Search results for: Nor Aziati Abdul Hamid
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 420

Search results for: Nor Aziati Abdul Hamid

330 Dichotomous Logistic Regression with Leave-One-Out Validation

Authors: Sin Yin Teh, Abdul Rahman Othman, Michael Boon Chong Khoo

Abstract:

In this paper, the concepts of dichotomous logistic regression (DLR) with leave-one-out (L-O-O) were discussed. To illustrate this, the L-O-O was run to determine the importance of the simulation conditions for robust test of spread procedures with good Type I error rates. The resultant model was then evaluated. The discussions included 1) assessment of the accuracy of the model, and 2) parameter estimates. These were presented and illustrated by modeling the relationship between the dichotomous dependent variable (Type I error rates) with a set of independent variables (the simulation conditions). The base SAS software containing PROC LOGISTIC and DATA step functions can be making used to do the DLR analysis.

Keywords: Dichotomous logistic regression, leave-one-out, testof spread.

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329 Quantitative Evaluation of Frameworks for Web Applications

Authors: Thirumalai Selvi, N. V. Balasubramanian, P. Sheik Abdul Khader

Abstract:

An empirical study of web applications that use software frameworks is presented here. The analysis is based on two approaches. In the first, developers using such frameworks are required, based on their experience, to assign weights to parameters such as database connection. In the second approach, a performance testing tool, OpenSTA, is used to compute start time and other such measures. From such an analysis, it is concluded that open source software is superior to proprietary software. The motivation behind this research is to examine ways in which a quantitative assessment can be made of software in general and frameworks in particular. Concepts such as metrics and architectural styles are discussed along with previously published research.

Keywords: Metrics, Frameworks, Performance Testing, WebApplications, Open Source.

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328 Multiscale Blind Image Restoration with a New Method

Authors: Alireza Mallahzadeh, Hamid Dehghani, Iman Elyasi

Abstract:

A new method, based on the normal shrink and modified version of Katssagelous and Lay, is proposed for multiscale blind image restoration. The method deals with the noise and blur in the images. It is shown that the normal shrink gives the highest S/N (signal to noise ratio) for image denoising process. The multiscale blind image restoration is divided in two sections. The first part of this paper proposes normal shrink for image denoising and the second part of paper proposes modified version of katssagelous and Lay for blur estimation and the combination of both methods to reach a multiscale blind image restoration.

Keywords: Multiscale blind image restoration, image denoising, blur estimation.

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327 Quantitative Precipitation Forecast using MM5 and WRF models for Kelantan River Basin

Authors: Wardah, T., Kamil, A.A., Sahol Hamid, A.B., Maisarah, W.W.I

Abstract:

Quantitative precipitation forecast (QPF) from atmospheric model as input to hydrological model in an integrated hydro-meteorological flood forecasting system has been operational in many countries worldwide. High-resolution numerical weather prediction (NWP) models with grid cell sizes between 2 and 14 km have great potential in contributing towards reasonably accurate QPF. In this study the potential of two NWP models to forecast precipitation for a flood-prone area in a tropical region is examined. The precipitation forecasts produced from the Fifth Generation Penn State/NCAR Mesoscale (MM5) and Weather Research and Forecasting (WRF) models are statistically verified with the observed rain in Kelantan River Basin, Malaysia. The statistical verification indicates that the models have performed quite satisfactorily for low and moderate rainfall but not very satisfactory for heavy rainfall.

Keywords: MM5, Numerical weather prediction (NWP), quantitative precipitation forecast (QPF), WRF

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326 Persian Printed Numerals Classification Using Extended Moment Invariants

Authors: Hamid Reza Boveiri

Abstract:

Classification of Persian printed numeral characters has been considered and a proposed system has been introduced. In representation stage, for the first time in Persian optical character recognition, extended moment invariants has been utilized as characters image descriptor. In classification stage, four different classifiers namely minimum mean distance, nearest neighbor rule, multi layer perceptron, and fuzzy min-max neural network has been used, which first and second are traditional nonparametric statistical classifier. Third is a well-known neural network and forth is a kind of fuzzy neural network that is based on utilizing hyperbox fuzzy sets. Set of different experiments has been done and variety of results has been presented. The results showed that extended moment invariants are qualified as features to classify Persian printed numeral characters.

Keywords: Extended moment invariants, optical characterrecognition, Persian numerals classification.

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325 Development of a RAM Simulation Model for Acid Gas Removal System

Authors: Ainul Akmar Mokhtar, Masdi Muhammad, Hilmi Hussin, Mohd Amin Abdul Majid

Abstract:

A reliability, availability and maintainability (RAM) model has been built for acid gas removal plant for system analysis that will play an important role in any process modifications, if required, for achieving its optimum performance. Due to the complexity of the plant, the model was based on a Reliability Block Diagram (RBD) with a Monte Carlo simulation engine. The model has been validated against actual plant data as well as local expert opinions, resulting in an acceptable simulation model. The results from the model showed that the operation and maintenance can be further improved, resulting in reduction of the annual production loss.

Keywords: Acid gas removal plant, RAM model, Reliabilityblock diagram

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324 The Relationship between Learners-Motivation (Integrative and Instrumental) and English Proficiency among Iranian EFL Learners

Authors: Mahshid Ghanea, Hamid Reza Zeraat Pisheh, Mohammad Hassan Ghanea

Abstract:

The current study aims at investigating the relationship between the learners- integrative and instrumental motivation and English proficiency among Iranian EFL learners. The participants in this study consisted of 128 undergraduate university students including 64 males and 64 females, majoring in English as a foreign language, from Shiraz Azad University. Two research instruments were used to gather the needed data for this study: 1) Language Proficiency Test. 2) A scale on motivation which determines the type of the EFL learners- motivation. Correlatin coefficient and t-test were used to analyze the collected data and the main result was found as follows: There is a significant relationship between the integrative motivation and instrumental motivation with English proficiency among EFL learners of Shiraz Azad University.

Keywords: English proficiency, motivation

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323 Enhancement Approaches for Supporting Default Hierarchies Formation for Robot Behaviors

Authors: Saeed Mohammed Baneamoon, Rosalina Abdul Salam

Abstract:

Robotic system is an important area in artificial intelligence that aims at developing the performance techniques of the robot and making it more efficient and more effective in choosing its correct behavior. In this paper the distributed learning classifier system is used for designing a simulated control system for robot to perform complex behaviors. A set of enhanced approaches that support default hierarchies formation is suggested and compared with each other in order to make the simulated robot more effective in mapping the input to the correct output behavior.

Keywords: Learning Classifier System, Default Hierarchies, Robot Behaviors.

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322 Developing Intellectual Capital to Advance Innovation and Entrepreneurial Capacity and Sustain Knowledge Economy

Authors: Hamid Alalwany, Nabeel A. Koshak, Mohammad K. Ibrahim

Abstract:

Both knowledge economy and sustainable development are considered key dimensions in the policy action lines of many developed and developing countries. In this context, universities and other higher education institutes have a vital role in developing and sustaining wellbeing communities.

In this paper, the authors’ aim is to address the links between the concepts of innovation and entrepreneurial capacity and knowledge economy, and to utilize the approach of intellectual capital development in building a sustainable knowledge economy.

The paper will contribute to two discourses:

  1. Developing a common understanding of the intersection aspects between the three concepts: Knowledge economy, Innovation and entrepreneurial system, and sustainable development.
  2. Paving the road towards developing an integrated multidimensional framework for sustainable knowledge economy.

Keywords: Innovation and Entrepreneurial Capacity, Intellectual Capital Development, Sustainable Development, Sustainable Knowledge Economy.

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321 Investigation on the Feasibility of Composite Coil Spring for Automotive Applications

Authors: D. Abdul Budan, T.S. Manjunatha

Abstract:

This paper demonstrates the feasibility of replacing the metal coil spring with the composite coil spring. Three different types of springs were made using glass fiber, carbon fiber and combination of glass fiber and carbon fiber. The objective of the study is to reduce the weight of the spring. According to the experimental results the spring rate of the carbon fiber spring is 34% more than the glass fiber spring and 45% more than the glass fiber/carbon fiber spring. The weight of the carbon fiber spring is 18% less than the glass fiber spring, 15% less than the Glass fiber/carbon fiber spring and 80% less than the steel spring.

Keywords: Carbon fiber, Glass fiber, Helical composite spring, spring rate.

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320 On Chromaticity of Wheels

Authors: Zainab Yasir Al-Rekaby, Abdul Jalil M. Khalaf

Abstract:

Let the vertices of a graph such that every two adjacent vertices have different color is a very common problem in the graph theory. This is known as proper coloring of graphs. The possible number of different proper colorings on a graph with a given number of colors can be represented by a function called the chromatic polynomial. Two graphs G and H are said to be chromatically equivalent, if they share the same chromatic polynomial. A Graph G is chromatically unique, if G is isomorphic to H for any graph H such that G is chromatically equivalent to H. The study of chromatically equivalent and chromatically unique problems is called chromaticity. This paper shows that a wheel W12 is chromatically unique.

Keywords: Chromatic Polynomial, Chromatically Equivalent, Chromatically Unique, Wheel.

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319 A Review of Coverage and Routing for Wireless Sensor Networks

Authors: Hamid Barati, Ali Movaghar, Ali Barati, Arash Azizi Mazreah

Abstract:

The special constraints of sensor networks impose a number of technical challenges for employing them. In this review, we study the issues and existing protocols in three areas: coverage and routing. We present two types of coverage problems: to determine the minimum number of sensor nodes that need to perform active sensing in order to monitor a certain area; and to decide the quality of service that can be provided by a given sensor network. While most routing protocols in sensor networks are data-centric, there are other types of routing protocols as well, such as hierarchical, location-based, and QoS-aware. We describe and compare several protocols in each group. We present several multipath routing protocols and single-path with local repair routing protocols, which are proposed for recovering from sensor node crashes. We also discuss some transport layer schemes for reliable data transmission in lossy wireless channels.

Keywords: Sensor networks, Coverage, Routing, Robustness.

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318 Decision Making under Strict Uncertainty: Case Study in Sewer Network Planning

Authors: Zhen Wu, David Lupien St-Pierre, Georges Abdul-Nour

Abstract:

In decision making under strict uncertainty, decision makers have to choose a decision without any information about the states of nature. The classic criteria of Laplace, Wald, Savage, Hurwicz and Starr are introduced and compared in a case study of sewer network planning. Furthermore, results from different criteria are discussed and analyzed. Moreover, this paper discusses the idea that decision making under strict uncertainty (DMUSU) can be viewed as a two-player game and thus be solved by a solution concept in game theory: Nash equilibrium.

Keywords: Decision criteria, decision making, sewer network planning, strict uncertainty.

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317 Attentiveness of Building Commissioning in the Malaysian Construction Industry

Authors: Kho Mei Ye, Hamzah Abdul Rahman

Abstract:

This paper provides some thoughts about the lack of attentiveness of building commissioning in the construction industry and the lack of handling in project commissioning as an integral part of the project life-cycle. Many have perceived commissioning as the problem solving process of a project, rather than the start up of the equipment, or the handing over of the project to the client. Therefore, there is a lack of proper attention in the planning of commissioning as a vital part of the project life-cycle. This review paper aims to highlight the benefits of building commissioning and to propose the lacking of knowledge gap on building commissioning. Finally, this paper hopes to propose the shift of focus on this matter in future research.

Keywords: building, commissioning, construction, delay

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316 Face Recognition Using Morphological Shared-weight Neural Networks

Authors: Hossein Sahoolizadeh, Mahdi Rahimi, Hamid Dehghani

Abstract:

We introduce an algorithm based on the morphological shared-weight neural network. Being nonlinear and translation-invariant, the MSNN can be used to create better generalization during face recognition. Feature extraction is performed on grayscale images using hit-miss transforms that are independent of gray-level shifts. The output is then learned by interacting with the classification process. The feature extraction and classification networks are trained together, allowing the MSNN to simultaneously learn feature extraction and classification for a face. For evaluation, we test for robustness under variations in gray levels and noise while varying the network-s configuration to optimize recognition efficiency and processing time. Results show that the MSNN performs better for grayscale image pattern classification than ordinary neural networks.

Keywords: Face recognition, Neural Networks, Multi-layer Perceptron, masking.

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315 Performance Evaluation of Single-mode and Multimode Fiber in LAN Environment

Authors: Farah Diyana Abdul Rahman, Wajdi Al-Khateeb, Aisha Hassan Abdalla Hashim

Abstract:

Optical networks are high capacity networks that meet the rapidly growing demand for bandwidth in the terrestrial telecommunications industry. This paper studies and evaluates singlemode and multimode fiber transmission by varying the distance. It focuses on their performance in LAN environment. This is achieved by observing the pulse spreading and attenuation in optical spectrum and eye-diagram that are obtained using OptSim simulator. The behaviors of two modes with different distance of data transmission are studied, evaluated and compared.

Keywords: Attenuation, eye diagram, fiber transmissions, multimode fiber, pulse dispersion, OSNR, single-mode fiber.

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314 Study the Effect of Ultrasonic Irradiation and Surfactant/Fe ions Weight Ratio on Morphology and Particle Size of Magnetite Nanoparticles Synthesised by co-precipitation for Medical Application

Authors: S.Saloomeh Azimipour Meibod, Peyman Pourafshary, Hamid Reza Madaah Hosseini

Abstract:

A biocompatible ferrofluid have been prepared by coprecipitation of FeCl2.4H2O and FeCl3.6H2O under ultrasonic irradiation and with NaOH as alkaline agent. Cystein was also used as capping agent in the solution. Magnetic properties of the produced ferrofluid were then determined by VSM test and magnetite nanoparticles were characterized by XRD and TEM techniques. The effect of surfactant to Fe ion weight ratio was also studied during this project by using two different amount of Dextran. Results showed the presence of a biocompatible superparamagnetic ferrofluid including magnetite nanoparticles with particle size ranging under 20 nm. The increase in the surfactant content results in the narrowing of the size distribution and reduction of the particle size and more solution stability.

Keywords: Biocompatibility, Ferrofluid, Nanoparticle, Sizedistribution, Ultrasonic irradiation

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313 Study of Effective Moisture Diffusivity of Oak Acorn

Authors: Habibeh Nalbandi, Sadegh Seiiedlou, Hamid R. Ghasemzadeh, Naser Hamdami

Abstract:

The purpose of present work was to study the drying kinetics of whole acorn and its kernel at different drying air temperatures and their effective moisture diffusivity. The results indicated that the drying time of whole acorn was 442, 206 and 188 min at the air temperature of 65, 75 and 85ºC, respectively. At the same temperatures, the drying time of kernel was 131, 56 and 76min. The results showed that the effect of drying air temperature increasing on the drying time reduction could not be significant on acorn drying at all conditions. The effective moisture diffusivity of whole acorn and kernel increased with increasing air temperature from 65 to 75ºC. However more air temperature increasing, led to decreasing this property of acorn kernel. The critical temperature of acorn drying was about 75°C in which acorn kernel had the highest effective moisture diffusivity.

Keywords: Critical temperature, Drying kinetics, Moisture diffusivity, Oak acorn.

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312 Regression Test Selection Technique for Multi-Programming Language

Authors: Walid S. Abd El-hamid, Sherif S. El-Etriby, Mohiy M. Hadhoud

Abstract:

Regression testing is a maintenance activity applied to modified software to provide confidence that the changed parts are correct and that the unchanged parts have not been adversely affected by the modifications. Regression test selection techniques reduce the cost of regression testing, by selecting a subset of an existing test suite to use in retesting modified programs. This paper presents the first general regression-test-selection technique, which based on code and allows selecting test cases for any programs written in any programming language. Then it handles incomplete program. We also describe RTSDiff, a regression-test-selection system that implements the proposed technique. The results of the empirical studied that performed in four programming languages java, C#, Cµ and Visual basic show that the efficiency and effective in reducing the size of test suit.

Keywords: Regression testing, testing, test selection, softwareevolution, software maintenance.

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311 Persian Printed Numeral Characters Recognition Using Geometrical Central Moments and Fuzzy Min-Max Neural Network

Authors: Hamid Reza Boveiri

Abstract:

In this paper, a new proposed system for Persian printed numeral characters recognition with emphasis on representation and recognition stages is introduced. For the first time, in Persian optical character recognition, geometrical central moments as character image descriptor and fuzzy min-max neural network for Persian numeral character recognition has been used. Set of different experiments on binary images of regular, translated, rotated and scaled Persian numeral characters has been done and variety of results has been presented. The best result was 99.16% correct recognition demonstrating geometrical central moments and fuzzy min-max neural network are adequate for Persian printed numeral character recognition.

Keywords: Fuzzy min-max neural network, geometrical centralmoments, optical character recognition, Persian digits recognition, Persian printed numeral characters recognition.

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310 Experimental Investigation of the Effect of Hydrogen Manifold Injection on the Performance of Compression Ignition Engines

Authors: Haroun A.K. Shahad, Nabeel Abdul-Hadi

Abstract:

Experiments were carried out to evaluate the influence of the addition of hydrogen to the inlet air on the performance of a single cylinder direct injection diesel engine. Hydrogen was injected in the inlet manifold. The addition of hydrogen was done on energy replacement basis. It was found that the addition of hydrogen improves the combustion process due to superior combustion characteristics of hydrogen in comparison to conventional diesel fuels. It was also found that 10% energy replacement improves the engine thermal efficiency by about 40% and reduces the sfc by about 35% however the volumetric efficiency was reduced by about 35%.

Keywords: Hydrogen, Blended fuel, Manifold injection , Performance , Combustion

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309 Fermentable Sugars from Palm Empty Fruit Bunch Biomass for Bioethanol Production

Authors: U. A. Asli, H. Hamid, Z.A. Zakaria, A. N. Sadikin, R. Rasit

Abstract:

This study investigated the effect of a dilute acid, lime and ammonia aqueous pretreatment on the fermentable sugars conversion from empty fruit bunch (EFB) biomass. The dilute acid treatment was carried out in an autoclave, at 121ºC with 4% of sulfuric acid. In the lime pretreatment, 3 wt % of calcium hydroxide was used, whereas the third method was done by soaking EFB with 28% ammonia solution. The EFB biomass was then subjected to a two-stage-acid hydrolysis process. Subsequently, the hydrolysate was fermented by using instant baker’s yeast to produce bioethanol. The highest glucose yield was 890 mg/g of biomass, obtained from the sample which underwent lime pretreatment. The highest bioethanol yield of 6.1mg/g of glucose was achieved from acid pretreatment. This showed that the acid pretreatment gave the most fermentable sugars compared to the other two pretreatments.

Keywords: Bioethanol, biomass, empty fruit bunch (EFB), fermentable sugars.

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308 Experimental and CFD Investigation of Nozzle Angle in Jet Mixer

Authors: Hamid Rafiei, Reza Janamiri, Mohammad Hossein Sedaghat, Amir Hatampour

Abstract:

In this work, the results of mixing study by a jet mixer in a tank have been investigated in the laboratory scale. The tank dimensions are H/D=1 and the jet entrance have been considered in the center of upper surface of tank. RNG-k-ε model is used as the turbulent model for the prediction of the pattern of turbulent flow inside the tank. For this purpose, a tank with volume of 110 liter is simulated and it has been divided into 410,000 tetrahedral control cells for performing the calculations. The grids at the vicinity of the nozzle and suction pare are finer to get more accurate results. The experimental results showed that in a vertical jet, the lowest mixing time takes place at 35 degree. In addition, mixing time decreased by increasing the Reynolds number. Furthermore, the CFD simulation predicted the items as well a flow patterns precisely that validates the experiments.

Keywords: Jet mixer, CFD, Turbulent model, Nozzle angle, Mixing time, Reynolds Number.

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307 Investigating Cultural, Artistic and Architectural Consequences of Mongolian Invasion of Iran and Establishment of Ilkhanate Dynasty

Authors: Hamid Mamani, Negin Sharifi, Nangkula Utaberta

Abstract:

Social, culture and artistic status of a society in various historical eras is affected by numerous, and sometimes imposed, factors that better understanding requires analysis of such conditions. Throughout history Iran has been involved with determining and significant events that examining each of these events can improve the understanding of social conditions of this country in the intended time. Mongolian conquest of Iran is one of most significant events in the history of Iran with consequences that never left Iranian societies. During this tragic invasion and subsequent devastating wars, which led to establishment of Ilkhanate dynasty, numerous cultural and artistic changes occurred both in Mongolian conquerors and Iranian society. This study examines these changes with a glimpse towards art and architecture as important part of cultural aspects and social communication.

Keywords: Art and Architecture, Exchanging cultures, Ilkhanates, War

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306 A Comparative Cross-sectional Study of Religious Behavior in High School and University Students

Authors: Bahram Esmaeili, Hossein Hosseini, Mohammad Sharifi Bohloli, Hamid Reza Imani Far, Sohrab Sadeghi

Abstract:

The purpose of this study was to investigate the religious behavior of students in high school and universality in Lamerd , a town in the south of Iran, with respect to increase in their level of education and age. The participants were 450 high school and university students in all levels from first year of junior high school to the senior university students who were chosen through multistage cluster sampling method and their religious behavior was studied. Through the revised questionnaire by Nezar Alany from the University of Bahrain (r = 0/797), the religious behavior of the subjects were analyzed. Results showed that students in high school in religious behavior were superior to the students of university (003/0>p) and there was a decline of religious behavior in junior high school third year students to second students of the same school (042/0>p). More important is that the decrease in religious behavior was associated with increase in educational levels (017/0>p) and age (043/0>p).

Keywords: Academic achievement, education level, religion

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305 A Dynamic Model of Air Pollution, Health,and Population Growth Using System Dynamics: A Study on Tehran-Iran (With Computer Simulation by the Software Vensim)

Authors: Keyvan Shahgholian, Hamid Hajihosseini

Abstract:

The significance of environmental protection is wellknown in today's world. The execution of any program depends on sufficient knowledge and required familiarity with environment and its pollutants. Taking advantage of a systematic method, as a new science, in environmental planning can solve many problems. In this article, air pollution in Tehran and its relationship with health and population growth have been analyzed using dynamic systems. Firstly, by using casual loops, the relationship between the parameters effective on air pollution in Tehran were taken into consideration, then these casual loops were turned into flow diagrams [6], and finally, they were simulated using the software Vensim [16]in order to conclude what the effect of each parameter will be on air pollution in Tehran in the next 10 years, how changing of one or more parameters influences other parameters, and which parameter among all other parameters requires to be controlled more.

Keywords: Air pollutions, Simulation, System Dynamics, Tehran, Vensim.

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304 Determining the Minimum Threshold for the Functional Relatedness of Inner-Outer Class

Authors: Sim Hui Tee, Rodziah Atan, Abdul Azim Abd Ghani

Abstract:

Inner class is a specialized class that defined within a regular outer class. It is used in some programming languages such as Java to carry out the task which is related to its outer class. The functional relatedness between inner class and outer class is always the main concern of defining an inner class. However, excessive use of inner class could sabotage the class cohesiveness. In addition, excessive inner class leads to the difficulty of software maintenance and comprehension. Our research aims at determining the minimum threshold for the functional relatedness of inner-outer class. Such minimum threshold is a guideline for removing or relocating the excessive inner class. Our research provides a feasible way for software developers to define inner classes which are functionally related to the outer class.

Keywords: Cohesion, functional relatedness of inner-outer class, inner class.

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303 Statistical Computational of Volatility in Financial Time Series Data

Authors: S. Al Wadi, Mohd Tahir Ismail, Samsul Ariffin Abdul Karim

Abstract:

It is well known that during the developments in the economic sector and through the financial crises occur everywhere in the whole world, volatility measurement is the most important concept in financial time series. Therefore in this paper we discuss the volatility for Amman stocks market (Jordan) for certain period of time. Since wavelet transform is one of the most famous filtering methods and grows up very quickly in the last decade, we compare this method with the traditional technique, Fast Fourier transform to decide the best method for analyzing the volatility. The comparison will be done on some of the statistical properties by using Matlab program.

Keywords: Fast Fourier transforms, Haar wavelet transform, Matlab (Wavelet tools), stocks market, Volatility.

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302 Biogas Production from Waste using Biofilm Reactor: Factor Analysis in Two Stages System

Authors: N. Zainol, J. Salihon, R. Abdul-Rahman

Abstract:

Factor analysis was applied to two stages biogas production from banana stem waste allowing a screening of the experimental variables second stage temperature (T), organic loading rates (OLR) and hydraulic retention times (HRT). Biogas production was found to be strongly influenced by all the above experimental variables. Results from factorial analysis have shown that all variables which were HRT, OLR and T have significant effect to biogas production. Increased in HRT and OLR could increased the biogas yield. The performance was tested under the conditions of various T (35oC-60oC), OLR (0.3 g TS/l.d–1.9 gTS/l.d), and HRT (3 d–15 d). Conditions for temperature, OLR and HRT in this study were based on the best range obtained from literature review.

Keywords: Biogas, factor analysis, banana stem waste

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301 Model Reference Adaptive Control and LQR Control for Quadrotor with Parametric Uncertainties

Authors: Alia Abdul Ghaffar, Tom Richardson

Abstract:

A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitations. The combination of both adaptive and fixed gain control in the controller architecture can result in an enhanced tracking performance in the presence parametric uncertainties.

Keywords: UAV, quadrotor, model reference adaptive control, LQR control.

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