Search results for: proportional representation

Authors: Ghada Badr, Arwa Alturki

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The biological function of an RNA molecule depends on its structure. The objective of the alignment is finding the homology between two or more RNA secondary structures. Knowing the common functionalities between two RNA structures allows a better understanding and a discovery of other relationships between them. Besides, identifying non-coding RNAs -that is not translated into a protein- is a popular application in which RNA structural alignment is the first step A few methods for RNA structure-to-structure alignment have been developed. Most of these methods are partial structure-to-structure, sequence-to-structure, or structure-to-sequence alignment. Less attention is given in the literature to the use of efficient RNA structure representation and the structure-to-structure alignment methods are lacking. In this paper, we introduce an O(N2) Component-based Pairwise RNA Structure Alignment (CompPSA) algorithm, where structures are given as a component-based representation and where N is the maximum number of components in the two structures. The proposed algorithm compares the two RNA secondary structures based on their weighted component features rather than on their base-pair details. Extensive experiments are conducted illustrating the efficiency of the CompPSA algorithm when compared to other approaches and on different real and simulated datasets. The CompPSA algorithm shows an accurate similarity measure between components. The algorithm gives the flexibility for the user to align the two RNA structures based on their weighted features (position, full length, and/or stem length). Moreover, the algorithm proves scalability and efficiency in time and memory performance.

Keywords: Alignment, RNA secondary structure, pairwise, component-based, data mining.

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Authors: Stefan Menzel

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As a result of the daily workflow in the design development departments of companies, databases containing huge numbers of 3D geometric models are generated. According to the given problem engineers create CAD drawings based on their design ideas and evaluate the performance of the resulting design, e.g. by computational simulations. Usually, new geometries are built either by utilizing and modifying sets of existing components or by adding single newly designed parts to a more complex design. The present paper addresses the two facets of acquiring components from large design databases automatically and providing a reasonable overview of the parts to the engineer. A unified framework based on the topographic non-negative matrix factorization (TNMF) is proposed which solves both aspects simultaneously. First, on a given database meaningful components are extracted into a parts-based representation in an unsupervised manner. Second, the extracted components are organized and visualized on square-lattice 2D maps. It is shown on the example of turbine-like geometries that these maps efficiently provide a wellstructured overview on the database content and, at the same time, define a measure for spatial similarity allowing an easy access and reuse of components in the process of design development.

Keywords: Design decomposition, topographic non-negative matrix factorization, parts-based representation, self-organization, unsupervised feature extraction.

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Authors: Jérôme Azé, Mathieu Roche, Yves Kodratoff, Michèle Sebag

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Term Extraction, a key data preparation step in Text Mining, extracts the terms, i.e. relevant collocation of words, attached to specific concepts (e.g. genetic-algorithms and decisiontrees are terms associated to the concept “Machine Learning" ). In this paper, the task of extracting interesting collocations is achieved through a supervised learning algorithm, exploiting a few collocations manually labelled as interesting/not interesting. From these examples, the ROGER algorithm learns a numerical function, inducing some ranking on the collocations. This ranking is optimized using genetic algorithms, maximizing the trade-off between the false positive and true positive rates (Area Under the ROC curve). This approach uses a particular representation for the word collocations, namely the vector of values corresponding to the standard statistical interestingness measures attached to this collocation. As this representation is general (over corpora and natural languages), generality tests were performed by experimenting the ranking function learned from an English corpus in Biology, onto a French corpus of Curriculum Vitae, and vice versa, showing a good robustness of the approaches compared to the state-of-the-art Support Vector Machine (SVM).

Keywords: Text-mining, Terminology Extraction, Evolutionary algorithm, ROC Curve.

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Authors: José Neves, M. Rosário Martins, Fátima Candeias, Diana Ferreira, Sílvia Arantes, Júlio Cruz-Morais, Guida Gomes, Joaquim Macedo, António Abelha, Henrique Vicente

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Some plants of genus Schinus have been used in the folk medicine as topical antiseptic, digestive, purgative, diuretic, analgesic or antidepressant, and also for respiratory and urinary infections. Chemical composition of essential oils of S. molle and S. terebinthifolius had been evaluated and presented high variability according with the part of the plant studied and with the geographic and climatic regions. The pharmacological properties, namely antimicrobial, anti-tumoural and anti-inflammatory activities are conditioned by chemical composition of essential oils. Taking into account the difficulty to infer the pharmacological properties of Schinus essential oils without hard experimental approach, this work will focus on the development of a decision support system, in terms of its knowledge representation and reasoning procedures, under a formal framework based on Logic Programming, complemented with an approach to computing centered on Artificial Neural Networks and the respective Degree-of-Confidence that one has on such an occurrence.

Keywords: Artificial neuronal networks, essential oils, knowledge representation and reasoning, logic programming, Schinus molle L, Schinus terebinthifolius raddi.

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Authors: Noura Boudiaf, Allaoua Chaoui

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One major difficulty that faces developers of concurrent and distributed software is analysis for concurrency based faults like deadlocks. Petri nets are used extensively in the verification of correctness of concurrent programs. ECATNets [2] are a category of algebraic Petri nets based on a sound combination of algebraic abstract types and high-level Petri nets. ECATNets have 'sound' and 'complete' semantics because of their integration in rewriting logic [12] and its programming language Maude [13]. Rewriting logic is considered as one of very powerful logics in terms of description, verification and programming of concurrent systems. We proposed in [4] a method for translating Ada-95 tasking programs to ECATNets formalism (Ada-ECATNet). In this paper, we show that ECATNets formalism provides a more compact translation for Ada programs compared to the other approaches based on simple Petri nets or Colored Petri nets (CPNs). Such translation doesn-t reduce only the size of program, but reduces also the number of program states. We show also, how this compact Ada-ECATNet may be reduced again by applying reduction rules on it. This double reduction of Ada-ECATNet permits a considerable minimization of the memory space and run time of corresponding Maude program.

Keywords: Ada tasking, ECATNets, Algebraic Petri Nets, Compact Representation, Analysis, Rewriting Logic, Maude.

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Authors: Jehad Al Dallal

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Program slicing is the task of finding all statements in a program that directly or indirectly influence the value of a variable occurrence. The set of statements that can affect the value of a variable at some point in a program is called a program slice. In several software engineering applications, such as program debugging and measuring program cohesion and parallelism, several slices are computed at different program points. In this paper, algorithms are introduced to compute all backward and forward static slices of a computer program by traversing the program representation graph once. The program representation graph used in this paper is called Program Dependence Graph (PDG). We have conducted an experimental comparison study using 25 software modules to show the effectiveness of the introduced algorithm for computing all backward static slices over single-point slicing approaches in computing the parallelism and functional cohesion of program modules. The effectiveness of the algorithm is measured in terms of time execution and number of traversed PDG edges. The comparison study results indicate that using the introduced algorithm considerably saves the slicing time and effort required to measure module parallelism and functional cohesion.

Keywords: Backward slicing, cohesion measure, forward slicing, parallelism measure, program dependence graph, program slicing, static slicing.

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Authors: Rajine Swetha R, B. Shekar Babu, Sumithra Devi K.A

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Electronic Systems are the core of everyday lives. They form an integral part in financial networks, mass transit, telephone systems, power plants and personal computers. Electronic systems are increasingly based on complex VLSI (Very Large Scale Integration) integrated circuits. Initial electronic design automation is concerned with the design and production of VLSI systems. The next important step in creating a VLSI circuit is Physical Design. The input to the physical design is a logical representation of the system under design. The output of this step is the layout of a physical package that optimally or near optimally realizes the logical representation. Physical design problems are combinatorial in nature and of large problem sizes. Darwin observed that, as variations are introduced into a population with each new generation, the less-fit individuals tend to extinct in the competition of basic necessities. This survival of fittest principle leads to evolution in species. The objective of the Genetic Algorithms (GA) is to find an optimal solution to a problem .Since GA-s are heuristic procedures that can function as optimizers, they are not guaranteed to find the optimum, but are able to find acceptable solutions for a wide range of problems. This survey paper aims at a study on Efficient Algorithms for VLSI Physical design and observes the common traits of the superior contributions.

Keywords: Genetic Algorithms, Physical Design, VLSI.

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Authors: Dakshina Ranjan Kisku, Hunny Mehrotra, Jamuna Kanta Sing, Phalguni Gupta

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Identity verification of authentic persons by their multiview faces is a real valued problem in machine vision. Multiview faces are having difficulties due to non-linear representation in the feature space. This paper illustrates the usability of the generalization of LDA in the form of canonical covariate for face recognition to multiview faces. In the proposed work, the Gabor filter bank is used to extract facial features that characterized by spatial frequency, spatial locality and orientation. Gabor face representation captures substantial amount of variations of the face instances that often occurs due to illumination, pose and facial expression changes. Convolution of Gabor filter bank to face images of rotated profile views produce Gabor faces with high dimensional features vectors. Canonical covariate is then used to Gabor faces to reduce the high dimensional feature spaces into low dimensional subspaces. Finally, support vector machines are trained with canonical sub-spaces that contain reduced set of features and perform recognition task. The proposed system is evaluated with UMIST face database. The experiment results demonstrate the efficiency and robustness of the proposed system with high recognition rates.

Keywords: Biometrics, Multiview face Recognition, Gaborwavelets, LDA, SVM.

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Authors: G. Candel, D. Naccache

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t-SNE is an embedding method that the data science community has widely used. It helps two main tasks: to display results by coloring items according to the item class or feature value; and for forensic, giving a first overview of the dataset distribution. Two interesting characteristics of t-SNE are the structure preservation property and the answer to the crowding problem, where all neighbors in high dimensional space cannot be represented correctly in low dimensional space. t-SNE preserves the local neighborhood, and similar items are nicely spaced by adjusting to the local density. These two characteristics produce a meaningful representation, where the cluster area is proportional to its size in number, and relationships between clusters are materialized by closeness on the embedding. This algorithm is non-parametric. The transformation from a high to low dimensional space is described but not learned. Two initializations of the algorithm would lead to two different embedding. In a forensic approach, analysts would like to compare two or more datasets using their embedding. A naive approach would be to embed all datasets together. However, this process is costly as the complexity of t-SNE is quadratic, and would be infeasible for too many datasets. Another approach would be to learn a parametric model over an embedding built with a subset of data. While this approach is highly scalable, points could be mapped at the same exact position, making them indistinguishable. This type of model would be unable to adapt to new outliers nor concept drift. This paper presents a methodology to reuse an embedding to create a new one, where cluster positions are preserved. The optimization process minimizes two costs, one relative to the embedding shape and the second relative to the support embedding’ match. The embedding with the support process can be repeated more than once, with the newly obtained embedding. The successive embedding can be used to study the impact of one variable over the dataset distribution or monitor changes over time. This method has the same complexity as t-SNE per embedding, and memory requirements are only doubled. For a dataset of n elements sorted and split into k subsets, the total embedding complexity would be reduced from O(n2) to O(n2/k), and the memory requirement from n2 to 2(n/k)2 which enables computation on recent laptops. The method showed promising results on a real-world dataset, allowing to observe the birth, evolution and death of clusters. The proposed approach facilitates identifying significant trends and changes, which empowers the monitoring high dimensional datasets’ dynamics.

Keywords: Concept drift, data visualization, dimension reduction, embedding, monitoring, reusability, t-SNE, unsupervised learning.

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Authors: Wanida Wonsawat

Abstract:

This research describes a voltammetric approach to determine amounts of vitamin C (Ascorbic acid) in orange juice sample, using three screen printed electrode. The anodic currents of vitamin C were proportional to vitamin C concentration in the range of 0 – 10.0 mM with the limit of detection of 1.36 mM. The method was successfully employed with 2 µL of the working solution dropped on the electrode surface. The proposed method was applied for the analysis of vitamin C in packed orange juice without sample purification or complexion of sample preparation step.

Keywords: Ascorbic acid, Vitamin C, Juice, Voltammetry

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Authors: Blandína Šramová, Gabriel Bianchi, Barbara Lášticová, Katarína Fichnová, Anežka Hamranová

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The contribution deals with analysis of identity style at adolescents (N=463) at the age from 16 to 19 (the average age is 17,7 years). We used the Identity Style Inventory by Berzonsky, distinguishing three basic, measured identity styles: informational, normative, diffuse-avoidant identity style and also commitment. The informational identity style influencing on personal adaptability, coping strategies, quality of life and the normative identity style, it means the style in which an individual takes on models of authorities at self-defining were found to have the highest representation in the studied group of adolescents by higher scores at girls in comparison with boys. The normative identity style positively correlates with the informational identity style. The diffuse-avoidant identity style was found to be positively associated with maladaptive decisional strategies, neuroticism and depressive reactions. There is the style, in which the individual shifts aside defining his personality. In our research sample the lowest score represents it and negatively correlates with commitment, it means with coping strategies, thrust in oneself and the surrounding world. The age of adolescents did not significantly differentiate representation of identity style. We were finding the model, in which informational and normative identity style had positive relationship and the informational and diffuseavoidant style had negative relationship, which were determinated with commitment. In the same time the commitment is influenced with other outside factors.

Keywords: Identity Style Inventory, Informational IdentityStyle, Normative Identity Style, Diffuse-Avoidant Style, IdentityCommitment.

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Authors: Kar Foo Chong, Andreas Lee Astuti, Pradeep K. Gopalakrishnan, T. Hui Teo

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This paper describes design of a digital feedback loop for a low switching frequency dc-dc switching converters. Low switching frequencies were selected in this design. A look up table for the digital PID (proportional integrator differentiator) compensator was implemented using Altera Stratix II with built-in ADC (analog-to-digital converter) to achieve this hardware realization. Design guidelines are given for the PID compensator, high frequency DPWM (digital pulse width modulator) and moving average filter.

Keywords: dc-dc converter, FPGA, PID, power management, .

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Authors: Wayan F. Mahmudy, Romeo M. Marian, Lee H. S. Luong

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This paper presents modeling and optimization of two NP-hard problems in flexible manufacturing system (FMS), part type selection problem and loading problem. Due to the complexity and extent of the problems, the paper was split into two parts. The first part of the papers has discussed the modeling of the problems and showed how the real coded genetic algorithms (RCGA) can be applied to solve the problems. This second part discusses the effectiveness of the RCGA which uses an array of real numbers as chromosome representation. The novel proposed chromosome representation produces only feasible solutions which minimize a computational time needed by GA to push its population toward feasible search space or repair infeasible chromosomes. The proposed RCGA improves the FMS performance by considering two objectives, maximizing system throughput and maintaining the balance of the system (minimizing system unbalance). The resulted objective values are compared to the optimum values produced by branch-and-bound method. The experiments show that the proposed RCGA could reach near optimum solutions in a reasonable amount of time.

Keywords: Flexible manufacturing system, production planning, part type selection problem, loading problem, real-coded genetic algorithm

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Authors: Wayan F. Mahmudy, Romeo M. Marian, Lee H. S. Luong

Abstract:

 This paper deals with modeling and optimization of two NP-hard problems in production planning of flexible manufacturing system (FMS), part type selection problem and loading problem. The part type selection problem and the loading problem are strongly related and heavily influence the system’s efficiency and productivity. These problems have been modeled and solved simultaneously by using real coded genetic algorithms (RCGA) which uses an array of real numbers as chromosome representation. The novel proposed chromosome representation produces only feasible solutions which minimize a computational time needed by GA to push its population toward feasible search space or repair infeasible chromosomes. The proposed RCGA improves the FMS performance by considering two objectives, maximizing system throughput and maintaining the balance of the system (minimizing system unbalance). The resulted objective values are compared to the optimum values produced by branch-and-bound method. The experiments show that the proposed RCGA could reach near optimum solutions in a reasonable amount of time.

Keywords: Flexible manufacturing system, production planning, part type selection problem, loading problem, real-coded genetic algorithm.

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Authors: S. Shahrooi, I. H. Metselaar, Z. Huda

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When considering the development of constitutive equations describing the behavior of materials under cyclic plastic strains, different kinds of formulations can be adopted. The primary intention of this study is to develop computer programming of plasticity models to accurately predict the life of engineering components. For this purpose, the energy or cyclic strain is computed in multi-surface plasticity models in non-proportional loading and to present their procedures and codes results.

Keywords: Strain energy, cyclic plasticity model, multi-surface model, codes result.

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Authors: Ghazi S. Kahmmash

Abstract:

New generalization of the new class matrix polynomial set have been obtained. An explicit representation and an expansion of the matrix exponential in a series of these matrix are given for these matrix polynomials.

Keywords: Generating functions, Recurrences relation and Generalization of the new class matrix polynomial set.

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Authors: Reza Meimandi Parizi, Abdul Azim Abdul Ghani

Abstract:

The ever-growing usage of aspect-oriented development methodology in the field of software engineering requires tool support for both research environments and industry. So far, tool support for many activities in aspect-oriented software development has been proposed, to automate and facilitate their development. For instance, the AJaTS provides a transformation system to support aspect-oriented development and refactoring. In particular, it is well established that the abstract interpretation of programs, in any paradigm, pursued in static analysis is best served by a high-level programs representation, such as Control Flow Graph (CFG). This is why such analysis can more easily locate common programmatic idioms for which helpful transformation are already known as well as, association between the input program and intermediate representation can be more closely maintained. However, although the current researches define the good concepts and foundations, to some extent, for control flow analysis of aspectoriented programs but they do not provide a concrete tool that can solely construct the CFG of these programs. Furthermore, most of these works focus on addressing the other issues regarding Aspect- Oriented Software Development (AOSD) such as testing or data flow analysis rather than CFG itself. Therefore, this study is dedicated to build an aspect-oriented control flow graph construction tool called AJcFgraph Builder. The given tool can be applied in many software engineering tasks in the context of AOSD such as, software testing, software metrics, and so forth.

Keywords: Aspect-Oriented Software Development, AspectJ, Control Flow Graph, Data Flow Analysis

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Authors: Venkatesh Bagaria, Nagesh AS, Varun AV

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In the domain of machine vision, the measurement of length is done using cameras where the accuracy is directly proportional to the resolution of the camera and inversely to the size of the object. Since most of the pixels are wasted imaging the entire body as opposed to just imaging the edges in a conventional system, a double aperture system is constructed to focus on the edges to measure at higher resolution. The paper discusses the complexities and how they are mitigated to realize a practical machine vision system.

Keywords: Machine Vision, double aperture camera, accurate length measurement

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Authors: Nemat Abazari, Reza Abazari

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In this work, we successfully extended one-dimensional differential transform method (DTM), by presenting and proving some theorems, to solving nonlinear high-order multi-pantograph equations. This technique provides a sequence of functions which converges to the exact solution of the problem. Some examples are given to demonstrate the validity and applicability of the present method and a comparison is made with existing results.

Keywords: Nonlinear multi-pantograph equation, delay differential equation, differential transformation method, proportional delay conditions, closed form solution.

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Authors: R. Farkh, K. Laabidi, M. Ksouri

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In this paper, we consider the control of time delay system by Proportional-Integral (PI) controller. By Using the Hermite- Biehler theorem, which is applicable to quasi-polynomials, we seek a stability region of the controller for first order delay systems. The essence of this work resides in the extension of this approach to second order delay system, in the determination of its stability region and the computation of the PI optimum parameters. We have used the genetic algorithms to lead the complexity of the optimization problem.

Keywords: Genetic algorithm, Hermit-Biehler theorem, optimization, PI controller, second order delay system, stability region.

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Authors: Chang-Bin Ha, Yong-Jun Kim, Dong-Hyun Ha, Hyoung-Kyu Song

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The conventional Wi-Fi backscatter system can only process one-to-one communication between the Wi-Fi reader and the Wi-Fi tag. For improvement of throughput of the conventional system, this paper proposes the multi-to-multi communication system. In the proposed system, the interference by the multi-to-multi communication is effectively cancelled by the orthogonal multiple access based on the identification code of the tag. Although the overhead is generated by the procedure for the multi-to-multi communication, because the procedure is processed by the Wi-Fi protocol, the overhead is insignificant for the entire communication procedure. From the numerical results, it is confirmed that the proposed system has nearly proportional increased throughput in according to the number of the tag that simultaneously participates in communication.

Keywords: Backscatter, Multi-to-multi communication, Orthogonality, Wi-Fi.

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Authors: Manoj Singh, Mumtaz Ahmad Khan, Abdul Hakim Khan

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The investigation in the present paper is to obtain certain types of relations for the well known hypergeometric functions by employing the technique of fractional derivative and integral.

Keywords: Fractional Derivatives and Integrals, Hypergeometric functions.

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Authors: Oana Pop, Constantin Barbulescu, Mircea Nemes, Stefan Kilyeni

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The tracing methods determine the contribution the power system sources have in their supplying. The methods can be used to assess the transmission prices, but also to recover the transmission fixed cost. In this paper is presented the influence of the modification of commons structure has on the specific price of transfer. The operator must make use of a few basic principles about allocation. Most tracing methods are based on the proportional sharing principle. In this paper Kirschen method is used. In order to illustrate this method, the 25- bus test system is used, elaborated within the Electrical Power Engineering Department, from Timisoara, Romania.

Keywords: Power systems, P-U bus, P-Q bus, tracing methods.

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Authors: Yongxin Yuan, Kezheng Zuo

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In this paper, a system of linear matrix equations is considered. A new necessary and sufficient condition for the consistency of the equations is derived by means of the generalized singular-value decomposition, and the explicit representation of the general solution is provided.

Keywords: Matrix equation, Generalized inverse, Generalized singular-value decomposition.

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Authors: Aye Aye Mon

Abstract:

The application of a simple microcontroller to deal with a three variable input and a single output fuzzy logic controller, with Proportional – Integral – Derivative (PID) response control built-in has been tested for an automatic voltage regulator. The fuzzifiers are based on fixed range of the variables of output voltage. The control output is used to control the wiper motor of the auto transformer to adjust the voltage, using fuzzy logic principles, so that the voltage is stabilized. In this report, the author will demonstrate how fuzzy logic might provide elegant and efficient solutions in the design of multivariable control based on experimental results rather than on mathematical models.

Keywords: Fuzzy logic system, PID Controller, control systems, controlled A V R

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Authors: Pragya Paneru

Abstract:

This paper explores altogether 10 primary teachers’ views on gender representation in primary level textbooks. Data were collected from the teachers who taught in private schools in the Kailali and Kathmandu districts. This research uses a semi-structured interview method to obtain information regarding teachers’ attitudes toward gender representations in textbook contents. The interview data were analysed by using critical skills of qualitative research. The findings revealed that most of the teachers were unaware and regarded gender issues as insignificant to discuss in primary-level classes. Most of them responded to the questions personally and claimed that there were no gender issues in their classrooms. Some of the teachers connected gender issues with contexts other than textbook representations such as school discrimination in the distribution of salary among male and female teachers, school practices of awarding girls rather than boys as the most disciplined students, following girls’ first rule in the assembly marching, encouraging only girls in the stage shows, and involving students in gender-specific activities such as decorating works for girls and physical tasks for boys. The interview also revealed teachers’ covert gendered attitudes in their remarks. Nevertheless, most of the teachers accepted that gender-biased contents have an impact on learners and this problem can be solved with more gender-centred research in the education field, discussions, and training to increase awareness regarding gender issues. Agreeing with the suggestion of teachers, this paper recommends proper training and awareness regarding how to confront gender issues in textbooks.

Keywords: Content analysis, gender equality, school education, critical awareness.

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Authors: Tohru Kawabe

Abstract:

In this paper, a 2DOF (two degrees of freedom) PID (Proportional-Integral-Derivative) controller based on MPC (Model predictive control) algorithm fo slip suppression of EV (Electric Vehicle) under braking is proposed. The proposed method aims to improve the safety and the stability of EVs under braking by controlling the wheel slip ration. There also include numerical simulation results to demonstrate the effectiveness of the method.

Keywords: Model predictive control, PID controller, Two degrees of freedom, Electric Vehicle, Slip suppression.

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Authors: Y. J. Huang, T. C. Kuo, B. W. Hong, B. C. Wu

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This paper presents a robust proportionalderivative (PD) based cerebellar model articulation controller (CMAC) for vertical take-off and landing flight control systems. Successful on-line training and recalling process of CMAC accompanying the PD controller is developed. The advantage of the proposed method is mainly the robust tracking performance against aerodynamic parametric variation and external wind gust. The effectiveness of the proposed algorithm is validated through the application of a vertical takeoff and landing aircraft control system.

Keywords: vertical takeoff and landing, cerebellar modelarticulation controller, proportional-derivative control.

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Authors: Barun Raychaudhuri

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A methodology is proposed for estimating the optical attenuation and proportional depth variation of shallow inland water. The process is demonstrated with EO-1 Hyperion hyperspectral and IRS-P6 LISS-3 multispectral images of Kolkata city nearby area centered around 22º33′ N 88º26′ E. The attenuation coefficient of water was found to change with fine resolution of wavebands and in presence of suspended organic matter in water.

Keywords: Hyperion, hyperspectral, Kolkata, water depth.

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Authors: C. S. Bianca Sabrina, N. Egidio Raimundo, L. Alexandre Baratella, C. H. João Paulo

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This paper aims to present a study, with the theoretical concepts and applications of the Quadcopter, using the MATLAB simulator. In order to use this tool, the study of the stability of the drone through a Proportional - Integral - Derivative (PID) controller will be presented. After the stability study, some tests are done on the simulator and its results will be presented. From the mathematical model, it is possible to find the Newton-Euler angles, so that it is possible to stabilize the quadcopter in a certain position in the air, starting from the ground. In order to understand the impact of the controllers gain values on the stabilization of the Euler-Newton angles, three conditions will be tested with different controller gain values.

Keywords: Controllers, drones, quadcopter, stability.

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