Search results for: Italian Guarantee Fund
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 289

Search results for: Italian Guarantee Fund

199 Effectiveness of Radon Remedial Action Implemented in a School on the Island of Ischia

Authors: F. Loffredo, M. Quarto, M. Pugliese, A. Mazzella, F. De Cicco, V. Roca

Abstract:

The aim of this study is to evaluate the efficacy of radon remedial action in a school on the Ischia island, South Italy, affected by indoor radon concentration higher than the value of 500 Bq/m3. This value is the limit imposed by the Italian legislation, to above which corrective actions in schools are necessary. Before the application of remedial action, indoor radon concentrations were measured in 9 rooms of the school. The measurements were performed with LR-115 passive alpha detectors (SSNTDs) and E-Perm. The remedial action was conducted in one of the office affected by high radon concentration using a Radonstop paint applied after the construction of a concrete slab under the floor. The effect of remedial action was the reduction of the concentration of radon of 41% and moreover it has demonstrated to be durable over time. The chosen method is cheap and easy to apply and it could be designed for various types of building. This method can be applied to new and existing buildings that show high dose values.

Keywords: E-Perm, LR 115 detectors, radon remediation, school.

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198 Forces Association-Based Active Contour

Authors: Aicha Baya Goumeidane, Nafaa. Nacereddine

Abstract:

A welded structure must be inspected to guarantee that the weld quality meets the design requirements to assure safety and reliability. However, X-ray image analyses and defect recognition with the computer vision techniques are very complex. Most difficulties lie in finding the small, irregular defects in poor contrast images which requires pre processing to image, extract, and classify features from strong background noise. This paper addresses the issue of designing methodology to extract defect from noisy background radiograph with image processing. Based on the use of actives contours this methodology seems to give good results

Keywords: Welding, Radiography, Computer vision, Active contour.

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197 Exponential State Estimation for Neural Networks with Leakage, Discrete and Distributed Delays

Authors: Liyuan Wang, Shouming Zhong

Abstract:

In this paper, the design problem of state estimator for neural networks with the mixed time-varying delays are investigated by constructing appropriate Lyapunov-Krasovskii functionals and using some effective mathematical techniques. In order to derive several conditions to guarantee the estimation error systems to be globally exponential stable, we transform the considered systems into the neural-type time-delay systems. Then with a set of linear inequalities(LMIs), we can obtain the stable criteria. Finally, three numerical examples are given to show the effectiveness and less conservatism of the proposed criterion.

Keywords: State estimator, Neural networks, Globally exponential stability.

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196 Delay-Dependent Stability Analysis for Neutral Type Neural Networks with Uncertain Parameters and Time-Varying Delay

Authors: Qingqing Wang, Shouming Zhong

Abstract:

In this paper, delay-dependent stability analysis for neutral type neural networks with uncertain paramters and time-varying delay is studied. By constructing new Lyapunov-Krasovskii functional and dividing the delay interval into multiple segments, a novel sufficient condition is established to guarantee the globally asymptotically stability of the considered system. Finally, a numerical example is provided to illustrate the usefulness of the proposed main results.

Keywords: Neutral type neural networks, Time-varying delay, Stability, Linear matrix inequality(LMI).

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195 Data Envelopment Analysis under Uncertainty and Risk

Authors: P. Beraldi, M. E. Bruni

Abstract:

Data Envelopment Analysis (DEA) is one of the most widely used technique for evaluating the relative efficiency of a set of homogeneous decision making units. Traditionally, it assumes that input and output variables are known in advance, ignoring the critical issue of data uncertainty. In this paper, we deal with the problem of efficiency evaluation under uncertain conditions by adopting the general framework of the stochastic programming. We assume that output parameters are represented by discretely distributed random variables and we propose two different models defined according to a neutral and risk-averse perspective. The models have been validated by considering a real case study concerning the evaluation of the technical efficiency of a sample of individual firms operating in the Italian leather manufacturing industry. Our findings show the validity of the proposed approach as ex-ante evaluation technique by providing the decision maker with useful insights depending on his risk aversion degree.

Keywords: DEA, Stochastic Programming, Ex-ante evaluation technique, Conditional Value at Risk.

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194 Quality-Controlled Compression Method using Wavelet Transform for Electrocardiogram Signals

Authors: Redha Benzid, Farid Marir, Nour-Eddine Bouguechal

Abstract:

This paper presents a new Quality-Controlled, wavelet based, compression method for electrocardiogram (ECG) signals. Initially, an ECG signal is decomposed using the wavelet transform. Then, the resulting coefficients are iteratively thresholded to guarantee that a predefined goal percent root mean square difference (GPRD) is matched within tolerable boundaries. The quantization strategy of extracted non-zero wavelet coefficients (NZWC), according to the combination of RLE, HUFFMAN and arithmetic encoding of the NZWC and a resulting look up table, allow the accomplishment of high compression ratios with good quality reconstructed signals.

Keywords: ECG compression, Non-uniform Max-Lloydquantizer, PRD, Quality-Controlled, Wavelet transform

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193 A New Scheduling Algorithm Based on Traffic Classification Using Imprecise Computation

Authors: Farzad Abtahi, Sahar Khanmohamadi, Bahram Sadeghi Bigham

Abstract:

Wireless channels are characterized by more serious bursty and location-dependent errors. Many packet scheduling algorithms have been proposed for wireless networks to guarantee fairness and delay bounds. However, most existing schemes do not consider the difference of traffic natures among packet flows. This will cause the delay-weight coupling problem. In particular, serious queuing delays may be incurred for real-time flows. In this paper, it is proposed a scheduling algorithm that takes traffic types of flows into consideration when scheduling packets and also it is provided scheduling flexibility by trading off video quality to meet the playback deadline.

Keywords: Data communication, Real-time, Scheduling, Video transport.

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192 Comparative Analysis of the Public Funding for Greek Universities: An Ordinal DEA/MCDM Approach

Authors: Yiannis Smirlis, Dimitris K. Despotis

Abstract:

This study performs a comparative analysis of the 21 Greek Universities in terms of their public funding, awarded for covering their operating expenditure. First it introduces a DEA/MCDM model that allocates the fund into four expenditure factors in the most favorable way for each university. Then, it presents a common, consensual assessment model to reallocate the amounts, remaining in the same level of total public budget. From the analysis it derives that a number of universities cannot justify the public funding in terms of their size and operational workload. For them, the sufficient reduction of their public funding amount is estimated as a future target. Due to the lack of precise data for a number of expenditure criteria, the analysis is based on a mixed crisp-ordinal data set.

Keywords: Data envelopment analysis, Greek universities, operating expenditures, ordinal data.

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191 Solution of First kind Fredholm Integral Equation by Sinc Function

Authors: Khosrow Maleknejad, Reza Mollapourasl, Parvin Torabi, Mahdiyeh Alizadeh,

Abstract:

Sinc-collocation scheme is one of the new techniques used in solving numerical problems involving integral equations. This method has been shown to be a powerful numerical tool for finding fast and accurate solutions. So, in this paper, some properties of the Sinc-collocation method required for our subsequent development are given and are utilized to reduce integral equation of the first kind to some algebraic equations. Then convergence with exponential rate is proved by a theorem to guarantee applicability of numerical technique. Finally, numerical examples are included to demonstrate the validity and applicability of the technique.

Keywords: Integral equation, Fredholm type, Collocation method, Sinc approximation.

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190 Auto-Parking System via Intelligent Computation Intelligence

Authors: Y. J. Huang, C. H. Chang

Abstract:

In this paper, an intelligent automatic parking control method is proposed. First, the dynamical equation of the rear parking control is derived. Then a fuzzy logic control is proposed to perform the parking planning process. Further, a rear neural network is proposed for the steering control. Through the simulations and experiments, the intelligent auto-parking mode controllers have been shown to achieve the demanded goals with satisfactory control performance and to guarantee the system robustness under parametric variations and external disturbances. To improve some shortcomings and limitations in conventional parking mode control and further to reduce consumption time and prime cost.

Keywords: Auto-parking system, Fuzzy control, Neural network, Robust

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189 Does Effective Social Policy Guarantee Happiness?

Authors: Yuriy V. Timofeyev, Galina V. Timofeyeva

Abstract:

In the paper it is questioned whether effective state social policy provides happiness and social progress. For this purpose selected correlations between Human Development Index (HDI), share of public social expenditures in GDP, the Happy Planet Index (HPI), GDP per capita, and Government Effectiveness are examined and the results are graphically presented. It is shown how a government can affect well-being and happiness in different countries of modern world. Also, it is tested the hypothesis about existence of a certain optimum of well-being and public social expenditures, which affect direction of social progress. It is concluded that efficient social policy and wealth are not the only factors determining human happiness.

Keywords: government effectiveness, happiness, social progress, state social policy

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188 Identification of States and Events for the Static and Dynamic Simulation of Single Electron Tunneling Circuits

Authors: Sharief F. Babiker, Abdelkareem Bedri, Rania Naeem

Abstract:

The implementation of single-electron tunneling (SET) simulators based on the master-equation (ME) formalism requires the efficient and accurate identification of an exhaustive list of active states and related tunnel events. Dynamic simulations also require the control of the emerging states and guarantee the safe elimination of decaying states. This paper describes algorithms for use in the stationary and dynamic control of the lists of active states and events. The paper presents results obtained using these algorithms with different SET structures.

Keywords: Active state, Coulomb blockade, Master Equation, Single electron devices

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187 A Collaborative Platform for Multilingual Ontology Development

Authors: Ahmed Tawfik, Fausto Giunchiglia, Vincenzo Maltese

Abstract:

Ontologies provide a common understanding of a specific domain of interest that can be communicated between people and used as background knowledge for automated reasoning in a wide range of applications. In this paper, we address the design of multilingual ontologies following well-defined knowledge engineering methodologies with the support of novel collaborative development approaches. In particular, we present a collaborative platform which allows ontologies to be developed incrementally in multiple languages. This is made possible via an appropriate mapping between language independent concepts and one lexicalization per language (or a lexical gap in case such lexicalization does not exist). The collaborative platform has been designed to support the development of the Universal Knowledge Core, a multilingual ontology currently in English, Italian, Chinese, Mongolian, Hindi and Bangladeshi. Its design follows a workflow-based development methodology that models resources as a set of collaborative objects and assigns customizable workflows to build and maintain each collaborative object in a community driven manner, with extensive support of modern web 2.0 social and collaborative features.

Keywords: Knowledge Diversity, Knowledge Representation, Ontology Development.

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186 Fenugreek in the Ecological Areas of Belarus and France

Authors: Elena Fauquet-Alekhine-Pavlovskaya, Irina M. Nesterova

Abstract:

On the territory of France fenugreek is spread since long on a line from the Gironde to the Italian border. In Belarus experimental cultivation has begun since 2004. Experiments with fenugreek variety Ovari 4 were conducted about time of sowing in order to study their growth, development, and evaluation of productivity in the North-east part of Belarus and Central part of France. Reaching full ripeness of seeds the plants of fenugreek in the Central part of France requires about 94-97 days. Average seeds yield of 2011-2012 is 1259 kg/ha. Plant height is about 36,8 cm. Plants were affected by aphid and in the high moist agro-climatic conditions by powdery mildew. In North-east part of Belarus plants need 86-93 days to full ripeness. Plants of fenugreek have steam about 59 cm. The average seeds yield of 2007-2009 was about 723 kg/ha. Plants were resistant to aphid and diseases.

Keywords: Fenugreek, time of sowing, variety, yield.

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185 The Existence and Uniqueness of Positive Solution for Nonlinear Fractional Differential Equation Boundary Value Problem

Authors: Chuanyun Gu, Shouming Zhong

Abstract:

In this paper, the existence and uniqueness of positive solutions for nonlinear fractional differential equation boundary value problem is concerned by a fixed point theorem of a sum operator. Our results can not only guarantee the existence and uniqueness of positive solution, but also be applied to construct an iterative scheme for approximating it. Finally, the example is given to illustrate the main result.

Keywords: Fractional differential equation, Boundary value problem, Positive solution, Existence and uniqueness, Fixed point theorem of a sum operator

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184 Accounting Policies in Polish and International Legal Regulations

Authors: Piotr Prewysz Kwinto, Grażyna Voss

Abstract:

Accounting policies are a set of solutions compliant with legal regulations that an entity selects and adopts, and which guarantee a proper quality of financial statements. Those solutions may differ depending on whether the entity adopts national or international accounting standards. The aim of this article is to present accounting principles (policies) in Polish and international legal regulations and their adoption in selected Polish companies listed on the Warsaw Stock Exchange. The research method adopted in this work is the analysis and evaluation of legal conditions in Polish companies.

Keywords: Accounting policies, International Financial Reporting Standards, Financial statement, Method of measuring.

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183 Fuzzy Clustering Analysis in Real Estate Companies in China

Authors: Jianfeng Li, Feng Jin, Xiaoyu Yang

Abstract:

This paper applies fuzzy clustering algorithm in classifying real estate companies in China according to some general financial indexes, such as income per share, share accumulation fund, net profit margins, weighted net assets yield and shareholders' equity. By constructing and normalizing initial partition matrix, getting fuzzy similar matrix with Minkowski metric and gaining the transitive closure, the dynamic fuzzy clustering analysis for real estate companies is shown clearly that different clustered result change gradually with the threshold reducing, and then, it-s shown there is the similar relationship with the prices of those companies in stock market. In this way, it-s great valuable in contrasting the real estate companies- financial condition in order to grasp some good chances of investment, and so on.

Keywords: Fuzzy clustering algorithm, data mining, real estate company, financial analysis.

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182 Innovative Methods of Improving Train Formation in Freight Transport

Authors: Jaroslav Masek, Juraj Camaj, Eva Nedeliakova

Abstract:

The paper is focused on the operational model for transport the single wagon consignments on railway network by using two different models of train formation. The paper gives an overview of possibilities of improving the quality of transport services. Paper deals with two models used in problematic of train formatting - time continuously and time discrete. By applying these models in practice, the transport company can guarantee a higher quality of service and expect increasing of transport performance. The models are also applicable into others transport networks. The models supplement a theoretical problem of train formation by new ways of looking to affecting the organization of wagon flows.

Keywords: Train formation, wagon flows, marshalling yard, railway technology.

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181 Links between Landscape Management and Environmental Risk Assessment: Considerations from the Italian Context

Authors: M. Balestrieri, C. Pusceddu

Abstract:

Issues relating to the destructive phenomena that can damage people and goods have returned to the centre of debate in Italy with the increase in catastrophic episodes in recent years in a country which is highly vulnerable to hydrological risk. Environmental factors and geological and geomorphological territorial characteristics play an important role in determining the level of vulnerability and the natural tendency to risk. However, a territory has also been subjected to the requirements of and transformations of society and this brings other relevant factors. The reasons for the increase in destructive phenomena are often to be found in the territorial development models adopted. Stewardship of the landscape and management of risk are related issues. This study aims to summarize the most relevant elements about this connection and at the same time to clarify the role of environmental risk assessment as a tool to aid in the sustainable management of landscape. Finally, the study reflects on how regional and urban planners deal with environmental risk and which aspects should be monitored in order to adopt responsible and useful interventions.

Keywords: Assessment, landscape, risk, planning.

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180 Enhanced QoS Mechanisms for IEEE 802.11e Wireless Networks

Authors: Ho-Ting Wu, Min-Hua Yang, Kai-Wei Ke, Lei Yan

Abstract:

The quality-of-service (QoS) support for wireless LANs has been a hot research topic during the past few years. In this paper, two QoS provisioning mechanisms are proposed for the employment in 802.11e EDCA MAC scheme. First, the proposed call admission control mechanism can not only guarantee the QoS for the higher priority existing connections but also provide the minimum reserved bandwidth for traffic flows with lower priority. In addition, the adaptive contention window adjustment mechanism can adjust the maximum and minimum contention window size dynamically according to the existing connection number of each AC. The collision probability as well as the packet delay will thus be reduced effectively. Performance results via simulations have revealed the enhanced QoS property achieved by employing these two mechanisms.

Keywords: 802.11e, admission control, contention window, EDCA

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179 A Multi-Phase Methodology for Investigating Localisation Policies within the GCC: The Hotel Industry in the KSA and the UAE

Authors: Areej Azhar, Peter Duncan, David Edgar

Abstract:

Due to a high unemployment rate among local people and a high reliance on expatriate workers, the governments in the Gulf Co-operation Council (GCC) countries have been implementing programmes of localisation (replacing foreign workers with GCC nationals). These programmes have been successful in the public sector but much less so in the private sector. However, there are now insufficient jobs for locals in the public sector and the onus to provide employment has fallen on the private sector. This paper is concerned with a study, which is a work in progress (certain elements are complete but not the whole study), investigating the effective implementation of localisation policies in four- and five-star hotels in the Kingdom of Saudi Arabia (KSA) and the United Arab Emirates (UAE). The purpose of the paper is to identify the research gap, and to present the need for the research. Further, it will explain how this research was conducted. Studies of localisation in the GCC countries are under-represented in scholarly literature. Currently, the hotel sectors in KSA and UAE play an important part in the countries’ economies. However, the total proportion of Saudis working in the hotel sector in KSA is slightly under 8%, and in the UAE, the hotel sector remains highly reliant on expatriates. There is therefore a need for research on strategies to enhance the implementation of the localisation policies in general and in the hotel sector in particular. Further, despite the importance of the hotel sector to their economies, there remains a dearth of research into the implementation of localisation policies in this sector. Indeed, as far as the researchers are aware, there is no study examining localisation in the hotel sector in KSA, and few in the UAE. This represents a considerable research gap. Regarding how the research was carried out, a multiple case study strategy was used. The four- and five-star hotel sector in KSA is one of the cases, while the four- and five-star hotel sector in the UAE is the other case. Four- and five-star hotels in KSA and the UAE were chosen as these countries have the longest established localisation policies of all the GCC states and there are more hotels of these classifications in these countries than in any of the other Gulf countries. A literature review was carried out to underpin the research. The empirical data were gathered in three phases. In order to gain a pre-understanding of the issues pertaining to the research context, Phase I involved eight unstructured interviews with officials from the Saudi Commission for Tourism and Antiquities (three interviewees); the Saudi Human Resources Development Fund (one); the Abu Dhabi Tourism and Culture Authority (three); and the Abu Dhabi Development Fund (one).

In Phase II, a questionnaire was administered to 24 managers and 24 employees in four- and five-star hotels in each country to obtain their beliefs, attitudes, opinions, preferences and practices concerning localisation. Unstructured interviews were carried out in Phase III with six managers in each country in order to allow them to express opinions that may not have been explored in sufficient depth in the questionnaire. The interviews in Phases I and III were analysed using thematic analysis and SPSS will be used to analyse the questionnaire data. It is recommended that future research be undertaken on a larger scale, with a larger sample taken from all over KSA and the UAE rather than from only four cities (i.e., Riyadh and Jeddah in KSA and Abu Dhabi and Sharjah in the UAE), as was the case in this research.

Keywords: KSA, UAE, localisation, hotels, Human Resource Management.

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178 Discontinuous Feedback Linearization of an Electrically Driven Fast Robot Manipulator

Authors: A. Izadbakhsh, M. M. Fateh, M. A. Sadrnia

Abstract:

A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.

Keywords: Fast robot, feedback linearization, multivariabledigital control, PUMA560.

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177 Stability Verification for Bilateral Teleoperation System with Variable Time Delay

Authors: M. Sallam, A. Ramadan, M. Fanni, M. Abdellatif

Abstract:

Time delay in bilateral teleoperation system was introduced as a sufficient reason to make the system unstable or certainly degrade the system performance. In this paper, simulations and experimental results of implementing p-like control scheme, under different ranges of variable time delay, will be presented to verify a certain criteria, which guarantee the system stability and position tracking. The system consists of two Phantom premium 1.5A devices. One of them acts as a master and the other acts as a slave. The study includes deriving the Phantom kinematic and dynamic model, establishing the link between the two Phantoms over Simulink in Matlab, and verifying the stability criteria with simulations and real experiments.

Keywords: bilateral teleoperation, Phantom premium 1.5, varying time delay

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176 Is China Replacing US in the International Monetary System?

Authors: Shahzadah Fahad Qureshi, Jianqing Zhang

Abstract:

The wisest economic decision of United States in the 20th century was establishing the favorable international monetary system, and capturing the leadership position in it. This decision gave economic hegemony to the US for the next more than 7 decades. The continuation of this hegemony till the next decade seems difficult as the US economy is under continuous streams of recessions since 2007. On the other hand, Chinese economy is progressing with a very fast speed and is estimated to pass the US economy till 2025, in various aspects. Will the US be able to continue its leadership in the IMS? Will China replace US in the international monetary system? The answers to these questions have been explored by comparing the economic competitiveness of US and China, with respect to each other. The paper concludes that the change in global economic environment will compel US to share the leadership of international monetary system with China. This sharing will solve most problems of the current IMS, but will also birth some new problems.

Keywords: Economic competitiveness, Global economic environment (GEE), International monetary fund (IMF), International monetary system (IMS)

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175 Robust Control of a High-Speed Manipulator in State Space

Authors: M. M. Fateh, A. Izadbakhsh

Abstract:

A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed control approach can guarantee the stability and a satisfactory tracking performance. A two-link elbow manipulator driven by electrical actuators is simulated and results are shown to satisfy conditions under technical specifications.

Keywords: Computed torque, manipulator, robust control, state space.

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174 Bandwidth allocation in ATM Network for different QOS Requirements

Authors: H. El-Madbouly

Abstract:

For future Broad band ISDN, Asynchronous Transfer Mode (ATM) is designed not only to support a wide range of traffic classes with diverse flow characteristics, but also to guarantee the different quality of service QOS requirements. The QOS may be measured in terms of cell loss probability and maximum cell delay. In this paper, ATM networks in which the virtual path (VP) concept is implemented are considered. By applying the Markov Deterministic process method, an efficient algorithm to compute the minimum capacity required to satisfy the QOS requirements when multiple classes of on-off are multiplexed on to a single VP. Using the result, we then proposed a simple algorithm to determine different combinations of VP to achieve the optimum of the total capacity required for satisfying the individual QOS requirements (loss- delay).

Keywords: Bandwidth allocation, Quality of services, ATMNetwork, virtual path.

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173 Exponential Stability Analysis for Uncertain Neural Networks with Discrete and Distributed Time-Varying Delays

Authors: Miaomiao Yang, Shouming Zhong

Abstract:

This paper studies the problem of exponential stability analysis for uncertain neural networks with discrete and distributed time-varying delays. Together with a suitable augmented Lyapunov Krasovskii function, zero equalities, reciprocally convex approach and a novel sufficient condition to guarantee the exponential stability of the considered system. The several exponential stability criterion proposed in this paper is simpler and effective. Finally,numerical examples are provided to demonstrate the feasibility and effectiveness of our results.

Keywords: Exponential stability, Uncertain Neural networks, LMI approach, Lyapunov-Krasovskii function, Time-varying.

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172 Idiopathic Constipation can be Subdivided in Clinical Subtypes: Data Mining by Cluster Analysis on a Population based Study

Authors: Mauro Giacomini, Stefania Bertone, Carlo Mansi, Pietro Dulbecco, Vincenzo Savarino

Abstract:

The prevalence of non organic constipation differs from country to country and the reliability of the estimate rates is uncertain. Moreover, the clinical relevance of subdividing the heterogeneous functional constipation disorders into pre-defined subgroups is largely unknown.. Aim: to estimate the prevalence of constipation in a population-based sample and determine whether clinical subgroups can be identified. An age and gender stratified sample population from 5 Italian cities was evaluated using a previously validated questionnaire. Data mining by cluster analysis was used to determine constipation subgroups. Results: 1,500 complete interviews were obtained from 2,083 contacted households (72%). Self-reported constipation correlated poorly with symptombased constipation found in 496 subjects (33.1%). Cluster analysis identified four constipation subgroups which correlated to subgroups identified according to pre-defined symptom criteria. Significant differences in socio-demographics and lifestyle were observed among subgroups.

Keywords: Cluster analysis, constipation, data mining, statistical analysis.

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171 Matrix Valued Difference Equations with Spectral Singularities

Authors: Serifenur Cebesoy, Yelda Aygar, Elgiz Bairamov

Abstract:

In this study, we examine some spectral properties of non-selfadjoint matrix-valued difference equations consisting of a polynomial-type Jost solution. The aim of this study is to investigate the eigenvalues and spectral singularities of the difference operator L which is expressed by the above-mentioned difference equation. Firstly, thanks to the representation of polynomial type Jost solution of this equation, we obtain asymptotics and some analytical properties. Then, using the uniqueness theorems of analytic functions, we guarantee that the operator L has a finite number of eigenvalues and spectral singularities.

Keywords: Difference Equations, Jost Functions, Asymptotics, Eigenvalues, Continuous Spectrum, Spectral Singularities.

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170 A Model-Free Robust Control Approach for Robot Manipulator

Authors: A. Izadbakhsh, M. M. Fateh

Abstract:

A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.

Keywords: Model-free, robust control, position control, PUMA 560.

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