Search results for: Intelligent parking systems
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 4733

Search results for: Intelligent parking systems

1853 Extraction in Two-Phase Systems and Some Properties of Laccase from Lentinus polychrous

Authors: K. Ratanapongleka, J. Phetsom

Abstract:

Extraction of laccase produced by L. polychrous in an aqueous two-phase system, composed of polyethylene glycol and phosphate salt at pH 7.0 and 250C was investigated. The effect of PEG molecular weight, PEG concentration and phosphate concentration was determined. Laccase preferentially partitioned to the top phase. Good extraction of laccase to the top phase was observed with PEG 4000. The optimum system was found in the system containing 12% w/w PEG 4000 and 16% w/w phosphate salt with KE of 88.3, purification factor of 3.0-fold and 99.1% yield. Some properties of the enzyme such as thermal stability, effect of heavy metal ions and kinetic constants were also presented in this work. The thermal stability decreased sharply with high temperature above 60 0C. The enzyme was inhibited by Cd2+, Pb2+, Zn2+ and Cu2+. The Vmax and Km values of the enzyme were 74.70 μmol/min/ml and 9.066 mM respectively.

Keywords: Aqueous Two Phase System, Laccase, Lentinuspolychrous,

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1852 The Impact of Rehabilitation Approaches in the Sustainability of the Management of Small Tanks in Sri Lanka

Authors: N.K.K. Welgama, W.A.D.P. Wanigasundera

Abstract:

Small tanks, the ancient man-made rain water storage systems, support the pheasant life and agriculture of the dry zone of Sri Lanka. Many small tanks were abandoned with time due to various reasons. Such tanks, rehabilitated in the recent past, were found to be less sustainable and most of these rehabilitation approaches have failed. The objective of this research is to assess the impact of the rehabilitation approaches in the management of small tanks in the Kurunegala District of Sri Lanka with respect to eight small tanks. A Sustainability index was developed using seven indicators representing the ability and commitment of the villagers to maintain these tanks. The sustainability index of the eight tanks varied between 79.2 and 47.2 out of a total score of 100. The conclusion is that, the approaches used for tank rehabilitation have a significant effect on the sustainability of the management of these small tanks.

Keywords: Minor irrigation schemes, Participatory, Small Tanks, Sustainable, Water resource management.

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1851 An Improved Cuckoo Search Algorithm for Voltage Stability Enhancement in Power Transmission Networks

Authors: Reza Sirjani, Nobosse Tafem Bolan

Abstract:

Many optimization techniques available in the literature have been developed in order to solve the problem of voltage stability enhancement in power systems. However, there are a number of drawbacks in the use of previous techniques aimed at determining the optimal location and size of reactive compensators in a network. In this paper, an Improved Cuckoo Search algorithm is applied as an appropriate optimization algorithm to determine the optimum location and size of a Static Var Compensator (SVC) in a transmission network. The main objectives are voltage stability improvement and total cost minimization. The results of the presented technique are then compared with other available optimization techniques.

Keywords: Cuckoo search algorithm, optimization, power system, var compensators, voltage stability.

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1850 A Review on Application of Chitosan as a Natural Antimicrobial

Authors: F. Nejati Hafdani, N. Sadeghinia

Abstract:

In recent years application of natural antimicrobials instead of conventional ones, due to their hazardous effects on health, has got serious attentions. On the basis of the results of different studies, chitosan, a natural bio-degradable and non-toxic biopolysaccharide derived from chitin, has potential to be used as a natural antimicrobial. Chitosan has exhibited high antimicrobial activity against a wide variety of pathogenic and spoilage microorganisms, including fungi, and Gram-positive and Gramnegative bacteria. The antimicrobial action is influenced by intrinsic factors such as the type of chitosan, the degree of chitosan polymerization and extrinsic factors such as the microbial organism, the environmental conditions and presence of the other components. The use of chitosan in food systems should be based on sufficient knowledge of the complex mechanisms of its antimicrobial mode of action. In this article we review a number of studies on the investigation of chitosan antimicrobial properties and application of them in culture and food mediums.

Keywords: Antimicrobial, Chitosan, Preservative

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1849 Optimized Detection in Multi-Antenna System using Particle Swarm Algorithm

Authors: A. A. Khan, M. Naeem, S. Bashir, S. I. Shah

Abstract:

In this paper we propose a Particle Swarm heuristic optimized Multi-Antenna (MA) system. Efficient MA systems detection is performed using a robust stochastic evolutionary computation algorithm based on movement and intelligence of swarms. This iterative particle swarm optimized (PSO) detector significantly reduces the computational complexity of conventional Maximum Likelihood (ML) detection technique. The simulation results achieved with this proposed MA-PSO detection algorithm show near optimal performance when compared with ML-MA receiver. The performance of proposed detector is convincingly better for higher order modulation schemes and large number of antennas where conventional ML detector becomes non-practical.

Keywords: Multi Antenna (MA), Multi-input Multi-output(MIMO), Particle Swarm Optimization (PSO), ML detection.

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1848 A Double PWM Source Inverter Technique with Reduced Leakage Current for Application on Standalone Systems

Authors: Md. Noman Habib Khan, S. Khan, T. S. Gunawan, R. I. Boby

Abstract:

The photovoltaic (PV) panel with no galvanic isolation system is well known technique in the world which is effective and delivers power with enhanced efficiency. The PV generation presented here is for stand-alone system installed in remote areas when as the resulting power gets connected to electronic load installation instead of being tied to the grid. Though very small, even then transformer-less topology is shown to be with leakage in pico-ampere range. By using PWM technique PWM, leakage current in different situations is shown. The results shown in this paper show how the pico-ampere current is reduced to femto-ampere through use of inductors and capacitors of suitable values of inductor and capacitors with the load.

Keywords: Photovoltaic (PV) panel, Duty cycle, Pulse Duration Modulation (PDM), Leakage current.

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1847 Fractional Order Feedback Control of a Ball and Beam System

Authors: Santosh Kr. Choudhary

Abstract:

In this paper, fractional order feedback control of a ball beam model is investigated. The ball beam model is a particular example of the double Integrator system having strongly nonlinear characteristics and unstable dynamics which make the control of such system a challenging task. Most of the work in fractional order control systems are in theoretical nature and controller design and its implementation in practice is very small. In this work, a successful attempt has been made to design a fractional order PIλDμcontroller for a benchmark laboratory ball and beam model. Better performance can be achieved using a fractional order PID controller and it is demonstrated through simulations results with a comparison to the classic PID controller.

Keywords: Fractional order calculus, fractional order controller, fractional order system, ball and beam system, PIλDμ controller, modelling, simulation.

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1846 Conversion of HVAC Lines into HVDC in Transmission Expansion Planning

Authors: Juan P. Novoa, Mario A. Rios

Abstract:

This paper presents a transmission planning methodology that considers the conversion of HVAC transmission lines to HVDC as an alternative of expansion of power systems, as a consequence of restrictions for the construction of new lines. The transmission expansion planning problem formulates an optimization problem that minimizes the total cost that includes the investment cost to convert lines from HVAC to HVDC and possible required reinforcements of the power system prior to the conversion. The costs analysis assesses the impact of the conversion on the reliability because transmission lines are out of service during the conversion work. The presented methodology is applied to a test system considering a planning a horizon of 10 years.

Keywords: Cost optimization, energy non supplied, HVAC, HVDC, transmission expansion planning.

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1845 Improvement of Bit-Error-Rate in Optical Fiber Receivers

Authors: Hadj Bourdoucen, Amer Alhabsi

Abstract:

In this paper, a post processing scheme is suggested for improvement of Bit Error-Rate (BER) in optical fiber transmission receivers. The developed scheme has been tested on optical fiber systems operating with a non-return-to-zero (NRZ) format at transmission rates of up to 10Gbps. The transmission system considered is based on well known transmitters and receivers blocks operating at wavelengths in the region of 1550 nm using a standard single mode fiber. Performance of improved detected signals has been evaluated via the analysis of quality factor and computed bit error rates. Numerical simulations have shown a noticeable improvement of the system BER after implementation of the suggested post processing operation on the detected electrical signals.

Keywords: BER improvement, Optical fiber, transmissionperformance, NRZ.

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1844 Conceptual Design of an Airfoil with Temperature-Responsive Polymer

Authors: Mohammed Niyasdeen Nejaamtheen

Abstract:

The accelerated growth in aircraft industries desire effectual schemes, programs, innovative designs of advanced systems and facilities to accomplish the augmenting need for home-free air transportation. In this paper, a contemporary conceptual design of a cambered airfoil has been proposed in order to providing augmented effective lift force relative to the airplane, and to eliminating drawbacks and limitations of an airfoil in a commercial airplane by using a kind of smart materials. This invention of an unsymmetrical airfoil structure utilizes the amplified air momentum around the airfoil and increased camber length to providing improved aircraft performance and assist to enhancing the reliability of the aircraft components. Moreover, this conjectured design helps to reducing airplane weight and total drag.

Keywords: Collector electrode, corona electrode, Temperatureresponsive polymer and ultra-faims microchip.

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1843 A Methodology for Creating a Conceptual Model Under Uncertainty

Authors: Bogdan Walek, Jiri Bartos, Cyril Klimes

Abstract:

This article deals with the conceptual modeling under uncertainty. First, the division of information systems with their definition will be described, focusing on those where the construction of a conceptual model is suitable for the design of future information system database. Furthermore, the disadvantages of the traditional approach in creating a conceptual model and database design will be analyzed. A comprehensive methodology for the creation of a conceptual model based on analysis of client requirements and the selection of a suitable domain model is proposed here. This article presents the expert system used for the construction of a conceptual model and is a suitable tool for database designers to create a conceptual model.

Keywords: Conceptual model, conceptual modeling, database, methodology, uncertainty, information system, entity, attribute, relationship, conceptual domain model, fuzzy.

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1842 Use Cases Analysis of Free Space Optical Communication System

Authors: K. Saab, F. Bart, Y.-M. Seveque

Abstract:

The deployment of Free Space Optical Communications (FSOC) systems requires the development of robust and reliable Optical Ground Stations (OGS) that can be easily installed and operated. To this end, the Engineering Department of Airbus Defence and Space is actively working on the development of innovative and compact OGS solutions that can be deployed in various environments and provide high-quality connectivity under different atmospheric conditions. This article presents an overview of our recent developments in this field, including an evaluation study of different use cases of the FSOC with respect to different atmospheric conditions. The goal is to provide OGS solutions that are both simple and highly effective, allowing for the deployment of high-speed communication networks in a wide range of scenarios.

Keywords: End-to-end optical communication, laser propagation, optical ground station, turbulence.

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1841 Sloshing Control in Tilting Phases of the Pouring Process

Authors: Maria P. Tzamtzi, Fotis N. Koumboulis

Abstract:

We propose a control design scheme that aims to prevent undesirable liquid outpouring and suppress sloshing during the forward and backward tilting phases of the pouring process, for the case of liquid containers carried by manipulators. The proposed scheme combines a partial inverse dynamics controller with a PID controller, tuned with the use of a “metaheuristic" search algorithm. The “metaheuristic" search algorithm tunes the PID controller based on simulation results of the plant-s linearization around the operating point corresponding to the critical tilting angle, where outpouring initiates. Liquid motion is modeled using the well-known pendulumtype model. However, the proposed controller does not require measurements of the liquid-s motion within the tank.

Keywords: Robotic systems, Controller design, Sloshingsuppression, Metaheuristic optimization.

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1840 Generation of Sets of Synthetic Classifiers for the Evaluation of Abstract-Level Combination Methods

Authors: N. Greco, S. Impedovo, R.Modugno, G. Pirlo

Abstract:

This paper presents a new technique for generating sets of synthetic classifiers to evaluate abstract-level combination methods. The sets differ in terms of both recognition rates of the individual classifiers and degree of similarity. For this purpose, each abstract-level classifier is considered as a random variable producing one class label as the output for an input pattern. From the initial set of classifiers, new slightly different sets are generated by applying specific operators, which are defined at the purpose. Finally, the sets of synthetic classifiers have been used to estimate the performance of combination methods for abstract-level classifiers. The experimental results demonstrate the effectiveness of the proposed approach.

Keywords: Abstract-level Classifier, Dempster-Shafer Rule, Multi-expert Systems, Similarity Index, System Evaluation

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1839 System Reduction Using Modified Pole Clustering and Modified Cauer Continued Fraction

Authors: Jay Singh, C. B. Vishwakarma, Kalyan Chatterjee

Abstract:

A mixed method by combining modified pole clustering technique and modified cauer continued fraction is proposed for reducing the order of the large-scale dynamic systems. The denominator polynomial of the reduced order model is obtained by using modified pole clustering technique while the coefficients of the numerator are obtained by modified cauer continued fraction. This method generated 'k' number of reduced order models for kth order reduction. The superiority of the proposed method has been elaborated through numerical example taken from the literature and compared with few existing order reduction methods.

Keywords: Modified Pole Clustering, Modified Cauer Continued Fraction, Order Reduction, Stability, Transfer Function.

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1838 Design of an Augmented Automatic Choosing Control with Constrained Input by Lyapunov Functions Using Gradient Optimization Automatic Choosing Functions

Authors: Toshinori Nawata

Abstract:

In this paper a nonlinear feedback control called augmented automatic choosing control (AACC) for a class of nonlinear systems with constrained input is presented. When designed the control, a constant term which arises from linearization of a given nonlinear system is treated as a coefficient of a stable zero dynamics. Parameters of the control are suboptimally selected by maximizing the stable region in the sense of Lyapunov with the aid of a genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.

Keywords: Augmented automatic choosing control, nonlinear control, genetic algorithm, zero dynamics.

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1837 Kalman Filter Design in Structural Identification with Unknown Excitation

Authors: Z. Masoumi, B. Moaveni

Abstract:

This article is about first step of structural health monitoring by identifying structural system in the presence of unknown input. In the structural system identification, identification of structural parameters such as stiffness and damping are considered. In this study, the Kalman filter (KF) design for structural systems with unknown excitation is expressed. External excitations, such as earthquakes, wind or any other forces are not measured or not available. The purpose of this filter is its strengths to estimate the state variables of the system in the presence of unknown input. Also least squares estimation (LSE) method with unknown input is studied. Estimates of parameters have been adopted. Finally, using two examples advantages and drawbacks of both methods are studied.

Keywords: Structural health monitoring, Kalman filter, Least square estimation, structural system identification.

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1836 Design of Open Framework Based Smart ESS Profile for PV-ESS and UPS-ESS

Authors: Young-Su Ryu, Won-Gi Jeon, Byoung-Chul Song, Jae-Hong Park, Ki-Won Kwon

Abstract:

In this paper, an open framework based smart energy storage system (ESS) profile for photovoltaic (PV)-ESS and uninterruptible power supply (UPS)-ESS is proposed and designed. An open framework based smart ESS is designed and developed for unifying the different interfaces among manufacturers. The smart ESS operates under the profile which provides the specifications of peripheral devices such as different interfaces and to the open framework. The profile requires well systemicity and expandability for addible peripheral devices. Especially, the smart ESS should provide the expansion with existing systems such as UPS and the linkage with new renewable energy technology such as PV. This paper proposes and designs an open framework based smart ESS profile for PV-ESS and UPS-ESS. The designed profile provides the existing smart ESS and also the expandability of additional peripheral devices on smart ESS such as PV and UPS.

Keywords: ESS, open framework, profile, PV, UPS.

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1835 Towards Development of Solution for Business Process-Oriented Data Analysis

Authors: M. Klimavicius

Abstract:

This paper proposes a modeling methodology for the development of data analysis solution. The Author introduce the approach to address data warehousing issues at the at enterprise level. The methodology covers the process of the requirements eliciting and analysis stage as well as initial design of data warehouse. The paper reviews extended business process model, which satisfy the needs of data warehouse development. The Author considers that the use of business process models is necessary, as it reflects both enterprise information systems and business functions, which are important for data analysis. The Described approach divides development into three steps with different detailed elaboration of models. The Described approach gives possibility to gather requirements and display them to business users in easy manner.

Keywords: Data warehouse, data analysis, business processmanagement.

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1834 An Alternative Method for Generating Almost Infinite Sequence of Gaussian Variables

Authors: Nyah C. Temaneh, F. A. Phiri, E. Ruhunga

Abstract:

Most of the well known methods for generating Gaussian variables require at least one standard uniform distributed value, for each Gaussian variable generated. The length of the random number generator therefore, limits the number of independent Gaussian distributed variables that can be generated meanwhile the statistical solution of complex systems requires a large number of random numbers for their statistical analysis. We propose an alternative simple method of generating almost infinite number of Gaussian distributed variables using a limited number of standard uniform distributed random numbers.

Keywords: Gaussian variable, statistical analysis, simulation ofCommunication Network, Random numbers.

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1833 Design of an Augmented Automatic Choosing Control by Lyapunov Functions Using Gradient Optimization Automatic Choosing Functions

Authors: Toshinori Nawata

Abstract:

In this paper we consider a nonlinear feedback control called augmented automatic choosing control (AACC) using the gradient optimization automatic choosing functions for nonlinear systems. Constant terms which arise from sectionwise linearization of a given nonlinear system are treated as coefficients of a stable zero dynamics. Parameters included in the control are suboptimally selected by expanding a stable region in the sense of Lyapunov with the aid of the genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.

Keywords: augmented automatic choosing control, nonlinear control, genetic algorithm, zero dynamics.

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1832 Digital Sites- Performative Views

Authors: Gavin Perin, Linda Matthews

Abstract:

Webcam systems now function as the new privileged vantage points from which to view the city. This transformation of CCTV technology from surveillance to promotional tool is significant because its'scopic regime' presents, back to the public, a new virtual 'site' that sits alongside its real-time counterpart. Significantly, thisraw 'image' data can, in fact,be co-optedand processed so as to disrupt their original purpose. This paper will demonstrate this disruptive capacity through an architectural project. It will reveal how the adaption the webcam image offers a technical springboard by which to initiate alternate urban form making decisions and subvert the disciplinary reliance on the 'flat' orthographic plan. In so doing, the paper will show how this 'digital material' exceeds the imagistic function of the image; shiftingit from being a vehicle of signification to a site of affect.

Keywords: Surveillance, virtual, scopic, additive

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1831 Fuzzy Expert System Design for Determining Wearing Properties of Nitrided and Non Nitrided Steel

Authors: Serafettin Ekinci, Kursat Zuhtuogullari

Abstract:

This paper proposes a Fuzzy Expert System design to determine the wearing properties of nitrided and non nitrided steel. The proposed Fuzzy Expert System approach helps the user and the manufacturer to forecast the wearing properties of nitrided and non nitrided steel under specified laboratory conditions. Surfaces of the engineering components are often nitrided for improving wear, corosion, fatigue specifications. A major property of nitriding process is reducing distortion and wearing of the metalic alloys. A Fuzzy Expert System was developed for determining the wearing and durability properties of nitrided and non nitrided steels that were tested under different loads and different sliding speeds in the laboratory conditions.

Keywords: Fuzzy Expert System Design, Rule Based Systems, Fatigue, Corrosion

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1830 Robust Human Rights Governance: Developing International Criteria

Authors: Helen P. Greatrex

Abstract:

Many states are now committed to implementing international human rights standards domestically. In terms of practical governance, how might effectiveness be measured? A facevalue answer can be found in domestic laws and institutions relating to human rights. However, this article provides two further tools to help states assess their status on the spectrum of robust to fragile human rights governance. The first recognises that each state has its own 'human rights history' and the ideal end stage is robust human rights governance, and the second is developing criteria to assess robustness. Although a New Zealand case study is used to illustrate these tools, the widespread adoption of human rights standards by many states inevitably means that the issues are relevant to other countries. This is even though there will always be varying degrees of similarity-difference in constitutional background and developed or emerging human rights systems.

Keywords: robust human rights governance, fragile states.

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1829 Novel Approach to Design of a Class-EJ Power Amplifier Using High Power Technology

Authors: F. Rahmani, F. Razaghian, A. R. Kashaninia

Abstract:

This article proposes a new method for application in communication circuit systems that increase efficiency, PAE, output power and gain in the circuit. The proposed method is based on a combination of switching class-E and class-J and has been termed class-EJ. This method was investigated using both theory and simulation to confirm ∼72% PAE and output power of >39dBm. The combination and design of the proposed power amplifier accrues gain of over 15dB in the 2.9 to 3.5GHz frequency bandwidth. This circuit was designed using MOSFET and high power transistors. The loadand source-pull method achieved the best input and output networks using lumped elements. The proposed technique was investigated for fundamental and second harmonics having desirable amplitudes for the output signal.

Keywords: Power Amplifier (PA), GaN HEMT, Class-J and Class-E, High Efficiency.

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1828 Application of Soft Computing Methods for Economic Dispatch in Power Systems

Authors: Jagabondhu Hazra, Avinash Sinha

Abstract:

Economic dispatch problem is an optimization problem where objective function is highly non linear, non-convex, non-differentiable and may have multiple local minima. Therefore, classical optimization methods may not converge or get trapped to any local minima. This paper presents a comparative study of four different evolutionary algorithms i.e. genetic algorithm, bacteria foraging optimization, ant colony optimization and particle swarm optimization for solving the economic dispatch problem. All the methods are tested on IEEE 30 bus test system. Simulation results are presented to show the comparative performance of these methods.

Keywords: Ant colony optimization, bacteria foraging optimization, economic dispatch, evolutionary algorithm, genetic algorithm, particle swarm optimization.

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1827 Do Cultural Differences in Successful ERP Implementations Exist?

Authors: Jaideep Motwani, Asli Yagmur Akbulut

Abstract:

Using a methodology grounded in business process change theory, we investigate the critical success factors that affect ERP implementation success in United States and India. Specifically, we examine the ERP implementation at two case study companies, one in each country. Our findings suggest that certain factors that affect the success of ERP implementations are not culturally bound, whereas some critical success factors depend on the national culture of the country in which the system is being implemented. We believe that the understanding of these critical success factors will deepen the understanding of ERP implementations and will help avoid implementation mistakes, thereby increasing the rate of success in culturally different contexts. Implications of the findings and future research directions for both academicians and practitioners are also discussed.

Keywords: Critical Success Factors, Culture, Enterprise Resource Planning Systems, India, United States

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1826 On the Continuous Service of Distributed e-Learning System

Authors: Kazunari Meguro, Shinichi Motomura, Takao Kawamura, Kazunori Sugahara

Abstract:

In this paper, backup and recovery technique for Peer to Peer applications, such as a distributed asynchronous Web-Based Training system that we have previously proposed. In order to improve the scalability and robustness of this system, all contents and function are realized on mobile agents. These agents are distributed to computers, and they can obtain using a Peer to Peer network that modified Content-Addressable Network. In the proposed system, although entire services do not become impossible even if some computers break down, the problem that contents disappear occurs with an agent-s disappearance. As a solution for this issue, backups of agents are distributed to computers. If a failure of a computer is detected, other computers will continue service using backups of the agents belonged to the computer.

Keywords: Distributed Multimedia Systems, e-Learning, P2P, Mobile Agent

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1825 Optimal Planning of Voltage Controlled Distributed Generators for Power Loss Reduction in Unbalanced Distribution Systems

Authors: Mahmoud M. Othman, Yasser G. Hegazy

Abstract:

This paper proposes a novel heuristic algorithm that aims to determine the best size and location of distributed generators in unbalanced distribution networks. The proposed heuristic algorithm can deal with the planning cases where power loss is to be optimized without violating the system practical constraints. The distributed generation units in the proposed algorithm is modeled as voltage controlled node with the flexibility to be converted to constant power factor node in case of reactive power limit violation. The proposed algorithm is implemented in MATLAB and tested on the IEEE 37 -node feeder. The results obtained show the effectiveness of the proposed algorithm.

Keywords: Distributed generation, heuristic approach, Optimization, planning.

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1824 A Stable Pose Estimation Method for the Biped Robot using Image Information

Authors: Sangbum Park, Youngjoon Han

Abstract:

This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.

Keywords: Biped robot, Zero moment point, Balance control, Kalman filter.

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