Search results for: Anil Ranjitbhai Patel

Authors: Anil Ranjitbhai Patel, Clement John Shaji, Peter Liggesmeyer

Abstract:

Safety and security of Autonomous Vehicles (AVs) is a growing concern, first, due to the increased number of safety-critical functions taken over by automotive embedded systems; second, due to the increased exposure of the software-intensive systems to potential attackers; third, due to dynamic interaction in an uncertain and unknown environment at runtime which results in changed functional and non-functional properties of the system. Frequently occurring environmental uncertainties, random component failures, and compromise security of the AVs might result in hazardous events, sometimes even in an accident, if left undetected. Beyond these technical issues, we argue that the safety and security of AVs against accidental and deliberate faults are poorly understood and rarely implemented. One possible way to overcome this is through a well-known diversity approach. As an effective approach to increase safety and security, diversity has been widely used in the aviation, railway, and aerospace industries. Thus, paper proposes fault-tolerance by diversity model taking into consideration the mitigation of accidental and deliberate faults by application of structure and variant redundancy. The model can be used to design the AVs with various types of diversity in hardware and software-based multi-version system. The paper evaluates the presented approach by employing an example from adaptive cruise control, followed by discussing the case study with initial findings.

Keywords: Autonomous vehicles, diversity, fault-tolerance, adaptive cruise control, safety, security.

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Authors: Ankit R Patel, Ankit A Patel, Mahesh A Patel, Dhaval R Vyas

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Although lighting systems powered by Photovoltaic (PV) cells have existed for many years, they are not widely used, especially in lighting for buildings, due to their high initial cost and low conversion efficiency. One of the technical challenges facing PV powered lighting systems has been how to use dc power generated by the PV module to energize common light sources that are designed to operate efficiently under ac power. Usually, the efficiency of the dc light sources is very poor compared to ac light sources. Rapid developments in LED lighting systems have made this technology a potential candidate for PV powered lighting systems. This study analyzed the efficiency of each component of PV powered lighting systems to identify optimum system configurations for different applications.

Keywords: Energy Efficiency, LED, Modeling of systems, Photovoltaic.

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Authors: Mamta Patel, R. N. Patel

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Transmission and distribution lines are vital links between the generating unit and consumers. They are exposed to atmosphere, hence chances of occurrence of fault in transmission line is very high which has to be immediately taken care of in order to minimize damage caused by it. In this paper Discrete wavelet transform of voltage signals at the two ends of transmission lines have been analyzed. The transient energy of the detail information of level five is calculated for different fault conditions. It is observed that the variation of transient energy of healthy and faulted line can give important information which can be very useful in classifying and locating the fault.

Keywords: Wavelet, Discrete wavelet transform, Multiresolution analysis, Transient energy

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Authors: Imran Khan Pathan, Anil Bhandari, Peeyush K. Sharma, Rakesh K. Patel, Suresh Purohit

Abstract:

Floating tablets of Marichyadi Vati were developed with an aim to prolong its gastric residence time and increase the bioavailability of drug. Rapid gastrointestinal transit could result in incomplete drug release from the drug delivery system above the absorption zone leading to diminished efficacy of the administered dose. The tablets were prepared by wet granulation technique, using HPMC E50 LV act as Matrixing agent, Carbopol as floating enhancer, microcrystalline cellulose as binder, Sodium bi carbonate as effervescent agent with other excipients. The simplex lattice design was used for selection of variables for tablets formulation. Formulation was optimized on the basis of floating time and in vitro drug release. The results showed that the floating lag time for optimized formulation was found to be 61 second with about 97.32 % of total drug release within 3 hours. The vitro release profiles of drug from the formulation could be best expressed zero order with highest linearity r² = 0.9943. It was concluded that the gastroretentive drug delivery system can be developed for Marichyadi Vati containing Piperine to increase the residence time of the drug in the stomach and thereby increasing bioavailability.

Keywords: Piperine, Marichyadi Vati, Gastroretentive drug delivery, Floating tablet.

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Authors: S. Habte, K. Ouazzane, P. Patel, S. Patel

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The dynamic and highly competitive nature of the consumer electronics retail industry means that businesses in this industry are experiencing different decision making challenges in relation to pricing, inventory control, consumer satisfaction and product offerings. To overcome the challenges facing retailers and create opportunities, we propose a generic data warehousing solution which can be applied to a wide range of consumer electronics retailers with a minimum configuration. The solution includes a dimensional data model, a template SQL script, a high level architectural descriptions, ETL tool developed using C#, a set of APIs, and data access tools. It has been successfully applied by ASK Outlets Ltd UK resulting in improved productivity and enhanced sales growth.

Keywords: Consumer electronics retail, dimensional data model, data analysis, generic data warehousing, reporting.

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Authors: Nisarg A. Patel, Hiren B. Patel

Abstract:

Quantum cryptography is described as a point-to-point secure key generation technology that has emerged in recent times in providing absolute security. Researchers have started studying new innovative approaches to exploit the security of Quantum Key Distribution (QKD) for a large-scale communication system. A number of approaches and models for utilization of QKD for secure communication have been developed. The uncertainty principle in quantum mechanics created a new paradigm for QKD. One of the approaches for use of QKD involved network fashioned security. The main goal was point-to-point Quantum network that exploited QKD technology for end-to-end network security via high speed QKD. Other approaches and models equipped with QKD in network fashion are introduced in the literature as. A different approach that this paper deals with is using QKD in existing protocols, which are widely used on the Internet to enhance security with main objective of unconditional security. Our work is towards the analysis of the QKD in Mobile ad-hoc network (MANET).

Keywords: QKD, cryptography, quantum cryptography, network performance.

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Authors: Anil Bhandari, Imran Khan Pathan, Peeyush K. Sharma, Rakesh K. Patel, Suresh Purohit

Abstract:

The purpose of this study was to prepare time and pH dependent release tablets of Ayurvedic Churna formulation and evaluate their advantages as colon targeted drug delivery system. The Vidangadi Churna was selected for this study which contains Embelin and Gallic acid. Embelin is used in Helminthiasis as therapeutic agent. Embelin is insoluble in water and unstable in gastric environment so it was formulated in time and pH dependent tablets coated with combination of two polymers Eudragit L100 and ethyl cellulose. The 150mg of core tablet of dried extract and lactose were prepared by wet granulation method. The compression coating was used in the polymer concentration of 150mg for both the layer as upper and lower coating tablet was investigated. The results showed that no release was found in 0.1 N HCl and pH 6.8 phosphate buffers for initial 5 hours and about 98.97% of the drug was released in pH 7.4 phosphate buffer in total 17 Hours. The in vitro release profiles of drug from the formulation could be best expressed first order kinetics as highest linearity (r²= 0.9943). The results of the present study have demonstrated that the time and pH dependent tablets system is a promising vehicle for preventing rapid hydrolysis in gastric environment and improving oral bioavailability of Embelin and Gallic acid for treatment of Helminthiasis.

Keywords: Embelin, Gallic acid, Vidangadi Churna, Colon targeted drug delivery.

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Authors: Sannikumar Patel, Brian Nolan, Markus Hofmann, Philip Owende, Kunjan Patel

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Sentiment analysis and opinion mining have become emerging topics of research in recent years but most of the work is focused on data in the English language. A comprehensive research and analysis are essential which considers multiple languages, machine translation techniques, and different classifiers. This paper presents, a comparative analysis of different approaches for multilingual sentiment analysis. These approaches are divided into two parts: one using classification of text without language translation and second using the translation of testing data to a target language, such as English, before classification. The presented research and results are useful for understanding whether machine translation should be used for multilingual sentiment analysis or building language specific sentiment classification systems is a better approach. The effects of language translation techniques, features, and accuracy of various classifiers for multilingual sentiment analysis is also discussed in this study.

Keywords: Cross-language analysis, machine learning, machine translation, sentiment analysis.

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Authors: J. P. Makwana, A. K. Joshi, Rajesh N. Patel, Darshil Patel

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Recently, fluidized bed gasification becomes an attractive technology for power generation due to its higher efficiency. The main objective pursued in this work is to investigate the producer gas production potential from sized biomass (sawdust and pigeon pea) by applying the air gasification technique. The size of the biomass selected for the study was in the range of 0.40-0.84 mm. An experimental study was conducted using a fluidized bed gasifier with 210 mm diameter and 1600 mm height. During the experiments, the fuel properties and the effects of operating parameters such as gasification temperatures 700 to 900 °C, equivalence ratio 0.16 to 0.46 were studied. It was concluded that substantial amounts of producer gas (up to 1110 kcal/m3) could be produced utilizing biomass such as sawdust and pigeon pea by applying this fluidization technique. For both samples, the rise of temperature till 900 °C and equivalence ratio of 0.4 favored further gasification reactions and resulted into producer gas with calorific value 1110 kcal/m3.

Keywords: Sized biomass, fluidized bed gasifier, equivalence ratio, temperature profile, gas composition.

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Authors: Anil Kumar

Abstract:

Supersymmetric Quantum Mechanics is an interesting framework to analyze nonrelativistic quantal problems. Using these techniques, we construct a family of strictly isospectral Hulth´en potentials. Isospectral wave functions are generated and plotted for different values of the deformation parameter.

Keywords: Hulth´en potential, Isospectral Hamiltonian.

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Authors: Rakesh Prajapati, Purvik Patel, Hardik Patel

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Productivity and quality are two important aspects that have become great concerns in today’s competitive global market. Every production/manufacturing unit mainly focuses on these areas in relation to the process, as well as the product developed. The electrical discharge machining (EDM) process, even now it is an experience process, wherein the selected parameters are still often far from the maximum, and at the same time selecting optimization parameters is costly and time consuming. Material Removal Rate (MRR) during the process has been considered as a productivity estimate with the aim to maximize it, with an intention of minimizing surface roughness taken as most important output parameter. These two opposites in nature requirements have been simultaneously satisfied by selecting an optimal process environment (optimal parameter setting). Objective function is obtained by Regression Analysis and Analysis of Variance. Then objective function is optimized using Genetic Algorithm technique. The model is shown to be effective; MRR and Surface Roughness improved using optimized machining parameters.

Keywords: Material removal rate, TWR, OC, DOE, ANOVA, MINITAB.

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Authors: Riki H. Patel, Arpan Desai, Trushit Upadhyaya, Shobhit K. Patel

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The microstrip antennas area has seen some inventive work in recent years and is now one of the most dynamic fields of antenna theory. A novel and simple wideband monopole antenna is presented printed on a single dielectric substrate which is fed by a 50 ohm microstrip line having a low-profile antenna structure with two parallel s-shaped meandered line of same size. This antenna is fed by a coaxial feeding tube. In this research, S–form microstrip patch antenna is designed from measuring the prototypes of the proposed antenna one available bands with 10db return loss bandwidths of about GPS application (GPS L2 1490 MHz) and covering the 1400 to 1580 MHz frequency band at 1.5 GHz, the simulated results for main parameters such as return loss, impedance bandwidth, radiation patterns, and gains are also discussed herein. The modeling study shows that such antennas, in simplicity design and supply, can satisfy GPS application. Two parallel slots are incorporated to disturb the surface flow path, introducing local inductive effect. This antenna is fed by a coaxial feeding tube.

Keywords: Bandwidth, electrically small antenna, microstrip patch antenna, GPS.

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Authors: Varsha Shah, Patel Pritesh, Patel Sagar, PrasantaKundu, RanjanMaheshwari

Abstract:

Performance of vehicle depends on driving patterns and vehicle drive train configuration. Driving patterns depends on traffic condition, road condition and driver behavior. HEV design is carried out under certain constrain like vehicle operating range, acceleration, decelerations, maximum speed and road grades which are directly related to the driving patterns. Therefore the detailed study on HEV performance over a different drive cycle is required for selection and sizing of HEV components. A simple hardware is design to measured velocity v/s time profile of the vehicle by operating vehicle on Indian roads under real traffic conditions. To size the HEV components, a detailed dynamic model of the vehicle is developed considering the effect of inertia of rotating components like wheels, drive chain, engine and electric motor. Using vehicle model and different Indian drive cycles data, total tractive power demanded by vehicle and power supplied by individual components has been calculated.Using above information selection and estimation of component sizing for HEV is carried out so that HEV performs efficiently under hostile driving condition. Complete analysis is carried out in LABVIEW.

Keywords: BLDC motor, Driving cycle, LABVIEW Ultracapacitors, Vehicle Dynamics,

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Authors: Anil Kumar, C. Nagaraja Kumar

Abstract:

The position and momentum space information entropies of hydrogen atom are exactly evaluated. Using isospectral Hamiltonian approach, a family of isospectral potentials is constructed having same energy eigenvalues as that of the original potential. The information entropy content is obtained in position space as well as in momentum space. It is shown that the information entropy content in each level can be re-arranged as a function of deformation parameter.

Keywords: Information Entropy, BBM inequality, Isospectral Potential.

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Authors: Pathan Imran Khan, Bhandari Anil, Kumar Amit

Abstract:

The present investigation was aimed to develop methodology for the standardization of Marichyadi Vati and its raw materials. Standardization was carried using systematic Pharmacognostical and physicochemical parameters as per WHO guidelines. The detailed standardization of Marichyadi Vati, it is concluded that there are no major differences prevailed in the quality of marketed products and laboratory samples of Marichyadi Vati. However, market samples showed slightly better amount of Piperine than the laboratory sample by both methods. This is the first attempt to generate complete set of standards required for the Marichyadi Vati.

Keywords: Marichyadi Vati, Standardization, Piperine.

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Authors: Anil Kumar, K. Negrat, A. M. Negrat, Abdelsalam Almarimi

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In this paper, we present a robust and secure algorithm for watermarking, the watermark is first transformed into the frequency domain using the discrete wavelet transform (DWT). Then the entire DWT coefficient except the LL (Band) discarded, these coefficients are permuted and encrypted by specific mixing. The encrypted coefficients are inserted into the most significant spectral components of the stego-image using a chaotic system. This technique makes our watermark non-vulnerable to the attack (like compression, and geometric distortion) of an active intruder, or due to noise in the transmission link.

Keywords: Blind source separation (BSS), Chaotic system, Watermarking, DWT.

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Authors: Anil Kumar, S. Deswal

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The mathematical equation for Separation of the binary aqueous solution is developed by using the Spiegler- Kedem theory. The characteristics of a B-9 hollow fibre module of Du Pont are determined by using these equations and their results are compared with the experimental results of Ohya et al. The agreement between these results is found to be excellent.

Keywords: Binary aqueous solution, modeling, reverse osmosis module, Spiegler-Kedem theory.

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Authors: Divyesh Patel, Tanuja Srivastava

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This paper considers the NP-hard problem of reconstructing binary matrices satisfying exactly-1-4-adjacency constraint from its row and column projections. This problem is formulated into a maximization problem. The objective function gives a measure of adjacency constraint for the binary matrices. The maximization problem is solved by the simulated annealing algorithm and experimental results are presented.

Keywords: Discrete Tomography, exactly-1-4-adjacency, simulated annealing.

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Authors: Emmanuel U. Oleka, Anil Khanal, Ali R. Osareh, Gary L. Lebby

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Synchrophasor technology is fast being deployed in electric power grids all over the world and is fast changing the way the grids are managed. This trend is to continue until the entire power grids are fully connected so they can be monitored and controlled in real-time. Much achievement has been made in the synchrophasor technology development and deployment, and there are still much more to be achieved. For instance, real-time power grid control and protection potentials of synchrophasor are yet to be explored. It is of necessity that researchers keep in view the various challenges that still need to be overcome in expanding the frontiers of synchrophasor technology. This paper outlines the major challenges that should be dealt with in order to achieve the goal of total power grid visualization, monitoring, and control using synchrophasor technology.

Keywords: Electric power grid, Grid Visualization, Phasor Measurement Unit, Synchrophasor Technology.

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Authors: Amit Kumar, Ramendeep Grawal, Peeyush Sharma, Dinesh Puri, Anil Bhandari

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The main perspective of the present study aims at overcoming solubility problems by using the technique of solid dispersion. Repaglinide is a BCS Class II drug, having low aqueous solubility and therefore, low bioavailability. Solid dispersions of repaglinide with different carriers Polyvinyl Pyrrolidone (PVP) and Ethyl Cellulose (EC) in different ratios were prepared by suspending method and Dissolving methods. In vitro release studies revealed that the F7 formulation showed extended drug release. So, the dissolution profile of solid dispersion containing EC and PVP K30 (1: 3) was selected as the best formulation because of its extended drug release among all formulations. In conclusion, solid dispersions of Repaglinide in PVP have shown to be a promising approach to improve the bioavailability of Repaglinide.

Keywords: Ethyl Cellulose, Glibenclamide, Polyvinyl Pyrrolidone, Repaglinide, Solid Dispersion.

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Authors: K. A. Mistry, I. B. Patel, A. H. Prajapati

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In the present work, the alloy of Bismuth-lead is prepared on the basis of percentage of molecular weight 9:1, 5:5 and 1:9 ratios and grown by Zone- Refining Technique under a vacuum atmosphere. The EDAX of these samples are done and the results are reported. Micro hardness test has been used as an alternative test for measuring material’s tensile properties. The effect of temperature and load on the hardness of the grown alloy has been studied. Further the comparative studies of work hardening coefficients are reported.

Keywords: EDAX, hardening coefficient, Micro hardness, Bi-Pb alloy.

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Authors: Anil Kumar Tripathi, Ratneshwer

Abstract:

All the software engineering researches and best industry practices aim at providing software products with high degree of quality and functionality at low cost and less time. These requirements are addressed by the Component Based Software Engineering (CBSE) as well. CBSE, which deals with the software construction by components’ assembly, is a revolutionary extension of Software Engineering. CBSE must define and describe processes to assure timely completion of high quality software systems that are composed of a variety of pre built software components. Though these features provide distinct and visible benefits in software design and programming, they also raise some challenging problems. The aim of this work is to summarize the pertinent issues and considerations in CBSE to make an understanding in forms of concepts and observations that may lead to development of newer ways of dealing with the problems and challenges in CBSE.

Keywords: Software Component, Component Based Software Engineering, Software Process, Testing, Maintenance.

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Authors: V. Anil Kumar, Abhijit Mitra, S. R. Mahadeva Prasanna

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We analyze the effectivity of different pseudo noise (PN) and orthogonal sequences for encrypting speech signals in terms of perceptual intelligence. Speech signal can be viewed as sequence of correlated samples and each sample as sequence of bits. The residual intelligibility of the speech signal can be reduced by removing the correlation among the speech samples. PN sequences have random like properties that help in reducing the correlation among speech samples. The mean square aperiodic auto-correlation (MSAAC) and the mean square aperiodic cross-correlation (MSACC) measures are used to test the randomness of the PN sequences. Results of the investigation show the effectivity of large Kasami sequences for this purpose among many PN sequences.

Keywords: Speech encryption, pseudo-noise codes, maximallength, Gold, Barker, Kasami, Walsh-Hadamard, autocorrelation, crosscorrelation, figure of merit.

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Authors: Semih Demir, Anil Celebi

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Circuit switched networks widely used until the end of the 20^th century have been transformed into packages switched networks. Time Division Multiplexing over Internet Protocol (TDMoIP) is a system that enables Time Division Multiplexing (TDM) traffic to be carried over packet switched networks (PSN). In TDMoIP systems, devices that send TDM data to the PSN and receive it from the network must operate with the same clock frequency. In this study, it was aimed to implement clock synchronization process in Field Programmable Gate Array (FPGA) chips using time information attached to the packages received from PSN. The designed hardware is verified using the datasets obtained for the different carrier types and comparing the results with the software model. Field tests are also performed by using the real time TDMoIP system.

Keywords: Clock recovery on TDMoIP, FPGA, MATLAB reference model, clock synchronization.

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Authors: Anil Kumar Pandey

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Power plane noise is the most significant source of signal integrity (SI) issues in a high-speed digital design. In this paper, power integrity (PI) analysis of multiple power planes in a power delivery system of a 12-layer high-speed FPGA board is presented. All 10 power planes of HSD board are analyzed separately by using 3D Electromagnetic based PI solver, then the transient simulation is performed on combined PI data of all planes along with voltage regulator modules (VRMs) and 70 current drawing chips to get the board level power noise coupling on different high-speed signals. De-coupling capacitors are placed between power planes and ground to reduce power noise coupling with signals.

Keywords: Channel simulation, electromagnetic simulation, power-aware signal integrity analysis, power integrity, PIPro.

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Authors: Vasundara Patel K. S., Harsha N. Bhushan, Kiran G. Gadag, Nischal Prasad B. N., Mohmmed Haroon

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The most widely used semiconductor memory types are the Dynamic Random Access Memory (DRAM) and Static Random Access memory (SRAM). Competition among memory manufacturers drives the need to decrease power consumption and reduce the probability of read failure. A technology that is relatively new and has not been explored is the FinFET technology. In this paper, a single cell Schmitt Trigger Based Static RAM using FinFET technology is proposed and analyzed. The accuracy of the result is validated by means of HSPICE simulations with 32nm FinFET technology and the results are then compared with 6T SRAM using the same technology.

Keywords: Schmitt trigger based SRAM, FinFET, and Static Noise Margin.

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Authors: Rita Kumar, Alka Sharma, Purnima Dhall, Niha M. Kulshreshtha, Anil Kumar

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The efficient operation of any biological treatment process requires pre-treatment of incompatible pollutants such as acids, bases, oil, toxic substances, etc. which hamper the treatment of other major components which are otherwise degradable. The pre-treatment of alkaline waste-waters, generated from various industries like textile, paper & pulp, potato-processing industries, etc., having a pH of 10 or higher, is essential. The pre-treatment, i.e., neutralization of such alkaline waste-waters can be achieved by chemical as well as biological means. However, the biological pretreatment offers better package over the chemical means by being safe and economical. The biological pre-treatment can be accomplished by using a blend of microorganisms able to withstand such harsh alkaline conditions. In the present study, for the proper pre-treatment of alkaline waste-waters, a package of alkalophilic bacteria is formulated to neutralise the alkaline pH of the industrial waste-waters. The developed microbial package is cost-effective as well as environmental friendly.

Keywords: alkaline, alkalophilic bacteria, biological, pollutants, textile.

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Authors: Naveen Beri, S. Maheshwari, C. Sharma, Anil Kumar

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In this paper an attempt has been made to correlate the usefulness of electrodes made through powder metallurgy (PM) in comparison with conventional copper electrode during electric discharge machining. Experimental results are presented on electric discharge machining of AISI D2 steel in kerosene with copper tungsten (30% Cu and 70% W) tool electrode made through powder metallurgy (PM) technique and Cu electrode. An L18 (21 37) orthogonal array of Taguchi methodology was used to identify the effect of process input factors (viz. current, duty cycle and flushing pressure) on the output factors {viz. material removal rate (MRR) and surface roughness (SR)}. It was found that CuW electrode (made through PM) gives high surface finish where as the Cu electrode is better for higher material removal rate.

Keywords: Electrical discharge machining (EDM), Powder Metallurgy (PM), Taguchi method, Material Removal Rate (MRR), Surface Roughness (SR).

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Authors: Anil Kumar Pandey

Abstract:

A compact planar monopole antenna with dual-band operation suitable for wireless local area network (WLAN) application is presented in this paper. The antenna occupies an overall area of 18 ×12 mm². The antenna is fed by a coplanar waveguide (CPW) transmission line and it combines two folded strips, which radiates at 2.4 and 5.2 GHz. In the proposed antenna, by optimally selecting the antenna dimensions, dual-band resonant modes with a much wider impedance matching at the higher band can be produced. Prototypes of the obtained optimized design have been simulated using EM solver. The simulated results explore good dual-band operation with -10 dB impedance bandwidths of 50 MHz and 2400 MHz at bands of 2.4 and 5.2 GHz, respectively, which cover the 2.4/5.2/5.8 GHz WLAN operating bands. Good antenna performances such as radiation patterns and antenna gains over the operating bands have also been observed. The antenna with a compact size of 18×12×1.6 mm³ is designed on an FR4 substrate with a dielectric constant of 4.4.

Keywords: CPW fed antenna, dual-band, electromagnetic simulation, wireless local area network, WLAN.

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Authors: Nikhil Ramaswamy, S.N.Omkar, Kashyap.H.Nathwani, Anil.M.Vanjare

Abstract:

In this present work, the development of an avionics system for flight data collection of a Raptor 30 V2 is carried out. For the data acquisition both onground and onboard avionics systems are developed for testing of a small-scale Unmanned Aerial Vehicle (UAV) helicopter. The onboard avionics record the helicopter state outputs namely accelerations, angular rates and Euler angles, in real time, and the on ground avionics system record the inputs given to the radio controlled helicopter through a transmitter, in real time. The avionic systems are designed and developed taking into consideration low weight, small size, anti-vibration, low power consumption, and easy interfacing. To mitigate the medium frequency vibrations embedded on the UAV helicopter during flight, a damper is designed and its performance is evaluated. A number of flight tests are carried out and the data obtained is then analyzed for accuracy and repeatability and conclusions are inferred.

Keywords: Data collection, Flight Testing, Onground and Onboard Avionics, UAV helicopter

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