Search results for: Physical verification

Authors: Benmabrouk. Zaineb, Ben Hamed. Mouna, Lassaad. Sbita

Abstract:

This paper discusses the development of wireless structure control of an induction motor scalar drives. This was realised up on the wireless WiFi networks. This strategy of control is ensured by the use of Wireless ad hoc networks and a virtual network interface based on VNC which is used to make possible to take the remote control of a PC connected on a wireless Ethernet network. Verification of the proposed strategy of control is provided by experimental realistic tests on scalar controlled induction motor drives. The experimental results of the implementations with their analysis are detailed.

Keywords: Digital drives, Induction motor, Remote control, Virtual Network Computing VNC, Wireless Local Area NetworkWiFi.

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Authors: S. Šupić, M. Malešev, V. Radonjanin, M. Radeka, M. Laban

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The production of low cost and environmentally friendly products represents an important step for developing countries. Biomass is one of the largest renewable energy sources, and Serbia is among the top European countries in terms of the amount of available and unused biomass. Substituting cement with the ashes obtained by the combustion of biomass would reduce the negative impact of concrete industry on the environment and would provide a waste valorization by the reuse of this type of by-product in mortars and concretes manufacture. The study contains data on physical properties, chemical characteristics and pozzolanic properties of obtained biomass ashes: wheat straw ash and mixture of wheat and soya straw ash in Serbia, which were, later, used as supplementary cementitious materials in preparation of mortars. Experimental research of influence of biomass ashes on physical and mechanical properties of cement mortars was conducted. The results indicate that the biomass ashes can be successfully used in mortars as substitutes of cement without compromising their physical and mechanical performances.

Keywords: Biomass, ash, cementitious material, mortar.

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Authors: L. Chaussy, M. Nouvel

Abstract:

Workload of the system engineers during Integration Validation Verification process of Electronic Warfare Systems (EWS) is growing with complexity of the systems and with the diversity of tested cases (diversity of operational scenario in front of EWS). Even if the use of Digital Twin makes easier conception and development phases in term of planning and test equipment availability, time to analyze tests results is still too long and too complex. The idea to reduce the system engineer’s workload and improve test coverage is to introduce some intelligent and aid-analysis algorithms to improve this step.

Keywords: Analysis tools, automatic testing, digital twin, electronic warfare system.

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Authors: Bao Thach Nguyen, Abbas Mohajerani

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The California Bearing Ratio (CBR) has been acknowledged as an important parameter to characterize the bearing capacity of earth structures, such as earth dams, road embankments, airport runways, bridge abutments and pavements. Technically, the CBR test can be carried out in the laboratory or in the field. The CBR test is time-consuming and is infrequently performed due to the equipment needed and the fact that the field moisture content keeps changing over time. Over the years, many correlations have been developed for the prediction of CBR by various researchers, including the dynamic cone penetrometer, undrained shear strength and Clegg impact hammer. This paper reports and discusses some of the results from a study on the prediction of CBR. In the current study, the CBR test was performed in the laboratory on some finegrained subgrade soils collected from various locations in Victoria. Based on the test results, a satisfactory empirical correlation was found between the CBR and the physical properties of the experimental soils.

Keywords: California bearing ratio, fine-grained soils, pavement, soil physical properties.

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Authors: Hassan Haghighi

Abstract:

Probabilistic techniques in computer programs are becoming more and more widely used. Therefore, there is a big interest in the formal specification, verification, and development of probabilistic programs. In our work-in-progress project, we are attempting to make a constructive framework for developing probabilistic programs formally. The main contribution of this paper is to introduce an intermediate artifact of our work, a Z-based formalism called PZ, by which one can build set theoretical models of probabilistic programs. We propose to use a constructive set theory, called CZ set theory, to interpret the specifications written in PZ. Since CZ has an interpretation in Martin-L¨of-s theory of types, this idea enables us to derive probabilistic programs from correctness proofs of their PZ specifications.

Keywords: formal specification, formal program development, probabilistic programs, CZ set theory, type theory.

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Authors: N. Namviriyachote, N. Bang, P. Aramwit

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Silk sericin (SS) is a glue-like protein from silkworm cocoon. With its outstanding moisturization and activation collagen synthesis properties, silk protein is applied for wound healing. Since wound dressing in film preparation can facilitate patients- convenience and reduce risk of wound contraction, SS and polyvinyl alcohol (PVA) films were prepared with various concentrations of SS. Their physical properties such as surface density, light transmission, protein dissolution and tensile modulus were investigated. The results presented that 3% SS with 2% PVA is the best ingredient for SS film forming.

Keywords: Sericin, silk protein, film, wound healing.

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Authors: Abdel-Mohdy, A. Abou-Okeil, S. El-Sabagh, S. M. El-Sawy

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Chitosan polyacrylic acid composite membranes were prepared by a bulk polymerization method in presence of N, N'- methylene bisacrylamide (crosslinker) and ammonium persulphate as initiator. Membranes prepared from this copolymer in presence and absence of Ag nanoparticles were characterized by measuring mechanical and physical properties, water up-take and antibacterial properties. The results obtained indicated that the prepared membranes have antibacterial properties which increase with adding Ag nanoparticles.

Keywords: Ag nanoparticles, antimicrobial, composites, Membrane, physical properties.

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Authors: A. Abdalla, A. Kaltayev

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This article presents the boundary conditions for the problem of turbulent supersonic gas flow in a plane channel with a perpendicular injection jets. The non-reflection boundary conditions for direct modeling of compressible viscous gases are studied. A formulation using the NSCBC (Navier- Stocks characteristic boundary conditions) through boundaries is derived for the subsonic inflow and subsonic non-reflection outflow situations. Verification of the constructed algorithm of boundary conditions is carried out by solving a test problem of perpendicular sound of jets injection into a supersonic gas flow in a plane channel.

Keywords: WENO scheme, non-reflection boundary conditions, NSCBC, supersonic flow.

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Authors: Chanchai Supaartagorn

Abstract:

Structured Query Language (SQL) is the standard de facto language to access and manipulate data in a relational database. Although SQL is a language that is simple and powerful, most novice users will have trouble with SQL syntax. Thus, we are presenting SQL generator tool which is capable of translating actions and displaying SQL commands and data sets simultaneously. The tool was developed based on Model-View-Controller (MVC) pattern. The MVC pattern is a widely used software design pattern that enforces the separation between the input, processing, and output of an application. Developers take full advantage of it to reduce the complexity in architectural design and to increase flexibility and reuse of code. In addition, we use White-Box testing for the code verification in the Model module.

Keywords: MVC, relational database, SQL, White-Box testing.

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Authors: Jelena Slugan, Ivica Ružić

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We are witnessing the rapid development of technologies that change the world around us. However, curriculums and teaching processes are often slow to adapt to the change; it takes time, money and expertise to implement technology in the classroom. Therefore, the University of Split, Croatia, partnered with local school Marko Marulić High School and created the project "Modern competence in modern high schools" as part of which five different curriculums for STEM areas were developed. One of the curriculums involves combining information technology with physics. The main idea was to teach students how to use different circuits and microcomputers to explore nature and physical phenomena. As a result, using electrical circuits, students are able to recreate in the classroom the phenomena that they observe every day in their environment. So far, high school students had very little opportunity to perform experiments independently, and especially, those physics experiment did not involve ICT. Therefore, this project has a great importance, because the students will finally get a chance to develop themselves in accordance to modern technologies. This paper presents some new methods of teaching physics that will help students to develop experimental skills through the study of deterministic nature of physical laws. Students will learn how to formulate hypotheses, model physical problems using the electronic circuits and evaluate their results. While doing that, they will also acquire useful problem solving skills.

Keywords: ICT in physics, curriculum, laboratory activities, STEM.

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Authors: Tazibt W., Mialhe P.

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This paper presents ageing experiments controlled by the evolution of junction parameters. The deterioration of the device is related to high injection effects which modified the transport mechanisms in the space charge region of the junction. Physical phenomena linked to the degradation of junction parameters that affect the devices reliability are reported and discussed. We have used the method based on numerical analysis of experimental current-voltage characteristic of the junction, in order to extract the electrical parameters. The simultaneous follow-up of the evolutions of the series resistance and of the transition voltage allow us to introduce a new parameter for reliability evaluation.

Keywords: High injection, junction, parameters, reliability

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Authors: June Tay, Ivy Chia

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There are numerous changes, both mental and physical, taking place when people age. We need to understand the different aspects required for healthy living, including meeting nutritional needs, regular physical activities to keep agility, sufficient rest and sleep to have physical and mental well-being, social engagement to avoid the risk of social isolation and depression, and access to healthcare to detect and manage chronic conditions. Promoting physical activities for an ageing population is necessary as many may have enjoyed sedentary lifestyles for some time. In our study, we evaluate the considerations when designing a computer vision video game for the elderly. We need to design some low-impact activities, such as stretching and gentle movements, because some elderly individuals may have joint pains or mobility issues. The exercise game should consist of simple movements that are easy to follow and remember. It should be fun and enjoyable so that they can be motivated to do some exercise. Social engagement can keep the elderly motivated and competitive, and they are more willing to engage in game exercises. Elderly citizens can compare their game scores and try to improve them. We propose a computer vision-based video game for the elderly that will capture and track the movement of the elderly hand pushing a ball on the screen into a circle. It can be easily set up using a PC laptop with a webcam. Our video game adhered to the design framework we employed, and it encompassed ease of use, a simple graphical interface, easy-to-play game exercise, and fun gameplay.

Keywords: Computer vision, video games, gerontology technology, caregiving.

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Authors: Moad Alhamaty , Ali Yazdian , Fathi Al-qadasi

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A common way to elude the signature-based Network Intrusion Detection System is based upon changing a recognizable attack to an unrecognizable one via the IDS. For example, in order to evade sign accommodation with intrusion detection system markers, a hacker spilt the payload packet into many small pieces or hides them within messages. In this paper we try to model the main fragmentation attack and create a new module in the intrusion detection architecture system which recognizes the main fragmentation attacks through verification of integrity checking of TCP packet in order to prevent elusion of the system and also to announce the necessary alert to the system administrator.

Keywords: Intrusion detection system, Evasion techniques, Fragmentation attacks, TCP Packet integrity.

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Authors: Yudia Mailani Putri, Martalena Purba, B. J. Istiti Kandarina

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Background: Obesity has been recognized as a global health problem. Individuals classified as overweight and obese are increasing at an alarming rate. This condition is associated with psychological and physiological problems. as a person reaches adulthood, somatic growth ceases. At this stage, the human body has developed fully, to a stable state. As the capital of Riau Province in Indonesia, Pekanbaru is dominated by Malay ethnic population habitually consuming cholesterol-rich fatty foods as a daily menu, a trigger to the onset of obesity resulting in high prevalence of degenerative diseases. Research objectives: The aim of this study is elaborating the relationship between high-fat consumption pattern, stress level, physical activity and the incidence of obesity in adult women in Pekanbaru city. Research Methods: Among the combined research methods applied in this study, the first stage is quantitative observational, analytical cross-sectional research design with adult women aged 20-40 living in Pekanbaru city. The sample consists of 200 women with BMI≥25. Sample data is processed with univariate, bivariate (correlation and simple linear regression) and multivariate (multiple linear regression) analysis. The second phase is qualitative descriptive study purposive sampling by in-depth interviews. six participants withdrew from the study. Results: According to the results of the bivariate analysis, there are relationships between the incidence of obesity and the pattern of high fat foods consumption (energy intake (p≤0.000; r = 0.536), protein intake (p≤0.000; r=0.307), fat intake (p≤0.000; r=0.416), carbohydrate intake (p≤0.000; r=0.430), frequency of fatty food consumption (p≤0.000; r=0.506) and frequency of viscera foods consumption (p≤0.000; r=0.535). There is a relationship between physical activity and incidence of obesity (p≤0.000; r=-0.631). However, there is no relationship between the level of stress (p=0.741; r=0.019-) and the incidence of obesity. Physical activity is a predominant factor in the incidence of obesity in adult women in Pekanbaru city. Conclusion: There are relationships between high-fat food consumption pattern, physical activity and the incidence of obesity in Pekanbaru city whereas physical activity is a predominant factor in the occurrence of obesity, supported by the unchangeable pattern of high-fat foods consumption.

Keywords: Obesity, adult, high in fat, stress, physical activity, consumption pattern.

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Authors: Constantin Pehoiu

Abstract:

School physical education, through its objectives and contents, efficiently valorizes the pupils- abilities, developing them, especially the coordinative skill component, which is the basis of movement learning, of the development of the daily motility and also of the special, refined motility required by the practice of certain sports. Medium school age offers the nervous and motor substratum needed for the acquisition of complex motor habits, a substratum that is essential for the coordinative skill. Individuals differ as to the level at which this function is performed, the extent to which this function turns an individual into a person that is adapted and adaptable to complex and various situations. Spatio-temporal orientation, together with movement combination and coupling, and with kinesthetic, balance, motor reaction, movement transformation and rhythm differentiation form the coordinative skills. From our viewpoint, these are characteristic features with high levels of manifestation in a complex psychomotor act - valorizing the quality of one-s talent - as well as indices pertaining to one-s psychomotor intelligence and creativity.

Keywords: development, lesson, spatio-temporal orientation, physical education.

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Authors: Nor Hayati Ibrahim, Shamini Nair Achudan

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This study was conducted in order to determine the physical properties and stability of mayonnaise-like emulsions as affected by modified yam starches. Native yam starch was modified via pre-gelatinization and cross-linking phosphorylation procedures. The emulsions (50% oil dispersed phase) were prepared with 0.3% native potato, native yam, pre-gelatinized yam and cross-linking phosphorylation yam starches. The droplet size of surface weighted mean diameter was found to be significantly (p < 0.05) lower in the sample with cross-linking phosphorylation yam starch as compared to other samples. Moreover, the viscosity of the sample with pregelatinized yam starch was observed to be higher than that of other samples. The phase separation stability was low in the freshly prepared and stored (45 days, 5°C) emulsions containing native yam starch. This study thus generally suggested that modified yam starches were more suitable (i.e. better physical properties and stability) to be used as stabilizers in a similar system i.e. light mayonnaises, rather than a native yam starch.

Keywords: Oil-in-water emulsions, low-fat mayonnaises, modified yam starches, droplet size distribution, viscosity.

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Authors: Yi Huang, Clemens Guehmann

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In order to monitor the thermal behavior of an asynchronous machine with squirrel cage rotor, a 9th-order extended Kalman filter (EKF) algorithm is implemented to estimate the temperatures of the stator windings, the rotor cage and the stator core. The state-space equations of EKF are established based on the electrical, mechanical and the simplified thermal models of an asynchronous machine. The asynchronous machine with simplified thermal model in Dymola is compiled as DymolaBlock, a physical model in MATLAB/Simulink. The coolant air temperature, three-phase voltages and currents are exported from the physical model and are processed by EKF estimator as inputs. Compared to the temperatures exported from the physical model of the machine, three parts of temperatures can be estimated quite accurately by the EKF estimator. The online EKF estimator is independent from the machine control algorithm and can work under any speed and load condition if the stator current is nonzero current system.

Keywords: Asynchronous machine, extended Kalman filter, resistance, simulation, temperature estimation, thermal model.

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Authors: Zainab M. Musa, Nordin M. A. Rahman, Julaily A. Jusoh

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The web services applications for digital reference service (WSDRS) of LIS model is an informal model that claims to reduce the problems of digital reference services in libraries. It uses web services technology to provide efficient way of satisfying users’ needs in the reference section of libraries. The formal WSDRS model consists of the Z specifications of all the informal specifications of the model. This paper discusses the formal validation of the Z specifications of WSDRS model. The authors formally verify and thus validate the properties of the model using Z/EVES theorem prover.

Keywords: Validation, verification, formal, theorem proving.

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Authors: D. Almazo, M. Toledo, C. Rodríguez

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This work presents a methodology for the design and manufacture of propellers oriented to the experimental verification of theoretical results based on the combined model. The design process begins by using algorithms in Matlab which output data contain the coordinates of the points that define the blade airfoils, in this case the NACA 6512 airfoil was used. The modeling for the propeller blade was made in NX7, through the imported files in Matlab and with the help of surfaces. Later, the hub and the clamps were also modeled. Finally, NX 7 also made possible to create post-processed files to the required machine. It is possible to find the block of numbers with G & M codes about the type of driver on the machine. The file extension is .ptp. These files made possible to manufacture the blade, and the hub of the propeller.

Keywords: Airfoil, CAM, manufacturing, mathematical algorithm, numeric control, propeller design, simulation.

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Authors: H. Assaedi, F. U. A. Shaikh, I. M. Low

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This paper presents the effects of mixing procedures on mechanical properties of flyash-based geopolymer matrices containing nanosilica (NS) at 0.5%, 1.0%, 2.0%, and 3.0% by weight. Comparison is made with conventional mechanical dry-mixing of NS with flyash and wet-mixing of NS in alkaline solutions. Physical and mechanical properties are investigated using X-Ray Diffraction (XRD) and Scanning Electron Microscope (SEM). Results show that generally the addition of NS particles enhanced the microstructure and improved flexural and compressive strengths of geopolymer nanocomposites. However, samples, prepared using dry-mixing approach, demonstrate better physical and mechanical properties comparing to wet-mixing samples.

Keywords: Geopolymer, mechanical properties, nanosilica.

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Authors: Nur Ilyani Ramli, Mansour Youseffi, Peter Widdop

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This paper presents a low cost design of heart beat monitoring device using reflectance mode PhotoPlethysmography (PPG). PPG is known for its simple construction, ease of use and cost effectiveness and can provide information about the changes in cardiac activity as well as aid in earlier non-invasive diagnostics. The proposed device is divided into three phases. First is the detection of pulses through the fingertip. The signal is then passed to the signal processing unit for the purpose of amplification, filtering and digitizing. Finally the heart rate is calculated and displayed on the computer using parallel port interface. The paper is concluded with prototyping of the device followed by verification procedure of the heartbeat signal obtained in laboratory setting.

Keywords: Reflectance mode PPG, Heart beat detection, Circuitdesign, PCB design

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Authors: Maysam Saidi, Hassan Basirat Tabrizi, Reza Maddahian

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In this paper, numerical simulations are performed to investigate the effect of disturbance block on flow field of the classical square lid-driven cavity. Attentions are focused on vortex formation and studying the effect of block position on its structure. Corner vortices are different upon block position and new vortices are produced because of the block. Finite volume method is used to solve Navier-Stokes equations and PISO algorithm is employed for the linkage of velocity and pressure. Verification and grid independency of results are reported. Stream lines are sketched to visualize vortex structure in different block positions.

Keywords: Disturbance Block, Finite Volume Method, Lid-Driven Cavity

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Authors: T. Pishbin, S.M.P. Firoozabadi, N. Jafarnia Dabanloo, F. Mohammadi, S. Koozehgari

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Heart-s electric field can be measured anywhere on the surface of the body (ECG). When individuals touch, one person-s ECG signal can be registered in other person-s EEG and elsewhere on his body. Now, the aim of this study was to test the hypothesis that physical contact (hand-holding) of two persons changes their heart rate variability. Subjects were sixteen healthy female (age: 20- 26) which divided into eight sets. In each sets, we had two friends that they passed intimacy test of J.sternberg. ECG of two subjects (each set) acquired for 5 minutes before hand-holding (as control group) and 5 minutes during they held their hands (as experimental group). Then heart rate variability signals were extracted from subjects' ECG and analyzed in linear feature space (time and frequency domain) and nonlinear feature space. Considering the results, we conclude that physical contact (hand-holding of two friends) increases parasympathetic activity, as indicate by increase SD1, SD1/SD2, HF and MF power (p<0.05) and decreases sympathetic activity, as indicate by decrease LF power (p<0.01) and LF/HF ratio (p<0.05).

Keywords: Autonomic nervous system (ANS), Hand- holding, Heart rate variability (HRV), Power spectral density analysis.

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Authors: M.Radmehr, S.M.Anisheh, I.Yousefian

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In this work a new offline signature recognition system based on Radon Transform, Fractal Dimension (FD) and Support Vector Machine (SVM) is presented. In the first step, projections of original signatures along four specified directions have been performed using radon transform. Then, FDs of four obtained vectors are calculated to construct a feature vector for each signature. These vectors are then fed into SVM classifier for recognition of signatures. In order to evaluate the effectiveness of the system several experiments are carried out. Offline signature database from signature verification competition (SVC) 2004 is used during all of the tests. Experimental result indicates that the proposed method achieved high accuracy rate in signature recognition.

Keywords: Fractal Dimension, Offline Signature Recognition, Radon Transform, Support Vector Machine

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Authors: Jetsada Arnin, Yodchanan Wongsawat

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One of the most important causes of accidents is driver fatigue. To reduce the accidental rate, the driver needs a quick nap when feeling sleepy. Hence, searching for the minimum time period of nap is a very challenging problem. The purpose of this paper is twofold, i.e. to investigate the possible fastest time period for nap and its relationship with stage 2 sleep, and to develop an automatic stage 2 sleep detection and alarm device. The experiment for this investigation is designed with 21 subjects. It yields the result that waking up the subjects after getting into stage 2 sleep for 3-5 minutes can efficiently reduce the sleepiness. Furthermore, the automatic stage 2 sleep detection and alarm device yields the real-time detection accuracy of approximately 85% which is comparable with the commercial sleep lab system.

Keywords: Stage 2 sleep, nap, sleep detection, real-time, EEG

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Authors: C. S. Saini

Abstract:

The composite flour blend consisting of corn, pearl millet, black gram and wheat bran in the ratio of 80:5:10:5 was taken to prepare the extruded product and their effect on physical properties of extrudate was studied. The extrusion process was conducted in laboratory by using twin screw extruder. The physical characteristics evaluated include lateral expansion, bulk density, water absorption index, water solubility index, and rehydration ratio and moisture retention. The Central Composite Rotatable Design (CCRD) was used to decide the level of processing variables i.e. feed moisture content (%), screw speed (rpm), and barrel temperature (oC) for the experiment. The data obtained after extrusion process were analyzed by using response surface methodology. A second order polynomial model for the dependent variables was established to fit the experimental data. The numerical optimization studies resulted in 127°C of barrel temperature, 246 rpm of screw speed, and 14.5% of feed moisture as optimum variables to produce acceptable extruded product. The responses predicted by the software for the optimum process condition resulted in lateral expansion 126%, bulk density 0.28 g/cm3, water absorption index 4.10 g/g, water solubility index 39.90%, rehydration ratio 544% and moisture retention 11.90% with 75% desirability.

Keywords: Black gram, corn flour, extrusion, physical characteristics.

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Authors: Masaki Omata, Shumma Hosokawa

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An experiment to verify the relationships between physiological indexes of an e-learner and the presence or absence of an operation during e-learning is described. Electroencephalogram (EEG), hemoencephalography (HEG), skin conductance (SC), and blood volume pulse (BVP) values were measured while participants performed experimental learning tasks. The results show that there are significant differences between the SC values when reading with clicking on learning materials and the SC values when reading without clicking, and between the HEG ratio when reading (with and without clicking) and the HEG ratio when resting for four of five participants. We conclude that the SC signals can be used to estimate whether or not a learner is performing an active task and that the HEG ratios can be used to estimate whether a learner is learning.

Keywords: E-learning, physiological index, physiological signal, state of learning.

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Authors: Sungji Han, Youngjoon Han, Hernsoo Hahn

Abstract:

This paper presents a robust vehicle detection approach using Haar-like feature. It is possible to get a strong edge feature from this Haar-like feature. Therefore it is very effective to remove the shadow of a vehicle on the road. And we can detect the boundary of vehicles accurately. In the paper, the vehicle detection algorithm can be divided into two main steps. One is hypothesis generation, and the other is hypothesis verification. In the first step, it determines vehicle candidates using features such as a shadow, intensity, and vertical edge. And in the second step, it determines whether the candidate is a vehicle or not by using the symmetry of vehicle edge features. In this research, we can get the detection rate over 15 frames per second on our embedded system.

Keywords: vehicle detection, haar-like feauture, single camera, real time

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Authors: Hiraku Nunomiya, Takuo Ichiju, Yoshiyuki Higuchi

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In the management of industrial waste, conversion from the use of paper invoices to electronic forms is currently under way in developed countries. Difficulties in such computerization include the lack of synchronization between the actual goods and the corresponding data managed by the server. Consequently, a system which utilizes the incorporation of a QR code in connection with the waste material has been developed. The code is read at each stage, from discharge until disposal, and progress at each stage can be easily reported. This system can be linked with Japanese public digital authentication service of waste, taking advantage of its good points, and can be used to submit reports to the regulatory authorities. Its usefulness was confirmed by a verification test, and put into actual practice.

Keywords: Infectious Waste, Electronic Manifest, Real Time Management, QR code.

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Authors: M. Sallam, A. Ramadan, M. Fanni, M. Abdellatif

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Time delay in bilateral teleoperation system was introduced as a sufficient reason to make the system unstable or certainly degrade the system performance. In this paper, simulations and experimental results of implementing p-like control scheme, under different ranges of variable time delay, will be presented to verify a certain criteria, which guarantee the system stability and position tracking. The system consists of two Phantom premium 1.5A devices. One of them acts as a master and the other acts as a slave. The study includes deriving the Phantom kinematic and dynamic model, establishing the link between the two Phantoms over Simulink in Matlab, and verifying the stability criteria with simulations and real experiments.

Keywords: bilateral teleoperation, Phantom premium 1.5, varying time delay

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