Search results for: Space Filling Curve

Authors: Marc Diesse, Hochschule Heilbronn

Abstract:

We address the question of identifying the configuration space singularities of linkages, i.e., points where the configuration space is not locally a submanifold of Euclidean space. Because the configuration space cannot be smoothly parameterized at such points, these singularity types have a significantly negative impact on the kinematics of the linkage. It is known that Jacobian methods do not provide sufficient conditions for the existence of CS-singularities. Herein, we present several additional algebraic criteria that provide the sufficient conditions. Further, we use those criteria to analyze certain classes of planar linkages. These examples will also show how the presented criteria can be checked using algorithmic methods.

Keywords: Linkages, configuration space singularities, real algebraic geometry, analytic geometry, computer algebra.

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Authors: Tea Poklepović, Zdravka Aljinović, Branka Marasović

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Due to the importance of yield curve and its estimation it is inevitable to have valid methods for yield curve forecasting in cases when there are scarce issues of securities and/or week trade on a secondary market. Therefore in this paper, after the estimation of weekly yield curves on Croatian financial market from October 2011 to August 2012 using Nelson-Siegel and Svensson models, yield curves are forecasted using Vector autoregressive model and Neural networks. In general, it can be concluded that both forecasting methods have good prediction abilities where forecasting of yield curves based on Nelson Siegel estimation model give better results in sense of lower Mean Squared Error than forecasting based on Svensson model Also, in this case Neural networks provide slightly better results. Finally, it can be concluded that most appropriate way of yield curve prediction is Neural networks using Nelson-Siegel estimation of yield curves.

Keywords: Nelson-Siegel model, Neural networks, Svensson model, Vector autoregressive model, Yield curve.

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Authors: Shengbiao Wu, Weihua Cao, Min Wu, Can Liu

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This paper presents an intelligent tuning method of microwave filter based on complex neural network and improved space mapping. The tuning process consists of two stages: the initial tuning and the fine tuning. At the beginning of the tuning, the return loss of the filter is transferred to the passband via the error of phase. During the fine tuning, the phase shift caused by the transmission line and the higher order mode is removed by the curve fitting. Then, an Cauchy method based on the admittance parameter (Y-parameter) is used to extract the coupling matrix. The influence of the resonant cavity loss is eliminated during the parameter extraction process. By using processed data pairs (the amount of screw variation and the variation of the coupling matrix), a tuning model is established by the complex neural network. In view of the improved space mapping algorithm, the mapping relationship between the actual model and the ideal model is established, and the amplitude and direction of the tuning is constantly updated. Finally, the tuning experiment of the eight order coaxial cavity filter shows that the proposed method has a good effect in tuning time and tuning precision.

Keywords: Microwave filter, scattering parameter (s-parameter), coupling matrix, intelligent tuning.

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Authors: Jia Xu

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There is a lot of bottom space in the teaching area of Zijingang Campus of Zhejiang University, which benefits to the ventilation, heat dissipation, circulation, partition of quiet and noisy areas and diversification of spaces. Hangzhou is hot in summer but cold in winter, so teachers and students spend much less time in the bottom space of buildings in winter than in summer. Recently, depending on the teachers and students’ proposals, the school transformed the bottom space in the teaching area to provide space for relaxing, chatting and staying in winter. Surveying and analyzing the existing ways to transform, the paper researches deeply on the transformation projects of bottom space in the teaching buildings. It is believed that this paper can be a salutary lesson to make the bottom space in the teaching areas of universities richer and bring more diverse activities for teachers and students.

Keywords: Bottom space, teaching area, transformation, Zijingang Campus of Zhejiang University.

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Authors: T. C. Manjunath, C. Ardil

Abstract:

This paper presents an efficient method of obtaining a straight-line motion in the tool configuration space using an articulated robot between two specified points. The simulation results & the implementation results show the effectiveness of the method.

Keywords: Bounded deviation algorithm, Straight line motion, Tool configuration space, Joint space, TCV.

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Authors: Seung-Hun Kim, Changwoo Park

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In this paper, we present a localization of a mobile robot with localization modules which have two ceiling-view cameras in indoor environments. We propose two kinds of localization method. The one is the localization in the local space; we use the line feature and the corner feature between the ceiling and wall. The other is the localization in the large space; we use the natural features such as bulbs, structures on the ceiling. These methods are installed on the embedded module able to mount on the robot. The embedded module has two cameras to be able to localize in both the local space and the large spaces. The experiment is practiced in our indoor test-bed and a government office. The proposed method is proved by the experimental results.

Keywords: Robot, Localization, Indoor, Ceiling vision, Local space, Large space, Complex space.

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Authors: Mat Syai'in, Adi Soeprijanto, Takashi Hiyama

Abstract:

An optimal power flow (OPF) based on particle swarm optimization (PSO) was developed with more realistic generator security constraint using the capability curve instead of only Pmin/Pmax and Qmin/Qmax. Neural network (NN) was used in designing digital capability curve and the security check algorithm. The algorithm is very simple and flexible especially for representing non linear generation operation limit near steady state stability limit and under excitation operation area. In effort to avoid local optimal power flow solution, the particle swarm optimization was implemented with enough widespread initial population. The objective function used in the optimization process is electric production cost which is dominated by fuel cost. The proposed method was implemented at Java Bali 500 kV power systems contain of 7 generators and 20 buses. The simulation result shows that the combination of generator power output resulted from the proposed method was more economic compared with the result using conventional constraint but operated at more marginal operating point.

Keywords: Optimal Power Flow, Generator Capability Curve, Particle Swarm Optimization, Neural Network

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Authors: Anon Yantarasri, Yachai Limpiyakorn

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Decisions are regularly made during a project or daily life. Some decisions are critical and have a direct impact on project or human success. Formal evaluation is thus required, especially for crucial decisions, to arrive at the optimal solution among alternatives to address issues. According to microeconomic theory, all people-s decisions can be modeled as indifference curves. The proposed approach supports formal analysis and decision by constructing indifference curve model from the previous experts- decision criteria. These knowledge embedded in the system can be reused or help naïve users select alternative solution of the similar problem. Moreover, the method is flexible to cope with unlimited number of factors influencing the decision-making. The preliminary experimental results of the alternative selection are accurately matched with the expert-s decisions.

Keywords: Decision Analysis and Resolution, Indifference Curve, Multi-criteria Decision Making.

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Authors: Tim Falk, Chris Chatwin

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This study explores the possibility of a space station that will occupy a geostationary equatorial orbit (GEO) and create artificial gravity using centripetal acceleration. The concept of the station is to create a habitable, safe environment that can increase the possibility of space tourism by reducing the wide variation of hazards associated with space exploration. The ability to control the intensity of artificial gravity through Hall-effect thrusters will allow experiments to be carried out at different levels of artificial gravity. A feasible prototype model was built to convey the concept and to enable cost estimation. The SpaceX Falcon Heavy rocket with a 26,700 kg payload to GEO was selected to take the 675 tonne spacecraft into orbit; space station construction will require up to 30 launches, this would be reduced to 5 launches when the SpaceX BFR becomes available. The estimated total cost of implementing the Sussex Biocompatible International Space Station (BISS) is approximately $47.039 billion, which is very attractive when compared to the cost of the International Space Station, which cost $150 billion.

Keywords: Artificial gravity, biocompatible, geostationary orbit, space station.

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Authors: Süha Yılmaz, Emin Özyılmaz, Melih Turgut

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In the first part of this paper [6], a method to determine Frenet apparatus of the space-like curves in Minkowski space-time is presented. In this work, the mentioned method is developed for the time-like curves in Minkowski space-time. Additionally, an example of presented method is illustrated.

Keywords: Frenet Apparatus, Time-like Curves, MinkowskiSpace-time.

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Authors: Bilal Saeed Raja, M. Ali Iqbal, Imran Ihsan

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Extracting and elaborating software requirements and transforming them into viable software architecture are still an intricate task. This paper defines a solution architecture which is based on the blurred amalgamation of problem space and solution space. The dependencies between domain constraints, requirements and architecture and their importance are described that are to be considered collectively while evolving from problem space to solution space. This paper proposes a revised version of Twin Peaks Model named Win Peaks Model that reconciles software requirements and architecture in more consistent and adaptable manner. Further the conflict between stakeholders- win-requirements is resolved by proposed Voting methodology that is simple adaptation of win-win requirements negotiation model and QARCC.

Keywords: Functional Requirements, Non Functional Requirements, Twin Peaks Model, QARCC.

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Authors: Ivandic Kreso, Spiranec Miljenko, Kavur Boris, Strelec Stjepan

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This article discusses the possibility of using dilatometer tests (DMT) together with in situ seismic tests (MASW) in order to get the shape of G-g degradation curve in cohesive soils (clay, silty clay, silt, clayey silt and sandy silt). MASW test provides the small soil stiffness (G_o from v_s) at very small strains and DMT provides the stiffness of the soil at ‘work strains’ (M_DMT). At different test locations, dilatometer shear stiffness of the soil has been determined by the theory of elasticity. Dilatometer shear stiffness has been compared with the theoretical G-g degradation curve in order to determine the typical range of shear deformation for different types of cohesive soil. The analysis also includes factors that influence the shape of the degradation curve (G-g) and dilatometer modulus (M_DMT), such as the overconsolidation ratio (OCR), plasticity index (IP) and the vertical effective stress in the soil (s_vo'). Parametric study in this article defines the range of shear strain g_DMT and G_DMT/G_o relation depending on the classification of a cohesive soil (clay, silty clay, clayey silt, silt and sandy silt), function of density (loose, medium dense and dense) and the stiffness of the soil (soft, medium hard and hard). The article illustrates the potential of using MASW and DMT to obtain G-g degradation curve in cohesive soils.

Keywords: Dilatometer testing, MASW testing, shear wave, soil stiffness, stiffness reduction, shear strain.

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Authors: E. Zippelius

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Urban design aims to provide a stage for public life that, when once brought to life, is right away subject to subtle but continuous transformation. This paper explores such transformations and searches for ways how public life can be reinforced in the case of a housing settlement for the displaced in Nicosia, Cyprus. First, a sound basis of theoretical knowledge is established through literature review, notably the theory of the Production of Space by Henri Lefebvre, exploring its potential and defining key criteria for the following empirical analysis. The analysis is pinpointing the differences between spatial practice, representation of space and spaces of representation as well as their interaction, alliance, or even conflict. In doing so uncertainties, chances and challenges are unraveled that will be consequently linked to practice and action and lead to the formulation of a design strategy. A strategy, though, that does not long for achieving an absolute, finite certainty but understands the three dimensions of space formulated by Lefebvre as equal and space as continuously produced, hence, unfinished.

Keywords: Production of space, public space, urban life, urban transformation.

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Authors: Chillali Abdelhakim

Abstract:

Groups where the discrete logarithm problem (DLP) is believed to be intractable have proved to be inestimable building blocks for cryptographic applications. They are at the heart of numerous protocols such as key agreements, public-key cryptosystems, digital signatures, identification schemes, publicly verifiable secret sharings, hash functions and bit commitments. The search for new groups with intractable DLP is therefore of great importance.The goal of this article is to study elliptic curves over the ring Fq[], with Fq a finite field of order q and with the relation n = 0, n ≥ 3. The motivation for this work came from the observation that several practical discrete logarithm-based cryptosystems, such as ElGamal, the Elliptic Curve Cryptosystems . In a first time, we describe these curves defined over a ring. Then, we study the algorithmic properties by proposing effective implementations for representing the elements and the group law. In anther article we study their cryptographic properties, an attack of the elliptic discrete logarithm problem, a new cryptosystem over these curves.

Keywords: Elliptic Curve Over Ring, Discrete Logarithm Problem.

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Authors: Ahmed Abdolkhalig

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This paper examines many mathematical methods for molding the hourly price forward curve (HPFC); the model will be constructed by numerous regression methods, like polynomial regression, radial basic function neural networks & a furrier series. Examination the models goodness of fit will be done by means of statistical & graphical tools. The criteria for choosing the model will depend on minimize the Root Mean Squared Error (RMSE), using the correlation analysis approach for the regression analysis the optimal model will be distinct, which are robust against model misspecification. Learning & supervision technique employed to determine the form of the optimal parameters corresponding to each measure of overall loss. By using all the numerical methods that mentioned previously; the explicit expressions for the optimal model derived and the optimal designs will be implemented.

Keywords: Forward curve, furrier series, regression, radial basic function neural networks.

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Authors: Shunzuo Wu, Xudong Luo, Yuanxiu Liao

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Recently, the rapid development of deep learning makes artificial intelligence (AI) penetrate into many fields, replacing manual work there. In particular, AI systems also become a research focus in the field of automatic office. To meet real needs in automatic officiating, in this paper we develop an automatic form filling system. Specifically, it uses two classical neural network models and several word embedding models to classify various relevant information elicited from the Internet. When training the neural network models, we use less noisy and balanced data for training. We conduct a series of experiments to test my systems and the results show that our system can achieve better classification results.

Keywords: Personal information, deep learning, auto fill, NLP, document analysis.

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Authors: Zhang Xiaodong, Tang Zixin, Liu Xin

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In order to avoid self-collision of space manipulators during operation process, a real-time detection method is proposed in this paper. The manipulator is fitted into a cylinder-enveloping surface, and then, a kind of detection algorithm of collision between cylinders is analyzed. The collision model of space manipulator self-links can be detected by using this algorithm in real-time detection during the operation process. To ensure security of the operation, a safety threshold is designed. The simulation and experiment results verify the effectiveness of the proposed algorithm for a 7-DOF space manipulator.

Keywords: Space manipulator, Collision detection, Self-collision, the real-time collision detection.

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Authors: M. Hadi Kusuma, Nandy Putra, Anhar Riza Antariksawan, Ficky Augusta Imawan

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Heat pipe is considered to be applied as a passive system to remove residual heat that generated from reactor core when incident occur or from spent fuel storage pool. The objectives are to characterized the heat transfer phenomena, performance of heat pipe, and as a model for large heat pipe will be applied as passive cooling system on nuclear spent fuel pool storage. In this experimental wickless heat pipe or two-phase closed thermosyphon (TPCT) is used. Variation of heat flux are 611.24 Watt/m² - 3291.29 Watt/m². Variation of filling ratio are 45 - 70%. Variation of initial pressure are -62 to -74 cm Hg. Demineralized water is used as working fluid in the TPCT. The results showed that increasing of heat load leads to an increase of evaporation of the working fluid. The optimum filling ratio obtained for 60% of TPCT evaporator volume, and initial pressure variation gave different TPCT wall temperature characteristic. TPCT showed best performance with 60% filling ratio and can be consider to be applied as passive residual heat removal system or passive cooling system on spent fuel storage pool.

Keywords: Two-phase closed thermo syphon, heat pipe, passive cooling, spent fuel storage pool.

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Authors: Ling-fei Xu, Qi Zhao, Yan-ru Chen, Mu-chun Zhou, Meng Zhang, Shi-xue Xu

Abstract:

SVM ( Support Vector Machine ) is a new method in the artificial neural network ( ANN ). In the steel making, how to use computer to predict the end point of BOF accuracy is a great problem. A lot of method and theory have been claimed, but most of the results is not satisfied. Now the hot topic in the BOF end point predicting is to use optical way the predict the end point in the BOF. And we found that there exist some regular in the characteristic curve of the flame from the mouse of pudding. And we can use SVM to predict end point of the BOF, just single spectrum intensity should be required as the input parameter. Moreover, its compatibility for the input space is better than the BP network.

Keywords: SVM, predict, BOF, single spectrum intensity.

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Authors: Mat Syai'in, Adi Soeprijanto

Abstract:

An Optimal Power Flow based on Improved Particle Swarm Optimization (OPF-IPSO) with Generator Capability Curve Constraint is used by NN-OPF as a reference to get pattern of generator scheduling. There are three stages in Designing NN-OPF. The first stage is design of OPF-IPSO with generator capability curve constraint. The second stage is clustering load to specific range and calculating its index. The third stage is training NN-OPF using constructive back propagation method. In training process total load and load index used as input, and pattern of generator scheduling used as output. Data used in this paper is power system of Java-Bali. Software used in this simulation is MATLAB.

Keywords: Optimal Power Flow, Generator Capability Curve, Improved Particle Swarm Optimization, Neural Network

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Authors: Fu Shiming, Pei Yifei

Abstract:

To study the impact of the inter-module ventilation (IMV) on the space station, the Computational Fluid Dynamic (CFD) model under the influence of IMV, the mathematical model, boundary conditions and calculation method are established and determined to analyze the influence of IMV on cabin air flow characteristics and velocity distribution firstly; and then an integrated overall thermal mathematical model of the space station is used to consider the impact of IMV on thermal management. The results show that: the IMV has a significant influence on the cabin air flow, the flowrate of IMV within a certain range can effectively improve the air velocity distribution in cabin, if too much may lead to its deterioration; IMV can affect the heat deployment of the different modules in space station, thus affecting its thermal management, the use of IMV can effectively maintain the temperature levels of the different modules and help the space station to dissipate the waste heat.

Keywords: CFD, Environment control and life support, Space station, Thermal management, Thermal mathematical model.

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Authors: Saead Negahdari, Davood Jalali Vahid

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Nowadays, the importance of energy saving is clearance to everyone. By attention to increasing price of fuels and also the problems of environment pollutions, there are the most efforts for using fuels littler and more optimum in everywhere. This essay studies optimizing of gas consumption in gas-burner space heaters. In oven of each gas-burner space heaters there is two snags to prevent the hot air (the result of combustion of natural gas) to go out of oven of the gas-burner space heaters directly without delivering its heat to the space of favorite environment like a room. These snags cause a excess circulating that helps hot air deliver its heat to the space of favorite environment. It means the exhaust air temperature will be decreased then when there are no snags. This is the aim of this essay to use maximum potential energy of the natural gas to make heat. In this study, by the help of a finite volume software (FLUENT) consumption of the gas-burner space heaters is simulated and optimized. At the end of this writing, by comparing the results of software and experimental results, it will be proved the authenticity of this method.

Keywords: FLUENT, Heat transfer, Oven of Gas-burner spaceheaters, Simulation.

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Authors: N. P. Yadav, Deepti Verma

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This paper focuses on the mathematical modeling for solidification of Al alloy in a cube mold cavity to study the solidification behavior of casting process. The parametric investigation of solidification process inside the cavity was performed by using computational solidification/melting model coupled with Volume of fluid (VOF) model. The implicit filling algorithm is used in this study to understand the overall process from the filling stage to solidification in a model metal casting process. The model is validated with past studied at same conditions. The solidification process is analyzed by including the effect of pouring velocity as well as natural convection from the wall and geometry of the cavity. These studies show the possibility of various defects during solidification process.

Keywords: Buoyancy driven flow, natural convection driven flow, residual flow, secondary flow, volume of fluid.

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Authors: D. M. S. Bandara, Yunqi Lei, Ye Luo

Abstract:

Fingerprints are suitable as long-term markers of human identity since they provide detailed and unique individual features which are difficult to alter and durable over life time. In this paper, we propose an algorithm to encrypt and decrypt fingerprint images by using a specially designed Elliptic Curve Cryptography (ECC) procedure based on block ciphers. In addition, to increase the confusing effect of fingerprint encryption, we also utilize a chaotic-behaved method called Arnold Cat Map (ACM) for a 2D scrambling of pixel locations in our method. Experimental results are carried out with various types of efficiency and security analyses. As a result, we demonstrate that the proposed fingerprint encryption/decryption algorithm is advantageous in several different aspects including efficiency, security and flexibility. In particular, using this algorithm, we achieve a margin of about 0.1% in the test of Number of Pixel Changing Rate (NPCR) values comparing to the-state-of-the-art performances.

Keywords: Arnold cat map, biometric encryption, block cipher, elliptic curve cryptography, fingerprint encryption, Koblitz’s Encoding.

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Authors: Abbas Ghanbari-Malidarreh

Abstract:

In most wheat growing moderate regions and especially in the north of Iran climate, is affected grain filling by several physical and abiotic stresses. In this region, grain filling often occurs when temperatures are increasing and moisture supply is decreasing. The experiment was designed in RCBD with split plot arrangements with four replications. Four irrigation treatments included (I0) no irrigation (check); (I1) one irrigation (50 mm) at heading stage; (I2) two irrigation (100 mm) at heading and anthesis stage; and (I3) three irrigation (150 mm) at heading, anthesis and early grain filling growth stage, two wheat cultivars (Milan and Shanghai) were cultured in the experiment. Totally raining was 453 mm during the growth season. The result indicated that biological yield, grain yield and harvest index were significantly affected by irrigation levels. I3 treatment produced more tillers number in m2, fertile tillers number in m2, harvest index and biological yield. Milan produced more tillers number in m2, fertile tillers in m2, while Shanghai produced heavier tillers and grain 1000 weight. Plant height was significant in wheat varieties while were not statistically significant in irrigation levels. Milan produced more grain yield, harvest index and biological yield. Grain yield shown that I1, I2, and I3 produced increasing of 5228 (21%), 5460 (27%) and 5670 (29%) kg ha-1, respectively. There was an interaction of irrigation and cultivar on grain yields. In the absence of the irrigation reduced grain 1000 weight from 45 to 40 g. No irrigation reduced soil moisture extraction during the grain filling stage. Current assimilation as a source of carbon for grain filling depends on the light intercepting viable green surfaces of the plant after anthesis that due to natural senescence and the effect of various stresses. At the same time the demand by the growing grain is increasing. It is concluded from research work that wheat crop irrigated Milan cultivar could increase the grain yield in comparison with Shanghai cultivar. Although, the grain yield of Shanghai under irrigation was slightly lower than Milan. This grain yield also was related to weather condition, sowing date, plant density and location conditions and management of fertilizers, because there was not significant difference in biological and straw yield. The best result was produced by I1 treatment. I2 and I3 treatments were not significantly difference with I1 treatment. Grain yield of I1 indicated that wheat is under soil moisture deficiency. Therefore, I1 irrigation was better than I0.

Keywords: anthesis, grain yield, irrigation, supplementary, Wheat.

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Authors: Muhammed Çetin, Yılmaz Tunçer, Nejat Ekmekçi

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In this paper, the translation surfaces in 3-dimensional Euclidean space generated by two space curves have been investigated. It has been indicated that Scherk surface is not only minimal translation surface.

Keywords: Minimal surface, Surface of Scherk, Translationsurface

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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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Authors: Lili Chen, Chao Yuan

Abstract:

On path space kQ, there is a trivial kQ^a-module structure determined by the multiplication of path algebra kQ^a and a trivial kQ^c-comodule structure determined by the comultiplication of path coalgebra kQ^c. In this paper, on path space kQ, a nontrivial kQ^a-module structure is defined, and it is proved that this nontrivial left kQ^a-module structure is isomorphic to the dual module structure of trivial right kQ^c-comodule. Dually, on path space kQ, a nontrivial kQ^c-comodule structure is defined, and it is proved that this nontrivial right kQ^c-comodule structure is isomorphic to the dual comodule structure of trivial left kQ^a-module. Finally, the trivial and nontrivial module structures on path space are compared from the aspect of submodule, and the trivial and nontrivial comodule structures on path space are compared from the aspect of subcomodule.

Keywords: Quiver, path space, module, comodule, dual.

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Authors: Tun Myat Aung, Ni Ni Hla

Abstract:

This paper begins by describing basic properties of finite field and elliptic curve cryptography over prime field and binary field. Then we discuss the discrete logarithm problem for elliptic curves and its properties. We study the general common attacks on elliptic curve discrete logarithm problem such as the Baby Step, Giant Step method, Pollard’s rho method and Pohlig-Hellman method, and describe in detail experiments of these attacks over prime field and binary field. The paper finishes by describing expected running time of the attacks and suggesting strong elliptic curves that are not susceptible to these attacks.c

Keywords: Discrete logarithm problem, general attacks, elliptic curves, strong curves, prime field, binary field, attack experiments.

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Authors: U. Yerlikaya, R. T. Balkan

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In this research, a method is developed to obtain high-dimensional configuration space for path planning problems. In typical cases, the path planning problems are solved directly in the 3-dimensional (D) workspace. However, this method is inefficient in handling the robots with various geometrical and mechanical restrictions. To overcome these difficulties, path planning may be formalized and solved in a new space which is called configuration space. The number of dimensions of the configuration space comes from the degree of freedoms of the system of interest. The method can be applied in two ways. In the first way, the point clouds of all the bodies of the system and interaction of them are used. The second way is performed via using the clearance function of simulation software where the minimum distances between surfaces of bodies are simultaneously measured. A double-turret system is held in the scope of this study. The 4-D configuration space of a double-turret system is obtained in these two ways. As a result, the difference between these two methods is around 1%, depending on the density of the point cloud. The disparity between the two forms steadily decreases as the point cloud density increases. At the end of the study, in order to verify 4-D configuration space obtained, 4-D path planning problem was realized as 2-D + 2-D and a sample path planning is carried out with using A* algorithm. Then, the accuracy of the configuration space is proved using the obtained paths on the simulation model of the double-turret system.

Keywords: A* Algorithm, autonomous turrets, high-dimensional C-Space, manifold C-Space, point clouds.

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