Search results for: local maximum filtering

Authors: Hugo Antonio Pérez Hernáiz

Abstract:

This article analyses conspiracy theories as part of the wider discourses of missionary politics. It presents a case study of Venezuela and describes how its leaders use conspiracy theories as political tools. Through quotes taken form Venezuelan president Chavez-s public speeches and other sources, and through a short analysis of the ideological basis of his discourses, it shows how conspiracy theories are constructed and how they affect the local political praxis. The article also describes how conspiracy theories have been consistently used as an important part of the construction of a political religion for the New Man of the Bolivarian Revolution. It concludes that the use of conspiracy theories by political leaders produces a sense of loss of political agency.

Keywords: Conspiracy Theories, Venezuela, Institutions, Agency, Revolutions, Political Religion, New Man.

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Authors: J. Y. Lee, H. S. Lim, S. H. Yoon

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This paper presents an analysis of the diagonal crack widths of RC members with various types of materials by simulating a compatibility-aided truss model. The analytical results indicated that the diagonal crack width was influenced by not only the shear reinforcement ratio but also the yield strength of shear reinforcement and the compressive strength of concrete. The yield strength of shear reinforcement and the compressive strength of concrete decreased the diagonal shear crack width of RC members for the same shear force because of the change of shear failure modes. However, regarding the maximum shear crack width at shear failure, the shear crack width of the beam with high strength materials was greater than that of the beam with normal strength materials.

Keywords: Diagonal crack width, high strength stirrups, high strength concrete, RC members, shear behavior.

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Authors: Essam S. Altubaishi

Abstract:

The motivation for adaptive modulation and coding is to adjust the method of transmission to ensure that the maximum efficiency is achieved over the link at all times. The receiver estimates the channel quality and reports it back to the transmitter. The transmitter then maps the reported quality into a link mode. This mapping however, is not a one-to-one mapping. In this paper we investigate a method for selecting the proper modulation scheme. This method can dynamically adapt the mapping of the Signal-to- Noise Ratio (SNR) into a link mode. It enables the use of the right modulation scheme irrespective of changes in the channel conditions by incorporating errors in the received data. We propose a Markov model for this method, and use it to derive the average switching thresholds and the average throughput. We show that the average throughput of this method outperforms the conventional threshold method.

Keywords: Adaptive modulation and coding, CDMA, Markov model.

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Authors: E. Vári, K. Máriás

Abstract:

The research focused on the effects of previous cropping and fertilizers on the LAI, rhythm of the dry matter, leaf disease intensity and amount of yield. Long term field experiments’ results proved that the previous crop fundamentally determines size, rate and dynamics of the dry matter formation in the spring time vegetation period. The LAI index and crop results of winter wheat can be influenced mainly by raising the fertilizer amount. N fertilization has an outstanding role in the changes in leaf area index (LAI), weight of dry matter and yield of winter wheat. According to our results, the interaction effect of leaf area index, weight of dry matter and fertilization resulted in the maximum yield in biculture and triculture.

Keywords: Crop rotation, Leaf Area Index, leaf disease of winter wheat.

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Authors: Marc Diesse, Hochschule Heilbronn

Abstract:

We address the question of identifying the configuration space singularities of linkages, i.e., points where the configuration space is not locally a submanifold of Euclidean space. Because the configuration space cannot be smoothly parameterized at such points, these singularity types have a significantly negative impact on the kinematics of the linkage. It is known that Jacobian methods do not provide sufficient conditions for the existence of CS-singularities. Herein, we present several additional algebraic criteria that provide the sufficient conditions. Further, we use those criteria to analyze certain classes of planar linkages. These examples will also show how the presented criteria can be checked using algorithmic methods.

Keywords: Linkages, configuration space singularities, real algebraic geometry, analytic geometry, computer algebra.

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Authors: T. Hirata, G. H. Yokoyama, L. H. M. Duque

Abstract:

The posteroanterior manipulation technique is usually include in the procedure of the lumbar spine to evaluate the intervertebral motion according to mechanical resistance. The mechanical device with visual feedback was proposed that allows one to analysis the lumbar segments mobility “in vivo" facilitating for the therapist to take its treatment evolution. The measuring system uses load cell and displacement sensor to estimate spine stiffness. In this work, the device was tested by 2 therapists, female, applying posteroanterior force techniques to 5 volunteers, female, with frequency of approximately 1.2-1.8 Hz. A test-retest procedure was used for 2 periods of day. The visual feedback results small variation of forces and cycle time during 6 cycles rhythmic application. The stiffness values showed good agreement between test-retest procedures when used same order of maximum forces.

Keywords: Biomechanics, lumber spine stiffness, intervertebral manipulation device, visual feedback

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Authors: C. F. Kumru, C. Kocatepe, O. Arikan

Abstract:

In this study, electric field distribution analyses for three pylon models are carried out by a Finite Element Method (FEM) based software. Analyses are performed in both stationary and time domains to observe instantaneous values along with the effective ones. Considering the results of the study, different line geometries is considerably affecting the magnitude and distribution of electric field although the line voltages are the same. Furthermore, it is observed that maximum values of instantaneous electric field obtained in time domain analysis are quite higher than the effective ones in stationary mode. In consequence, electric field distribution analyses should be individually made for each different line model and the limit exposure values or distances to residential buildings should be defined according to the results obtained.

Keywords: Electric field, energy transmission line, finite element method, pylon.

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Authors: Dimitri Perrin, Heather J. Ruskin, Martin Crane

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This study focuses on examining why the range of experience with respect to HIV infection is so diverse, especially in regard to the latency period. An agent-based approach in modelling the infection is used to extract high-level behaviour which cannot be obtained analytically from the set of interaction rules at the cellular level. A prototype model encompasses local variation in baseline properties, contributing to the individual disease experience, and is included in a network which mimics the chain of lymph nodes. The model also accounts for stochastic events such as viral mutations. The size and complexity of the model require major computational effort and parallelisation methods are used.

Keywords: HIV, Immune modelling, Agent-based system, individual response.

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Authors: Vichai Rungreunganaun, Chirawat Woarawichai

Abstract:

The objective of this research is to calculate the optimal inventory lot-sizing for each supplier and minimize the total inventory cost which includes joint purchase cost of the products, transaction cost for the suppliers, and holding cost for remaining inventory. Genetic algorithms (GAs) are applied to the multi-product and multi-period inventory lot-sizing problems with supplier selection under storage space. Also a maximum storage space for the decision maker in each period is considered. The decision maker needs to determine what products to order in what quantities with which suppliers in which periods. It is assumed that demand of multiple products is known over a planning horizon. The problem is formulated as a mixed integer programming and is solved with the GAs. The detailed computation results are presented.

Keywords: Genetic Algorithms, Inventory lot-sizing, Supplier selection, Storage space.

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Authors: Chang He, Hiroshi Tamura, Hiroshi Katsuchi, Jiaqi Wang

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In this study, the aim is to infer the slip limit (static friction limit) of contact interfaces in bolt friction joints by analyzing other bolt friction joints with the same contact surface but in a different shape. By using the Weibull distribution to deal with microelements on the contact surface statistically, the slip limit of a certain type of bolt joint was predicted from other types of bolt joint with the same contact surface. As a result, this research succeeded in predicting the slip limit of bolt joins with different numbers of contact surfaces and with different numbers of bolt rows.

Keywords: Bolt joints, slip coefficient, finite element method, Weibull distribution.

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Authors: H. M. Mobarak, Helen Wu, Chunhui Yang

Abstract:

In this study, an analytical model is developed to study crack breathing behavior under the effect of crack location and unbalance force. Crack breathing behavior is determined using effectual bending angle by studying the transient change in closed area of the crack. The status of the crack of a balanced shaft is symmetrical about shaft rotational angle and the duration of each crack status remains unchanged. The global stiffness of the balanced shaft is independent of crack location. Different crack breathing behavior for the unbalanced shaft has been observed. The influence of crack location on the unbalanced shaft stiffness can be divided into three regions. When the crack is located between 0.3L and 0.8335L, where L is the total length of the shaft, the unbalanced shaft is less stiff and when located outside this region it is stiffer than the balanced shaft. It was also found that unbalanced shaft stiffness has a maximum value with a crack at 0.1946L, a minimum value at 0.8053L and same value as balanced shaft at 0.3L and 0.8335L.

Keywords: Cracked shaft, crack location, shaft stiffness, unbalanced force.

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Authors: Salvatore L., Pires B., Campos M. C. M., De Souza Jr M. B.

Abstract:

It is estimated that the total cost of abnormal conditions to US process industries is around $20 billion dollars in annual losses. The hydrotreatment (HDT) of diesel fuel in petroleum refineries is a conversion process that leads to high profitable economical returns. However, this is a difficult process to control because it is operated continuously, with high hydrogen pressures and it is also subject to disturbances in feed properties and catalyst performance. So, the automatic detection of fault and diagnosis plays an important role in this context. In this work, a hybrid approach based on neural networks together with a pos-processing classification algorithm is used to detect faults in a simulated HDT unit. Nine classes (8 faults and the normal operation) were correctly classified using the proposed approach in a maximum time of 5 minutes, based on on-line data process measurements.

Keywords: Fault detection, hydrotreatment, hybrid systems, neural networks.

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Authors: Myunghoun Jang

Abstract:

A survey of small-size contractors in Jeju was conducted to investigate college graduate's computer-aided design (CAD) competence. Most of small-size contractors use CAD software to review and update drawings submitted from an architect. This research analyzed the curriculum of the architectural engineering in several national universities. The CAD classes have 4 or 6 hours per week and use AutoCAD primarily. This paper proposes that a CAD class needs 6 hours per week, 2D drawing is the main theme in the curriculum, and exercises to make 3D models are also included in the CAD class. An improved method, for example Internet cafe and real time feedbacks using smartphones, to evaluate the reports and exercise results is necessary.

Keywords: Computer-aided design, CAD education, education improvement, small-size contractor.

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Authors: Petru V. Notingher, Stefan Busoi, Laurentiu M. Dumitran, Cristina Stancu, Gabriel Tanasescu, Emanuel Balescu

Abstract:

Degradation of polymeric insulation systems of electrical equipments increases the space charge density and the concentration of electrical dipoles. By consequence, the maximum values and the slopes of absorption/resorption (A/R) currents can change with insulation systems ageing. In this paper, an analysis of the nature of the A/R currents and the importance of their components, especially the polarization current and the current given by the space charge, is presented. The experimental study concerns the A/R currents measurements of plane samples (made from CALMICAGLAS tapes), virgin and thermally accelerated aged. The obtained results show that the ageing process produces an increase of the values and a decrease of shapes of the A/R currents. Finally, the possibility of estimating insulations ageing state and lifetime from A/R currents measurements is discussed.

Keywords: Insulation Systems, Absorption/Resorption Currents, Ageing, Lifetime.

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Authors: A. Hayati Soloot, A. Gholami, E. Agheb, A. Ghorbandaeipour, P. Mokhtari

Abstract:

The two significant overvoltages in power system, switching overvoltage and lightning overvoltage, are investigated in this paper. Firstly, the effect of various power system parameters on Line Energization overvoltages is evaluated by simulation in ATP. The dominant parameters include line parameters; short-circuit impedance and circuit breaker parameters. Solutions to reduce switching overvoltages are reviewed and controlled closing using switchsync controllers is proposed as proper method. This paper also investigates lightning overvoltages in the overhead-cable transition. Simulations are performed in PSCAD/EMTDC. Surge arresters are applied in both ends of cable to fulfill the insulation coordination. The maximum amplitude of overvoltages inside the cable is surveyed which should be of great concerns in insulation coordination studies.

Keywords: Switching Overvoltage, Lightning Overvoltage, Insulation Coordination, ATP, PSCAD/EMTDC.

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Authors: Y. Bentoutou

Abstract:

On-board Error Detection and Correction (EDAC) devices aim to secure data transmitted between the central processing unit (CPU) of a satellite onboard computer and its local memory. This paper presents a comparison of the performance of four low complexity EDAC techniques for application in Random Access Memories (RAMs) on-board small satellites. The performance of a newly proposed EDAC architecture is measured and compared with three different EDAC strategies, using the same FPGA technology. A statistical analysis of single-event upset (SEU) and multiple-bit upset (MBU) activity in commercial memories onboard Alsat-1 is given for a period of 8 years

Keywords: Error Detection and Correction; On-board computer; small satellite missions

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Authors: Mona F. M. Mursi, Ghazy M.R. Assassa, Hatim A. Aboalsamh, Khaled Alghathbar

Abstract:

The challenge in the case of image authentication is that in many cases images need to be subjected to non malicious operations like compression, so the authentication techniques need to be compression tolerant. In this paper we propose an image authentication system that is tolerant to JPEG lossy compression operations. A scheme for JPEG grey scale images is proposed based on a data embedding method that is based on a secret key and a secret mapping vector in the frequency domain. An encrypted feature vector extracted from the image DCT coefficients, is embedded redundantly, and invisibly in the marked image. On the receiver side, the feature vector from the received image is derived again and compared against the extracted watermark to verify the image authenticity. The proposed scheme is robust against JPEG compression up to a maximum compression of approximately 80%,, but sensitive to malicious attacks such as cutting and pasting.

Keywords: Authentication, DCT, JPEG, Watermarking.

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Authors: Soungwan Kim

Abstract:

This paper discusses an analysis of how the characteristics of resources at vocational rehabilitation facilities for the disabled affect the improvement of independency skills among people with severe disabilities. The analysis results indicate that more internal financial resources and more connections to local communities among network resources had greater effects on improving the independency of people with severe disabilities. Based on this result, this paper presents strategies for mobilizing resources to improve the independency of people with severe disabilities at vocational rehabilitation facilities.

Keywords: Vocational rehabilitation facility for people with disabilities, types of resources, independency, network resources.

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Authors: Nergiz Fırıncı, Aysun Çelik, Ertan Akün, Md. Atif Khan

Abstract:

A pilot project was carried out in 2007 by the senior students of Cyprus International University, aiming to minimize the total cost of waste collection in Northern Cyprus. Many developed and developing countries have cut their transportation costs – which lies between 30-40% – down at a rate of 40% percent, by implementing network models for their route assignments. Accordingly, a network model was implemented at Göçmenköy district, to optimize and standardize waste collection works. The work environment of the employees were also redesigned to provide maximum ergonomy and to increase productivity, efficiency and safety. Following the collection of the required data including waste densities, lengths of roads and population, a model was constructed to allocate the optimal route assignment for the waste collection trucks at Göçmenköy district.

Keywords: Minimization, waste collection, operations cost, transportation, ergonomy, productivity.

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Authors: M. Nassereddine, J. Rizk, A. Hellany, M. Nagrial

Abstract:

The prologue of new High Voltage (HV) transmission mains into the community necessitates earthing design to ensure safety compliance of the system. Conductive structures such as steel or concrete poles are widely used in HV transmission mains. The earth potential rise (EPR) generated by a fault on these structures could result to an unsafe condition. This paper discusses information on the input impedance of the over head earth wire (OHEW) system for finite and infinite transmission mains. The definition of finite and infinite system is discussed, maximum EPR due to pole fault. The simplified equations for EPR assessments are introduced and discussed for the finite and infinite conditions. A case study is also shown.

Keywords: Coupling Factor, Earth Grid, EPR, Fault Current Distribution, High Voltage, Line Impedance, OHEW, Split Factor, Transmission Mains.

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Authors: Wei Lo, Ming-En Kuo

Abstract:

While to minimize the overall project cost is always one of the objectives of construction managers, to obtain the maximum economic return is definitely one the ultimate goals of the project investors. As there is a trade-off relationship between the project time and cost, and the project delivery time directly affects the timing of economic recovery of an investment project, to provide a method that can quantify the relationship between the project delivery time and cost, and identify the optimal delivery time to maximize economic return has always been the focus of researchers and industrial practitioners. Using genetic algorithms, this study introduces an optimization model that can quantify the relationship between the project delivery time and cost and furthermore, determine the optimal delivery time to maximize the economic return of the project. The results provide objective quantification for accurately evaluating the project delivery time and cost, and facilitate the analysis of the economic return of a project.

Keywords: Time-Cost Trade-Off, Genetic Algorithms, Resource Integration, Economic return.

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Authors: Marzieh Moosavi-Nasab, Masoumeh Izadi, Sara Hosseinpour

Abstract:

In this study, the possibility of using potato as a substrate for glutamic acid production by Brevibacterium linens was investigated. For preparation of fermentation medium, potato was hydrolyzed by hydrochloridric acid. The medium contained potato hydrolysate, tween 80, mineral solution, glucose, and potassium hydrogen phosphate. The initial pH of the medium was adjusted to 7-7.5. For achieving the optimum time with maximum yield, the beakers containing the medium and the inoculums were incubated in a rotary water bath flask shaker for one to five days. Thin layer choromatography was used for quantitative and qualitative assay of the glutamic acid produced. The results revealed that as fermentation time increased, pH of the fermentation medium significantly decreased (P<0.05). Furthermore, glutamic acid concentration in fermentation medium increased significantly (P<0.05). The highest amount of the glutamic acid obtained was 5.6 g/l on the forth day of fermentation.

Keywords: Brevibacterium linens, Fermentation, Glutamicacid, Thin layer choromatography

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Authors: I. Fahi, T. Remmal, F. El Kamel, B. Ayoub

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The treatment of the geotechnical database of the region of Casablanca was difficult to achieve due to the heterogeneity of the nomenclature of the lithological formations composing its soil. It appears necessary to harmonize the nomenclature of the facies and to produce cartographic documents useful for construction projects and studies before any investment program. To achieve this, more than 600 surveys made by the Public Laboratory for Testing and Studies (LPEE) in the agglomeration of Casablanca, were studied. Moreover, some local observations were made in different places of the metropolis. Each survey was the subject of a sheet containing lithological succession, macro and microscopic description of petrographic facies with photographic illustration, as well as measurements of geomechanical tests. In addition, an X-ray diffraction analysis was made in order to characterize the surficial formations of the region.

Keywords: Casablanca, guidebook, petrography, soil.

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Authors: Jagdeep Singh, Prem Singh

Abstract:

Milk is considered as an essential and complete food. The present study was conducted at Milk Plant Mohali especially in reference to the procurement section where the cash inflow was maximum, with the objective to achieve higher productivity and reduce wastage of milk. In milk plant it was observed that during the month of Jan-2014 to March-2014 the average procurement of milk was Rs. 4, 19, 361 liter per month and cost of procurement of milk is Rs 35/- per liter. The total cost of procurement thereby equal to Rs. 1crore 46 lakh per month, but there was mismatch in procurementproduction of milk, which leads to an average loss of Rs. 12, 94, 405 per month. To solve the procurement-production problem Quality Control Tools like brainstorming, Flow Chart, Cause effect diagram and Pareto analysis are applied wherever applicable. With the successful implementation of Quality Control tools an average saving of Rs. 4, 59, 445 per month is done.

Keywords: Milk, Procurement-demand, quality control tools.

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Authors: A. Keramaris, T. Sawidis, E. Kasapidou, P. Mitlianga

Abstract:

Although the gastronomy of the Greeks of Pontus is well-known, it has not received the same level of scientific scrutiny as another Greek local cuisine, that of Crete. As a result, we planned to concentrate our research on Greek Pontic cuisine to shed light on its distinct recipes, food products, and, ultimately, its characteristics. The Greeks of Pontus have one of Greece's most distinguished local cuisines, having lived for a long time in the northern part (Black Sea Region) of modern Turkey and now widely inhabiting northern Greece. Despite its simplicity, their cuisine contains several mouthwatering delicacies. Even though they have been in Greece for a century, their gastronomic culture remains an important part of their collective identity. As a first step toward understanding Greek Pontic cuisine, furniko flour, one of its most well-known traditional products, was investigated. For this project, we targeted residents of Western Macedonia, a province in northern Greece with a large population of descendants of Pontus Greeks who are primarily engaged in agricultural activities. In this quest, we approached a descendant of Pontus Greeks who is involved in the production of furniko flour and agreed to show us the entire process as we participated in it. Furniko flour is made from heirloom non-hybrid corn. When the moisture content of the seeds is low enough to make them suitable for roasting, they are harvested by hand. Harvesting by hand entails removing the cob from the plant and separating the husks. The harvested cobs are then roasted in a traditional wood oven for 24 hours. After that, the these are collected and stored in sacks. The next step is to extract the seeds by rubbing the cobs together. Ideally, the seeds should be ground in a traditional stone hand mill. The outcome of this process is aromatic, dark golden furniko flour, which is used to make havitz. Along with the furniko flour preparation, we also documented the havitz cooking process (a porridge-like corn flour dish). One of the most delectable dishes in Greek Pontic cuisine, this savory delicacy is simple to prepare. Because of the ingredients of furniko flour, havitz is a highly nutritious dish, according to the research participant. Furthermore, he claims that preparing havitz is a wonderful way to bring families together, share stories, and revisit happy memories. Finally, as an initial effort to highlight elements of Pontic Greek cuisine, this study illustrates the traditional preparation of furniko flour and its use in various traditional recipes. Our next objective would be to evaluate the nutritional value of furniko flour by analyzing its chemical components.

Keywords: Furniko flour, Greek Pontic cuisine, Havitz, traditional foods.

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Authors: Arun Goel, D. V. S. Verma, Sanjeev Sangwan

Abstract:

Present study was aimed to develop a discharge measuring device for irrigation and laboratory channels. Experiments were conducted on sharp edged constricted flow meters having four types of width constrictions namely 2:1, 1.5:1, 1:1 and 90o in the direction of flow. These devices were made of MS sheets and installed separately in a rectangular flume. All these four devices were tested under free and submerged flow conditions. Eight different discharges varying from 2 lit/sec to 30 lit/sec were passed through each device. In total around 500 observations of upstream and downstream depths were taken in the present work. For each discharge, free submerged and critical submergence under different flow conditions were noted and plotted. Once the upstream and downstream depths of flow over any of the device are known, the discharge can be easily calculated with the help of the curves developed for free and submerged flow conditions. The device having contraction 2:1 is the most efficient one as it allows maximum critical submergence.

Keywords: Flowrate, flowmeter, open channels, submergence.

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Authors: Nidal H. Abu-Zahra, Subhashini Gunashekar

Abstract:

Polyurethane foam is functionalized with Sulfonic acid groups to remove lead ions (Pb²⁺) from drinking water through a cation exchange process. The synthesis is based on addition polymerization of the -NCO groups of an isocyanate with the –OH groups of a polyol to form the urethane. Toluene-diisocyanateis reacted with Polypropylene glycol to form a linear pre-polymer, which is further polymerized using a chain extender, N, N-bis(2-hydorxyethyl)-2-aminoethane-sulfonic acid (BES). BES acts as a functional group site to exchange Pb²⁺ ions. A set of experiments was designed to study the effect of various processing parameters on the performance of the synthesized foam. The maximum Pb²⁺ ion exchange capacity of the foam was found to be 47ppb/g from a 100ppb Pb²⁺ solution over a period of 60 minutes. A multistage batch filtration process increased the lead removal to 50-54ppb/3g of foam over a period of 90 minutes.

Keywords: Adsorption, Functionalized, Ion exchange, Polyurethane, Sulfonic.

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Authors: Moustafa Ahmed, Ahmed Bakry, Safwat W. Z. Mahmoud

Abstract:

We model and simulate the combined effect of fiber dispersion and frequency chirp of a directly modulated high-speed laser diode on the figures of merit of a non-amplified 40-Gbps optical fiber link. We consider both the return to zero (RZ) and non-return to zero (NRZ) patterns of the pseudorandom modulation bits. The performance of the fiber communication system is assessed by the fiber-length limitation due to the fiber dispersion. We study the influence of replacing standard single-mode fibers by non-zero dispersion-shifted fibers on the maximum fiber length and evaluate the associated power penalty. We introduce new dispersion tolerances for 1-dB power penalty of the RZ and NRZ 40-Gbps optical fiber links.

Keywords: Bit error rate, dispersion, frequency chirp, fiber communications, semiconductor laser.

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Authors: C. Photiphitak, P. Rakkwamsuk, P. Muthitamongkol, C. Sae-Kung, C. Thanachayanont

Abstract:

TiO2/Ag composite films were prepared by incorporating Ag in the pores of mesoporous TiO2 films using a photoreduction method. The Ag nanoparticle sizes were in a range of 3.66-38.56 nm. The TiO2/Ag composite films were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM) and transmission electron microscropy (TEM). The TiO2 films and TiO2/Ag composite films were immersed in a 0.3 mM N719 dye solution and characterized by UV-Vis spectrophotometer. The TiO2/Ag/N719 composite film showed that an optimal size of Ag nanoparticles was 19.12 nm and, hence, gave the maximum optical absorption spectra. The improved absorption was due to surface plasmon resonance induced by the Ag nanoparticles to enhance the absorption coefficient of the dye.

Keywords: Silver nanoparticle, TiO2/Ag composite films, Optical properties, surface plasmon resonance

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Authors: Ellips Masehian, Golnaz Habibi

Abstract:

This paper presents a novel algorithm for path planning of mobile robots in known 3D environments using Binary Integer Programming (BIP). In this approach the problem of path planning is formulated as a BIP with variables taken from 3D Delaunay Triangulation of the Free Configuration Space and solved to obtain an optimal channel made of connected tetrahedrons. The 3D channel is then partitioned into convex fragments which are used to build safe and short paths within from Start to Goal. The algorithm is simple, complete, does not suffer from local minima, and is applicable to different workspaces with convex and concave polyhedral obstacles. The noticeable feature of this algorithm is that it is simply extendable to n-D Configuration spaces.

Keywords: 3D C-space, Binary Integer Programming (BIP), Delaunay Tessellation, Robot Motion Planning.

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