Search results for: Pseudo second order
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 5276

Search results for: Pseudo second order

3596 An Augmented Beam-search Based Algorithm for the Strip Packing Problem

Authors: Hakim Akeb, Mhand Hifi

Abstract:

In this paper, the use of beam search and look-ahead strategies for solving the strip packing problem (SPP) is investigated. Given a strip of fixed width W, unlimited length L, and a set of n circular pieces of known radii, the objective is to determine the minimum length of the initial strip that packs all the pieces. An augmented algorithm which combines beam search and a look-ahead strategies is proposed. The look-ahead is used in order to evaluate the nodes at each level of the tree search. The best nodes are then retained for branching. The computational investigation showed that the proposed augmented algorithm is able to improve the best known solutions of the literature on most instances used.

Keywords: Combinatorial optimization, cutting and packing, beam search, heuristic, look-ahead strategy.

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3595 Maximizing Performance of the Membranes Based on Quaternized Polysulfone/Polyvinil Alcohol for Biomedical Applications: Rheological Investigations

Authors: A. Filimon, R. M. Albu, E. Avram

Abstract:

The rheological response of blends obtained from quaternized polysulfone and polyvinyl alcohol in N-methyl-2- pyrrolidone as against structural peculiarity of polymers from the blend, composition of polymer mixtures, as well as the types of interactions were investigated. Results show that the variation of polyvinyl alcohol composition in the studied system determines changes of the rheological properties, suggesting that the PVA acts as a plasticizer. Consequently, rheological behavior of complex system, described by the nonlinear flow curve, indicates the impact of polyvinil alcohol content to polysulfone solution, in order to facilitate the subsequently preparation of bioactive membranes.

Keywords: Membranes for biomedical applications, quaternized polysulfone/polyvinyl alcohol composites, rheological properties.

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3594 Analysing the Cost of Immigrants to the National Health System in Eastern Macedonia and Thrace

Authors: T. Theodosiou, P. Polychronidou, A. G. Karasavvoglou

Abstract:

The latest years the number of immigrants at Greece has increased dramatically. Their impact on the National Health System (NHS) has not been yet thoroughly investigated. This paper analyses the cost of immigrants to the NHS hospitals of the region of Eastern Macedonia and Thrace. The data are collected from 2005 to 2011 from five different hospitals and are analysed using linear mixed effects models in order to investigate the effects of nationality and year on the cost of hospitalization and treatment. The results show that generally the Greek nationality patients have a higher mean cost of hospitalization compared to the immigrants and that there is an increasing trend for the cost except for the year 2010.

Keywords: Cost, Eastern Macedonia, Thrace, immigrants, national health system.

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3593 Group Invariant Solutions for Radial Jet Having Finite Fluid Velocity at Orifice

Authors: I. Naeem, R. Naz

Abstract:

The group invariant solution for Prandtl-s boundary layer equations for an incompressible fluid governing the flow in radial free, wall and liquid jets having finite fluid velocity at the orifice are investigated. For each jet a symmetry is associated with the conserved vector that was used to derive the conserved quantity for the jet elsewhere. This symmetry is then used to construct the group invariant solution for the third-order partial differential equation for the stream function. The general form of the group invariant solution for radial jet flows is derived. The general form of group invariant solution and the general form of the similarity solution which was obtained elsewhere are the same.

Keywords: Two-dimensional jets, radial jets, group invariant solution.

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3592 Surveillance Video Summarization Based on Histogram Differencing and Sum Conditional Variance

Authors: Nada Jasim Habeeb, Rana Saad Mohammed, Muntaha Khudair Abbass

Abstract:

For more efficient and fast video summarization, this paper presents a surveillance video summarization method. The presented method works to improve video summarization technique. This method depends on temporal differencing to extract most important data from large video stream. This method uses histogram differencing and Sum Conditional Variance which is robust against to illumination variations in order to extract motion objects. The experimental results showed that the presented method gives better output compared with temporal differencing based summarization techniques.

Keywords: Temporal differencing, video summarization, histogram differencing, sum conditional variance.

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3591 Performance of an Electrocoagulation Process in Treating Direct Dye: Batch and Continuous Upflow Processes

Authors: C. Phalakornkule, S. Polgumhang, W. Tongdaung

Abstract:

This study presents an investigation of electrochemical variables and an application of the optimal parameters in operating a continuous upflow electrocoagulation reactor in removing dye. Direct red 23, which is azo-based, was used as a representative of direct dyes. First, a batch mode was employed to optimize the design parameters: electrode type, electrode distance, current density and electrocoagulation time. The optimal parameters were found to be iron anode, distance between electrodes of 8 mm and current density of 30 A·m-2 with contact time of 5 min. The performance of the continuous upflow reactor with these parameters was satisfactory, with >95% color removal and energy consumption in the order of 0.6-0.7 kWh·m-3.

Keywords: Decolorization, Direct Dye, Electrocoagulation, Textile Wastewater, Upflow Reactor.

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3590 A Grid Synchronization Method Based on Adaptive Notch Filter for SPV System with Modified MPPT

Authors: Priyanka Chaudhary, M. Rizwan

Abstract:

This paper presents a grid synchronization technique based on adaptive notch filter for SPV (Solar Photovoltaic) system along with MPPT (Maximum Power Point Tracking) techniques. An efficient grid synchronization technique offers proficient detection of various components of grid signal like phase and frequency. It also acts as a barrier for harmonics and other disturbances in grid signal. A reference phase signal synchronized with the grid voltage is provided by the grid synchronization technique to standardize the system with grid codes and power quality standards. Hence, grid synchronization unit plays important role for grid connected SPV systems. As the output of the PV array is fluctuating in nature with the meteorological parameters like irradiance, temperature, wind etc. In order to maintain a constant DC voltage at VSC (Voltage Source Converter) input, MPPT control is required to track the maximum power point from PV array. In this work, a variable step size P & O (Perturb and Observe) MPPT technique with DC/DC boost converter has been used at first stage of the system. This algorithm divides the dPpv/dVpv curve of PV panel into three separate zones i.e. zone 0, zone 1 and zone 2. A fine value of tracking step size is used in zone 0 while zone 1 and zone 2 requires a large value of step size in order to obtain a high tracking speed. Further, adaptive notch filter based control technique is proposed for VSC in PV generation system. Adaptive notch filter (ANF) approach is used to synchronize the interfaced PV system with grid to maintain the amplitude, phase and frequency parameters as well as power quality improvement. This technique offers the compensation of harmonics current and reactive power with both linear and nonlinear loads. To maintain constant DC link voltage a PI controller is also implemented and presented in this paper. The complete system has been designed, developed and simulated using SimPower System and Simulink toolbox of MATLAB. The performance analysis of three phase grid connected solar photovoltaic system has been carried out on the basis of various parameters like PV output power, PV voltage, PV current, DC link voltage, PCC (Point of Common Coupling) voltage, grid voltage, grid current, voltage source converter current, power supplied by the voltage source converter etc. The results obtained from the proposed system are found satisfactory.

Keywords: Solar photovoltaic systems, MPPT, voltage source converter, grid synchronization technique.

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3589 Extractability of Heavy Metals in Green Liquor Dregs using Artificial Sweat and Gastric Fluids

Authors: Kati Manskinen, Risto Pöykiö, Hannu Nurmesniemi

Abstract:

In an assessment of the extractability of metals in green liquor dregs from the chemical recovery circuit of semichemical pulp mill, extractable concentrations of heavy metals in artificial gastric fluid were between 10 (Ni) and 717 (Zn) times higher than those in artificial sweat fluid. Only Al (6.7 mg/kg; d.w.), Ni (1.2 mg/kg; d.w.) and Zn (1.8 mg/kg; d.w.) showed extractability in the artificial sweat fluid, whereas Al (730 mg/kg; d.w.), Ba (770 mg/kg; d.w.) and Zn (1290 mg/kg; d.w.) showed clear extractability in the artificial gastric fluid. As certain heavy metals were clearly soluble in the artificial gastric fluid, the careful handling of this residue is recommended in order to prevent the penetration of green liquor dregs across the human gastrointestinal tract.

Keywords: Dregs, non-process elements, pulping, waste.

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3588 The Effect of the Crystal Field Interaction on the Critical Temperatures and the Sublattice Magnetizations of a Mixed Spin-3/2 and Spin-5/2 Ferrimagnetic System

Authors: Fathi Abubrig, Mohamed Delfag, Suad M. Abuzariba

Abstract:

The influence of the crystal field interactions on the mixed spin-3/2 and spin-5/2 ferrimagnetic Ising system is considered by using the mean field theory based on Bogoliubov inequality for the Gibbs free energy. The ground-state phase diagram is constructed, the phase diagrams of the second-order critical temperatures are obtained, and the thermal variation of the sublattice magnetizations is investigated in detail. We find some interesting phenomena for the sublattice magnetizations at particular values of the crystal field interactions.

Keywords: Crystal field, Ising system, Ferrimagnetic, magnetization, phase diagrams.

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3587 Total Quality Management: The Socio- Demographic and Operational-Financial Determinants for Users- Perception of the Services Quality

Authors: H. Silvestre

Abstract:

The aim of this paper is to know the sociodemographic and operational-financial determinants of the services quality perceived by users of the national health services. Through the use of an inquiry conducted by the Ministry of Health, comprehending 16.936 interviews in 2006, we intend to find out if there is any characteristic that determines the 2006 inquiry results. With the revision of the literature we also want to know if the operational-financial results have implications in hospitals users- perception on the quality of the received services. In order to achieve our main goals we will make use of the regression analysis to find out the possible dimensions that determine those results.

Keywords: Management by Results, Quality Approach, Tableau de Bord, Total Quality Management, Services quality.

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3586 A Search Algorithm for Solving the Economic Lot Scheduling Problem with Reworks under the Basic Period Approach

Authors: Yu-Jen Chang, Shih-Chieh Chen, Yu-Wei Kuo

Abstract:

In this study, we are interested in the economic lot scheduling problem (ELSP) that considers manufacturing of the serviceable products and remanufacturing of the reworked products. In this paper, we formulate a mathematical model for the ELSP with reworks using the basic period approach. In order to solve this problem, we propose a search algorithm to find the cyclic multiplier ki of each product that can be cyclically produced for every ki basic periods. This research also uses two heuristics to search for the optimal production sequence of all lots and the optimal time length of the basic period so as to minimize the average total cost. This research uses a numerical example to show the effectiveness of our approach.

Keywords: Economic lot, reworks, inventory, basic period.

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3585 Comparative Analysis of Classical and Parallel Inpainting Algorithms Based on Affine Combinations of Projections on Convex Sets

Authors: Irina Maria Artinescu, Costin Radu Boldea, Eduard-Ionut Matei

Abstract:

The paper is a comparative study of two classical vari-ants of parallel projection methods for solving the convex feasibility problem with their equivalents that involve variable weights in the construction of the solutions. We used a graphical representation of these methods for inpainting a convex area of an image in order to investigate their effectiveness in image reconstruction applications. We also presented a numerical analysis of the convergence of these four algorithms in terms of the average number of steps and execution time, in classical CPU and, alternativaly, in parallel GPU implementation.

Keywords: convex feasibility problem, convergence analysis, ınpainting, parallel projection methods

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3584 An Improved Integer Frequency Offset Estimator using the P1 Symbol for OFDM System

Authors: Yong-An Jung, Young-Hwan You

Abstract:

This paper suggests an improved integer frequency offset (IFO) estimation scheme using P1 symbol for orthogonal frequency division multiplexing (OFDM) based the second generation terrestrial digital video broadcasting (DVB-T2) system. Proposed IFO estimator is designed by a low-complexity blind IFO estimation scheme, which is implemented with complex additions. Also, we propose active carriers (ACs) selection scheme in order to prevent performance degradation in blind IFO estimation. The simulation results show that under the AWGN and TU6 channels, the proposed method has low complexity than conventional method and almost similar performance in comparison with the conventional method.

Keywords: OFDM, DVB-T2, P1 symbol, ACs, IFO.

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3583 Face Recognition using a Kernelization of Graph Embedding

Authors: Pang Ying Han, Hiew Fu San, Ooi Shih Yin

Abstract:

Linearization of graph embedding has been emerged as an effective dimensionality reduction technique in pattern recognition. However, it may not be optimal for nonlinearly distributed real world data, such as face, due to its linear nature. So, a kernelization of graph embedding is proposed as a dimensionality reduction technique in face recognition. In order to further boost the recognition capability of the proposed technique, the Fisher-s criterion is opted in the objective function for better data discrimination. The proposed technique is able to characterize the underlying intra-class structure as well as the inter-class separability. Experimental results on FRGC database validate the effectiveness of the proposed technique as a feature descriptor.

Keywords: Face recognition, Fisher discriminant, graph embedding, kernelization.

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3582 Evaluation of Corrosion Caused by Biogenic Sulfuric Acid (BSA) on the Concrete Structures of Sewerage Systems (Chemical Tests)

Authors: M. Cortés, E. Vera, O. Rojas

Abstract:

The research studies of the kinetics of the corrosion process that attacks concrete and occurs within sewerage systems agree on the amount of variables that interfere in the process. This study aims to check the impact of the pH levels of the corrosive environment and the concrete surface, the concentrations of chemical sulfuric acid, and in turn, measure the resistance of concrete to this attack under controlled laboratory conditions; it also aims to contribute to the development of further research related to the topic, in order to compare the impact of biogenic sulfuric acid and chemical sulfuric acid involvement on concrete structures, especially in scenarios such as sewerage systems.

Keywords: Acid Sulfuric, concrete, corrosion.

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3581 Mineralogical Characterization and Petrographic Classification of the Soil of Casablanca City

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

Abstract:

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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3580 Position Vector of a Partially Null Curve Derived from a Vector Differential Equation

Authors: Süha Yılmaz, Emin Özyılmaz, Melih Turgut, Şuur Nizamoğlu

Abstract:

In this paper, position vector of a partially null unit speed curve with respect to standard frame of Minkowski space-time is studied. First, it is proven that position vector of every partially null unit speed curve satisfies a vector differential equation of fourth order. In terms of solution of the differential equation, position vector of a partially null unit speed curve is expressed.

Keywords: Frenet Equations, Partially Null Curves, Minkowski Space-time, Vector Differential Equation.

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3579 Methods for Business Process Simulation Based on Petri Nets

Authors: K. Shoylekova, K. Grigorova

Abstract:

The Petri nets are the first standard for business process modeling. Most probably, it is one of the core reasons why all new standards created afterwards have to be so reformed as to reach the stage of mapping the new standard onto Petri nets. The paper presents a business process repository based on a universal database. The repository provides the possibility the data about a given process to be stored in three different ways. Business process repository is developed with regard to the reformation of a given model to a Petri net in order to be easily simulated. Two different techniques for business process simulation based on Petri nets - Yasper and Woflan are discussed. Their advantages and drawbacks are outlined. The way of simulating business process models, stored in the Business process repository is shown.

Keywords: Business process repository, Petri nets, Simulation, Woflan, Yasper.

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3578 Estimation of Relative Self-Localization Based On Natural Landmark and an Improved SURF

Authors: Xing Xiong, Byung-Jae Choi

Abstract:

It is important for an autonomous mobile robot to know where it is in any time in an indoor environment. In this paper, we design a relative self-localization algorithm. The algorithm compare the interest point in two images and compute the relative displacement and orientation to determent the posture. Firstly, we use the SURF algorithm to extract the interest points of the ceiling. Second, in order to reduce amount of calculation, a replacement SURF is used to extract orientation and description of the interest points. At last, according to the transformation of the interest points in two images, the relative self-localization of the mobile robot will be estimated greatly.

Keywords: Relative Self-Localization Posture, SURF, Natural Landmark, Interest Point.

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3577 Computational Intelligence Techniques and Agents- Technology in E-learning Environments

Authors: Konstantinos C. Giotopoulos, Christos E. Alexakos, Grigorios N. Beligiannis, Spiridon D.Likothanassis

Abstract:

In this contribution a newly developed e-learning environment is presented, which incorporates Intelligent Agents and Computational Intelligence Techniques. The new e-learning environment is constituted by three parts, the E-learning platform Front-End, the Student Questioner Reasoning and the Student Model Agent. These parts are distributed geographically in dispersed computer servers, with main focus on the design and development of these subsystems through the use of new and emerging technologies. These parts are interconnected in an interoperable way, using web services for the integration of the subsystems, in order to enhance the user modelling procedure and achieve the goals of the learning process.

Keywords: Computational Intelligence, E-learning Environments, Intelligent Agents, User Modelling, Bayesian Networks.

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3576 Comparative Analysis between Corn and Ramon (Brosimum alicastrum) Starches to Be Used as Sustainable Bio-Based Plastics

Authors: C. R. Ríos-Soberanis, V. M. Moo-Huchin, R. J. Estrada-Leon, E. Perez-Pacheco

Abstract:

Polymers from renewable resources have attracted an increasing amount of attention over the last two decades, predominantly due to two major reasons: firstly environmental concerns, and secondly the realization that our petroleum resources are finite. Finding new uses for agricultural commodities is also an important area of research. Therefore, it is crucial to get new sources of natural materials that can be used in different applications. Ramon tree (Brosimum alicastrum) is a tropical plant that grows freely in Yucatan countryside. This paper focuses on the seeds recollection, processing and starch extraction and characterization in order to find out about its suitability as biomaterial. Results demonstrated that it has a high content of qualities to be used not only as comestible but also as an important component in polymeric blends.

Keywords: Biomaterials, biopolymer, starch, characterization techniques.

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3575 Web Service Providing Using Web Service Transformation

Authors: Youngmee Shin, Hyunjoo Bae

Abstract:

In order to provide existing SOAP (Simple Object Access Protocol)-based Web services with users who are familiar with REST (REpresentational State Transfer)-style Web services, this paper proposes Web service providing method using Web service transformation. This enables SOAP-based service providers to define rules for mapping from RESTful Web services to SOAP-based ones. Using these mapping rules, HTTP request messages for RESTful services are converted automatically into SOAP-based service invocations. Web service providers need not develop duplicate RESTful services and they can avoid programming mediation modules per service. Furthermore, they need not equip mediation middleware like ESB (Enterprise Service Bus) only for the purpose of transformation of two different Web service styles.

Keywords: REST, SOAP, Web Services, Web ServiceTransformation.

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3574 Lead in The Soil-Plant System Following Aged Contamination from Ceramic Wastes

Authors: F. Pedron, M. Grifoni, G. Petruzzelli, M. Barbafieri, I. Rosellini, B. Pezzarossa

Abstract:

Lead contamination of agricultural land mainly vegetated with perennial ryegrass (Lolium perenne) has been investigated. The metal derived from the discharge of sludge from a ceramic industry in the past had used lead paints. The results showed very high values of lead concentration in many soil samples. In order to assess the lead soil contamination, a sequential extraction with H2O, KNO3, EDTA was performed, and the chemical forms of lead in the soil were evaluated. More than 70% of lead was in a potentially bioavailable form. Analysis of Lolium perenne showed elevated lead concentration. A Freundlich-like model was used to describe the transferability of the metal from the soil to the plant.

Keywords: Bioavailability, Freundlich-like equation, sequential extraction, soil lead contamination.

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3573 Differences in Enhancing Enrollment System between Web Application and Mobile Application for Rangsit University, Thailand

Authors: Thossaporn Thossansin, Auttapon Pomsathit

Abstract:

This paper presents a comparison between using a desktop web application and a mobile application for students enrolling in courses at Rangsit University, Thailand. In addition, Rangsit University has enhanced the enrollment process by leveraging its information systems, which allows students to choose to enroll in courses online. In order to use the system, students must provide their identification and personal documents for registration. The reason to have a mobile application is to support students’ ability to access the system at anytime, anywhere and anyplace. The objective of this paper was to: 1. Evaluate the success of developing a user friendly mobile device system and 2. Measure user interest in future mobile development.

Keywords: Mobile Application, Web Application and Enrollment System.

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3572 Model Inversion of a Two Degrees of Freedom Linearized PUMA from Bicausal Bond Graphs

Authors: Gilberto Gonzalez-A, Ignacio Rodríguez- A., Dunia Nuñez-P

Abstract:

A bond graph model of a two degrees of freedom PUMA is described. System inversion gives the system input required to generate a given system output. In order to get the system inversion of the PUMA manipulator, a linearization of the nonlinear bond graph is obtained. Hence, the bicausality of the linearized bond graph of the PUMA manipulator is applied. Thus, the bicausal bond graph provides a systematic way of generating the equations of the system inversion. Simulation results to verify the calculated input for a given output are shown.

Keywords: Bond graph, system inversion, bicausality, PUMA manipulator

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3571 Cement Mortar Lining as a Potential Source of Water Contamination

Authors: M. Zielina, W. Dabrowski, E. Radziszewska-Zielina

Abstract:

Several different cements have been tested to evaluate their potential to leach calcium, chromium and aluminum ions in soft water environment. The research allows comparing some different cements in order to the potential risk of water contamination. This can be done only in the same environment. To reach the results in reasonable short time intervals and to make heavy metals measurements with high accuracy, demineralized water was used. In this case the conditions of experiments are far away from the water supply practice, but short time experiments and measurably high concentrations of elements in the water solution are an important advantage. Moreover leaching mechanisms can be recognized, our experiments reported here refer to this kind of cements evaluation.

Keywords: Concrete corrosion, hydrogen sulfide, odors, reinforced concrete sewers, sewerage.

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3570 The Principle Probabilities of Space-Distance Resolution for a Monostatic Radar and Realization in Cylindrical Array

Authors: Anatoly D. Pluzhnikov, Elena N. Pribludova, Alexander G. Ryndyk

Abstract:

In conjunction with the problem of the target selection on a clutter background, the analysis of the scanning rate influence on the spatial-temporal signal structure, the generalized multivariate correlation function and the quality of the resolution with the increase pulse repetition frequency is made. The possibility of the object space-distance resolution, which is conditioned by the range-to-angle conversion with an increased scanning rate, is substantiated. The calculations for the real cylindrical array at high scanning rate are presented. The high scanning rate let to get the signal to noise improvement of the order of 10 dB for the space-time signal processing.

Keywords: Antenna pattern, array, signal processing, spatial resolution.

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3569 Development of Rotational Smart Lighting Control System for Plant Factory

Authors: Won-Sub Lee, Sung-Gaun Kim

Abstract:

Rotational Smart Lighting Control System can supply the quantity of lighting which is required to run plants by rotating few LED and Fluorescent instead of that are used in the existing plant factories.The initial installation of the existing plants factory is expensive, so in order to solve the problem with smart lighting control system was developed. The beam required intensity for the growth of crops, Photosynthetic Photon Flux Density(PPFD)is calculated; and the number of LED, are installed on the blades, set; using the Lighting Simulation Program.Relux, it is able to confirm that the difference of the beam intensity between the center and the outer of lighting system when the lighting device is rotating.

Keywords: Plant Factory, Lighting Control System, Rotational Lighting System, Lighting Equipment

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3568 Evaluation of the Displacement-Based and the Force-Based Adaptive Pushover Methods in Seismic Response Estimation of Irregular Buildings Considering Torsional Effects

Authors: R. Abbasnia, F. Mohajeri Nav, S. Zahedifar, A. Tajik

Abstract:

Recent years, adaptive pushover methods have been developed for seismic analysis of structures. Herein, the accuracy of the displacement-based adaptive pushover (DAP) method, which is introduced by Antoniou and Pinho [2004], is evaluated for Irregular buildings. The results are compared to the force-based procedure. Both concrete and steel frame structures, asymmetric in plan and elevation are analyzed and also torsional effects are taking into the account. These analyses are performed using both near fault and far fault records. In order to verify the results, the Incremental Dynamic Analysis (IDA) is performed.

Keywords: Pushover Analysis, DAP, IDA, Torsion.

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3567 A Fuzzy Logic Based Navigation of a Mobile Robot

Authors: Anis Fatmi, Amur Al Yahmadi, Lazhar Khriji, Nouri Masmoudi

Abstract:

One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.

Keywords: Behavior based navigation, context based coordination, fuzzy logic, mobile robots.

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