Search results for: Benjamin Stark

Authors: Mohammad Taghi Darvishi, Maliheh Najafi, Mohammad Najafi

Abstract:

By means of the idea of three-wave method, we obtain some analytic solutions for high nonlinear form of Benjamin-Bona- Mahony-Burgers (shortly BBMB) equations in its bilinear form.

Keywords: Benjamin-Bona-Mahony-Burgers equations, Hirota's bilinear form, three-wave method.

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Authors: M. Zarebnia, R. Parvaz

Abstract:

In this paper, numerical solutions of the nonlinear Benjamin-Bona-Mahony-Burgers (BBMB) equation are obtained by a method based on collocation of cubic B-splines. Applying the Von-Neumann stability analysis, the proposed method is shown to be unconditionally stable. The method is applied on some test examples, and the numerical results have been compared with the exact solutions. The L∞ and L2 in the solutions show the efficiency of the method computationally.

Keywords: Benjamin-Bona-Mahony-Burgers equation, Cubic Bspline, Collocation method, Finite difference.

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Authors: Mohammad Samarah, Benjamin Stark, Jennifer Kindle, Langley Payton

Abstract:

Innovation is a key driver for companies, society, and economic growth. However, assessing and measuring innovation for individuals as well as organizations remains difficult. Our i5-Score presented in this study will help to overcome this difficulty and facilitate measuring the innovation potential. The score is based on a framework we call the 5Gs of innovation which defines specific innovation attributes. Those are 1) the drive for long-term goals 2) the audacity to generate new ideas, 3) the openness to share ideas with others, 4) the ability to grow, and 5) the ability to maintain high levels of optimism. To validate the i5-Score, we conducted a study at Florida Polytechnic University. The results show that the i5-Score is a good measure reflecting the innovative mindset of an individual or a group. Thus, the score can be utilized for evaluating, refining and enhancing innovation capabilities.

Keywords: Change management, innovation attributes, organizational development, STEM and venture creation.

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Authors: Ulrike Völlinger, Erik Lehmann, Rainer Stark

Abstract:

The intention of this paper is, to help the user of evolutionary algorithms to adapt them easier to their problem at hand. For a lot of problems in the technical field it is not necessary to reach an optimum solution, but to reach a good solution in time. In many cases the solution is undetermined or there doesn-t exist a method to determine the solution. For these cases an evolutionary algorithm can be useful. This paper intents to give the user rules of thumb with which it is easier to decide if the problem is suitable for an evolutionary algorithm and how to design them.

Keywords: Multi criteria optimization, Memetic algorithms

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Authors: Ya Lv, Benjamin Ong Wei Lin, Wanli Niu, Benjamin Seah Chin Tat

Abstract:

This article presents a methodology that improves reliability and cyclability of 2nd-life Li-ion battery system repurposed as energy storage system (ESS). Most of the 2nd-life retired battery systems in market have module/pack-level state of health (SOH) indicator, which is utilized for guiding appropriate depth of discharge (DOD) in the application of ESS. Due to the lack of cell-level SOH indication, the different degrading behaviors among various cells cannot be identified upon reaching retired status; in the end, considering end of life (EOL) loss and pack-level DOD, the repurposed ESS has to be oversized by > 1.5 times to complement the application requirement of reliability and cyclability. This proposed battery grading algorithm, using non-invasive methodology, is able to detect outlier cells based on historical voltage data and calculate cell-level historical maximum temperature data using semi-analytic methodology. In this way, the individual battery cell in the 2nd-life battery system can be graded in terms of SOH on basis of the historical voltage fluctuation and estimated historical maximum temperature variation. These grades will have corresponding DOD grades in the application of the repurposed ESS to enhance the system reliability and cyclability. In all, this introduced battery grading algorithm is non-invasive, compatible with all kinds of retired Li-ion battery systems which lack of cell-level SOH indication, as well as potentially being embedded into battery management software for preventive maintenance and real-time cyclability optimization.

Keywords: Battery grading algorithm, 2nd-life repurposing battery system, semi-analytic methodology, reliability and cyclability.

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Authors: James D. Clark, Bernard H. Stark

Abstract:

The paper presents a modelling methodology for small scale multi-source renewable energy systems. Using historical site-specific weather data, the relationships of cost, availability and energy form are visualised as a function of the sizing of photovoltaic arrays, wind turbines, and battery capacity. The specific dependency of each site on its own particular weather patterns show that unique solutions exist for each site. It is shown that in certain cases the capital component cost can be halved if the desired theoretical demand availability is reduced from 100% to 99%.

Keywords: Energy Analysis, Forecasting, Distributed powergeneration.

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Authors: M. Hanif, M. Salik

Abstract:

In the present research work we present the optical emission studies of the Indium (In) – Tin (Sn) plasma produced by the first (1064 nm) harmonic of an Nd: YAG nanosecond pulsed laser. The experimentally observed line profiles of neutral Indium (In I) and Tin (SnI) are used to extract the electron temperature (Te) using the Boltzmann plot method. Whereas, the electron number density (Ne) has been determined from the Stark broadening line profile method. The Te is calculated by varying the distance from the target surface along the line of propagation of plasma plume and also by varying the laser irradiance. Beside we have studied the variation of Ne as a function of laser irradiance as well as its variation with distance from the target surface.

Keywords: Indium – Tin plasma, laser ablation, optical emission spectroscopy, electron temperature, and electron number density.

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Authors: Benjamin Gorry, Andrew Ireland, Peter King

Abstract:

Verification of real-time software systems can be expensive in terms of time and resources. Testing is the main method of proving correctness but has been shown to be a long and time consuming process. Everyday engineers are usually unwilling to adopt formal approaches to correctness because of the overhead associated with developing their knowledge of such techniques. Performance modelling techniques allow systems to be evaluated with respect to timing constraints. This paper describes PARTES, a framework which guides the extraction of performance models from programs written in an annotated subset of C.

Keywords: Performance Modelling, Real-time, SensitivityAnalysis.

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Authors: Elisabeth Brandenburg, Robert Woll, Rainer Stark

Abstract:

This paper presents how smart glasses and voice commands can be used for improving the maintenance process of industrial gas turbines. It presents the process of inspecting a gas turbine’s combustion chamber and how it is currently performed using a set of paper-based documents. In order to improve this process, a portable hands-free process assistance system has been conceived. In the following, it will be presented how the approach of user-centered design and the method of paper prototyping have been successfully applied in order to design a user interface and a corresponding workflow model that describes the possible interaction patterns between the user and the interface. The presented evaluation of these results suggests that the assistance system could help the user by rendering multiple manual activities obsolete, thus allowing him to work hands-free and to save time for generating protocols.

Keywords: Paper prototyping, smart glasses, turbine maintenance, user centered design.

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Authors: Niklas Echterhoff, Benjamin Amshoff, Jürgen Gausemeier

Abstract:

Creativity is often based on an unorthodox recombination of knowledge; in fact: 80% of all innovations use given knowledge and put it into a new combination. Cross-industry innovations follow this way of thinking and bring together problems and solution ideas from different industries. Therefore analogies and search strategies have to be developed. Taking this path, the questions where to search, what to search and how to search have to be answered. Afterwards, the gathered information can be used within a planned search process. Identified solution ideas have to be assessed and analyzed in detail for the success promising adaption planning.

Keywords: analogy building, cross-industry innovations, knowledge transfer, solution adaption.

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Authors: D. Reich, R. Stark

Abstract:

To provide reliable and valid findings when evaluating innovative in-car devices in the automotive context highly realistic driving environments are recommended. Nowadays, in-car devices are mostly evaluated due to driving simulator studies followed by real car driving experiments. Driving simulators are characterized by high internal validity, but weak regarding ecological validity. Real car driving experiments are ecologically valid, but difficult to standardize, more time-robbing and costly. One economizing suggestion is to implement more immersive driving environments when applying driving simulator studies. This paper presents research comparing non-immersive standard PC conditions with mobile and highly immersive Oculus Rift conditions while performing the Lane Change Task (LCT). Subjective data with twenty participants show advantages regarding presence and immersion experience when performing the LCT with the Oculus Rift, but affect adversely cognitive workload and simulator sickness, compared to non-immersive PC condition.

Keywords: LCT, immersion, oculus rift, presence, situation awareness.

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Authors: Vasana M. Don, Eldad J. Avital, Fariborz Motallebi

Abstract:

Supersonic open and closed cavity flows are investigated experimentally and computationally. Free stream Mach number of two is set. Schlieren imaging is used to visualise the flow behaviour showing stark differences between open and closed. Computational Fluid Dynamics (CFD) is used to simulate open cavity of flow with aspect ratio of 4. A rear wall treatment is implemented in order to pursue a simple passive control approach. Good qualitative agreement is achieved between the experimental flow visualisation and the CFD in terms of the expansion-shock waves system. The cavity oscillations are shown to be dominated by the first and third Rossister modes combining to high fluctuations of non-linear nature above the cavity rear edge. A simple rear wall treatment in terms of a hole shows mixed effect on the flow oscillations, RMS contours, and time history density fluctuations are given and analysed.

Keywords: Supersonic, Schlieren, open-cavity, flow simulation, passive control.

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Authors: Benjamin Gorry

Abstract:

Safety Critical hard Real-Time Systems are ever present in the avionics industry. The Model Driven Architecture (MDA) offers different levels of model abstraction and generation. This paper discusses our concerns relating to model development and generation when using the MDA approach in the avionics industry. These concerns are based on our experience when looking into adopting the MDA as part of avionics systems development. We place emphasis on transformations between model types and discuss possible benefits of adopting an MDA approach as part of the software development life cycle.

Keywords: Model Driven Architecture, Real-Time AvionicsApplications.

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Authors: Earleen Jane Fuentes, Regeene Melarese Lim, Franklin Benjamin Tapia, Alexis Pantola

Abstract:

Mobile Ad-hoc Network (MANET) is an infrastructure-less network of mobile devices, also known as nodes. These nodes heavily rely on each other’s resources such as memory, computing power, and energy. Thus, some nodes may become selective in forwarding packets so as to conserve their resources. These nodes are called misleading nodes. Several reputation-based techniques (e.g. CORE, CONFIDANT, LARS, SORI, OCEAN) and acknowledgment-based techniques (e.g. TWOACK, S-TWOACK, EAACK) have been proposed to detect such nodes. These techniques do not appropriately punish misleading nodes. Hence, this paper addresses the limitations of these techniques using a system called MINDRA.

Keywords: Mobile ad-hoc network, selfish nodes, reputation-based techniques, acknowledgment-based techniques.

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Authors: Benjamin Kuester, Bjoern Eilert, Malte Stonis, Ludger Overmeyer

Abstract:

Increasing quality requirements make reliable and effective quality management indispensable. This includes the complaint handling in which the 8D method is widely used. The 8D report as a written documentation of the 8D method is one of the key quality documents as it internally secures the quality standards and acts as a communication medium to the customer. In practice, however, the 8D report is mostly faulty and of poor quality. There is no quality control of 8D reports today. This paper describes the use of natural language processing for the automated evaluation of 8D reports. Based on semantic analysis and text-mining algorithms the presented system is able to uncover content and formal quality deficiencies and thus increases the quality of the complaint processing in the long term.

Keywords: 8D report, complaint management, evaluation system, text-mining.

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Authors: Jeff D. Colwell, Benjamin W. Knox

Abstract:

While fire and explosion incidents are often observed by eyewitnesses, the weight that fire investigators should place on those observations in their investigations is a complex issue. There is no doubt that eyewitness statements can be an important component to an investigation, particularly when other evidence is sparse, as is often the case when damage to the scene is severe. However, it is well known that eyewitness statements can be incorrect for a variety of reasons, including deception. In this paper, we reviewed factors that can have an effect on the complex processes associated with the perception, retention, and retrieval of an event. We then review the accuracy of eyewitness statements from unique criminal and civil incidents, including fire and explosion incidents, in which the accuracy of the statements could be independently evaluated. Finally, the motives for deceptive eyewitness statements are described, along with techniques that fire and explosion investigators can employ, to increase the accuracy of the eyewitness statements that they solicit.

Keywords: Explosion, eyewitness, fire, reliability.

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Authors: Niklas Echterhoff, Benjamin Amshoff, Jürgen Gausemeier

Abstract:

Due to today-s fierce competition, companies have to be proactive creators of the future by effectively developing innovations. Especially radical innovations allow high profit margins – but they also entail high risks. One possibility to realize radical innovations and reduce the risk of failure is cross-industry innovation (CII). CII brings together problems and solution ideas from different industries. However, there is a lack of systematic ways towards CII. Bridging this gap, the present paper provides a systematic approach towards planned CII. Starting with the analysis of potentials, the definition of promising search strategies is crucial. Subsequently, identified solution ideas need to be assessed. For the most promising ones, the adaption process has to be systematically planned – regarding the risk affinity of a company. The introduced method is explained on a project from the furniture industry.

Keywords: Analogy building, cross-industry innovations, knowledge transfer, solution adaption.

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Authors: Carlos Ramirez, Carlos Concha, Benjamin Valdes

Abstract:

Emotions are related with learning processes and physiological signals can be used to detect them for the personalization of learning resources and to control the pace of instruction. A model of relevant emotions has been developed, where specific combinations of emotions and cognition processes are connected and integrated with the concept of 'flow', in order to improve learning. The cardiac pulse is a reliable signal that carries useful information about the subject-s emotional condition; it is detected using a classroom chair adapted with non invasive EMFi sensor and an acquisition system that generates a ballistocardiogram (BCG), the signal is processed by an algorithm to obtain characteristics that match a specific emotional condition. The complete chair system is presented in this work, along with a framework for the personalization of learning resources.

Keywords: Ballistocardiogram, emotions in learning, noninvasive sensors, personalization of learning resources.

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Authors: Benjamin Anderson-Sackaney, Amr Abdel-Dayem

Abstract:

This paper presents a comprehensive survey of recent source camera identification (SCI) systems. Then, the performance of various sensor pattern noise (SPN) estimators was experimentally assessed, under common photo response non-uniformity (PRNU) frameworks. The experiments used 1350 natural and 900 flat-field images, captured by 18 individual cameras. 12 different experiments, grouped into three sets, were conducted. The results were analyzed using the receiver operator characteristic (ROC) curves. The experimental results demonstrated that combining the basic SPN estimator with a wavelet-based filtering scheme provides promising results. However, the phase SPN estimator fits better with both patch-based (BM3D) and anisotropic diffusion (AD) filtering schemes.

Keywords: Sensor pattern noise, source camera identification, photo response non-uniformity, anisotropic diffusion, peak to correlation energy ratio.

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Authors: Benjamin Y. M. Kwan, Jennifer Y. Y. Kwan, Hon Keung Kwan

Abstract:

In the paper, the relative performances on spectral classification of short exon and intron sequences of the human and eleven model organisms is studied. In the simulations, all combinations of sixteen one-sequence numerical representations, four threshold values, and four window lengths are considered. Sequences of 150-base length are chosen and for each organism, a total of 16,000 sequences are used for training and testing. Results indicate that an appropriate combination of one-sequence numerical representation, threshold value, and window length is essential for arriving at top spectral classification results. For fixed-length sequences, the precisions on exon and intron classification obtained for different organisms are not the same because of their genomic differences. In general, precision increases as sequence length increases.

Keywords: Exons and introns classification, Human genome, Model organism genome, Spectral analysis

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Authors: Benjamin Y. M. Kwan, Hon Keung Kwan

Abstract:

Noise contamination in a magnetic resonance (MR) image could occur during acquisition, storage, and transmission in which effective filtering is required to avoid repeating the MR procedure. In this paper, an iterative asymmetrical triangle fuzzy filter with moving average center (ATMAVi filter) is used to reduce different levels of salt and pepper noise in a brain MR image. Besides visual inspection on filtered images, the mean squared error (MSE) is used as an objective measurement. When compared with the median filter, simulation results indicate that the ATMAVi filter is effective especially for filtering a higher level noise (such as noise density = 0.45) using a smaller window size (such as 3x3) when operated iteratively or using a larger window size (such as 5x5) when operated non-iteratively.

Keywords: Brain images, Fuzzy filters, Magnetic resonance imaging, Salt and pepper noise reduction.

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Authors: Benjamin Y. M. Kwan, Hon Keung Kwan

Abstract:

Early detection of lung cancer through chest radiography is a widely used method due to its relatively affordable cost. In this paper, an approach to improve lung nodule visualization on chest radiographs is presented. The approach makes use of linear phase high-frequency emphasis filter for digital filtering and histogram equalization for contrast enhancement to achieve improvements. Results obtained indicate that a filtered image can reveal sharper edges and provide more details. Also, contrast enhancement offers a way to further enhance the global (or local) visualization by equalizing the histogram of the pixel values within the whole image (or a region of interest). The work aims to improve lung nodule visualization of chest radiographs to aid detection of lung cancer which is currently the leading cause of cancer deaths worldwide.

Keywords: Chest radiographs, Contrast enhancement, Digital filtering, Lung nodule detection

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Authors: Victoria A. Okwoche, Benjamin C. Asogwa

Abstract:

This paper analysed the food security situation among Nigerian rural farmers. Data collected on 202 rural farmers from Benue State were analysed using descriptive and inferential statistics. The study revealed that majority of the respondents (60.83%) had medium dietary diversity. Furthermore, household daily calorie requirement for the food secure households was 10,723 and the household daily calorie consumption was 12,598, with a surplus index of 0.04. The food security index was 1.16. The Household daily per capita calorie consumption was 3,221.2. For the food insecure households, the household daily calorie requirement was 20,213 and the household daily calorie consumption was 17,393. The shortfall index was 0.14. The food security index was 0.88. The Household daily per capita calorie consumption was 2,432.8. The most commonly used coping strategies during food stress included intercropping (99.2%), reliance on less preferred food (98.1%), limiting portion size at meal times (85.8%) and crop diversification (70.8%).

Keywords: Analysis, food security, rural areas, farmers, Nigeria.

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Authors: Khamael M. Abualnaja, Lidija Šiller, Benjamin R. Horrocks

Abstract:

Metal-enhanced Luminescence of silicon nanocrystals (SiNCs) was determined using two different particle sizes of silver nanoparticles (AgNPs). SiNCs have been characterized by scanning electron microscopy (SEM), high resolution transmission electron microscopy (HRTEM), Fourier transform infrared spectroscopy (FTIR) and X-ray photoelectron spectroscopy (XPS). It is found that the SiNCs are crystalline with an average diameter of 65 nm and FCC lattice. AgNPs were synthesized using photochemical reduction of AgNO3 with sodium dodecyl sulphate (SDS). The enhanced luminescence of SiNCs by AgNPs was evaluated by confocal Raman microspectroscopy. Enhancement up to x9 and x3 times were observed for SiNCs that mixed with AgNPs which have an average particle size of 100 nm and 30 nm, respectively. Silver NPs-enhanced luminescence of SiNCs occurs as a result of the coupling between the excitation laser light and the plasmon bands of AgNPs; thus this intense field at AgNPs surface couples strongly to SiNCs.

Keywords: Luminescence, Silicon Nanocrystals, Silver Nanoparticles, Surface Enhanced Raman Spectroscopy (SERS).

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Authors: Benjamin Panreck, Manfred Hild

Abstract:

Strain sensors based on a change in resistance are well established for the measurement of forces, stresses, or material fatigue. Within the scope of this paper, fully additive manufactured strain sensors were produced using an ink of silver nanoparticles. Their behavior was evaluated by periodic tensile tests. Printed strain sensors exhibit two advantages: Their measuring grid is adaptable to the use case and they do not need a carrier-foil, as the measuring structure can be printed directly onto a thin sprayed varnish layer on the aluminum specimen. In order to compare quality characteristics, the sensors have been manufactured using two different technologies, namely aerosoljet-printing and micropipette-dispensing. Both processes produce structures which exhibit continuous features (in contrast to what can be achieved with droplets during inkjet printing). Briefly summarized the results show that aerosoljet-printing is the preferable technology for specimen with non-planar surfaces whereas both technologies are suitable for flat specimen.

Keywords: Aerosoljet-printing, micropipette-dispensing, printed electronics, printed sensors, strain gauge.

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Authors: Benjamin D. Leiby, Darryl K. Ahner

Abstract:

This study demonstrates an alternative stochastic imputation approach for large datasets when preferred commercial packages struggle to iterate due to numerical problems. A large country conflict dataset motivates the search to impute missing values well over a common threshold of 20% missingness. The methodology capitalizes on correlation while using model residuals to provide the uncertainty in estimating unknown values. Examination of the methodology provides insight toward choosing linear or nonlinear modeling terms. Static tolerances common in most packages are replaced with tailorable tolerances that exploit residuals to fit each data element. The methodology evaluation includes observing computation time, model fit, and the comparison of known  values to replaced values created through imputation. Overall, the country conflict dataset illustrates promise with modeling first-order interactions, while presenting a need for further refinement that mimics predictive mean matching.

Keywords: Correlation, country conflict, imputation, stochastic regression.

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Authors: Michaela Wang

Abstract:

Since British established colonial settlements across the East Coast, Native Americans have suffered stark socio economic disparities in comparison to their neighboring communities. This paper employs the 1990, 2000, and 2010 United States Decennial Census to assess whether and to what extent the casino economy helped to close this socioeconomic gap between the Mohegan tribe and its surrounding community. These three Decennial Censuses cover two decades, from six years prior to the erection of Mohegan Sun casino to 14 years afterwards, including the Great Recession 2007-2009. Income, employment, education and housing parameters are selected as socio economic indicators. The profitable advent of the Mohegan Sun in 1996 dramatically improved the socio economic status of the Mohegan Tribe between 1990 and 2000. In fact, for most of these indicators––poverty, median household income, employment, home ownership, and car ownership––disparities shifted; tribal socioeconomic parameters improved from well below the level of New London County in 1990, to the same level or above the county rates in 2000. However, economic downturn in 2007-2009 Great Recession impacted Mohegan people remarkably. By 2010, disparities for household income, employment, home ownership, and car ownership returned. The casino bridged socio economic inequalities, but at the face of economic crises, the mono-product economy grew vulnerable.

Keywords: Indigenous tribe, socio economic inequalities, casino, native American.

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Authors: Pedro Padilha Gonçalves, Doris C. C. K. Kowaltowski, Benjamin Cleveland

Abstract:

Trends in education affect schooling, needing incorporation into design concepts to support desired learning processes with appropriate and stimulating environments. A design process for school architecture demands research, debates, reflections, and efficient decision-making methods. This paper presents research on evidence-based design, related to middle schools, based on a systematic literature review and the elaboration of a set of architectural design patterns, through a graphic translation of new concepts for classroom configurations, to support programming debates and the synthesis phase of design. The investigation resulted in nine patterns that configure the concepts of boundaries, flexibility, levels of openness, mindsets, neighborhoods, movement and interaction, territories, opportunities for learning, and sightlines for classrooms. The research is part of a continuous investigation of design methods, on contemporary school architecture to produce an architectural pattern matrix based on scientific information translated into an insightful graphic design language.

Keywords: School architecture, design process, design patterns, evidence-based design.

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Authors: Khamael M. Abualnaja, Lidija Šiller, Benjamin R. Horrocks

Abstract:

Alkylated silicon nanocrystals (C11-SiNCs) were prepared successfully by galvanostatic etching of p-Si(100) wafers followed by a thermal hydrosilation reaction of 1-undecene in refluxing toluene in order to extract C11-SiNCs from porous silicon. Erbium trichloride was added to alkylated SiNCs using a simple mixing chemical route. To the best of our knowledge, this is the first investigation on mixing SiNCs with erbium ions (III) by this chemical method. The chemical characterization of C11-SiNCs and their mixtures with Er3+(Er/C11-SiNCs) were carried out using X-ray photoemission spectroscopy (XPS). The optical properties of C11- SiNCs and their mixtures with Er3+ were investigated using Raman spectroscopy and photoluminescence (PL). The erbium mixed alkylated SiNCs shows an orange PL emission peak at around 595 nm that originates from radiative recombination of Si. Er/C11-SiNCs mixture also exhibits a weak PL emission peak at 1536 nm that originates from the intra-4f transition in erbium ions (Er3+). The PL peak of Si in Er/C11-SiNCs mixture is increased in the intensity up to three times as compared to pure C11-SiNCs. The collected data suggest that this chemical mixing route leads instead to a transfer of energy from erbium ions to alkylated SiNCs.

Keywords: Photoluminescence, Silicon Nanocrystals, Erbium, Raman Spectroscopy.

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Authors: Benjamin Gorry, Zezhi Chen, Kevin Hammond, Andy Wallace, Greg Michaelson

Abstract:

This paper describes new computer vision algorithms that have been developed to track moving objects as part of a long-term study into the design of (semi-)autonomous vehicles. We present the results of a study to exploit variable kernels for tracking in video sequences. The basis of our work is the mean shift object-tracking algorithm; for a moving target, it is usual to define a rectangular target window in an initial frame, and then process the data within that window to separate the tracked object from the background by the mean shift segmentation algorithm. Rather than use the standard, Epanechnikov kernel, we have used a kernel weighted by the Chamfer distance transform to improve the accuracy of target representation and localization, minimising the distance between the two distributions in RGB color space using the Bhattacharyya coefficient. Experimental results show the improved tracking capability and versatility of the algorithm in comparison with results using the standard kernel. These algorithms are incorporated as part of a robot test-bed architecture which has been used to demonstrate their effectiveness.

Keywords: Hume, functional programming, autonomous vehicle, pioneer robot, vision.

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