Search results for: structural equation model

Authors: Adil Al-Rammahi

Abstract:

Laplace transformations have wide applications in engineering and sciences. All previous studies of modified Laplace transformations depend on differential equation with initial conditions. The purpose of our paper is to solve the linear differential equations (not initial value problem) and then find the general solution (not particular) via the Laplace transformations without needed any initial condition. The study involves both types of differential equations, ordinary and partial.

Keywords: Differential Equations, Laplace Transformations.

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Authors: Ilia Marchevsky, Victoriya Moreva

Abstract:

The problem of incompressible steady flow simulation around an airfoil is discussed. For some simplest airfoils (circular, elliptical, Zhukovsky airfoils) the exact solution is known from complex analysis. It allows to compute the intensity of vortex layer which simulates the airfoil. Some modifications of the vortex element method are proposed and test computations are carried out. It-s shown that the these approaches are much more effective in comparison with the classical numerical scheme.

Keywords: Vortex element method, vortex layer, integral equation, ill-conditioned matrix.

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Authors: Li Zong-Cheng

Abstract:

The deviation between the target state variable and the practical state variable should be used to form the state tending factor of complex systems, which can reflect the process for the complex system to tend rationalization. Relating to the system of basic equations of complete factor synergetics consisting of twenty nonlinear stochastic differential equations, the two new models are considered to set, which should be called respectively the rationalizing tendency model and the non- rationalizing tendency model. Therefore we can extend the theory of programming with the objective function & constraint condition suitable only for the realm of man-s activities into the new analysis with the tendency function & constraint condition suitable for all the field of complex system.

Keywords: complex system, complete factor synergetics, basicequation, rationalizing tendency model, non-rationalizing tendencymodel.

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Authors: Hossein Zeinivand, Florimond De Smedt

Abstract:

Snow cover is an important phenomenon in hydrology, hence modeling the snow accumulation and melting is an important issue in places where snowmelt significantly contributes to runoff and has significant effect on water balance. The physics-based models are invariably distributed, with the basin disaggregated into zones or grid cells. Satellites images provide valuable data to verify the accuracy of spatially distributed model outputs. In this study a spatially distributed physically based model (WetSpa) was applied to predict snow cover and melting in the Latyan dam watershed in Iran. Snowmelt is simulated based on an energy balance approach. The model is applied and calibrated with one year of observed daily precipitation, air temperature, windspeed, and daily potential evaporation. The predicted snow-covered area is compared with remotely sensed images (MODIS). The results show that simulated snow cover area SCA has a good agreement with satellite image snow cover area SCA from MODIS images. The model performance is also tested by statistical and graphical comparison of simulated and measured discharges entering the Latyan dam reservoir.

Keywords: Physical based model, Satellite image, Snow covers.

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Authors: Mostafa A. Elshahed, Magdy M. Elmarsfawy, Hussain M. Zain Eldain

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In this paper, a Dynamic Economic Dispatch (DED) model is developed for the system consisting of both thermal generators and wind turbines. The inclusion of a significant amount of wind energy into power systems has resulted in additional constraints on DED to accommodate the intermittent nature of the output. The probability of stochastic wind power based on the Weibull probability density function is included in the model as a constraint; A Here-and-Now Approach. The Environmental Protection Agency-s hourly emission target, which gives the maximum emission during the day, is used as a constraint to reduce the atmospheric pollution. A 69-bus test system with non-smooth cost function is used to illustrate the effectiveness of the proposed model compared with static economic dispatch model with including the wind power.

Keywords: Dynamic Economic Dispatch, StochasticOptimization, Weibull Distribution, Wind Power

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Authors: Praveen Huded M., Suresh R. Dash

Abstract:

Pile foundations are one of the most preferred deep foundation systems for high rise or heavily loaded structures. In many instances, the failure of the pile founded structures in liquefiable soils had been observed even in many recent earthquakes. Failure of pile foundation have occurred because of buckling, as the pile behaves as an unsupported slender structural element once the surrounding soil liquefies. However, the buckling capacity depends on the depth of soil liquefied and its residual strength. Hence it is essential to check the pile against the possible buckling failure. Beam on non-linear Winkler Foundation is one of the efficient methods to model the pile-soil behavior in liquefiable soil. The pile-soil interaction is modelled through p-y springs, there are different p-y curves available for modeling liquefiable soil. In the present work, the influence of two such p-y curves on the buckling capacity of pile foundation is studied considering the initial geometric and non-linear behavior of pile foundation. The proposed method is validated against experimental results. A significant difference in the buckling capacity is observed for the two p-y curves used in the analysis. A parametric study is conducted to understand the influence of pile flexural rigidity, different initial geometric imperfections, and different soil relative densities on the buckling capacity of pile foundation.

Keywords: pile foundation, liquefaction, buckling load, non-linear p-y curve

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Authors: Abdenour Bourabaa, Malika Fekih, Mohamed Saighi

Abstract:

A numerical investigation of the fin efficiency and temperature distribution of an annular fin under dehumidification has been presented in this paper. The non-homogeneous second order differential equation that describes the temperature distribution from the fin base to the fin tip has been solved using the central finite difference method. The effects of variations in parameters including relative humidity, air temperature, air face velocity on temperature distribution and fin efficiency are investigated and compared with those under fully dry fin conditions. Also, the effect of fin pitch on the dimensionless temperature has been studied.

Keywords: Annular fin, Dehumidification, Fin efficiency, Heat and mass transfer, Wet fin.

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Authors: Weiwen Li, Hao Huang, Chengmao You, Jianji Liao, Lei Wang, Lina An

Abstract:

Zooplankton are a central issue in the ecology which makes a great contribution to maintaining the balance of an ecosystem. It is critical in promoting the material cycle and energy flow within the ecosystems. A generalized additive model (GAM) was applied to analyze the relationships between the density (individuals per m³) of zooplankton and other variables in West Daya Bay. All data used in this analysis (the survey month, survey station (longitude and latitude), the depth of the water column, the superficial concentration of chlorophyll a, the benthonic concentration of chlorophyll a, the number of zooplankton species and the number of zooplankton species) were collected through monthly scientific surveys during January to December 2016. GLM model (generalized linear model) was used to choose the significant variables’ impact on the density of zooplankton, and the GAM was employed to analyze the relationship between the density of zooplankton and the significant variables. The results showed that the density of zooplankton increased with an increase of the benthonic concentration of chlorophyll a, but decreased with a decrease in the depth of the water column. Both high numbers of zooplankton species and the overall total number of zooplankton individuals led to a higher density of zooplankton.

Keywords: Density, generalized linear model, generalized additive model, the West Daya Bay, zooplankton.

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Authors: Quy Dang Nguyen, Reza Nakhaie Jazar

Abstract:

The paper investigates vibration dynamics of tire-road separation for a quarter-car model; this separation model is developed to be close to the real situation considering the tire is able to separate from the ground plane. A set of piecewise linear mathematical models is developed and matches the in-contact and no-contact states to be considered as mother models for further investigations. The bound dynamics are numerically simulated in the time response and phase portraits. The separation analysis may determine which values of suspension parameters can delay and avoid the no-contact phenomenon, which results in improving ride comfort and eliminating the potentially dangerous oscillation. Finally, model verification is carried out in the MSC-ADAMS environment.

Keywords: Quarter-car vibrations, tire-road separation, separation analysis, separation dynamics, ride comfort, ADAMS validation.

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Authors: Assad Maalouf, Lunjin Lu, James Lynott

Abstract:

We design and implement a precise model of string operations using finite state machine transformers and state transformers to approximate the values string variables can take throughout the execution of the program.We use our model to analyze Android program string variables. Our experimental results show that our string analysis is very efficient at detecting the contextual effect of string operations on the string variables. Our model proved to be very useful when it came to verifying statements about the string variables of the program.

Keywords: Abstract interpretation, android, static analysis, string analysis.

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Authors: Chinh Trong Nguyen, Dang Tuan Nguyen

Abstract:

In this paper, we propose a new model of English- Vietnamese bilingual Information Retrieval system. Although there are so many CLIR systems had been researched and built, the accuracy of searching results in different languages that the CLIR system supports still need to improve, especially in finding bilingual documents. The problems identified in this paper are the limitation of machine translation-s result and the extra large collections of document to be found. So we try to establish a different model to overcome these problems.

Keywords: Bilingual Information Retrieval, Cross-lingual Information Retrieval, Bilingual Web sites.

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Authors: Nan Jiang, Jian Wang

Abstract:

Random Oracle Model (ROM) is an effective method for measuring the practical security of cryptograph. In this paper, we try to use it into information hiding system (IHS). Because IHS has its own properties, the ROM must be modified if it is used into IHS. Firstly, we fully discuss why and how to modify each part of ROM respectively. The main changes include: 1) Divide the attacks that IHS may be suffered into two phases and divide the attacks of each phase into several kinds. 2) Distinguish Oracles and Black-boxes clearly. 3) Define Oracle and four Black-boxes that IHS used. 4) Propose the formalized adversary model. And 5) Give the definition of judge. Secondly, based on ROM of IHS, the security against known original cover attack (KOCA-KOCA-security) is defined. Then, we give an actual information hiding scheme and prove that it is KOCA-KOCA-secure. Finally, we conclude the paper and propose the open problems of further research.

Keywords: Attack, Information Hiding, Provable Security, Random Oracle Model.

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Authors: Taewon Seo

Abstract:

The characteristics of physiological blood flow in human carotid arterial bifurcation model have been numerically studied using a fully coupled fluid-structure interaction (FSI) analysis. This computational model with the fluid-structure interaction is constructed to investigate the flow characteristics and wall shear stress in the carotid artery. As the flow begins to decelerate after the peak flow, a large recirculation zone develops at the non-divider wall of both internal carotid artery (ICA) and external carotid artery (ECA) in FSI model due to the elastic energy stored in the expanding compliant wall. The calculated difference in wall shear stress (WSS) in both Non-FSI and FSI models is a range of between 5 and 11% at the mean WSS. The low WSS corresponds to regions of carotid artery that are more susceptible to atherosclerosis.

Keywords: Carotid artery, Fluid-structure interaction, Hemodynamics, Wall shear stress.

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Authors: Maryam Saeidi, Ehsan Motamedian, Seyed Abbas Shojaosadati

Abstract:

Zymomonas mobilis is known as an example of the uncoupled growth phenomenon. This microorganism also has a unique metabolism that degrades glucose by the Entner–Doudoroff (ED) pathway. In this paper, a genome-scale metabolic model including 434 genes, 757 reactions and 691 metabolites was reconstructed to simulate uncoupled growth and study its effect on flux distribution in the central metabolism. The model properly predicted that ATPase was activated in experimental growth yields of Z. mobilis. Flux distribution obtained from model indicates that the major carbon flux passed through ED pathway that resulted in the production of ethanol. Small amounts of carbon source were entered into pentose phosphate pathway and TCA cycle to produce biomass precursors. Predicted flux distribution was in good agreement with experimental data. The model results also indicated that Z. mobilis metabolism is able to produce biomass with maximum growth yield of 123.7 g (mol glucose)-1 if ATP synthase is coupled with growth and produces 82 mmol ATP gDCW-1h-1. Coupling the growth and energy reduced ethanol secretion and changed the flux distribution to produce biomass precursors.

Keywords: Genome-scale metabolic model, Zymomonas mobilis, uncoupled growth, flux distribution, ATP dissipation.

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Authors: Maryam Gallab, Hafida Bouloiz, Youness Chater, Mohamed Tkiouat

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The aim of this paper is to present a model based on multi-agent systems in order to manage the maintenance activities and to ensure the reliability and availability of machines just with the required resources (operators, tools). The interest of the simulation is to solve the complexity of the system and to find results without cost or wasting time. An implementation of the model is carried out on the AnyLogic platform to display the defined performance indicators.

Keywords: Maintenance, complexity, simulation, multi-agent systems, AnyLogic platform.

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Authors: Hye Lyeong Kim, Sang Yeong Choi

Abstract:

This paper discusses a discrete event simulation model for the availability analysis of weapon systems. This model incorporates missions, operational tasks and system reliability structures to analyze the availability of a weapon system. The proposed simulation model consists of 5 modules: Simulation Engine, Maintenance Organizations, System, its Mission Profile and RBD which are based on missions and operational tasks. Simulation Engine executes three kinds of discrete events in chronological order. The events are mission events generated by Mission Profile, failure events generated by System, and maintenance events executed by Maintenance Organization. Finally, this paper shows the case study of a system's availability analysis and mission reliability using the simulation model.

Keywords: MTBF (Mean Time Between Failure), MTTR (Mean Time To Repair), Availability, Reliability, RBD (Reliability Block Diagram)

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Authors: J. Kala, P. Hradil, V. Salajka

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Reinforced concrete crash barriers used in road traffic must meet a number of criteria. Crash barriers are laid lengthwise, one behind another, and joined using specially designed steel locks. While developing BSV reinforced concrete crash barriers (type ŽPSV), experiments and calculations aimed to optimize the shape of a newly designed lock and the reinforcement quantity and distribution in a crash barrier were carried out. The tension carrying capacity of two parallelly joined locks was solved experimentally. Based on the performed experiments, adjustments of nonlinear properties of steel were performed in the calculations. The obtained results served as a basis to optimize the lock design using a computational model that takes into account the plastic behaviour of steel and the influence of the surrounding concrete [6]. The response to the vehicle impact has been analyzed using a specially elaborated complex computational model, comprising both the nonlinear model of the damping wall or crash barrier and the detailed model of the vehicle [7].

Keywords: Crash Barrier, impact, static analysis, concrete nonlinear model.

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Authors: Ramandeep Behl, Prashanth Maroju, S. S. Motsa

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In this paper, we study the semilocal convergence of a fifth order iterative method using recurrence relation under the assumption that first order Fréchet derivative satisfies the Hölder condition. Also, we calculate the R-order of convergence and provide some a priori error bounds. Based on this, we give existence and uniqueness region of the solution for a nonlinear Hammerstein integral equation of the second kind.

Keywords: Hölder continuity condition, Fréchet derivative, fifth order convergence, recurrence relations.

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Authors: N. Z. A. Hamid, M. S. M. Noorani

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This study is focused on the development of prediction models of the Ozone concentration time series. Prediction model is built based on chaotic approach. Firstly, the chaotic nature of the time series is detected by means of phase space plot and the Cao method. Then, the prediction model is built and the local linear approximation method is used for the forecasting purposes. Traditional prediction of autoregressive linear model is also built. Moreover, an improvement in local linear approximation method is also performed. Prediction models are applied to the hourly Ozone time series observed at the benchmark station in Malaysia. Comparison of all models through the calculation of mean absolute error, root mean squared error and correlation coefficient shows that the one with improved prediction method is the best. Thus, chaotic approach is a good approach to be used to develop a prediction model for the Ozone concentration time series.

Keywords: Chaotic approach, phase space, Cao method, local linear approximation method.

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Authors: Pramod Goyal, S. K. Saxena

Abstract:

The convergence of heterogeneous wireless access technologies characterizes the 4G wireless networks. In such converged systems, the seamless and efficient handoff between different access technologies (vertical handoff) is essential and remains a challenging problem. The heterogeneous co-existence of access technologies with largely different characteristics creates a decision problem of determining the “best" available network at “best" time to reduce the unnecessary handoffs. This paper proposes a dynamic decision model to decide the “best" network at “best" time moment to handoffs. The proposed dynamic decision model make the right vertical handoff decisions by determining the “best" network at “best" time among available networks based on, dynamic factors such as “Received Signal Strength(RSS)" of network and “velocity" of mobile station simultaneously with static factors like Usage Expense, Link capacity(offered bandwidth) and power consumption. This model not only meets the individual user needs but also improve the whole system performance by reducing the unnecessary handoffs.

Keywords: Dynamic decision model, Seamless handoff, Vertical handoff, Wireless networks

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Authors: Jorge Estudillo Ramirez, Saul E. Pomares Hernandez

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Multimedia distributed systems deal with heterogeneous data, such as texts, images, graphics, video and audio. The specification of temporal relations among different data types and distributed sources is an open research area. This paper proposes a fully distributed synchronization model to be used in multimedia systems. One original aspect of the model is that it avoids the use of a common reference (e.g. wall clock and shared memory). To achieve this, all possible multimedia temporal relations are specified according to their causal dependencies.

Keywords: Multimedia, Distributed Systems, Partial Ordering, Temporal Synchronization

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Authors: N. Neysani Samany, M.R. Delavar, N. Chrisman, M.R. Malek

Abstract:

Location-aware computing is a type of pervasive computing that utilizes user-s location as a dominant factor for providing urban services and application-related usages. One of the important urban services is navigation instruction for wayfinders in a city especially when the user is a tourist. The services which are presented to the tourists should provide adapted location aware instructions. In order to achieve this goal, the main challenge is to find spatial relevant objects and location-dependent information. The aim of this paper is the development of a reusable location-aware model to handle spatial relevancy parameters in urban location-aware systems. In this way we utilized ontology as an approach which could manage spatial relevancy by defining a generic model. Our contribution is the introduction of an ontological model based on the directed interval algebra principles. Indeed, it is assumed that the basic elements of our ontology are the spatial intervals for the user and his/her related contexts. The relationships between them would model the spatial relevancy parameters. The implementation language for the model is OWLs, a web ontology language. The achieved results show that our proposed location-aware model and the application adaptation strategies provide appropriate services for the user.

Keywords: Spatial relevancy, Context-aware, Ontology, Modeling

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Authors: S. N. Deepa, G. Sugumaran

Abstract:

This paper proposes a new version of the Particle Swarm Optimization (PSO) namely, Modified PSO (MPSO) for model order formulation of Single Input Single Output (SISO) linear time invariant continuous systems. In the General PSO, the movement of a particle is governed by three behaviors namely inertia, cognitive and social. The cognitive behavior helps the particle to remember its previous visited best position. In Modified PSO technique split the cognitive behavior into two sections like previous visited best position and also previous visited worst position. This modification helps the particle to search the target very effectively. MPSO approach is proposed to formulate the higher order model. The method based on the minimization of error between the transient responses of original higher order model and the reduced order model pertaining to the unit step input. The results obtained are compared with the earlier techniques utilized, to validate its ease of computation. The proposed method is illustrated through numerical example from literature.

Keywords: Continuous System, Model Order Formulation, Modified Particle Swarm Optimization, Single Input Single Output, Transfer Function Approach

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Authors: Ferhat Kadioglu, Ahmet Reha Gunay

Abstract:

Correct measurement of a structural damping value is an important issue for the reliable design of the components exposed to vibratory and noise conditions. As far as a vibrating beam technique is concerned, the specimens under the test somehow are interacted with measuring and exciting devices and also with boundary conditions of the test set-up. The aim of this study is to propose a vibrating beam method that offers a non-contact dynamic measurement of solid beam specimens. To evaluate possible effects of the clamped portion of the specimens with clamped-free ends on the dynamic values (damping and the elastic modulus), the same measuring devices were used, and the results were compared to those with the free-free ends. To get clear idea about the sensitivity of the boundary conditions to the damping values at low, medium and high levels, representative materials were subjected to the tests. The results show that the specimens with low damping values are especially sensitive to the boundary conditions and the most reliable structural damping values are obtained for the specimens with free-free ends. For the damping values at the low levels, a deviation of about 368% was obtained between the specimens with free-free and clamped-free ends, yet, for those having high inherent damping values, comparable results were obtained.

Keywords: Vibrating beam technique, dynamic values, damping, boundary conditions, non-contact measuring systems.

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Authors: Kimou Kouadio Prosper, Souleymane Oumtanaga, Tety Pierre, Adou Kablan Jérôme

Abstract:

A satured liquid is warmed until boiling in a parallelepipedic boiler. The heat is supplied in a liquid through the horizontal bottom of the boiler, the other walls being adiabatic. During the process of boiling, the liquid evaporates through its free surface by deforming it. This surface which subdivides the boiler into two regions occupied on both sides by the boiled liquid (broth) and its vapor which surmounts it. The broth occupying the region and its vapor the superior region. A two- fluids model is used to describe the dynamics of the broth, its vapor and their interface. In this model, the broth is treated as a monophasic fluid (homogeneous model) and form with its vapor adiphasic pseudo fluid (two-fluid model). Furthermore, the interface is treated as a zone of mixture characterized by superficial void fraction noted α* . The aim of this article is to describe the dynamics of the interface between the boiled fluid and its vapor within a boiler. The resolution of the problem allowed us to show the evolution of the broth and the level of the liquid.

Keywords: Two-fluid models, homogeneous model, interface, averaged equations, Jumps conditions, void fraction.

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Authors: Bahador Bagheri, Ehsan Salimi Firoozabad, Mohammadreza Yahyaei

Abstract:

As the world move to the accomplishment of Performance Based Engineering philosophies in seismic design of Civil Engineering structures, new seismic design provisions require Structural Engineers to perform both static and dynamic analysis for the design of structures. While Linear Equivalent Static Analysis is performed for regular buildings up to 90m height in zone I and II, Dynamic Analysis should be performed for regular and irregular buildings in zone IV and V. Dynamic Analysis can take the form of a dynamic Time History Analysis or a linear Response Spectrum Analysis. In present study, Multi-storey irregular buildings with 20 stories have been modeled using software packages ETABS and SAP 2000 v.15 for seismic zone V in India. This paper also deals with the effect of the variation of the building height on the structural response of the shear wall building. Dynamic responses of building under actual earthquakes, EL-CENTRO 1949 and CHI-CHI Taiwan 1999 have been investigated. This paper highlights the accuracy and exactness of Time History analysis in comparison with the most commonly adopted Response Spectrum Analysis and Equivalent Static Analysis.

Keywords: Equivalent Static Analysis, Time history method, Response spectrum method, Reinforce concrete building, displacement.

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Authors: L. Ramirez, E. Guillén, J. Sánchez

Abstract:

Some of the main goals about telecare such as monitoring, treatment, telediagnostic are deployed with the integration of applications with specific appliances. In order to achieve a coherent model to integrate software, hardware, and healthcare systems, different telehealth models with Internet of Things (IoT), cloud computing, artificial intelligence, etc. have been implemented, and their advantages are still under analysis. In this paper, we propose an integrated model based on IoT architecture and cloud computing telehealth center. Analytics module is presented as a solution to control an ideal diagnostic about some diseases. Specific features are then compared with the recently deployed conventional models in telemedicine. The main advantage of this model is the availability of controlling the security and privacy about patient information and the optimization on processing and acquiring clinical parameters according to technical characteristics.

Keywords: Analytics, telemedicine, internet of things, cloud computing.

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Authors: N. P. Yadav, Deepti Verma

Abstract:

This paper focuses on the mathematical modeling for solidification of Al alloy in a cube mold cavity to study the solidification behavior of casting process. The parametric investigation of solidification process inside the cavity was performed by using computational solidification/melting model coupled with Volume of fluid (VOF) model. The implicit filling algorithm is used in this study to understand the overall process from the filling stage to solidification in a model metal casting process. The model is validated with past studied at same conditions. The solidification process is analyzed by including the effect of pouring velocity as well as natural convection from the wall and geometry of the cavity. These studies show the possibility of various defects during solidification process.

Keywords: Buoyancy driven flow, natural convection driven flow, residual flow, secondary flow, volume of fluid.

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Authors: Norazlina Khamis, Sufian Idris, Rodina Ahmad

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The most influential programming paradigm today is object oriented (OO) programming and it is widely used in education and industry. Recognizing the importance of equipping students with OO knowledge and skills, it is not surprising that most Computer Science degree programs offer OO-related courses. How do we assess whether the students have acquired the right objectoriented skills after they have completed their OO courses? What are object oriented skills? Currently none of the current assessment techniques would be able to provide this answer. Traditional forms of OO programming assessment provide a ways for assigning numerical scores to determine letter grades. But this rarely reveals information about how students actually understand OO concept. It appears reasonable that a better understanding of how to define and assess OO skills is needed by developing a criterion referenced model. It is even critical in the context of Malaysia where there is currently a growing concern over the level of competency of Malaysian IT graduates in object oriented programming. This paper discussed the approach used to develop the criterion-referenced assessment model. The model can serve as a guideline when conducting OO programming assessment as mentioned. The proposed model is derived by using Goal Questions Metrics methodology, which helps formulate the metrics of interest. It concluded with a few suggestions for further study.

Keywords: Object-oriented programming, programmingassessment, criterion-referenced assessment model, goal questionsmetrics.

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Authors: D. Maneetham, L. Sivhour

Abstract:

Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: Forward kinematics, D-H model, robotic toolbox, PC-and EtherCAT based control.

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