate like a gyro system. The design and mechanism of the proposed robotic system is introduced. In addition, preliminary results of the dynamic model based on the principles of planar rigid body kinematics and Lagrangian equation are included. Simulation results and rig construction are presented to verify the concepts.

Keywords: Gyro, gimbal, Lagrange equation, spherical robots.

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