Search results for: soft language
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1113

Search results for: soft language

1113 Soft Connected Spaces and Soft Paracompact Spaces

Authors: Fucai Lin

Abstract:

Soft topological spaces are considered as mathematical tools for dealing with uncertainties, and a fuzzy topological space is a special case of the soft topological space. The purpose of this paper is to study soft topological spaces. We introduce some new concepts in soft topological spaces such as soft closed mapping, soft open mappings, soft connected spaces and soft paracompact spaces. We also redefine the concept of soft points such that it is reasonable in soft topological spaces. Moreover, some basic properties of these concepts are explored.

Keywords: soft sets, soft open mappings, soft closed mappings, soft connected spaces, soft paracompact spaces.

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1112 The Countabilities of Soft Topological Spaces

Authors: Weijian Rong

Abstract:

Soft topological spaces are considered as mathematical tools for dealing with uncertainties, and a fuzzy topological space is a special case of the soft topological space. The purpose of this paper is to study soft topological spaces. We introduce some new concepts in soft topological spaces such as soft first-countable spaces, soft second-countable spaces and soft separable spaces, and some basic properties of these concepts are explored.

Keywords: soft sets, soft first-countable spaces, soft second countable spaces, soft separable spaces, soft Lindelöf.

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1111 Application of a Systemic Soft Domain-Driven Design Framework

Authors: Mohammed Salahat, Steve Wade, Izhar Ul-Haq

Abstract:

This paper proposes a “soft systems" approach to domain-driven design of computer-based information systems. We propose a systemic framework combining techniques from Soft Systems Methodology (SSM), the Unified Modelling Language (UML), and an implementation pattern known as “Naked Objects". We have used this framework in action research projects that have involved the investigation and modelling of business processes using object-oriented domain models and the implementation of software systems based on those domain models. Within the proposed framework, Soft Systems Methodology (SSM) is used as a guiding methodology to explore the problem situation and to generate a ubiquitous language (soft language) which can be used as the basis for developing an object-oriented domain model. The domain model is further developed using techniques based on the UML and is implemented in software following the “Naked Objects" implementation pattern. We argue that there are advantages from combining and using techniques from different methodologies in this way. The proposed systemic framework is overviewed and justified as multimethodologyusing Mingers multimethodology ideas. This multimethodology approach is being evaluated through a series of action research projects based on real-world case studies. A Peer-Tutoring case study is presented here as a sample of the framework evaluation process

Keywords: SSM, UML, Domain-Driven Design, Soft Domain-Driven Design, Naked Objects, Soft Languag e.

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1110 An Application of Generalized Fuzzy Soft Sets in a Social Decision Making Problem

Authors: Nisha Singhal, Usha Chouhan

Abstract:

At present, application of the extension of soft set theory in decision making problems in day to day life is progressing rapidly. The concepts of fuzzy soft set and its properties have been evolved as an area of interest for the researchers. The generalization of the concepts recently got importance and a rapid growth in the research in this area witnessed its vital-ness. In this paper, an application of the concept of generalized fuzzy soft set to make decision in a social problem is presented. Further, this paper also highlights some of the key issues of the related areas.

Keywords: Soft set, Fuzzy Soft set, Generalized Fuzzy Soft set, Membership and Non-Membership Score.

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1109 Investigations on Some Operations of Soft Sets

Authors: Xun Ge, Songlin Yang

Abstract:

Soft set theory was initiated by Molodtsov in 1999. In the past years, this theory had been applied to many branches of mathematics, information science and computer science. In 2003, Maji et al. introduced some operations of soft sets and gave some operational rules. Recently, some of these operational rules are pointed out to be not true. Furthermore, Ali et al., in their paper, introduced and discussed some new operations of soft sets. In this paper, we further investigate these operational rules given by Maji et al. and Ali et al.. We obtain some sufficient-necessary conditions such that corresponding operational rules hold and give correct forms for some operational rules. These results will be help for us to use rightly operational rules of soft sets in research and application of soft set theory.

Keywords: Soft sets, union, intersection, complement.

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1108 Some Equalities Connected with Fuzzy Soft Matrices

Authors: D. R. Jain

Abstract:

The aim of this paper is to use matrix representation of Fuzzy soft sets for proving some equalities connected with Fuzzy soft sets based on set-operations.

Keywords: Equality, Fuzzy soft matrix, Fuzzy soft sets, operations.

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1107 Filteristic Soft Lattice Implication Algebras

Authors: Yi Liu, Yang Xu

Abstract:

Applying the idea of soft set theory to lattice implication algebras, the novel concept of (implicative) filteristic soft lattice implication algebras which related to (implicative) filter(for short, (IF-)F-soft lattice implication algebras) are introduced. Basic properties of (IF-)F-soft lattice implication algebras are derived. Two kinds of fuzzy filters (i.e.(2, 2 _qk)((2, 2 _ qk))-fuzzy (implicative) filter) of L are introduced, which are generalizations of fuzzy (implicative) filters. Some characterizations for a soft set to be a (IF-)F-soft lattice implication algebra are provided. Analogously, this idea can be used in other types of filteristic lattice implication algebras (such as fantastic (positive implicative) filteristic soft lattice implication algebras).

Keywords: Soft set, (implicative) filteristic lattice implication algebras, fuzzy (implicative) filters, ((2, 2 _qk)) (2, 2 _ qk)-fuzzy(implicative) filters.

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1106 A Soft Set based Group Decision Making Method with Criteria Weight

Authors: Samsiah Abdul Razak, Daud Mohamad

Abstract:

Molodstov-s soft sets theory was originally proposed as general mathematical tool for dealing with uncertainty problems. The matrix form has been introduced in soft set and some of its properties have been discussed. However, the formulation of soft matrix in group decision making problem only with equal importance weights of criteria, which does not show the true opinion of decision maker on each criteria. The aim of this paper is to propose a method for solving group decision making problem incorporating the importance of criteria by using soft matrices in a more objective manner. The weight of each criterion is calculated by using the Analytic Hierarchy Process (AHP) method. An example of house selection process is given to illustrate the effectiveness of the proposed method.

Keywords: Soft set, Soft Matrix, Soft max-min decision making (SMmDM), Analytic hierarchy process (AHP)

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1105 Domain Driven Design vs Soft Domain Driven Design Frameworks

Authors: Mohammed Salahat, Steve Wade

Abstract:

This paper presents and compares the SSDDD “Systematic Soft Domain Driven Design Framework” to DDD “Domain Driven Design Framework” as a soft system approach of information systems development. The framework use SSM as a guiding methodology within which we have embedded a sequence of design tasks based on the UML leading to the implementation of a software system using the Naked Objects framework. This framework has been used in action research projects that have involved the investigation and modelling of business processes using object-oriented domain models and the implementation of software systems based on those domain models. Within this framework, Soft Systems Methodology (SSM) is used as a guiding methodology to explore the problem situation and to develop the domain model using UML for the given business domain. The framework is proposed and evaluated in our previous works, a comparison between SSDDD and DDD is presented in this paper, to show how SSDDD improved DDD as an approach to modelling and implementing business domain perspectives for Information Systems Development. The comparison process, the results, and the improvements are presented in the following sections of this paper.

Keywords: SSM, UML, domain-driven design, soft domain-driven design, naked objects, soft language, information retrieval, multimethodology.

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1104 Business Domain Modelling Using an Integrated Framework

Authors: Mohammed Salahat, Steve Wade

Abstract:

This paper presents an application of a “Systematic Soft Domain Driven Design Framework” as a soft systems approach to domain-driven design of information systems development. The framework use SSM as a guiding methodology within which we have embedded a sequence of design tasks based on the UML leading to the implementation of a software system using the Naked Objects framework. This framework have been used in action research projects that have involved the investigation and modelling of business processes using object-oriented domain models and the implementation of software systems based on those domain models. Within this framework, Soft Systems Methodology (SSM) is used as a guiding methodology to explore the problem situation and to develop the domain model using UML for the given business domain. The framework is proposed and evaluated in our previous works, and a real case study “Information Retrieval System for academic research” is used, in this paper, to show further practice and evaluation of the framework in different business domain. We argue that there are advantages from combining and using techniques from different methodologies in this way for business domain modelling. The framework is overviewed and justified as multimethodology using Mingers multimethodology ideas.

Keywords: SSM, UML, domain-driven design, soft domaindriven design, naked objects, soft language, information retrieval, multimethodology.

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1103 On the Relationship between Language Output and Second Language Acquisition

Authors: Haiyan Wang

Abstract:

Many researchers have been discussing the importance of language input in second language acquisition. The author holds that the bigger problem lies in how to activate language learners' language knowledge and raise their language output consciousness and competence. Analyzing the importance of language output based on theory and reality, this paper mainly explores the essence of language output and its revelation for second language acquisition in order to make second language learners really raise their communicative competence.

Keywords: Language output, second language acquisition, communicative competence.

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1102 Creating a Space for Teaching Problem Solving Skills to Engineering Students through English Language Teaching

Authors: Mimi N. A. Mohamed

Abstract:

The complexity of teaching English in higher institutions by non-native speakers within a second/foreign language setting has created continuous discussions and research about teaching approaches and teaching practises, professional identities and challenges. In addition, there is a growing awareness that teaching English within discipline-specific contexts adds up to the existing complexity. This awareness leads to reassessments, discussions and suggestions on course design and content and teaching approaches and techniques. In meeting expectations teaching at a university specified in a particular discipline such as engineering, English language educators are not only required to teach students to be able to communicate in English effectively but also to teach soft skills such as problem solving skills. This paper is part of a research conducted to investigate how English language educators negotiate with the complexities of teaching problem solving skills through English language teaching at a technical university. This paper reports the way an English language educator identified himself and the way he approached his teaching in this institutional context.

Keywords: English Language Teaching, Teacher Agency, Problem Solving Skills, Professional Identities.

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1101 Entropy Measures on Neutrosophic Soft Sets and Its Application in Multi Attribute Decision Making

Authors: I. Arockiarani

Abstract:

The focus of the paper is to furnish the entropy measure for a neutrosophic set and neutrosophic soft set which is a measure of uncertainty and it permeates discourse and system. Various characterization of entropy measures are derived. Further we exemplify this concept by applying entropy in various real time decision making problems.

Keywords: Entropy measure, Hausdorff distance, neutrosophic set, soft set.

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1100 Numerical Investigation of Embankment Settlement Improved by Method of Preloading by Vertical Drains

Authors: Seyed Abolhasan Naeini, Saeideh Mohammadi

Abstract:

Time dependent settlement due to loading on soft saturated soils produces many problems such as high consolidation settlements and low consolidation rates. Also, long term consolidation settlement of soft soil underlying the embankment leads to unpredicted settlements and cracks on soil surface. Preloading method is an effective improvement method to solve this problem. Using vertical drains in preloading method is an effective method for improving soft soils. Applying deep soil mixing method on soft soils is another effective method for improving soft soils. There are little studies on using two methods of preloading and deep soil mixing simultaneously. In this paper, the concurrent effect of preloading with deep soil mixing by vertical drains is investigated through a finite element code, Plaxis2D. The influence of parameters such as deep soil mixing columns spacing, existence of vertical drains and distance between them, on settlement and stability factor of safety of embankment embedded on soft soil is investigated in this research.

Keywords: Preloading, soft soil, vertical drains, deep soil mixing, consolidation settlement.

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1099 Experimental Investigation on Excess Pore Water Pressure in Soft Soil-Foundations under Minor Shocks

Authors: Zhiying Zhang, Chongdu Cho, Qiang Pan, Xilin Lu

Abstract:

In this study, shaking table tests are performed to investigate the behavior of excess pore water pressure in different soft soil-foundations of soil-structure interaction (SSI) system. The variation of the behaviors under cycled minor shock is observed. Moreover, The generation and variation mechanism of excess pore water pressure under earthquake excitation in different soft soilfoundations are analyzed and discussed.

Keywords: Excess pore water pressure, shaking table tests, soft soil foundation, SSI system.

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1098 Single Event Transient Tolerance Analysis in 8051 Microprocessor Using Scan Chain

Authors: Jun Sung Go, Jong Kang Park, Jong Tae Kim

Abstract:

As semi-conductor manufacturing technology evolves; the single event transient problem becomes more significant issue. Single event transient has a critical impact on both combinational and sequential logic circuits, so it is important to evaluate the soft error tolerance of the circuits at the design stage. In this paper, we present a soft error detecting simulation using scan chain. The simulation model generates a single event transient randomly in the circuit, and detects the soft error during the execution of the test patterns. We verified this model by inserting a scan chain in an 8051 microprocessor using 65 nm CMOS technology. While the test patterns generated by ATPG program are passing through the scan chain, we insert a single event transient and detect the number of soft errors per sub-module. The experiments show that the soft error rates per cell area of the SFR module is 277% larger than other modules.

Keywords: Scan chain, single event transient, soft error, 8051 processor.

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1097 Main Elements of Soft Cost in Green Buildings

Authors: Nurul Zahirah M.A., N. Zainul Abidin

Abstract:

Green buildings have been commonly cited to be more expensive than conventional buildings. However, limited research has been conducted to clearly identify elements that contribute to this cost differential. The construction cost of buildings can be typically divided into “hard" costs and “soft" cost elements. Using a review analysis of existing literature, the study identified six main elements in green buildings that contribute to the general cost elements that are “soft" in nature. The six elements found are insurance, developer-s experience, design cost, certification, commissioning and energy modeling. Out of the six elements, most literatures have highlighted the increase in design cost for green design as compared to conventional design due to additional architectural and engineering costs, eco-charettes, extra design time, and the further need for a green consultant. The study concluded that these elements of soft cost contribute to the green premium or cost differential of green buildings.

Keywords: Green building, cost differential, soft cost, intangible cost.

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1096 A Soft Systems Methodology Perspective on Data Warehousing Education Improvement

Authors: R. Goede, E. Taylor

Abstract:

This paper demonstrates how the soft systems methodology can be used to improve the delivery of a module in data warehousing for fourth year information technology students. Graduates in information technology needs to have academic skills but also needs to have good practical skills to meet the skills requirements of the information technology industry. In developing and improving current data warehousing education modules one has to find a balance in meeting the expectations of various role players such as the students themselves, industry and academia. The soft systems methodology, developed by Peter Checkland, provides a methodology for facilitating problem understanding from different world views. In this paper it is demonstrated how the soft systems methodology can be used to plan the improvement of data warehousing education for fourth year information technology students.

Keywords: Data warehousing, education, soft systems methodology, stakeholders, systems thinking.

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1095 Analysis and Research of Two-Level Scheduling Profile for Open Real-Time System

Authors: Yongxian Jin, Jingzhou Huang

Abstract:

In an open real-time system environment, the coexistence of different kinds of real-time and non real-time applications makes the system scheduling mechanism face new requirements and challenges. One two-level scheduling scheme of the open real-time systems is introduced, and points out that hard and soft real-time applications are scheduled non-distinctively as the same type real-time applications, the Quality of Service (QoS) cannot be guaranteed. It has two flaws: The first, it can not differentiate scheduling priorities of hard and soft real-time applications, that is to say, it neglects characteristic differences between hard real-time applications and soft ones, so it does not suit a more complex real-time environment. The second, the worst case execution time of soft real-time applications cannot be predicted exactly, so it is not worth while to cost much spending in order to assure all soft real-time applications not to miss their deadlines, and doing that may cause resource wasting. In order to solve this problem, a novel two-level real-time scheduling mechanism (including scheduling profile and scheduling algorithm) which adds the process of dealing with soft real-time applications is proposed. Finally, we verify real-time scheduling mechanism from two aspects of theory and experiment. The results indicate that our scheduling mechanism can achieve the following objectives. (1) It can reflect the difference of priority when scheduling hard and soft real-time applications. (2) It can ensure schedulability of hard real-time applications, that is, their rate of missing deadline is 0. (3) The overall rate of missing deadline of soft real-time applications can be less than 1. (4) The deadline of a non-real-time application is not set, whereas the scheduling algorithm that server 0 S uses can avoid the “starvation" of jobs and increase QOS. By doing that, our scheduling mechanism is more compatible with different types of applications and it will be applied more widely.

Keywords: Hard real-time, two-level scheduling profile, open real-time system, non-distinctive schedule, soft real-time

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1094 Analysis and Design of a Novel Active Soft Switched Phase-Shifted Full Bridge Converter

Authors: Naga Brahmendra Yadav Gorla, Dr. Lakshmi Narasamma N

Abstract:

This paper proposes an active soft-switching circuit for bridge converters aiming to improve the power conversion efficiency. The proposed circuit achieves loss-less switching for both main and auxiliary switches without increasing the main switch current/voltage rating. A winding coupled to the primary of power transformer ensures ZCS for the auxiliary switches during their turn-off. A 350 W, 100 kHz phase shifted full bridge (PSFB) converter is built to validate the analysis and design. Theoretical loss calculations for proposed circuit is presented. The proposed circuit is compared with passive soft switched PSFB in terms of efficiency and loss in duty cycle.

Keywords: soft switching, passive soft switching, ZVS, ZCS, PSFB.

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1093 Study the Effect of Soft Errors on FlexRay-Based Automotive Systems

Authors: Yung-Yuan Chen, Kuen-Long Leu

Abstract:

FlexRay, as a communication protocol for automotive control systems, is developed to fulfill the increasing demand on the electronic control units for implementing systems with higher safety and more comfort. In this work, we study the impact of radiation-induced soft errors on FlexRay-based steer-by-wire system. We injected the soft errors into general purpose register set of FlexRay nodes to identify the most critical registers, the failure modes of the steer-by-wire system, and measure the probability distribution of failure modes when an error occurs in the register file.

Keywords: Soft errors, FlexRay, fault injection, steer-by-wirer

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1092 Enhancing Soft Skills through Peer Review Activity in a Technical Writing Class

Authors: Hairuzila Idrus, Zullina Hussain Shaari, Razol Mahari Mohd Ali

Abstract:

Peer review is an activity where students review their classmates- writing and then evaluate the content, development, unity and organization. Studies have shown that peer review activities benefit both the reviewer and the writer in developing their reading and writing skills. Furthermore, peer review activities may also enhance students- soft skills. This study was conducted to find out the benefits of peer review activity in a technical writing class based on engineering students- perceptions. The study also highlights how these benefits could improve the students- soft skills. A set of questionnaire was given to 200 undergraduate students of a technical writing course. The results of the study indicate that the activity could help improve their critical thinking skills, written and oral communication skills, as well as team work. This paper further discusses how the implications of these benefits could help enhance students- soft skills.

Keywords: Peer review, soft skills, technical writing.

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1091 Teacher Talk and Language Output

Authors: Haiyan Wang

Abstract:

As an important input and teaching media in foreign language teaching classes, teacher talk (TT) has a great effect on language output. This paper explores the problems related to teacher talk (TT) and language output in practical ELT (English Language Teaching) classroom and presents some suggestions for solving the problems which affect learner' effective language output.

Keywords: Second language acquisition, teacher talk, language output.

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1090 Soft Cost Elements That Affect Developers’ Decision to Build Green

Authors: Nurul Zahirah M.A., N. Zainul Abidin, Azlan Raofuddin Nuruddin

Abstract:

Despite all the hype about green building, many developers are still resistant to the idea of building green due to the common perception that green building construction is expensive. This contradicts with scholarly findings that identify only a marginal cost premium or none at all given that green design is considered during the design process and planning stage. Nevertheless, cost implications continue to become an issue when deciding to build green. The planning stage is of strategic importance as decisions made at this early stage would influence the project cost thereafter. Using analysis of existing literature, the paper identifies six elements of soft cost that are considered in the planning stage. The elements include consultants, green building consultant, certification, commissioning, market, and tax. Out of the six elements, commissioning represents the bulk of soft cost for buildings seeking green certification. The study concluded that, although hard cost may have a bigger impact on the project cost, but soft cost is the hidden cost which people tend to ignore. Poor consideration of soft cost during planning stage may lead to over-realistic expectations and ultimately, overlooked cost additions.

Keywords: Green building, cost element, soft cost, developer decision.

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1089 Models and Metamodels for Computer-Assisted Natural Language Grammar Learning

Authors: Evgeny Pyshkin, Maxim Mozgovoy, Vladislav Volkov

Abstract:

The paper follows a discourse on computer-assisted language learning. We examine problems of foreign language teaching and learning and introduce a metamodel that can be used to define learning models of language grammar structures in order to support teacher/student interaction. Special attention is paid to the concept of a virtual language lab. Our approach to language education assumes to encourage learners to experiment with a language and to learn by discovering patterns of grammatically correct structures created and managed by a language expert.

Keywords: Computer-assisted instruction, Language learning, Natural language grammar models, HCI.

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1088 Evaluation of Bearing Capacity of Vertically Loaded Strip Piled-Raft Embedded in Soft Clay

Authors: Seyed Abolhasan Naeini, Mohammad Hosseinzade

Abstract:

Settlement and bearing capacity of a piled raft are the two important issues for the foundations of structures built on coastal areas from the geotechnical engineering point of view. Strip piled raft as a load carrying system can reduce the possible extensive consolidation settlements and improve bearing capacity of structures in soft ground. The aim of this research was to evaluate the efficiency of strip piled raft embedded in soft clay. The efficiency of bearing capacity of strip piled raft foundation has been evaluated numerically in two cases; in the first case, the cap is placed directly on the ground surface and in the second, the cap is placed above the ground. Regarding to the fact that the geotechnical parameters of the soft clay are considered at low level, low bearing capacity is expected. The length, diameter and axe-to-axe distance of piles were the parameters which varied in this study to find out how they affected the bearing capacity. Results indicate that increasing the length and the diameter of the piles increase the bearing capacity.

Keywords: Soft clay, Strip piled raft, Bearing capacity, Settlement.

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1087 Some Mechanical Properties of Cement Stabilized Malaysian Soft Clay

Authors: Meei-Hoan Ho, Chee-Ming Chan

Abstract:

Soft clays are defined as cohesive soil whose water content is higher than its liquid limits. Thus, soil-cement mixing is adopted to improve the ground conditions by enhancing the strength and deformation characteristics of the soft clays. For the above mentioned reasons, a series of laboratory tests were carried out to study some fundamental mechanical properties of cement stabilized soft clay. The test specimens were prepared by varying the portion of ordinary Portland cement to the soft clay sample retrieved from the test site of RECESS (Research Centre for Soft Soil). Comparisons were made for both homogeneous and columnar system specimens by relating the effects of cement stabilized clay of for 0, 5 and 10 % cement and curing for 3, 28 and 56 days. The mechanical properties examined included one-dimensional compressibility and undrained shear strength. For the mechanical properties, both homogeneous and columnar system specimens were prepared to examine the effect of different cement contents and curing periods on the stabilized soil. The one-dimensional compressibility test was conducted using an oedometer, while a direct shear box was used for measuring the undrained shear strength. The higher the value of cement content, the greater is the enhancement of the yield stress and the decrease of compression index. The value of cement content in a specimen is a more active parameter than the curing period.

Keywords: Soft soil, Oedometer, Direct shear box, Cementstabilisedcolumn.

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1086 Multilayer Soft Tissue Continuum Model: Towards Realistic Simulation of Facial Expressions

Authors: A. Hung, K. Mithraratne, M. Sagar, P. Hunter

Abstract:

A biophysically based multilayer continuum model of the facial soft tissue composite has been developed for simulating wrinkle formation. The deformed state of the soft tissue block was determined by solving large deformation mechanics equations using the Galerkin finite element method. The proposed soft tissue model is composed of four layers with distinct mechanical properties. These include stratum corneum, epidermal-dermal layer (living epidermis and dermis), subcutaneous tissue and the underlying muscle. All the layers were treated as non-linear, isotropic Mooney Rivlin materials. Contraction of muscle fibres was approximated using a steady-state relationship between the fibre extension ratio, intracellular calcium concentration and active stress in the fibre direction. Several variations of the model parameters (stiffness and thickness of epidermal-dermal layer, thickness of subcutaneous tissue layer) have been considered.

Keywords: Bio-physically based, soft tissue mechanics, facialtissue composite, wrinkling.

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1085 Performance of Soft Handover Algorithm in Varied Propagation Environments

Authors: N. P. Singh, Brahmjit Singh

Abstract:

CDMA cellular networks support soft handover, which guarantees the continuity of wireless services and enhanced communication quality. Cellular networks support multimedia services under varied propagation environmental conditions. In this paper, we have shown the effect of characteristic parameters of the cellular environments on the soft handover performance. We consider path loss exponent, standard deviation of shadow fading and correlation coefficient of shadow fading as the characteristic parameters of the radio propagation environment. A very useful statistical measure for characterizing the performance of mobile radio system is the probability of outage. It is shown through numerical results that above parameters have decisive effect on the probability of outage and hence the overall performance of the soft handover algorithm.

Keywords: CDMA, Correlation coefficient, Path loss exponent, Probability of outage, Soft handover.

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1084 Movement Optimization of Robotic Arm Movement Using Soft Computing

Authors: V. K. Banga

Abstract:

Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.

Keywords: Artificial intelligence, kinematics, robotic arm, neural networks, fuzzy logic.

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