Search results for: dynamic visual SLAM

Authors: Vivekanandan C., Prabhakar .R., Prema D.

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This paper presents the application of discrete-time variable structure control with sliding mode based on the 'reaching law' method for robust control of a 'simple inverted pendulum on moving cart' - a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is carried out using pole placement technique to find state feedback gain matrix , which decides the dynamic behavior of the system during sliding mode. This is followed by feedback gain realization using the control law which is synthesized from 'Gao-s reaching law'. The model of a single inverted pendulum and the discrete variable structure control controller are developed, simulated in MATLAB-SIMULINK and results are presented. The response of this simulation is compared with that of the discrete linear quadratic regulator (DLQR) and the advantages of sliding mode controller over DLQR are also presented

Keywords: Inverted pendulum, Variable Structure, Sliding mode control, Discrete-time systems, Nonlinear systems.

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Authors: P. Kanakasabapathy, Radhika. S,

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In the competitive electricity market environment, the profit of the pumped-storage plant in the energy market can be maximized by operating it as a generator, when market clearing price is high and as a pump, to pump water from lower reservoir to upper reservoir, when the price is low. An optimal self-scheduling plan has been developed for a pumped-storage plant, carried out on weekly basis in order to maximize the profit of the plant, keeping into account of all the major uncertainties such as the sudden ancillary service delivery request and the price forecasting errors. For a pumped storage power plant to operate in a real time market successive self scheduling has to be done by considering the forecast of the day-ahead market and the modified reservoir storage due to the ancillary service request of the previous day. Sliding Window Technique has been used for successive self scheduling to ensure profit for the plant.

Keywords: Ancillary services, BPSO, Power System Economics (Electricity markets), Self-Scheduling, Sliding Window Technique.

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Authors: R. Usubamatov

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The velocity of a moving point in a general path is the vector quantity, which has both magnitude and direction. The magnitude or the direction of the velocity vector can change over time as a result of acceleration that the time rate of velocity changes. Acceleration analysis is important because inertial forces and inertial torques are proportional to rectilinear and angular accelerations accordingly. The loads must be determined in advance to ensure that a machine is adequately designed to handle these dynamic loads. For planar motion, the vector direction of acceleration is commonly separated into two elements: tangential and centripetal or radial components of a point on a rotating body. All textbooks in physics, kinematics and dynamics of machinery consider the magnitude of a radial acceleration at condition when a point rotates with a constant angular velocity and it means without acceleration. The magnitude of the tangential acceleration considered on a basis of acceleration for a rotating point. Such condition of presentation of magnitudes for two components of acceleration logically and mathematically is not correct and may cause further confusion in calculation. This paper presents new analytical expressions of the radial and absolute accelerations of a rotating point with acceleration and covers the gap in theoretical study of acceleration analysis.

Keywords: acceleration analysis, kinematics of mechanisms.

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Authors: Alexander Winkler, Jozef Suchý

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This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: Damping control, impedance control, robot force control, stability, stiffness control.

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Authors: R. Babisaraswathi, N. Shanthi, S. S. Kiruthika

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Web search engines are designed to retrieve and extract the information in the web databases and to return dynamic web pages. The Semantic Web is an extension of the current web in which it includes semantic content in web pages. The main goal of semantic web is to promote the quality of the current web by changing its contents into machine understandable form. Therefore, the milestone of semantic web is to have semantic level information in the web. Nowadays, people use different keyword- based search engines to find the relevant information they need from the web. But many of the words are polysemous. When these words are used to query a search engine, it displays the Search Result Records (SRRs) with different meanings. The SRRs with similar meanings are grouped together based on Word Sense Disambiguation (WSD). In addition to that semantic annotation is also performed to improve the efficiency of search result records. Semantic Annotation is the process of adding the semantic metadata to web resources. Thus the grouped SRRs are annotated and generate a summary which describes the information in SRRs. But the automatic semantic annotation is a significant challenge in the semantic web. Here ontology and knowledge based representation are used to annotate the web pages.

Keywords: Ontology, Semantic Web, WordNet, Word Sense Disambiguation.

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Authors: A. R. Tavakolpour-Saleh, H. Jokar

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Liquid level control of conical tank system is known to be a great challenge in many industries such as food processing, hydrometallurgical industries and wastewater treatment plant due to its highly nonlinear characteristics. In this research, an adaptive fuzzy PID control scheme is applied to the problem of liquid level control in a nonlinear tank process. A conical tank process is first modeled and primarily simulated. A PID controller is then applied to the plant model as a suitable benchmark for comparison and the dynamic responses of the control system to different step inputs were investigated. It is found that the conventional PID controller is not able to fulfill the controller design criteria such as desired time constant due to highly nonlinear characteristics of the plant model. Consequently, a nonlinear control strategy based on gain-scheduling adaptive control incorporating a fuzzy logic observer is proposed to accurately control the nonlinear tank system. The simulation results clearly demonstrated the superiority of the proposed adaptive fuzzy control method over the conventional PID controller.

Keywords: Adaptive control, fuzzy logic, conical tank, PID controller.

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Authors: Ornst J., Voracek J., Allouache A., Allouache D.

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Lack of resources for road infrastructure financing is a problem that currently affects not only eastern European economies but also many other countries especially in relation to the impact of global financial crisis. In this context, we are talking about the socalled short-investment problem as a result of long-term lack of investment resources. Based on an analysis of road infrastructure financing in the Czech Republic this article points out at weaknesses of current system and proposes a long-term planning methodology supported by system approach. Within this methodology and using created system dynamic model the article predicts the development of short-investment problem in the Country and in reaction on the downward trend of certain sources the article presents various scenarios resulting from the change of the structure of financial sources. In the discussion the article focuses more closely on the possibility of introduction of tax on vehicles instead of taxes with declining revenue streams and estimates its approximate price in relation to reaching various solutions of short-investment in time.

Keywords: Road financing, road infrastructure development, system dynamics

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Authors: A. Amrani, O. Allali, A. Ben Hamida, F. Defrance, S. Morland, E. Pineau, T. Lacroix

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The energy planning process is a very complex task that involves several stakeholders and requires the consideration of several local and global factors and constraints. In order to optimize and simplify this process, we propose a tool-based iterative approach applied to district heating planning. We build our tool with the collaboration of a French territory using actual district data and implementing the European incentives. We set up an iterative process including data visualization and analysis, identification and extraction of information related to the area concerned by the operation, design of sustainable planning scenarios leveraging local renewable and recoverable energy sources, and finally, the evaluation of scenarios. The last step is performed by a dynamic digital twin replica of the city. Territory’s energy experts confirm that the tool provides them with valuable support towards sustainable energy planning.

Keywords: Climate change, data management, decision support, digital twin, district heating, energy planning, renewables, smart city.

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Authors: Thanawat Chuleekiat

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Socketing of bored piles in rock is always seen as a matter of debate on construction sites between consultants and contractors. The socketing depth normally depends on the type of rock, depth at which the rock is available below the pile cap and load carrying capacity of the pile. In this paper, the review of field load test data of drilled shaft socketed in weathered limestone conducted using conventional static pile load test and dynamic pile load test was made to evaluate a unit shaft friction for the bored piles socketed in weathered limestone (weak rock). The borehole drilling data were also reviewed in conjunction with the pile test result. In addition, the back-calculated unit shaft friction was reviewed against various empirical methods for bored piles socketed in weak rock. The paper concludes with an estimated ultimate unit shaft friction from the case study in Qatar for preliminary design.

Keywords: Piled foundation, weathered limestone, shaft friction, rock socket, pile load test.

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Authors: Siti Nor Hafizah binti Mohd Zaid, Mohamed Abdel-Maguid, Abdel-Hamid Soliman

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An Advance Driver Assistance System (ADAS) is a computer system on board a vehicle which is used to reduce the risk of vehicular accidents by monitoring factors relating to the driver, vehicle and environment and taking some action when a risk is identified. Much work has been done on assessing vehicle and environmental state but there is still comparatively little published work that tackles the problem of driver state. Visual attention is one such driver state. In fact, some researchers claim that lack of attention is the main cause of accidents as factors such as fatigue, alcohol or drug use, distraction and speeding all impair the driver-s capacity to pay attention to the vehicle and road conditions [1]. This seems to imply that the main cause of accidents is inappropriate driver behaviour in cases where the driver is not giving full attention while driving. The work presented in this paper proposes an ADAS system which uses an image based template matching algorithm to detect if a driver is failing to observe particular windscreen cells. This is achieved by dividing the windscreen into 24 uniform cells (4 rows of 6 columns) and matching video images of the driver-s left eye with eye-gesture templates drawn from images of the driver looking at the centre of each windscreen cell. The main contribution of this paper is to assess the accuracy of this approach using Receiver Operating Characteristic analysis. The results of our evaluation give a sensitivity value of 84.3% and a specificity value of 85.0% for the eye-gesture template approach indicating that it may be useful for driver point of regard determinations.

Keywords: Advanced Driver Assistance Systems, Eye-Tracking, Hazard Detection.

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Authors: Omar Farahat Hassanein, A. Samer Ezeldin

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The construction industry is a very dynamic field. Every day new technologies and methods are developed to fasten the process and increase its efficiency. Hence, if a project uses fewer resources it will be more efficient.

This paper examines the recycling of concrete construction and demolition (C&D) waste to reuse it as aggregates in on-site applications for construction projects in Egypt and possibly in the Middle East. The study focuses on a stationary plant setting. The machinery set-up used in the plant is analyzed technically and financially.

The findings are gathered and grouped to obtain a comprehensive cost-benefit financial model to demonstrate the feasibility of establishing and operating a concrete recycling plant. Furthermore, a detailed business plan including the time and hierarchy is proposed. 

Keywords: Construction wastes, recycling, sustainability, financial model, concrete recycling, concrete life cycle.

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Authors: Amir Hossein Daei Sorkhabi, Bita Khazini

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In this paper the intelligent control of full automatic car wash using a programmable logic controller (PLC) has been investigated and designed to do all steps of carwashing. The Intelligent control of full automatic carwash has the ability to identify and profile the geometrical dimensions of the vehicle chassis. Vehicle dimension identification is an important point in this control system to adjust the washing brushes position and time duration. The study also tries to design a control set for simulating and building the automatic carwash. The main purpose of the simulation is to develop criteria for designing and building this type of carwash in actual size to overcome challenges of automation. The results of this research indicate that the proposed method in process control not only increases productivity, speed, accuracy and safety but also reduce the time and cost of washing based on dynamic model of the vehicle. A laboratory prototype based on an advanced intelligent control has been built to study the validity of the design and simulation which it’s appropriate performance confirms the validity of this study.

Keywords: Automatic Carwash, Dimension, PLC.

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Authors: Liping Zhou, Liang Bao, Yiqin Lin, Yimin Wei, Qinghua Wu

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This article is devoted to the numerical solution of large-scale quadratic eigenvalue problems. Such problems arise in a wide variety of applications, such as the dynamic analysis of structural mechanical systems, acoustic systems, fluid mechanics, and signal processing. We first introduce a generalized second-order Krylov subspace based on a pair of square matrices and two initial vectors and present a generalized second-order Arnoldi process for constructing an orthonormal basis of the generalized second-order Krylov subspace. Then, by using the projection technique and the refined projection technique, we propose a restarted generalized second-order Arnoldi method and a restarted refined generalized second-order Arnoldi method for computing some eigenpairs of largescale quadratic eigenvalue problems. Some theoretical results are also presented. Some numerical examples are presented to illustrate the effectiveness of the proposed methods.

Keywords: Quadratic eigenvalue problem, Generalized secondorder Krylov subspace, Generalized second-order Arnoldi process, Projection technique, Refined technique, Restarting.

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Authors: Mingtao Ding, Zheng Tian, Haixia Xu

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The batch nature limits the standard kernel principal component analysis (KPCA) methods in numerous applications, especially for dynamic or large-scale data. In this paper, an efficient adaptive approach is presented for online extraction of the kernel principal components (KPC). The contribution of this paper may be divided into two parts. First, kernel covariance matrix is correctly updated to adapt to the changing characteristics of data. Second, KPC are recursively formulated to overcome the batch nature of standard KPCA.This formulation is derived from the recursive eigen-decomposition of kernel covariance matrix and indicates the KPC variation caused by the new data. The proposed method not only alleviates sub-optimality of the KPCA method for non-stationary data, but also maintains constant update speed and memory usage as the data-size increases. Experiments for simulation data and real applications demonstrate that our approach yields improvements in terms of both computational speed and approximation accuracy.

Keywords: adaptive method, kernel principal component analysis, online extraction, recursive algorithm

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Authors: Farooq A. Al-Sheikh, Ali Elkamel, William A. Anderson

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A fluidized catalytic cracking unit (FCCU) is one of the effective units in many refineries. Modeling and optimization of FCCU were done by many researchers in past decades, but in this research, comparison between post- and oxy-combustion was studied in the regenerator-FCCU. Therefore, a simplified mathematical model was derived by doing mass/heat balances around both reactor and regenerator. A state space analysis was employed to show effects of the flow rates variables such as air, feed, spent catalyst, regenerated catalyst and flue gas on the output variables. The main aim of studying dynamic responses is to figure out the most influencing variables that affect both reactor/regenerator temperatures; also, finding the upper/lower limits of the influencing variables to ensure that temperatures of the reactors and regenerator work within normal operating conditions. Therefore, those values will be used as side constraints in the optimization technique to find appropriate operating regimes. The objective functions were modeled to be maximizing the energy in the reactor while minimizing the energy consumption in the regenerator. In conclusion, an oxy-combustion process can be used instead of a post-combustion one.

Keywords: FCCU modeling, optimization, oxy-combustion post-combustion.

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Authors: M. A. Omoloye, M. I. Yusuff, O. K. S. Emiola

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The use of mathematical models for solving biological problems varies from simple to complex analyses, depending on the nature of the research problems and applicability of the models. The method is more common nowadays. Many complex models become impractical when transmitted analytically. However, alternative approach such as numerical method can be employed. It appropriateness in solving linear and non-linear model equation in Differential Transformation Method (DTM) which depends on Taylor series make it applicable. Hence this study investigates the application of DTM to solve dynamic transmission of Lassa fever model in a population. The mathematical model was formulated using first order differential equation. Firstly, existence and uniqueness of the solution was determined to establish that the model is mathematically well posed for the application of DTM. Numerically, simulations were conducted to compare the results obtained by DTM and that of fourth-order Runge-Kutta method. As shown, DTM is very effective in predicting the solution of epidemics of Lassa fever model.

Keywords: Differential Transform Method, Existence and uniqueness, Lassa fever, Runge-Kutta Method.

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Authors: Arafat A. A. Shabaneh

Abstract:

Harsh environments require developed detection by an optical communication system to ensure a high level of security and safety. Fiber Bragg gratings (FBGs) are emerging sensing instruments that respond to variations in strain and temperature by varying wavelengths. In this study, a cascaded uniform FBG is designed as a strain sensor for 6 km length at 1550 nm wavelength with 30 °C temperature by analyzing dynamic strain and wavelength shifts. The FBG is placed in a small segment of an optical fiber that reflects light with a specific wavelength and passes on the remaining wavelengths. Consequently, periodic alteration occurs in the refractive index in the fiber core. The alteration in the modal index of the fiber is produced by strain effects on a Bragg wavelength. When the developed sensor is exposed to the strain (0.01) of the cascaded uniform FBG, the wavelength shifts by 0.0000144383 μm. The sensing accuracy of the developed sensor is 0.0012. Simulation results show the reliability and effectiveness of the strain monitoring sensor for remote sensing application.

Keywords: Remote sensing, cascaded fiber Bragg grating, strain sensor, wavelength shift.

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Authors: Seyed Sadegh Naseralavi, Sohrab Nemati, Ehsan Khojastehfar, Sadegh Balaghi

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In the present research, various formulations of wavelet transform are applied on acceleration time history of earthquake. The mentioned transforms decompose the strong ground motion into low and high frequency parts. Since the high frequency portion of strong ground motion has a minor effect on dynamic response of structures, the structure is excited by low frequency part. Consequently, the seismic response of structure is predicted consuming one half of computational time, comparing with conventional time history analysis. Towards reducing the computational effort needed in seismic optimization of structure, seismic optimization of a shear frame structure is conducted by applying various forms of mentioned transformation through genetic algorithm.

Keywords: Time history analysis, wavelet transform, optimization, earthquake.

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Authors: M. Ramadan, B. Salah

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This paper introduces a framework to digitalize lean manufacturing tools to enhance smart lean-based manufacturing environments or Lean 4.0 manufacturing systems. The paper discusses the integration between lean tools and the powerful features of recent real-time data capturing systems with the help of Information and Communication Technologies (ICT) to develop an intelligent real-time monitoring and controlling system of production operations concerning lean targets. This integration is represented in the Lean 4.0 system called Dynamic Value Stream Mapping (DVSM). Moreover, the paper introduces the practice of Radio Frequency Identification (RFID) and ICT to smartly support lean tools and practices during daily production runs to keep the lean system alive and effective. This work introduces a practical description of how the lean method tools 5S, standardized work, and poka-yoke can be digitalized and smartly monitored and controlled through DVSM. A framework of the three tools has been discussed and put into practice in a German switchgear manufacturer.

Keywords: Lean manufacturing, Industry 4.0, radio frequency identification, value stream mapping.

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Authors: Bireswar Paul, Amitava Datta

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Indoor air environment is a big concern in the last few decades in the developing countries, with increased focus on monitoring the air quality. In this work, an experimental study has been conducted to establish the existence of carbon nanoparticles below the size range of 10 nm in the non-sooting zone of a LPG/air partially premixed flame. Mainly, four optical techniques, UV absorption spectroscopy, fluorescence spectroscopy, dynamic light scattering and TEM have been used to characterize and measure the size of carbon nanoparticles in the sampled materials collected from the inner surface of the flame front. The existence of the carbon nanoparticles in the sampled material has been confirmed with the typical nature of the absorption and fluorescence spectra already reported in the literature. The band gap energy shows that the particles are made up of three to six aromatic rings. The size measurement by DLS technique also shows that the particles below the size range of 10 nm. The results of DLS are also corroborated by the TEM image of the same material. 

Keywords: Indoor air, carbon nanoparticles, LPG, partially premixed flame, optical techniques.

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Authors: R. Asokan, A. M. Natarajan

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Mobile adhoc network (MANET) is a collection of mobile devices which form a communication network with no preexisting wiring or infrastructure. Multiple routing protocols have been developed for MANETs. As MANETs gain popularity, their need to support real time applications is growing as well. Such applications have stringent quality of service (QoS) requirements such as throughput, end-to-end delay, and energy. Due to dynamic topology and bandwidth constraint supporting QoS is a challenging task. QoS aware routing is an important building block for QoS support. The primary goal of the QoS aware protocol is to determine the path from source to destination that satisfies the QoS requirements. This paper proposes a new energy and delay aware protocol called energy and delay aware TORA (EDTORA) based on extension of Temporally Ordered Routing Protocol (TORA).Energy and delay verifications of query packet have been done in each node. Simulation results show that the proposed protocol has a higher performance than TORA in terms of network lifetime, packet delivery ratio and end-to-end delay.

Keywords: EDTORA, Mobile Adhoc Networks, QoS, Routing, TORA

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Authors: Tallataf Rasheed, Adnan Rashdi, Ahmad Naeem Akhtar

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The accurate spectrum sensing is a fundamental requirement of dynamic spectrum access for deployment of Cognitive Radio Network (CRN). To acheive this requirement a Reliability factors based Fuzzy Logic (RFL) Scheme for Spectrum Sensing has been proposed in this paper. Cognitive Radio User (CRU) predicts the presence or absence of Primary User (PU) using energy detector and calculates the Reliability factors which are SNR of sensing node, threshold of energy detector and decision difference of each node with other nodes in a cooperative spectrum sensing environment. Then the decision of energy detector is combined with Reliability factors of sensing node using Fuzzy Logic. These Reliability Factors used in RFL Scheme describes the reliability of decision made by a CRU to improve the local spectrum sensing. This Fuzzy combining scheme provides the accuracy of decision made by sensornode. The simulation results have shown that the proposed technique provide better PU detection probability than existing Spectrum Sensing Techniques.

Keywords: Cognitive radio, spectrum sensing, energy detector, reliability factors, fuzzy logic.

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Authors: Muhammad Rizwan Azhar, Emadadeen Ali

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In this paper, periodic force operation of a wastewater treatment process has been studied for the improved process performance. A previously developed dynamic model for the process is used to conduct the performance analysis. The static version of the model was utilized first to determine the optimal productivity conditions for the process. Then, feed flow rate in terms of dilution rate i.e. (D) is transformed into sinusoidal function. Nonlinear model predictive control algorithm is utilized to regulate the amplitude and period of the sinusoidal function. The parameters of the feed cyclic functions are determined which resulted in improved productivity than the optimal productivity under steady state conditions. The improvement in productivity is found to be marginal and is satisfactory in substrate conversion compared to that of the optimal condition and to the steady state condition, which corresponds to the average value of the periodic function. Successful results were also obtained in the presence of modeling errors and external disturbances.

Keywords: Dilution rate, nonlinear model predictive control, sinusoidal function, wastewater treatment.

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Authors: Lewis E. Hibell, Honghai Liu, David J. Brown

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This paper presents the results of enhancing images from a left and right stereo pair in order to increase the resolution of a 3D representation of a scene generated from that same pair. A new neural network structure known as a Self Delaying Dynamic Network (SDN) has been used to perform the enhancement. The advantage of SDNs over existing techniques such as bicubic interpolation is their ability to cope with motion and noise effects. SDNs are used to generate two high resolution images, one based on frames taken from the left view of the subject, and one based on the frames from the right. This new high resolution stereo pair is then processed by a disparity map generator. The disparity map generated is compared to two other disparity maps generated from the same scene. The first is a map generated from an original high resolution stereo pair and the second is a map generated using a stereo pair which has been enhanced using bicubic interpolation. The maps generated using the SDN enhanced pairs match more closely the target maps. The addition of extra noise into the input images is less problematic for the SDN system which is still able to out perform bicubic interpolation.

Keywords: Genetic Evolution, Image Enhancement, Neuron Networks, Stereo Vision

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Authors: N. Ben Ameur, M. Loulou

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This paper study the high-level modelling and design of delta-sigma (ΔΣ) noise shapers for audio Digital-to-Analog Converter (DAC) so as to eliminate the in-band Signal-to-Noise- Ratio (SNR) degradation that accompany one channel mismatch in audio signal. The converter combines a cascaded digital signal interpolation, a noise-shaping single loop delta-sigma modulator with a 5-bit quantizer resolution in the final stage. To reduce sensitivity of Digital-to-Analog Converter (DAC) nonlinearities of the last stage, a high pass second order Data Weighted Averaging (R2DWA) is introduced. This paper presents a MATLAB description modelling approach of the proposed DAC architecture with low distortion and swing suppression integrator designs. The ΔΣ Modulator design can be configured as a 3rd-order and allows 24-bit PCM at sampling rate of 64 kHz for Digital Video Disc (DVD) audio application. The modeling approach provides 139.38 dB of dynamic range for a 32 kHz signal band at -1.6 dBFS input signal level.

Keywords: DVD-audio, DAC, Interpolator and Interpolation Filter, Single-Loop ΔΣ Modulation, R2DWA, Clock Jitter

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Authors: Zarita Zainuddin, Mohammed Mahmod Shuaib, Ibtesam M. Abu-Sulyman

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The social force model which belongs to the microscopic pedestrian studies has been considered as the supremacy by many researchers and due to the main feature of reproducing the self-organized phenomena resulted from pedestrian dynamic. The Preferred Force which is a measurement of pedestrian-s motivation to adapt his actual velocity to his desired velocity is an essential term on which the model was set up. This Force has gone through stages of development: first of all, Helbing and Molnar (1995) have modeled the original force for the normal situation. Second, Helbing and his co-workers (2000) have incorporated the panic situation into this force by incorporating the panic parameter to account for the panic situations. Third, Lakoba and Kaup (2005) have provided the pedestrians some kind of intelligence by incorporating aspects of the decision-making capability. In this paper, the authors analyze the most important incorporations into the model regarding the preferred force. They make comparisons between the different factors of these incorporations. Furthermore, to enhance the decision-making ability of the pedestrians, they introduce additional features such as the familiarity factor to the preferred force to let it appear more representative of what actually happens in reality.

Keywords: Pedestrian movement, social force model, preferredforce, familiarity.

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Authors: Tahany W. Sadak, Fouly, A. Anwer, M. Rizk

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The current investigation presents a study on the hydraulic performance of an electro-hydraulic servo solenoid valve controlled linear piston used in hydraulic systems. Advanced methods have been used to measure and record laboratory experiments, to ensure accurate analysis and evaluation. Experiments have been conducted under different values of temperature (28, 40 and 50 °C), supply pressure (10, 20, 30, 40 and 50 bar), system stiffness (32 N/mm), and load (0.0 & 5560 N). It is concluded that increasing temperature of hydraulic oil increases the quantity of flow rate, so it achieves an increase of the quantity of flow by 5.75 % up to 48.8 % depending on operating conditions. The values of pressure decay at low temperature are less than the values at high temperature. The frequency increases with the increase of the temperature. When we connect the springs to the system, it decreases system frequency. These results are very useful in the process of packing and manufacturing of fluid products, where the properties are not affected by 50 °C, so energy and time are saved.

Keywords: Electro Hydraulic Servo Valve, fluid power control system, system stiffness, static and dynamic performance.

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Authors: Ollie Hall, Salma ElSayed

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Affective adaptation is a creative way for game designers to add an extra layer of engagement to their productions. When player’s emotions are an explicit factor in mechanics design, endless possibilities for imaginative gameplay emerge. Whilst gaining popularity, existing affective game research mostly runs controlled experiments in restrictive settings and rely on one or more specialist devices for measuring player’s emotional state. These conditions albeit effective, are not necessarily realistic. Moreover, the simplified narrative and intrusive wearables may not be suitable for players. This exploratory study investigates delivering an immersive affective experience in the wild with minimal requirements, in an attempt for the average developer to reach the average player. A puzzle game is created with rich narrative and creative mechanics. It employs both explicit and implicit adaptation and only requires a web camera. Participants played the game on their own machines in various settings. Whilst it was rated feasible, very engaging and enjoyable, it remains questionable whether a fully immersive experience was delivered due to the limited sample size.

Keywords: affective games, dynamic adaptation, emotion recognition, game design

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Authors: Farzan Namvari, Panam Zarfam

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Nowadays use of a new structural bracing system called 'Knee Bracing System' have taken the specialists attention too much. On the other hand nonlinear static analysis procedures in estimate structures performance in earthquake time have taken attention too much. One of these procedure is modal pushover analysis (MPA) procedure. The accuracy of MPA procedure for simple steel moment resisting frame has been verified and considered in Chintanapakdee and Chopra-s article in 2003. Since the accuracy of MPA procedure has not verified for semi-rigid steel frames with knee bracing, we are going to get through with this matter in this study. For this purpose, the selected structures are four frames with different heights, 5 to 20 stories, will be designed according to AISC criteria. Then MPA procedure is used for the same frames with different rigidity percentiles of connections. The results of seismic responses are compared with dynamic nonlinear response history analysis as exact procedure and accuracy of MPA procedure is evaluated. It seems that MPA procedure accuracy will come down by reduction of the rigidity percentiles of semi-rigid connections.

Keywords: Knee Bracing, Modal Pushover Analysis, SeismicBehavior, Semi-Rigid Connections.

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Authors: Abdelaziz Zaidi, Belkacem Ould Bouamama, Moncef Tagina

Abstract:

Bond Graph as a unified multidisciplinary tool is widely used not only for dynamic modelling but also for Fault Detection and Isolation because of its structural and causal proprieties. A binary Fault Signature Matrix is systematically generated but to make the final binary decision is not always feasible because of the problems revealed by such method. The purpose of this paper is introducing a methodology for the improvement of the classical binary method of decision-making, so that the unknown and identical failure signatures can be treated to improve the robustness. This approach consists of associating the evaluated residuals and the components reliability data to build a Hybrid Bayesian Network. This network is used in two distinct inference procedures: one for the continuous part and the other for the discrete part. The continuous nodes of the network are the prior probabilities of the components failures, which are used by the inference procedure on the discrete part to compute the posterior probabilities of the failures. The developed methodology is applied to a real steam generator pilot process.

Keywords: Redundancy relations, decision-making, Bond Graph, reliability, Bayesian Networks.

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