Search results for: Rana Saad Mohammed

Authors: Mohammed Zidane, Said Safi, Mohamed Sabri, Ahmed Boumezzough

Abstract:

This paper describes a blind algorithm, which is compared with two another algorithms proposed in the literature, for estimating of the minimum phase channel parameters. In order to identify blindly the impulse response of these channels, we have used Higher Order Statistics (HOS) to build our algorithm. The simulation results in noisy environment, demonstrate that the proposed method could estimate the phase and magnitude with high accuracy of these channels blindly and without any information about the input, except that the input excitation is identically and independent distribute (i.i.d) and non-Gaussian.

Keywords: System Identification, Higher Order Statistics, Communication Channels.

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Authors: Saad M. Al-Garni, Adel A. Abdennour

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Freeways are originally designed to provide high mobility to road users. However, the increase in population and vehicle numbers has led to increasing congestions around the world. Daily recurrent congestion substantially reduces the freeway capacity when it is most needed. Building new highways and expanding the existing ones is an expensive solution and impractical in many situations. Intelligent and vision-based techniques can, however, be efficient tools in monitoring highways and increasing the capacity of the existing infrastructures. The crucial step for highway monitoring is vehicle detection. In this paper, we propose one of such techniques. The approach is based on artificial neural networks (ANN) for vehicles detection and counting. The detection process uses the freeway video images and starts by automatically extracting the image background from the successive video frames. Once the background is identified, subsequent frames are used to detect moving objects through image subtraction. The result is segmented using Sobel operator for edge detection. The ANN is, then, used in the detection and counting phase. Applying this technique to the busiest freeway in Riyadh (King Fahd Road) achieved higher than 98% detection accuracy despite the light intensity changes, the occlusion situations, and shadows.

Keywords: Background Extraction, Neural Networks, VehicleDetection, Freeway Traffic.

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Authors: Seyed Sina Khamesi, Rana Rafiei

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The extensive aeration process is widely used for wastewater treatment. However, due to the high energy consumption of this process, which is closely related to the issues of environmental sustainability and global climate change, this article presents a simple solution to reduce energy consumption in this process. The amount of required energy is one of the critical considerations for various wastewater treatment techniques. For this purpose, an industrial wastewater treatment plant and all energy-consumer equipment in terms of energy consumption have been analyzed. The investigations and measurements revealed that the aeration unit has the highest energy consumption rate. To address this, an innovative approach is proposed to reduce energy consumption in the identified high-consumer unit. The proposed solution involves introducing baffles to divide the tank into multiple parts and using a tank with a small width and long length to enhance the mixing process. This approach reduces the need for additional equipment and significantly lowers energy consumption. To thoroughly scrutinize the proposed solution and analyze the behavior of the multi-phase fluid inside the tank, the sewage flow has been modeled using the computational fluid dynamics (CFD) method. The study presents an optimal design for the aeration unit based on these findings. The results indicate that implementing the technique suggested in this article can decrease total energy consumption by 33.15% and can be applied to all types of biological treatment plants.

Keywords: Wastewater treatment, aeration, energy consumption, Computational Fluid Dynamics, activated sludge.

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Authors: Saad Odeh

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Thermal performance is considered to be a key measure in building sustainability. One of the technologies used in the current building sustainable design is the rooftop solar PV power generators. The application of this type of technology has expanded vastly during the last five years in many countries. This paper studies the effect of roof shading developed by the solar PV panels on dwellings’ thermal performance. The analysis in this work is performed by using two types of packages: “AccuRate Sustainability” for rating the energy efficiency of residential building design, and “PVSYST” for the solar PV power system design. The former package is used to calculate the annual heating and cooling load, and the later package is used to evaluate the power production from the roof top PV system. The analysis correlates the electrical energy generated from the PV panels to the change in the heating and cooling load due to roof shading. Different roof orientation, roof inclination, roof insulation, as well as PV panel area are considered in this study. The analysis shows that the drop in energy efficiency due to the shaded area of the roof by PV panels is negligible compared to the energy generated by these panels.

Keywords: Energy efficiency, roof shading, thermal performance, PV panel.

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Authors: Ashwani K. Rana, Narottam Chand, Vinod Kapoor

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Aggressive scaling of MOS devices requires use of ultra-thin gate oxides to maintain a reasonable short channel effect and to take the advantage of higher density, high speed, lower cost etc. Such thin oxides give rise to high electric fields, resulting in considerable gate tunneling current through gate oxide in nano regime. Consequently, accurate analysis of gate tunneling current is very important especially in context of low power application. In this paper, a simple and efficient analytical model has been developed for channel and source/drain overlap region gate tunneling current through ultra thin gate oxide n-channel MOSFET with inevitable deep submicron effect (DSME).The results obtained have been verified with simulated and reported experimental results for the purpose of validation. It is shown that the calculated tunnel current is well fitted to the measured one over the entire oxide thickness range. The proposed model is suitable enough to be used in circuit simulator due to its simplicity. It is observed that neglecting deep sub-micron effect may lead to large error in the calculated gate tunneling current. It is found that temperature has almost negligible effect on gate tunneling current. It is also reported that gate tunneling current reduces with the increase of gate oxide thickness. The impact of source/drain overlap length is also assessed on gate tunneling current.

Keywords: Gate tunneling current, analytical model, gate dielectrics, non uniform poly gate doping, MOSFET, fringing field effect and image charges.

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Authors: Mohammed El Amine Abderrahim

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Reformulating the user query is a technique that aims to improve the performance of an Information Retrieval System (IRS) in terms of precision and recall. This paper tries to evaluate the technique of query reformulation guided by an external resource for Arabic texts. To do this, various precision and recall measures were conducted and two corpora with different external resources like Arabic WordNet (AWN) and the Arabic Dictionary (thesaurus) of Meaning (ADM) were used. Examination of the obtained results will allow us to measure the real contribution of this reformulation technique in improving the IRS performance.

Keywords: Arabic NLP, Arabic Information Retrieval, Arabic WordNet, Query Expansion.

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Authors: Ikram Mohamed Eltayeb Elsiddig, Abdel Khalig Muddather, Hiba Abdel Rahman Ali, Saad Mohamed Hussein Ayoub

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Anogeissus leiocarpus (Combretaceae) is well known for its medicinal uses in African traditional medicine, for treating many human diseases mainly skin diseases and infections. Mycetoma disease is a fungal and/ or bacterial skininfection, mainly cause by Madurella mycetomatis fungus. This study was carried out in vitro to investigate the antifungal activity of Anogeissus leiocarpus leaf extracts against the isolated pathogenic Madurella mycetomatis, by using the NCCLS modified method compared to Ketoconazole standard drug, and MTT assay. The bioactive fraction was subjected to chemical analysis implementing different chromatographic analytical methods (TLC, HPLC, and LC-MS/MS). The results showed significance antifungal activity of A. leiocarpus leaf extracts against the isolated pathogenic M. mycetomatis, compared to negative and positive controls. The chloroform fraction showed the highest antifungal activity. The chromatographic analysis of the chloroform fraction with the highest activity showed the presence of important bioactive compounds such as ellagic and flavellagic acids derivatives, flavonoids and stilbenoid, which are well known for their antifungal activity.

Keywords: Anogeissus leiocarpus, crude extracts and fractions of Anogeissus leiocarpus, in vitro susceptibility of Madurella mycetomatis, Madurella mycetomatis.

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Authors: Saad Chakkor, Mostafa Baghouri, Abderrahmane Hajraoui

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ESPRIT-TLS method appears a good choice for high resolution fault detection in induction machines. It has a very high effectiveness in the frequency and amplitude identification. Contrariwise, it presents a high computation complexity which affects its implementation in real time fault diagnosis. To avoid this problem, a Fast-ESPRIT algorithm that combined the IIR band-pass filtering technique, the decimation technique and the original ESPRIT-TLS method was employed to enhance extracting accurately frequencies and their magnitudes from the wind stator current with less computation cost. The proposed algorithm has been applied to verify the wind turbine machine need in the implementation of an online, fast, and proactive condition monitoring. This type of remote and periodic maintenance provides an acceptable machine lifetime, minimize its downtimes and maximize its productivity. The developed technique has evaluated by computer simulations under many fault scenarios. Study results prove the performance of Fast- ESPRIT offering rapid and high resolution harmonics recognizing with minimum computation time and less memory cost.

Keywords: Spectral Estimation, ESPRIT-TLS, Real Time, Diagnosis, Wind Turbine Faults, Band-Pass Filtering, Decimation.

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Authors: Mohammed Nafie

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Decision Feedback equalizers (DFEs) usually outperform linear equalizers for channels with intersymbol interference. However, the DFE performance is highly dependent on the availability of reliable past decisions. Hence, in coded systems, where reliable decisions are only available after decoding the full block, the performance of the DFE will be affected. A symbol based DFE is a DFE that only uses the decision after the block is decoded. In this paper we derive the optimal settings of both the feedforward and feedback taps of the symbol based equalizer. We present a novel symbol based DFE filterbank, and derive its taps optimal settings. We also show that it outperforms the classic DFE in terms of complexity and/or performance.

Keywords: Coding, DFE, Equalization, Exponential Channelmodels.

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Authors: Jamal Laaouine, Mohammed Elhassani Charkani

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Let p be a prime and let b be an integer. MDS b-symbol codes are a direct generalization of MDS codes. The γ-constacyclic codes of length pˢ over the finite commutative chain ring Fₚm [u]/ < u² > had been classified into four distinct types, where is a nonzero element of the field Fₚm. Let C₃ be a code of Type 3. In this paper, we obtain the b-symbol distance db(C₃) of the code C₃. Using this result, necessary and sufficient conditions under which C₃ is an MDS b-symbol code are given.

Keywords: constacyclic code, repeated-root code, maximum distance separable, MDS codes, b-symbol distance, finite chain rings

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Authors: Ahmed Jedidi, Mesfer Mohammed Alshamrani, Alwi Mohammad A. Bamhdi

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Optical performance monitoring and optical network management are essential in building a reliable, high-capacity, and service-differentiation enabled all-optical network. One of the serious problems in this network is the fact that optical crosstalk is additive, and thus the aggregate effect of crosstalk over a whole AON may be more nefarious than a single point of crosstalk. As results, we note a huge degradation of the Quality of Service (QoS) in our network. For that, it is necessary to identify and monitor the impairments in whole network. In this way, this paper presents new system to identify and monitor crosstalk in AONs in real-time fashion. particular, it proposes a new technique to manage intra-crosstalk in objective to relax QoS of the network.

Keywords: All-optical networks, optical crosstalk, optical cross-connect, crosstalk, monitoring crosstalk.

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Authors: Saeed Mohammed Baneamoon, Rosalina Abdul Salam

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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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Authors: Mohammed Benbrahim, Khalid Benjelloun, Aomar Ibenbrahim, Adil Daoudi

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The automatic classification of non stationary signals is an important practical goal in several domains. An essential classification task is to allocate the incoming signal to a group associated with the kind of physical phenomena producing it. In this paper, we present a modular system composed by three blocs: 1) Representation, 2) Dimensionality reduction and 3) Classification. The originality of our work consists in the use of a new wavelet called "Ben wavelet" in the representation stage. For the dimensionality reduction, we propose a new algorithm based on the random projection and the principal component analysis.

Keywords: Seismic signals, Ben Wavelet, Dimensionality reduction, Artificial neural networks, Classification.

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Authors: S. S. Rana, C. Janveja, S. K. Soni

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This study is concerned with the optimization of fermentation parameters for the hyper production of mannanase from Fusarium oxysporum SS-25 employing two step statistical strategy and kinetic characterization of crude enzyme preparation. The Plackett-Burman design used to screen out the important factors in the culture medium revealed 20% (w/w) wheat bran, 2% (w/w) each of potato peels, soyabean meal and malt extract, 1% tryptone, 0.14% NH4SO4, 0.2% KH2PO4, 0.0002% ZnSO4, 0.0005% FeSO4, 0.01% MnSO4, 0.012% SDS, 0.03% NH4Cl, 0.1% NaNO3 in brewer’s spent grain based medium with 50% moisture content, inoculated with 2.8×107 spores and incubated at 30oC for 6 days to be the main parameters influencing the enzyme production. Of these factors, four variables including soyabean meal, FeSO4, MnSO4 and NaNO3 were chosen to study the interactive effects and their optimum levels in central composite design of response surface methodology with the final mannanase yield of 193 IU/gds. The kinetic characterization revealed the crude enzyme to be active over broader temperature and pH range. This could result in 26.6% reduction in kappa number with 4.93% higher tear index and 1% increase in brightness when used to treat the wheat straw based kraft pulp. The hydrolytic potential of enzyme was also demonstrated on both locust bean gum and guar gum.

Keywords: Brewer’s Spent Grain, Fusarium oxysporum, Mannanase, Response Surface Methodology.

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Authors: Mohammed Salem Alzahrani

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In this paper the optimality of the solution of an existing real word assignment problem known as the seat assignment problem using Seat Assignment Method (SAM) is discussed. SAM is the newly driven method from three existing methods, Hungarian Method, Northwest Corner Method and Least Cost Method in a special way that produces the easiness & fairness among all methods that solve the seat assignment problem.

Keywords: Assignment Problem, Hungarian Method, Least Cost Method, Northwest Corner Method, Seat Assignment Method (SAM), A Real Word Assignment Problem.

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Authors: Y. Bentoutou, A.M. Si Mohammed

Abstract:

This paper presents a review of an 8-year study on radiation effects in commercial memory devices operating within the main on-board computer system OBC386 of the Algerian microsatellite Alsat-1. A statistical analysis of single-event upset (SEU) and multiple-bit upset (MBU) activity in these commercial memories shows that the typical SEU rate at alsat-1's orbit is 4.04 × 10-7 SEU/bit/day, where 98.6% of these SEUs cause single-bit errors, 1.22% cause double-byte errors, and the remaining SEUs result in multiple-bit and severe errors.

Keywords: Radiation effects, error detection and correction, satellite computer, small satellite mission.

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Authors: Priti Bajpai, Mohammed Shibil

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This paper utilizes a comparative case study design to examine a regional onion market. The particular case of onion markets is used to understand perishable product supply chains. The site for the study is Dubai, United Arab Emirates. Results from a six-month field study are outlined. In particular, the findings suggest that firms should examine adding additional destinations to their supply chain. Further, we argue that utilizing Dubai as a supply chain hub is in certain cases counterproductive. Implications for food supply chains and regional trade are discussed.

Keywords: Supply chains, Food markets, Onion trade, Field study.

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Authors: Mohammed T. Shukri

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The failure of bridges due to excessive local scour during floods poses a challenging problem to hydraulic engineers. The failure of bridges piers is due to many reasons such as localized scour combined with general riverbed degradation. In this paper, we try to estimate the temporal variation of scour depth at nonuniform cylindrical bridge pier, by experimental work conducted in hydraulic laboratories of Gaziantep University Civil Engineering Department on a flume having dimensions of 8.3 m length, 0.8 m width and 0.9 m depth. The experiments will be carried on 20 cm depth of sediment layer having d₅₀=0.4 mm. Three bridge pier shapes having different scaled models will be constructed in a 1.5m of test section in the channel.

Keywords: Scour, local scour, bridge piers, scour depth.

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Authors: Mohammed Abdalla Osman Mukhtar, Azween Abdullah, Alan Giffin Downe

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Model mapping and transformation are important processes in high level system abstractions, and form the cornerstone of model-driven architecture (MDA) techniques. Considerable research in this field has devoted attention to static system abstraction, despite the fact that most systems are dynamic with high frequency changes in behavior. In this paper we provide an overview of work that has been done with regard to behavior model mapping and transformation, based on: (1) the completeness of the platform independent model (PIM); (2) semantics of behavioral models; (3) languages supporting behavior model transformation processes; and (4) an evaluation of model composition to effect the best approach to describing large systems with high complexity.

Keywords: MDA; PIM, PSM, QVT, Model Transformation

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Authors: Atef M. Ghaleb, Mohamed Z. Ramadan, Khalid Saad Aljaloud

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The aim of this study is to assesses the lifting capabilities of persons experiencing hypoxia. It also examines the behavior of the physiological response induced through the lifting process related to changing in the hypoxia and lifting frequency variables. For this purpose, the study performed two consecutive tests by using; (1) training and acclimatization; and (2) an actual collection of data. A total of 10 male students from King Saud University, Kingdom of Saudi Arabia, were recruited in the study. A two-way repeated measures design, with two independent variables (ambient oxygen (15%, 18% and 21%)) and lifting frequency (1 lift/min and 4 lifts/min) and four dependent variables i.e., maximum acceptable weight of lift (MAWL), Electromyography (EMG) of four muscle groups (anterior deltoid, trapezius, biceps brachii, and erector spinae), rating of perceived exertion (RPE), and rating of oxygen feeling (ROF) were used in this study. The results show that lifting frequency has significantly impacted the MAWL and muscles’ activities. The oxygen content had a significant effect on the RPE and ROE. The study has revealed that acclimatization and training sessions significantly reduce the effect of the hypoxia on the human physiological parameters during the manual materials handling tasks.

Keywords: Lifting capabilities, muscle activities (sEMG), oxygen content, perceived exertion.

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Authors: Mohammed Z. Khedher, Gheith A. Abandah, Ahmed M. Al-Khawaldeh

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Recognition of characters greatly depends upon the features used. Several features of the handwritten Arabic characters are selected and discussed. An off-line recognition system based on the selected features was built. The system was trained and tested with realistic samples of handwritten Arabic characters. Evaluation of the importance and accuracy of the selected features is made. The recognition based on the selected features give average accuracies of 88% and 70% for the numbers and letters, respectively. Further improvements are achieved by using feature weights based on insights gained from the accuracies of individual features.

Keywords: Arabic handwritten characters, Feature extraction, Off-line recognition, Optical character recognition.

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Authors: Mohammed Fethi Khalfi, Malika Kandouci

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Over the past decade, mobile has experienced a revolution that will ultimately change the way we communicate.All these technologies have a common denominator exploitation of computer information systems, but their operation can be tedious because of problems with heterogeneous data sources.To overcome the problems of heterogeneous data sources, we propose to use a technique of adding an extra layer interfacing applications of management or supervision at the different data sources.This layer will be materialized by the implementation of a mediator between different host applications and information systems frequently used hierarchical and relational manner such that the heterogeneity is completely transparent to the VoIP platform.

Keywords: TOIP, Data Integration, Mediation, informationcomputer system, heterogeneous data sources

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Authors: Abdulbaset Saad, Adel Younis, Zuomin Dong

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For design optimization with high-dimensional expensive problems, an effective and efficient optimization methodology is desired. This work proposes a series of modification to the Differential Evolution (DE) algorithm for solving computation Intensive Black-Box Problems. The proposed methodology is called Radial Basis Meta-Model Algorithm Assisted Differential Evolutionary (RBF-DE), which is a global optimization algorithm based on the meta-modeling techniques. A meta-modeling assisted DE is proposed to solve computationally expensive optimization problems. The Radial Basis Function (RBF) model is used as a surrogate model to approximate the expensive objective function, while DE employs a mechanism to dynamically select the best performing combination of parameters such as differential rate, cross over probability, and population size. The proposed algorithm is tested on benchmark functions and real life practical applications and problems. The test results demonstrate that the proposed algorithm is promising and performs well compared to other optimization algorithms. The proposed algorithm is capable of converging to acceptable and good solutions in terms of accuracy, number of evaluations, and time needed to converge.

Keywords: Differential evolution, engineering design, expensive computations, meta-modeling, radial basis function, optimization.

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Authors: T. Mohammed Chikouche, K. Hartani

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In order to solve the instantaneous power ripple and achieve better performance of direct power control (DPC) for a three-phase PWM rectifier, a control method is proposed in this paper. This control method is applied to overcome the instantaneous power ripple, to eliminate line current harmonics and therefore reduce the total harmonic distortion and to improve the power factor. A switching table is based on the analysis on the change of instantaneous active and reactive power, to select the optimum switching state of the three-phase PWM rectifier. The simulation result shows feasibility of this control method.

Keywords: Power quality, direct power control, power ripple, switching table, unity power factor.

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Authors: Mohammed Saidu, Afiz Busari, Ali Yuzir, Mohd Razman Salim

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The problem of degradation of agricultural residues from palm oil industry is increasing due to its expansion. Lignocelloulosic waste from these industry represent large amount of unutilized resources, this is due to their high lignin content. Since white rot fungi are capable of degrading lignin, its potential for the degradation of lignocelloulosic waste from palm oil industry was accessed. The lignocellluloses content was measured before and after biodegradation and the rate of reduction was determined. From the results of the biodegradation, it was observed that hemicellulose reduces by 22.62%, cellulose by 20.97% and lignin by 10.65% from the initials lignocelluloses contents. Thus, to improve the digestibility of palm oil mesocarp fibre, treatment by white rot-fungi is recommended.

Keywords: Biological, lignocelluses, oil palm, white rot fungi.

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Authors: Walaa Mohammed Metwally

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This case study used the action research concept as a tool to integrate the innovation in a learning experience on a design course. The action research was investigated at Prince Sultan University, College of Engineering in the Interior Design and Architecture Department in January 2015, through the Higher Education Academy program. The action research was presented first with the definition of the research, leading to how it was used and how solutions were found. It concluded by showing that once the action research application in interior design and architecture were studied it was an effective tool to improve student’s learning, develop their practice in design courses, and it discussed the negative and positive issues that were encountered.

Keywords: Action research, innovation, intervention, learning experience, peer review.

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Authors: Mohammed Sadeque, K. A. Patil

Abstract:

Polymer-modified bitumen is used to combat different pavement distresses and to increase the life span of pavement. Unmodified bitumen cannot perform better with the range extreme minimum and maximum pavement temperatures. The polymers commonly used to modify the bitumen are ethylene vinyl acetate (EVA) styrene butadiene styrene (SBS). The aim this study to compare the performance of EVA modified bitumen with the bitumen modified by waste low density polyethylene (LDPE), polypropylene (PP) obtained from waste carry bags and waste tyre rubber (CR) to encourage the use of waste polymer whose disposal is big problem today, in place of costly virgin polymer. From the experimental study, it was found that waste polymers are also effective in improving the properties bitumen as that of virgin polymer.

Keywords: Waste plastic, LDPE, PP, Modified bitumen, EVA.

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Authors: Mohammed Amroune, Hadi Sebaa, Tarek Bouktir

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Reactive power limit of power system is one of the major causes of voltage instability. The only way to save the system from voltage instability is to reduce the reactive power load or add additional reactive power to reaching the point of voltage collapse. In recent times, the application of FACTS devices is a very effective solution to prevent voltage instability due to their fast and very flexible control. In this paper, voltage stability assessment with SVC and TCSC devices is investigated and compared in the modified IEEE 30-bus test system. The fast voltage stability indicator (FVSI) is used to identify weakest bus and to assess the voltage stability of power system.

Keywords: SVC, TCSC, Voltage stability, Fast Voltage Stability Index (FVSI), Reactive power.

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Authors: O. Tovide, N. Jahed, N. Mohammed, C. E. Sunday, H. R. Makelane, R. F. Ajayi, K. M. Molapo, A. Tsegaye, M. Masikini, S. Mailu, A. Baleg, T. Waryo, P. G. Baker, E. I. Iwuoha

Abstract:

A graphenated–polyaniline (GR-PANI) nanocomposite sensor was constructed and used for the determination of anthracene. The direct electro-oxidation behavior of anthracene on the GR-PANI modified glassy carbon electrode (GCE) was used as the sensing principle. The results indicate thatthe response profile of the oxidation of anthracene on GR-PANI-modified GCE provides for the construction of sensor systems based onamperometric and potentiometric signal transductions. A dynamic linear range of 0.12- 100 µM anthracene and a detection limit of 0.044 µM anthracene were established for the sensor system.

Keywords: Electrochemical sensors, environmental pollutants, graphenated-polymers, polyaromatic hydrocarbon.

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Authors: Brahmi Brahim, Mohammad Habibur Rahman, Maarouf Saad, Cristóbal Ochoa Luna

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A repetitive training movement is an efficient method to improve the ability and movement performance of stroke survivors and help them to recover their lost motor function and acquire new skills. The ETS-MARSE is seven degrees of freedom (DOF) exoskeleton robot developed to be worn on the lateral side of the right upper-extremity to assist and rehabilitate the patients with upper-extremity dysfunction resulting from stroke. Practically, rehabilitation activities are repetitive tasks, which make the assistive/robotic systems to suffer from repetitive/periodic uncertainties and external perturbations induced by the high-order dynamic model (seven DOF) and interaction with human muscle which impact on the tracking performance and even on the stability of the exoskeleton. To ensure the robustness and the stability of the robot, a new nonlinear backstepping control was implemented with designed tests performed by healthy subjects. In order to limit and to reject the periodic/repetitive disturbances, an iterative estimator was integrated into the control of the system. The estimator does not need the precise dynamic model of the exoskeleton. Experimental results confirm the robustness and accuracy of the controller performance to deal with the external perturbation, and the effectiveness of the iterative estimator to reject the repetitive/periodic disturbances.

Keywords: Backstepping control, iterative control, rehabilitation, ETS-MARSE.

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