Search results for: convex feasibility problem

Authors: I. Domingos, B. Esteves, A. Figueirinha, Luísa P. Cruz-Lopes, J. Ferreira, H. Pereira

Abstract:

Chromium is one of the most common heavy metals which exist in very high concentrations in wastewater. The removal is very expensive due to the high cost of normal adsorbents. Lignocellulosic materials and mainly treated materials have proven to be a good solution for this problem.

Adsorption tests were performed at different pH, different times and with varying concentrations.

Results show that is at pH 3 that treated wood absorbs more chromium ranging from 70% (2h treatment) to almost 100% (12 h treatment) much more than untreated wood with less than 40%. Most of the adsorption is made in the first 2-3 hours for untreated and heat treated wood. Modified wood adsorbs more chromium throughout the time. For all the samples, adsorption fitted relatively well the Langmuir model with correlation coefficient ranging from 0.85 to 0.97.

The results show that heat treated wood is a good adsorbent ant that this might be a good utilization for sawdust from treating companies.

Keywords: Adsorption, chromium, heat treatment, wood modification.

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Authors: Zixin Liu, Shu Lü, Shouming Zhong, Mao Ye

Abstract:

The problem of exponential stability and periodicity for a class of cellular neural networks (DCNNs) with time-varying delays is investigated. By dividing the network state variables into subgroups according to the characters of the neural networks, some sufficient conditions for exponential stability and periodicity are derived via the methods of variation parameters and inequality techniques. These conditions are represented by some blocks of the interconnection matrices. Compared with some previous methods, the method used in this paper does not resort to any Lyapunov function, and the results derived in this paper improve and generalize some earlier criteria established in the literature cited therein. Two examples are discussed to illustrate the main results.

Keywords: Cellular neural networks, exponential stability, time varying delays, partitioned matrices, periodic solution.

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Authors: Mircea Ivanescu, Nirvana Popescu, Decebal Popescu, Dorin Popescu

Abstract:

This paper addresses the control problem of a class of hyper-redundant arms. In order to avoid discrepancy between the mathematical model and the actual dynamics, the dynamic model with uncertain parameters of this class of manipulators is inferred. A procedure to design a feedback controller which stabilizes the uncertain system has been proposed. A PD boundary control algorithm is used in order to control the desired position of the manipulator. This controller is easy to implement from the point of view of measuring techniques and actuation. Numerical simulations verify the effectiveness of the presented methods. In order to verify the suitability of the control algorithm, a platform with a 3D flexible manipulator has been employed for testing. Experimental tests on this platform illustrate the applications of the techniques developed in the paper.

Keywords: Distributed model, flexible manipulator, observer, robot control.

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Authors: Mohammad Ali Molaei

Abstract:

New Growth Theory helps us make sense of the ongoing shift from a resource-based economy to a knowledge-based economy. It underscores the point that the economic processes which create and diffuse new knowledge are critical to shaping the growth of nations, communities and individual firms. In all too many contributions to New (Endogenous) Growth Theory – though not in all – central reference is made to 'a stock of knowledge', a 'stock of ideas', etc., this variable featuring centre-stage in the analysis. Yet it is immediately apparent that this is far from being a crystal clear concept. The difficulty and uncertainty of being able to capture the value associated with knowledge is a real problem. The intent of this paper is introducing new thinking and theorizing about the knowledge and its measurability in new growth theory. Moreover the study aims to synthesize various strain of the literature with a practical bearing on knowledge concept. By contribution of institution framework which is found within NGT, we can indirectly measure the knowledge concept. Institutions matter because they shape the environment for production and employment of new knowledge

Keywords: Institution Framework, Knowledge, New GrowthTheory (NGT)

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Authors: Mohammed Boutalline, Imad Badi, Belaid Bouikhalene, Said Safi

Abstract:

In this paper we describe the Levenvberg-Marquardt (LM) algorithm for identification and equalization of CDMA signals received by an antenna array in communication channels. The synthesis explains the digital separation and equalization of signals after propagation through multipath generating intersymbol interference (ISI). Exploiting discrete data transmitted and three diversities induced at the reception, the problem can be composed by the Block Component Decomposition (BCD) of a tensor of order 3 which is a new tensor decomposition generalizing the PARAFAC decomposition. We optimize the BCD decomposition by Levenvberg-Marquardt method gives encouraging results compared to classical alternating least squares algorithm (ALS). In the equalization part, we use the Minimum Mean Square Error (MMSE) to perform the presented method. The simulation results using the LM algorithm are important.

Keywords: Identification and equalization, communication channel, Levenvberg-Marquardt, tensor decomposition

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Authors: Tusharkanta Das, Tumbanath Samantara, Sukanta Kumar Sahoo

Abstract:

Unsteady effects of MHD free convection flow past in an infinite vertical plate with heat source in presence of radiation with reference to all critical parameters that appear in field equations are studied in this paper. The governing equations are developed by usual Boussinesq’s approximation. The problem is solved by using perturbation technique. The results are obtained for velocity, temperature, Nusselt number and skin-friction. The effects of magnetic parameter, prandtl number, Grashof number, permeability parameter, heat source/sink parameter and radiation parameter are discussed on flow characteristics and shown by means of graphs and tables.

Keywords: Heat transfer, radiation, MHD, free convection, porous medium, suction.

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Authors: C. Ardil

Abstract:

In this paper, a new MCDMA approach, the permanent analytics process is proposed to assess the immovable valuation criteria and their significance in the placement of the healthcare facility. Five decision factors are considered for the value and selection of immovables. In the multiple factor selection problems, the priority vector of the criteria used to compare several immovables is first determined using the permanent analytics method, a mathematical model for the multiple criteria decisionmaking process. Then, to demonstrate the viability and efficacy of the suggested approach, twenty potential candidate locations were evaluated using the hospital site selection problem's decision criteria. The ranking accuracy of estimation was evaluated using composite programming, which took into account both the permanent analytics process and the weighted multiplicative model. 

Keywords: Hospital Facility Location Selection, Permanent Analytics Process, Multiple Criteria Decision Making (MCDM)

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Authors: Sumita Chowhan

Abstract:

Abilities are important for academic success. Yet, abilities cannot be the whole story. Styles might be one source of unexplained variation. A style is a preferred way of using ones abilities. Students are thought to be incompetent not because they are lacking in abilities, but because their styles do not match the academic course chosen. The purpose of the study was to determine the role of abilities and learning styles in prediction of academic performance and their adjustment. Participants were 272 engineering students. The tools used are Myers Briggs Type Indicator, Culture Fair Intelligence Test and Student Problem Checklist. The statistical procedures employed were t-test, correlations and stepwise regressions. The analyses of the data indicated that although abilities are better predictors of academic performance, learning styles also shown a significant relationship. The study also indicates that if students learning styles matches to their chosen academic course, they tend to show better performance and less adjustment problems.

Keywords: Abilities, Academic Performance, Adjustment, Learning Styles.

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Authors: M. Nemer, E. I. Konukseven

Abstract:

In this paper, a motion generation algorithm for a six Degrees of Freedom (DoF) robotic hand in a static environment is presented. The purpose of developing this method is to be used in the path generation of the end-effector for edge finishing and inspection processes by utilizing the CAD model of the considered workpiece. Nonetheless, the proposed algorithm may be extended to be applicable for other similar manufacturing processes. A software package programmed in the application programming interface (API) of SolidWorks generates tool path data for the robot. The proposed method significantly simplifies the given problem, resulting in a reduction in the CPU time needed to generate the path, and offers an efficient overall solution. The ABB IRB2000 robot is chosen for executing the generated tool path.

Keywords: Offline programming, CAD-based tools, edge deburring, edge scanning, path generation.

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Authors: C. W. Nguong, S. N. B. Lee, D. Sujan

Abstract:

Renewable natural fibres such as oil palm, flax, and pineapple leaf can be utilized to obtain new high performance polymer materials. The reuse of waste natural fibres as reinforcement for polymer is a sustainable option to the environment. However, due to its high hydroxyl content of cellulose, natural fibres are susceptible to absorb water that affects the composite mechanical properties adversely. Research found that Nano materials such as Nano Silica Carbide (n-SiC) and Nano Clay can be added into the polymer composite to overcome this problem by enhancing its mechanical properties in wet condition. The addition of Nano material improves the tensile and wear properties, flexural stressstrain behaviour, fracture toughness, and fracture strength of polymer natural composites in wet and dry conditions.

Keywords: Natural fibres, Nano Silica Carbide, Nano Clay, Wet Condition, Polymer Composites.

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Authors: Guy Leshem, Ya'acov Ritov

Abstract:

Traffic Management and Information Systems, which rely on a system of sensors, aim to describe in real-time traffic in urban areas using a set of parameters and estimating them. Though the state of the art focuses on data analysis, little is done in the sense of prediction. In this paper, we describe a machine learning system for traffic flow management and control for a prediction of traffic flow problem. This new algorithm is obtained by combining Random Forests algorithm into Adaboost algorithm as a weak learner. We show that our algorithm performs relatively well on real data, and enables, according to the Traffic Flow Evaluation model, to estimate and predict whether there is congestion or not at a given time on road intersections.

Keywords: Machine Learning, Boosting, Classification, TrafficCongestion, Data Collecting, Magnetic Loop Detectors, SignalizedIntersections, Traffic Signal Timing Optimization.

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Authors: Tamanna Siddiqui, M. Afshar Alam

Abstract:

Censored Production Rule is an extension of standard production rule, which is concerned with problems of reasoning with incomplete information, subject to resource constraints and problem of reasoning efficiently with exceptions. A CPR has a form: IF A (Condition) THEN B (Action) UNLESS C (Censor), Where C is the exception condition. Fuzzy CPR are obtained by augmenting ordinary fuzzy production rule “If X is A then Y is B with an exception condition and are written in the form “If X is A then Y is B Unless Z is C. Such rules are employed in situation in which the fuzzy conditional statement “If X is A then Y is B" holds frequently and the exception condition “Z is C" holds rarely. Thus “If X is A then Y is B" part of the fuzzy CPR express important information while the unless part acts only as a switch that changes the polarity of “Y is B" to “Y is not B" when the assertion “Z is C" holds. The proposed approach is an attempt to discover fuzzy censored production rules from set of discovered fuzzy if then rules in the form: A(X) ÔçÆ B(Y) || C(Z).

Keywords: Uncertainty Quantification, Fuzzy if then rules, Fuzzy Censored Production Rules, Learning algorithm.

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

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Authors: Caio Fialho

Abstract:

The automobile incentive policy in Brazil since the 1950s creates several problems in its cities, more visible in large centers such as São Paulo or Rio de Janeiro, but also strongly present in smaller cities, resulting in an increase in social and spatial inequality, together with a drop in the quality of life. The analyzed city, Campo Mourão, reflects these policies, a city that is initially planned to be compact and walkable, took other directions and currently suffers from urban mobility and social inequality in this urban environment, despite being a medium-sized city in Brazil. The research aims to understand and diagnose how these policies shaped the city and what are the results in Brazilian`s inland cities. Based on historical, bibliographical and field research in the city, the result is a diagnosis of the problem faced and how it can be reversed, in search of social equality and better quality of life.

Keywords: Urban mobility, quality of life, social equality, substantiable.

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Authors: Edina Koch, Péter Hudacsek

Abstract:

In railways transition zone is present at the boundaries of zones with different stiffness. When a train rides from an embankment onto a stiff structure, such as a bridge, tunnel or culvert, an abrupt change in the support stiffness occurs possibly inducing differential settlements. This in long term can yield to the degradation of the tracks and foundations in the transition zones. A number of techniques have been proposed or implemented to provide gradual stiffness transition at the problem zones, such as methods to ensure gradually changing pad stiffness, application of long sleepers or installation of auxiliary rails in the transition zone. Aim of the research presented in this paper is to analyze the 3D and the dynamic effects induced by the passing train over an area where significant difference in the support stiffness exists. The effects were analyzed for different arrangements associated with certain differential settlement mitigation strategies of the transition zones.

Keywords: Culvert, dynamic load, HS small model, railway transition zone.

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Authors: Syed Muhammad Aqil Burney, Tahseen Ahmed Jilani, C. Ardil

Abstract:

Minimization methods for training feed-forward networks with Backpropagation are compared. Feedforward network training is a special case of functional minimization, where no explicit model of the data is assumed. Therefore due to the high dimensionality of the data, linearization of the training problem through use of orthogonal basis functions is not desirable. The focus is functional minimization on any basis. A number of methods based on local gradient and Hessian matrices are discussed. Modifications of many methods of first and second order training methods are considered. Using share rates data, experimentally it is proved that Conjugate gradient and Quasi Newton?s methods outperformed the Gradient Descent methods. In case of the Levenberg-Marquardt algorithm is of special interest in financial forecasting.

Keywords: Backpropagation algorithm, conjugacy condition, line search, matrix perturbation

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Authors: J. Silvestre, L. Almeida, R. Marau, P. Pedreiras

Abstract:

Currently, there are many local area industrial networks that can give guaranteed bandwidth to synchronous traffic, particularly providing CBR channels (Constant Bit Rate), which allow improved bandwidth management. Some of such networks operate over Ethernet, delivering channels with enough capacity, specially with compressors, to integrate multimedia traffic in industrial monitoring and image processing applications with many sources. In these industrial environments where a low latency is an essential requirement, JPEG is an adequate compressing technique but it generates VBR traffic (Variable Bit Rate). Transmitting VBR traffic in CBR channels is inefficient and current solutions to this problem significantly increase the latency or further degrade the quality. In this paper an R(q) model is used which allows on-line calculation of the JPEG quantification factor. We obtained increased quality, a lower requirement for the CBR channel with reduced number of discarded frames along with better use of the channel bandwidth.

Keywords: Industrial Networks, Multimedia.

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Authors: Seyed Ali Sadat Noori, Elham Sahebi Bazaz

Abstract:

Topological changes in mobile ad hoc networks frequently render routing paths unusable. Such recurrent path failures have detrimental effects on quality of service. A suitable technique for eliminating this problem is to use multiple backup paths between the source and the destination in the network. This paper proposes an effective and efficient protocol for backup and disjoint path set in ad hoc wireless network. This protocol converges to a highly reliable path set very fast with no message exchange overhead. The paths selection according to this algorithm is beneficial for mobile ad hoc networks, since it produce a set of backup paths with more high reliability. Simulation experiments are conducted to evaluate the performance of our algorithm in terms of route numbers in the path set and its reliability. In order to acquire link reliability estimates, we use link expiration time (LET) between two nodes.

Keywords: Wireless Ad Hoc Networks, Reliability, Routing, Disjoint Path

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Authors: I. Abuiziah, N. Shakarneh

Abstract:

Genetic Algorithm (GA) is a powerful technique for solving optimization problems. It follows the idea of survival of the fittest - Better and better solutions evolve from previous generations until a near optimal solution is obtained. GA uses the main three operations, the selection, crossover and mutation to produce new generations from the old ones. GA has been widely used to solve optimization problems in many applications such as traveling salesman problem, airport traffic control, information retrieval (IR), reactive power optimization, job shop scheduling, and hydraulics systems such as water pipeline systems. In water pipeline systems we need to achieve some goals optimally such as minimum cost of construction, minimum length of pipes and diameters, and the place of protection devices. GA shows high performance over the other optimization techniques, moreover, it is easy to implement and use. Also, it searches a limited number of solutions.

Keywords: Genetic Algorithm, optimization, pipeline systems, selection, cross over.

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Authors: P. Vosynek, T. Návrat, M. Peč, J. Pořízka, P. Diviš

Abstract:

Bone properties and response behavior after static or dynamic activation (loading) are still interesting topics in many fields of the science especially in the biomechanical problems such as bone loss of astronauts in space, osteoporosis, bone remodeling after fracture or remodeling after surgery (endoprosthesis and implants) and in osteointegration. This contribution deals with the relation between physiological, demineralized and deproteinized state of the turkey long bone – tibia. Three methods for comparison were used: 1) densitometry, 2) three point bending and 3) frequency analysis. The main goal of this work was to describe the decrease of the protein (collagen) or mineral of the bone with relation to the fracture in three point bending. The comparison is linked to the problem of different bone mechanical behavior in physiological and osteoporotic state.

Keywords: Bone properties, long bone, osteoporosis, response behavior.

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Authors: Ye. V. Lyubun

Abstract:

The problem of agricultural-soil pollution is closely linked to the production of ecologically pure foodstuffs and to human health. An important task, therefore, is to rehabilitate agricultural soils with the help of state-of-the-art biotechnologies, based on the use of metal-accumulating plants. In this work, on the basis of literature data and the results of prior research from this laboratory, plants were selected for which the growing technology is well developed and which are widespread locally: sugar sorghum (Sorghum saccharatum), sudangrass (Sorghum sudanense (Piper.) Stapf.), and sunflower (Helianthus annuus L.). I report on laboratory experiments designed to study the influence of synthetic indole-3- acetic acid and the extracellular indole-3-acetic acid released by the plant-growth-promoting rhizobacterium Azospirillum brasilense Sp245 on growth of and arsenic accumulation by these plants.

Keywords: Arsenic, bioaccumulation, plant-growth-promoting rhizobacteria, phytohormones.

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Authors: Ghulam Nabi Naz

Abstract:

After independence, the popular belief that Gandhian will not indulge in corruption got a setback, post-independence setup paved the way for heavy corruption. The menace which would have dealt with strong legal provisions has become a way of life of Indian society. Corruption is recognized as the single biggest problem facing the country today. It undermines democracy and rule of law, violates human rights, distorts market and corrodes the moral fibre of people. The paper discusses the causes and possible remedial measures of corruption and response of people in Indian society. It emphasizes the factors which provide fertile ground for growth of corruption like, degradation of moral values, absence of a strong anti-corruption law and its effective enforcement, accountability, consistency and a defective system of fighting elections. The paper also highlights the reforms necessary for fighting corruption in India.

Keywords: Embezzlement, colonial, licence Raj, good governance, misappropriation, Sangh ideologue, Anna movement.

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Authors: Jan Kočí, Jiří Maděra, Miloš Jerman, Robert Černý

Abstract:

The current practice of determination of moisture diffusivity of building materials under laboratory conditions is predominantly aimed at the absorption phase. The main reason is the simplicity of the inverse analysis of measured moisture profiles. However, the liquid moisture transport may exhibit significant hysteresis. Thus, the moisture diffusivity should be different in the absorption (wetting) and desorption (drying) phase. In order to bring computer simulations of hygrothermal performance of building materials closer to the reality, it is then necessary to find new methods for inverse analysis which could be used in the desorption phase as well. In this paper we present genetic algorithm as a possible method of solution of the inverse problem of moisture transport in desorption phase. Its application is demonstrated for AAC as a typical building material.

Keywords: autoclaved aerated concrete, desorption, genetic algorithm, inverse analysis

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Authors: Rutanachai Thaipratum

Abstract:

The mechanism of abiotic stress tolerance is crucial for plants to survive in harsh condition and the knowledge of this mechanism can be use to solve the problem of declining productivity of plants or crops around the world. However in-depth description is still unclear and it is argued, in particular that there is a relationship between high salinity tolerance and the ability to tolerate high light condition. In this study, Dunaliella salina, which can withstand high salt was used as a model. Chlorophyll fluorometer for nonphotochemical quenching (NPQ) measurement and high-performance liquid chromatography for pigment determination was used. The results show that NPQ value and the amount of pigment were increased along with the levels of salinity. However, it establish a clear relationship between high salt and high light but the further study to optimized the solutions mentioned above is still required.

Keywords: Abiotic stress tolerance, Dunaliella salina, Nonphotochemical quenching, Zeaxanthin.

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Authors: A. M. Sagir

Abstract:

In this paper, linear multistep technique using power series as the basis function is used to develop the block methods which are suitable for generating direct solution of the special second order ordinary differential equations with associated initial or boundary conditions. The continuous hybrid formulations enable us to differentiate and evaluate at some grids and off – grid points to obtain two different four discrete schemes, each of order (5,5,5,5)T, which were used in block form for parallel or sequential solutions of the problems. The computational burden and computer time wastage involved in the usual reduction of second order problem into system of first order equations are avoided by this approach. Furthermore, a stability analysis and efficiency of the block methods are tested on linear and non-linear ordinary differential equations and the results obtained compared favorably with the exact solution.

Keywords: Block Method, Hybrid, Linear Multistep Method, Self – starting, Special Second Order.

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Authors: N. W. Paul, M. Banerjee

Abstract:

Discussing the nexus between global health policy and local practices, this article addresses the recent Ebola outbreak as a role model for narrative co-constructions of epidemic risk. We will demonstrate in how far a theory-driven and methodologically rooted analysis of narrativity can help to improve mechanisms of prevention and intervention whenever epidemic risk needs to be addressed locally in order to contribute to global health. Analyzing the narrative transformation of Ebola, we will also address issues of transcultural problem-solving and of normative questions at stake. In this regard, we seek to contribute to a better understanding of a key question of global health and justice as well as to the underlying ethical questions. By highlighting and analyzing the functions of narratives, this paper provides a translational approach to refine our practices by which we address epidemic risk, be it on the national, the transnational or the global scale.

Keywords: Ebola, Epidemic Risk, Medical Ethics, Medical Humanities.

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Authors: Jongho Park, Taekyun Kim, Jungbhin You, Sungnam Hong, Sun-Kyu Park

Abstract:

Due to the aging of bridges, increasing of maintenance costs and decreasing of structural safety is occurred. The steel corrosion of reinforced concrete bridge is the most common problem and this phenomenon is accelerating due to abnormal weather and increasing CO₂ concentration due to climate change. To solve these problems, composite members using textile have been studied. A textile reinforced concrete can reduce carbon emissions by reduced concrete and without steel bars, so a lot of structural behavior studies are needed. Therefore, in this study, textile reinforced concrete beam was made and flexural test was performed. Also, the change of flexural strength according to the prestressing was conducted. As a result, flexural strength of TRC with prestressing was increased compared and flexural behavior was shown as reinforced concrete.

Keywords: AR-glass, flexural strength, prestressing, textile reinforced concrete.

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Authors: S. A. Eftekhari

Abstract:

In this paper, a numerical algorithm using a coupled Galerkin-Differential Quadrature (DQ) method is proposed for the solution of dam-reservoir interaction problem. The governing differential equation of motion of the dam structure is discretized by the Galerkin method and the DQM is used to discretize the fluid domain. The resulting systems of ordinary differential equations are then solved by the Newmark time integration scheme. The mixed scheme combines the simplicity of the Galerkin method and high accuracy and efficiency of the DQ method. Its accuracy and efficiency are demonstrated by comparing the calculated results with those of the existing literature. It is shown that highly accurate results can be obtained using a small number of Galerkin terms and DQM sampling points. The technique presented in this investigation is general and can be used to solve various fluid-structure interaction problems.

Keywords: Dam-reservoir system, Differential quadrature method, Fluid-structure interaction, Galerkin method, Integral quadrature method.

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Authors: Reza Sigari Tabrizi, Yeap Peik Foong, Nazli Ebrahimi

Abstract:

The Knowledge Management (KM) Criteria is an essential foundation to evaluate KM outcomes. Different sets of criteria were developed and tailored by many researchers to determine the results of KM initiatives. However, literature review has emphasized on incomplete set of criteria for evaluating KM outcomes. Hence, this paper tried to address the problem of determining the criteria for measuring knowledge management outcomes among different types of Malaysian organizations. Successively, this paper was assumed to develop widely accepted criteria to measure success of knowledge management efforts for Malaysian organizations. Our analysis approach was based on the ANOVA procedure to compare a set of criteria among different types of organizations. This set of criteria was exploited from literature review. It is hoped that this study provides a better picture for different types of Malaysian organizations to establish a comprehensive set of criteria due to measure results of KM programs.

Keywords: KM Criteria, Knowledge Management, KMOutcomes, ANOVA

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Authors: Mert Turanli, Hakan Temeltas

Abstract:

In this paper, we present an adaptive controller for decentralized coordination problem of multiple non-holonomic agents. The performance of the presented Multi-Agent Bounded Gain Forgetting (BGF) Composite Adaptive controller is compared against the tracking error criterion with a Feedback Linearization controller. By using the method, the sensor nodes move and reconfigure themselves in a coordinated way in response to a sensed environment. The multi-agent coordination is achieved through Centroidal Voronoi Tessellations and Coverage Control. Also, a consensus protocol is used for synchronization of the parameter vectors. The two controllers are given with their Lyapunov stability analysis and their stability is verified with simulation results. The simulations are carried out in MATLAB and ROS environments. Better performance is obtained with BGF Adaptive Controller.

Keywords: Adaptive control, Centroidal Voronoi Tessellations, composite adaptation, coordination.

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