Search results for: comparative analysis

Authors: Seung Pil Pack

Abstract:

Deaminated lesions were produced via nitrosative oxidation of natural nucleobases; uracul (Ura, U) from cytosine (Cyt, C), hypoxanthine (Hyp, H) from adenine (Ade, A), and xanthine (Xan, X) and oxanine (Oxa, O) from guanine (Gua, G). Such damaged nucleobases may induce mutagenic problems, so that much attentions and efforts have been poured on the revealing of their mechanisms in vivo or in vitro. In this study, we employed these deaminated lesions as useful probes for analysis of DNA-binding/recognizing proteins or enzymes. Since the pyrimidine lesions such as Hyp, Oxa and Xan are employed as analogues of guanine, their comparative uses are informative for analyzing the role of Gua in DNA sequence in DNA-protein interaction. Several DNA oligomers containing such Hyp, Oxa or Xan substituted for Gua were designed to reveal the molecular interaction between DNA and protein. From this approach, we have got useful information to understand the molecular mechanisms of the DNA-recognizing enzymes, which have not ever been observed using conventional DNA oligomer composed of just natural nucleobases.

Keywords: Deaminated lesion, DNA-protein interaction, DNA-recognizing enzymes

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Authors: Nobuo Mishima, Naomi Miyamoto, Yoko Taguchi

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Historic preservation areas are extremely vulnerable to disasters because they are home to many vulnerable people and contain many closely spaced wooden houses. However, the narrow streets in these regions have historic meaning, which means that they cannot be widened and can become blocked easily during large disasters. Here, we describe our efforts to establish a methodology for the planning of evacuation route sin such historic preservation areas. In particular, this study aims to clarify the effectiveness of measures intended to secure two-way evacuation routes for vulnerable people during large disasters in a historic area preserved under the Cultural Properties Protection Law, Japan.

Keywords: Historic preservation, evacuation route analysis, vulnerable people, street blockade.

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Authors: M. O. Ezegbogu, H. B. Osadolor

Abstract:

Lipsticks constitute a significant source of transfer evidence, and can, therefore, provide corroborative or inclusionary evidence in criminal investigation. This study aimed to determine the uniqueness and persistence of different lipstick smears using Thin Layer Chromatography (TLC), and Gas Chromatography with a Flame Ionisation Detector (GC-FID). In this study, we analysed lipstick smears retrieved from tea cups exposed to the environment for up to four weeks. The n-alkane content of each sample was determined using GC-FID, while TLC was used to determine the number of bands, and retention factor of each band per smear. This study shows that TLC gives more consistent results over a 4-week period than GC-FID. It also proposes a maximum exposure time of two weeks for the analysis of lipsticks left in the open using GC-FID. Finally, we conclude that neither TLC nor GC-FID can distinguish lipstick evidence recovered from hypothetical crime scenes.

Keywords: Forensic science, chromatography, identification, lipstick.

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Authors: Wenhao Wang, Xinzhi Xu, Limin Feng, Wei Cong

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This paper comprehensively investigates current development status of global power grids and fossil energy pipelines (oil and natural gas), proposes a standard visual platform of global power and fossil energy based on Geographic Information System (GIS) technology. In this visual platform, a series of systematic visual models is proposed with global spatial data, systematic energy and power parameters. Under this visual platform, the current Global Power Grids Map and Global Fossil Energy Pipelines Map are plotted within more than 140 countries and regions across the world. Using the multi-scale fusion data processing and modeling methods, the world’s global fossil energy pipelines and power grids information system basic database is established, which provides important data supporting global fossil energy and electricity research. Finally, through the systematic and comparative study of global fossil energy pipelines and global power grids, the general status of global fossil energy and electricity development are reviewed, and energy transition in key areas are evaluated and analyzed. Through the comparison analysis of fossil energy and clean energy, the direction of relevant research is pointed out for clean development and energy transition.

Keywords: Energy Transition, geographic information system, fossil energy, power systems.

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Authors: R. Uporn, P. Luangpaiboon

Abstract:

This paper presents a comparative study of statistical methods for the multi-response surface optimization of a cryogenic freezing process. Taguchi design and analysis and steepest ascent methods based on the desirability function were conducted to ascertain the influential factors of a cryogenic freezing process and their optimal levels. The more preferable levels of the set point, exhaust fan speed, retention time and flow direction are set at -90oC, 20 Hz, 18 minutes and Counter Current, respectively. The overall desirability level is 0.7044.

Keywords: Cryogenic Freezing Process, Taguchi Design and Analysis, Response Surface Method, Steepest Ascent Method and Desirability Function Approach.

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Authors: Sandeep Singh Gill, Rajeevan Chandel, Ashwani Chandel

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This paper presents a comparative study of Ant Colony and Genetic Algorithms for VLSI circuit bi-partitioning. Ant colony optimization is an optimization method based on behaviour of social insects [27] whereas Genetic algorithm is an evolutionary optimization technique based on Darwinian Theory of natural evolution and its concept of survival of the fittest [19]. Both the methods are stochastic in nature and have been successfully applied to solve many Non Polynomial hard problems. Results obtained show that Genetic algorithms out perform Ant Colony optimization technique when tested on the VLSI circuit bi-partitioning problem.

Keywords: Partitioning, genetic algorithm, ant colony optimization, non-polynomial hard, netlist, mutation.

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Authors: Jagabondhu Hazra, Avinash Sinha

Abstract:

Economic dispatch problem is an optimization problem where objective function is highly non linear, non-convex, non-differentiable and may have multiple local minima. Therefore, classical optimization methods may not converge or get trapped to any local minima. This paper presents a comparative study of four different evolutionary algorithms i.e. genetic algorithm, bacteria foraging optimization, ant colony optimization and particle swarm optimization for solving the economic dispatch problem. All the methods are tested on IEEE 30 bus test system. Simulation results are presented to show the comparative performance of these methods.

Keywords: Ant colony optimization, bacteria foraging optimization, economic dispatch, evolutionary algorithm, genetic algorithm, particle swarm optimization.

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Authors: Kari Björn, Mikael Soini

Abstract:

Higher Education system reforms, especially Finnish system of Universities of Applied Sciences in 2014 are discussed. The new steering model is based on major legislative changes, output-oriented funding and open information. The governmental steering reform, especially the financial model and the resulting institutional level responses, such as a curriculum reforms are discussed, focusing especially in engineering programs. The paper is motivated by management need to establish objective steering-related performance indicators and to apply them consistently across all educational programs. The close relationship to governmental steering and funding model imply that internally derived indicators can be directly applied. Metropolia University of Applied Sciences (MUAS) as a case institution is briefly introduced, focusing on engineering education in Information and Communications Technology (ICT), and its related programs. The reform forced consolidation of previously separate smaller programs into fewer units of student application. New curriculum ICT students have a common first year before they apply for a Major. A framework of parallel and longitudinal comparisons is introduced and used across Majors in two campuses. The new externally introduced performance criteria are applied internally on ICT Majors using data ex-ante and ex-post of program merger.  A comparative performance of the Majors after completion of joint first year is established, focusing on previously omitted Majors for completeness of analysis. Some new research questions resulting from transfer of Majors between campuses and quota setting are discussed. Practical orientation identifies best practices to share or targets needing most attention for improvement. This level of analysis is directly applicable at student group and teaching team level, where corrective actions are possible, when identified. The analysis is quantitative and the nature of the corrective actions are not discussed. Causal relationships and factor analysis are omitted, because campuses, their staff and various pedagogical implementation details contain still too many undetermined factors for our limited data. Such qualitative analysis is left for further research. Further study must, however, be guided by the relevance of the observations.

Keywords: Engineering education, integrated curriculum, learning outcomes, performance measurement.

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Authors: Norhashidah Hj. Mohd Ali, Teng Wai Ping

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In this paper, we present a high order group explicit method in solving the two dimensional Helmholtz equation. The presented method is derived from a nine-point fourth order finite difference approximation formula obtained from a 45-degree rotation of the standard grid which makes it possible for the construction of iterative procedure with reduced complexity. The developed method will be compared with the existing group iterative schemes available in literature in terms of computational time, iteration counts, and computational complexity. The comparative performances of the methods will be discussed and reported.

Keywords: Explicit group method, finite difference, Helmholtz equation, rotated grid, standard grid.

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Authors: K. Karami, S. Hassan, S. Taking, A. Ofiare, A. Dhongde, A. Al-Khalidi, E. Wasige

Abstract:

We have made a comparative study on the influence of Al2O3 and HfO2 grown using Atomic Layer Deposition (ALD) technique as dielectric in the AlGaN/GaN metal oxide semiconductor high electron mobility transistor (MOS-HEMT) structure. Five samples consisting of 20 nm and 10 nm each of A2lO3 and HfO2 respectively and a Schottky gate HEMT, were fabricated and measured. The threshold voltage shifts towards negative by 0.1 V and 1.8 V for 10 nm thick HfO2 and 10 nm thick Al2O3 gate dielectric layers, respectively. The negative shift for the 20 nm HfO2 and 20 nm Al2O3 were 1.2 V and 4.9 V, respectively. Higher gm/IDS (transconductance to drain current) ratio was also obtained in HfO2 than Al2O3. With both materials as dielectric, a significant reduction in the gate leakage current in the order of 104 was obtained compared to the sample without the dielectric material.

Keywords: AlGaN/GaN HEMTs, Al2O3, HfO2, MOSHEMTs.

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Authors: S. Vidhya, S. Sarumathi, N. Shanthi

Abstract:

Over the past era, there have been a lot of efforts and studies are carried out in growing proficient tools for performing various tasks in big data. Recently big data have gotten a lot of publicity for their good reasons. Due to the large and complex collection of datasets it is difficult to process on traditional data processing applications. This concern turns to be further mandatory for producing various tools in big data. Moreover, the main aim of big data analytics is to utilize the advanced analytic techniques besides very huge, different datasets which contain diverse sizes from terabytes to zettabytes and diverse types such as structured or unstructured and batch or streaming. Big data is useful for data sets where their size or type is away from the capability of traditional relational databases for capturing, managing and processing the data with low-latency. Thus the out coming challenges tend to the occurrence of powerful big data tools. In this survey, a various collection of big data tools are illustrated and also compared with the salient features.

Keywords: Big data, Big data analytics, Business analytics, Data analysis, Data visualization, Data discovery.

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Authors: Dandong Ge, Lei Tong

Abstract:

This paper studies the cultural creative industry's characteristics between the eastern and western of Zhejiang Province. Through the Comparative analysis, this paper works out that the cultural creative industry in western Zhejiang Province is mainly promoted by the inside force, and its level of development is obviously much lower than the eastern Zhejiang Province whose cultural creative industry is mainly pulled by outside forces. So this paper worked out some strategies for the development of cultural creative industry in western Zhejiang Province, which are based on the economic foundation and the cultural resource endowments. Finally these strategies will help to improve the whole development level of western Zhejiang Province, and contribute to the balance development between the west and east of Zhejiang Province.

Keywords: Cultural creative industry, underdeveloped, western Zhejiang, strategies.

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Authors: P. Srinivas, P. V. N. Prasad

Abstract:

Since torque ripple is the main cause of noise and vibrations, the performance of Switched Reluctance Motor (SRM) can be improved by minimizing its torque ripple using a novel control technique called Direct Torque Control (DTC). In DTC technique, torque is controlled directly through control of magnitude of the flux and change in speed of the stator flux vector. The flux and torque are maintained within set hysteresis bands.

The DTC of SRM is analyzed by two methods. In one method, the actual torque is computed by conducting Finite Element Analysis (FEA) on the design specifications of the motor. In the other method, the torque is computed by Simplified Torque Equation. The variation of peak current, average current, torque ripple and speed settling time with Simplified Torque Equation model is compared with FEA based model.

Keywords: Direct Toque Control, Simplified Torque Equation, Finite Element Analysis, Torque Ripple.

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Authors: Ghulam Ahmad

Abstract:

In this paper comparison of Reflector Antenna analyzing techniques based on wave and ray nature of optics is presented for an offset reflector antenna using GRASP (General Reflector antenna Analysis Software Package) software. The results obtained using PO (Physical Optics), PTD (Physical theory of Diffraction), and GTD (Geometrical Theory of Diffraction) are compared. The validity of PO and GTD techniques in regions around the antenna, caustic behavior of GTD in main beam, and deviation of GTD in case of near-in sidelobes of radiation pattern are discussed. The comparison for far-out sidelobes predicted by PO, PO + PTD and GTD is described. The effect of Direct Radiations from feed which results in feed selection for the system is addressed.

Keywords: Geometrical optics & geometrical theory of diffraction, offset reflector antenna, physical optics & physical theory of diffraction, PO & GO comaprison.

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Authors: J. Dutta, P. Pranith Kumar Reddy

Abstract:

This research paper portrays a comparative analysis of thermomechanical behaviour of Shielded Metal Arc Welding (SMAW) and Gas Tungsten Arc Welding (GTAW) of low carbon steel of AISI 1020 grade butt joints. The thermal history has been obtained by experimental work. We have focused on temperature dependent cooling rate as depicted by Adam’s two-dimensional model. The effect of moving point heat source of SMAW and GTAW on mechanical properties has been judged by optical and scanning electron micrographs of different regions in weld joints. The microhardness study has been carried to visualize the joint strength due to formation of different phases.

Keywords: Shielded metal arc welding, gas tungsten arc welding, low carbon steel, microhardness study, thermal history, microscopic morphology.

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Authors: Anjali Chatterjee, Nirmal Kumar Roy

Abstract:

Economically transformers constitute one of the largest investments in a Power system. For this reason, transformer condition assessment and management is a high priority task. If a transformer fails, it would have a significant negative impact on revenue and service reliability. Monitoring the state of health of power transformers has traditionally been carried out using laboratory Dissolved Gas Analysis (DGA) tests performed at periodic intervals on the oil sample, collected from the transformers. DGA of transformer oil is the single best indicator of a transformer-s overall condition and is a universal practice today, which started somewhere in the 1960s. Failure can occur in a transformer due to different reasons. Some failures can be limited or prevented by maintenance. Oil filtration is one of the methods to remove the dissolve gases and prevent the deterioration of the oil. In this paper we analysis the DGA data by regression method and predict the gas concentration in the oil in the future. We bring about a comparative study of different traditional methods of regression and the errors generated out of their predictions. With the help of these data we can deduce the health of the transformer by finding the type of fault if it has occurred or will occur in future. Additional in this paper effect of filtration on the transformer health is highlight by calculating the probability of failure of a transformer with and without oil filtrating.

Keywords: Power Transformers, Dissolve gas Analysis, Regression method, Filtration, oil.

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Authors: R. Poonkuzhali, M. Y. Sanavullah, M. R. Gurupriya

Abstract:

Opportunistic routing is used, where the network has the features like dynamic topology changes and intermittent network connectivity. In Delay tolerant network or Disruption tolerant network opportunistic forwarding technique is widely used. The key idea of opportunistic routing is selecting forwarding nodes to forward data packets and coordination among these nodes to avoid duplicate transmissions. This paper gives the analysis of pros and cons of various opportunistic routing techniques used in MANET.

Keywords: Expected Transmission Count (ETX), Opportunistic routing, Proactive Source Routing (PSR), throughput.

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Authors: Marie Paseková, Jiří Strouhal, Lehte Alver, Arturs Praulinš

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During last decades is widely discussed the international harmonization of financial reporting. This harmonization is also affected by national tax systems in analyzed countries. This paper provides some evidence on current national tax systems in selected countries in Central and Eastern Europe. The linkage of accounting profit as a tax base might decrease the administrative burden for majority of SMEs, which are the most important engine of each national economy.

Keywords: International harmonization, tax system, SMEs, Czech Republic, Slovakia, Estonia, Latvia

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Authors: M. Ben Othmen, M. Sayadi, F. Fnaiech

Abstract:

Wavelet transform provides several important characteristics which can be used in a texture analysis and classification. In this work, an efficient texture classification method, which combines concepts from wavelet and co-occurrence matrices, is presented. An Euclidian distance classifier is used to evaluate the various methods of classification. A comparative study is essential to determine the ideal method. Using this conjecture, we developed a novel feature set for texture classification and demonstrate its effectiveness

Keywords: Classification, Wavelet, Co-occurrence, Euclidian Distance, Classifier, Texture.

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Authors: Fakhra Aziz, K. Sulaiman, M. R. Muhammad, M. Hassan Sayyad, Kh. Karimov

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This paper presents a comparative study on Vanadyl Phthalocyanine (VOPc) thin films deposited by thermal evaporation and spin coating techniques. The samples were prepared on cleaned glass substrates and annealed at various temperatures ranging form 95oC to 155oC. To obtain the morphological and structural properties of VOPc thin films, X-ray diffraction (XRD) technique and atomic force microscopy (AFM) have been implied. The AFM topographic images show a very slight difference in the thermally grown films, before and after annealing, however best results are achieved for the spin-cast film annealed at 125oC. The XRD spectra show no existence of the sharp peaks, suggesting the material to be amorphous. The humps in the XRD patterns indicate the presence of some crystallites.

Keywords: Annealing, optical properties, thin films, Vanadylphthalocyanine.

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Authors: Indunil Jayatilake, Warna Karunasena

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Fiber Reinforced Polymer (FRP) composites enjoy an array of applications ranging from aerospace, marine and military to automobile, recreational and civil industry due to their outstanding properties. A structural glass fiber reinforced polymer (GFRP) composite sandwich panel made from E-glass fiber skin and a modified phenolic core has been manufactured in Australia for civil engineering applications. One of the major mechanisms of damage in FRP composites is skin-core debonding. The presence of debonding is of great concern not only because it severely affects the strength but also it modifies the dynamic characteristics of the structure, including natural frequency and vibration modes. This paper deals with the investigation of the dynamic characteristics of a GFRP beam with single and multiple debonding by finite element based numerical simulations and analyses using the STRAND7 finite element (FE) software package. Three-dimensional computer models have been developed and numerical simulations were done to assess the dynamic behavior. The FE model developed has been validated with published experimental, analytical and numerical results for fully bonded as well as debonded beams. A comparative analysis is carried out based on a comprehensive parametric investigation. It is observed that the reduction in natural frequency is more affected by single debonding than the equally sized multiple debonding regions located symmetrically to the single debonding position. Thus it is revealed that a large single debonding area leads to more damage in terms of natural frequency reduction than isolated small debonding zones of equivalent area, appearing in the GFRP beam. Furthermore, the extents of natural frequency shifts seem mode-dependent and do not seem to have a monotonous trend of increasing with the mode numbers.

Keywords: Debonding, dynamic response, finite element modelling, FRP beams.

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Authors: Nidhi Gupta, Sanjoy Das, Khushal Singh

Abstract:

A Mobile Ad-hoc Network (MANET) is a self managing network consists of versatile nodes that are capable of communicating with each other without having any fixed infrastructure. These nodes may be routers and/or hosts. Due to this dynamic nature of the network, routing protocols are vulnerable to various kinds of attacks. The black hole attack is one of the conspicuous security threats in MANETs. As the route discovery process is obligatory and customary, attackers make use of this loophole to get success in their motives to destruct the network. In Black hole attack the packet is redirected to a node that actually does not exist in the network. Many researchers have proposed different techniques to detect and prevent this type of attack. In this paper, we have analyzed various routing protocols in this context. Further we have shown a critical comparison among various protocols. We have shown various routing metrics are required proper and significant analysis of the protocol.

Keywords: Black Hole, MANET, Performance Parameters, Routing Protocol.

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Authors: Nuraddin Sadykov, Saule Erzhanova, Akmaral Dalelbekkyzy, Mukhit Tolegenov

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This article provides a comparative analysis of poetries of diverse nations around the world while largely focusing on Kazakh lyric poetry (Kazakh zhyraulyq oneri). Alongside, it sheds the light to the historical development and contemporary progress path of foremost poetry school located along the Syr Darya coast. Hereby, it-s content and central motives are examined.

Keywords: Lyric poetry (zhyraulyq oner), poet-musician (zhyrshy), Sufi tradition (sopylyq dastur), hermeneutics (germenevtica).

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Authors: L. Abdelmalek, M. Zerikat, M. Rahli

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In this paper, we present a comparative study of the genetic algorithms and Hessian-s methods for optimal research of the active powers in an electric network of power. The objective function which is the performance index of production of electrical energy is minimized by satisfying the constraints of the equality type and inequality type initially by the Hessian-s methods and in the second time by the genetic Algorithms. The results found by the application of AG for the minimization of the electric production costs of power are very encouraging. The algorithms seem to be an effective technique to solve a great number of problems and which are in constant evolution. Nevertheless it should be specified that the traditional binary representation used for the genetic algorithms creates problems of optimization of management of the large-sized networks with high numerical precision.

Keywords: Genetic algorithm, Flow of optimum loadimpedances, Hessians method, Optimal distribution.

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Authors: Nazrul M. Ahmad, Asrul H. Yaacob, Ridza Fauzi, Alireza Khorram

Abstract:

Elliptic curve-based certificateless signature is slowly gaining attention due to its ability to retain the efficiency of identity-based signature to eliminate the need of certificate management while it does not suffer from inherent private key escrow problem. Generally, cryptosystem based on elliptic curve offers equivalent security strength at smaller key sizes compared to conventional cryptosystem such as RSA which results in faster computations and efficient use of computing power, bandwidth, and storage. This paper proposes to implement certificateless signature based on bilinear pairing to structure the framework of IKE authentication. In this paper, we perform a comparative analysis of certificateless signature scheme with a well-known RSA scheme and also present the experimental results in the context of signing and verification execution times. By generalizing our observations, we discuss the different trade-offs involved in implementing IKE authentication by using certificateless signature.

Keywords: Certificateless signature, IPSec, RSA signature, IKE authentication.

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Authors: Turan Erman Erkan

Abstract:

Business Process Reengineering (BPR) is an essential tool before an information system project implementation. Enterprise Resource Planning (ERP) projects definitely require the standardization and fixation of business processes from customer order to shipment. Therefore, ERP implementations are well proven to be coupled with BPR, although the extend and timing of BPR with respect to ERP implementation differ. This study aims at analyzing the effects of BPR on ERP implementation success. Basing on two Turkish ERP implementations in pharmaceutical sector, a comparative study is performed. One of the ERP implementations took place after a BPR implementation, whereas the other implementation was without a prior BPR application. Both implementations have been realized with the same consultant team, the case with prior BPR implementation going live first. The results of the case study reveal that if business processes are not optimized and improved before an ERP implementation, ERP live system would face with disharmony problems of processes and processes automated by ERP. This suggests a definite precedence relationship between BPR and ERP applications

Keywords: Business Process Reengineering, Enterprise Resource Planning

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Authors: Ran Zhao, Zhi-liang Dong, You-yuan Wang, Lin-wang Su

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In order to study pressed pile test and ultimate bearing capacity character of large-diameter steel pipe pile, based on two high-piled wharfs of Zhanjiang Port, pressed pile test and numerical simulation of three large-diameter steel pipe piles are analyzed in this paper. Anchored pile method is used to pressed pile test, and the curves of Q-s and ultimate bearing capacity are attained. Then the three piles are numerically simulated by ABAQUS, and results of numerical simulation and those of field test are comparatively analyzed. The results show that settlement value of numerical simulation is larger than that of field test in the process of loading, the difference value is widening with the increasing of load, and the ultimate difference value of settlement is 20% to 30%.

Keywords: Large-diameter steel pipe pile, field test, finite element analysis, comparative analysis.

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Authors: Khlopova N.S., Glazko V.I., Glazko T.T.

Abstract:

Using DNA microarrays the comparative analysis of a gene expression profiles is carried out in a liver and kidneys of pigs. The hypothesis of a cross hybridization of one probe with different cDNA sites of the same gene or different genes is checked up, and it is shown, that cross hybridization can be a source of essential errors at revealing of a key genes in organ-specific transcriptome. It is reveald that distinctions in profiles of a gene expression are well coordinated with function, morphology, biochemistry and histology of these organs.

Keywords: Microarray, gene expression profiles, key genes.

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Authors: S. Zeković, M. Vujošević, T. Maričić

Abstract:

The paper provides a comprehensive analysis of the sustainable development in the Belgrade Metropolitan Region - BMA (level NUTS 2) preliminary evaluating the three chosen components: 1) economic growth and developmental changes; 2) competitiveness; and 3) territorial concentration and industrial specialization. First, we identified the main results of development changes and economic growth by applying Shift-share analysis on the metropolitan level. Second, the empirical evaluation of competitiveness in the BMA is based on the analysis of absolute and relative values of eight indicators by Spider method. Paper shows that the consideration of the national share, industrial mix and metropolitan/regional share in total Shift share of the BMA, as well as economic/functional specialization of the BMA indicate very strong process of deindustrialization. Allocative component of the BMA economic growth has positive value, reflecting the above-average sector productivity compared to the national average. Third, the important positive role of metropolitan/regional component in decomposition of the BMA economic growth is highlighted as one of the key results. Finally, comparative analysis of the industrial territorial concentration in the BMA in relation to Serbia is based on location quotient (LQ) or Balassa index as a valid measure. The results indicate absolute and relative differences in decrease of industry territorial concentration as well as inefficiency of utilizing territorial capital in the BMA. Results are important for the increase of regional competitiveness and territorial distribution in this area as well as for improvement of sustainable metropolitan and sector policies, planning and governance on this level.

Keywords: Belgrade Metropolitan Area (BMA), Comprehensive analysis/evaluation, economic growth and competitiveness, sustainable development.

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Authors: A. N. K. Nasir, M. A. Ahmad, R. M. T. Raja Ismail

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The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic Regulator (LQR) and PID-PID controllers for a highly nonlinear 2–wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in statespace form and the system suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the LQR and PID-PID controllers are examined in terms of input tracking and disturbances rejection capability. Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed.

Keywords: PID, LQR, Two-wheels balancing robot.

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