Search results for: full adder

Authors: Rossitza M. Setchi, Qiao Tang

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Nowadays, ontologies are the only widely accepted paradigm for the management of sharable and reusable knowledge in a way that allows its automatic interpretation. They are collaboratively created across the Web and used to index, search and annotate documents. The vast majority of the ontology based approaches, however, focus on indexing texts at document level. Recently, with the advances in ontological engineering, it became clear that information indexing can largely benefit from the use of general purpose ontologies which aid the indexing of documents at word level. This paper presents a concept indexing algorithm, which adds ontology information to words and phrases and allows full text to be searched, browsed and analyzed at different levels of abstraction. This algorithm uses a general purpose ontology, OntoRo, and an ontologically tagged corpus, OntoCorp, both developed for the purpose of this research. OntoRo and OntoCorp are used in a two-stage supervised machine learning process aimed at generating ontology tagging rules. The first experimental tests show a tagging accuracy of 78.91% which is encouraging in terms of the further improvement of the algorithm.

Keywords: Concepts, indexing, machine learning, ontology, tagging.

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Authors: Nael Y. Zabel, Maged E. Georgy, Moheeb E. Ibrahim

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A knowledge-based expert system with the acronym RASPE is developed as an application tool to help decision makers in construction companies make informed decisions about managing risks in pipeline construction projects. Choosing to use expert systems from all available artificial intelligence techniques is due to the fact that an expert system is more suited to representing a domain’s knowledge and the reasoning behind domain-specific decisions. The knowledge-based expert system can capture the knowledge in the form of conditional rules which represent various project scenarios and potential risk mitigation/response actions. The built knowledge in RASPE is utilized through the underlying inference engine that allows the firing of rules relevant to a project scenario into consideration. Paper provides an overview of the knowledge acquisition process and goes about describing the knowledge structure which is divided up into four major modules. The paper shows one module in full detail for illustration purposes and concludes with insightful remarks.

Keywords: Expert System, Knowledge Management, Pipeline Projects, Risk Mismanagement.

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Authors: Watcharakorn Thongchuay, Puntip Toghaw, Montri Maleewong

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The Wavelet-Galerkin finite element method for solving the one-dimensional heat equation is presented in this work. Two types of basis functions which are the Lagrange and multi-level wavelet bases are employed to derive the full form of matrix system. We consider both linear and quadratic bases in the Galerkin method. Time derivative is approximated by polynomial time basis that provides easily extend the order of approximation in time space. Our numerical results show that the rate of convergences for the linear Lagrange and the linear wavelet bases are the same and in order 2 while the rate of convergences for the quadratic Lagrange and the quadratic wavelet bases are approximately in order 4. It also reveals that the wavelet basis provides an easy treatment to improve numerical resolutions that can be done by increasing just its desired levels in the multilevel construction process.

Keywords: Galerkin finite element method, Heat equation , Lagrange basis function, Wavelet basis function.

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Authors: Lae-Jeong Park, Jung-Ho Moon

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People detection from images has a variety of applications such as video surveillance and driver assistance system, but is still a challenging task and more difficult in crowded environments such as shopping malls in which occlusion of lower parts of human body often occurs. Lack of the full-body information requires more effective features than common features such as HOG. In this paper, new features are introduced that exploits global self-symmetry (GSS) characteristic in head-shoulder patterns. The features encode the similarity or difference of color histograms and oriented gradient histograms between two vertically symmetric blocks. The domain-specific features are rapid to compute from the integral images in Viola-Jones cascade-of-rejecters framework. The proposed features are evaluated with our own head-shoulder dataset that, in part, consists of a well-known INRIA pedestrian dataset. Experimental results show that the GSS features are effective in reduction of false alarmsmarginally and the gradient GSS features are preferred more often than the color GSS ones in the feature selection.

Keywords: Pedestrian detection, cascade of rejecters, feature extraction, self-symmetry, HOG.

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Authors: A. L. Y. Ng, W. H. Hii

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A series of tests on cold-formed steel (CFS) wall plate system subjected to uplift force at the mid span of the wall plate is presented. The aim of the study was to study the behaviour and identify the modes of failure of CFS wall plate system. Two parameters were considered in these studies: 1) different dimension of U-bracket at the supports and 2) different sizes of lipped C-channel. The lipped C-channels used were C07508, C07512 and C10012. The dimensions of the leg of U-bracket were 50x35 mm and 50x60 mm respectively, where 25 mm clearance was provided to the connections for specimens with clearance. Results show that specimens with and without clearance experienced the same mode of failure. Failure began with the yielding of the connectors followed by distortional buckling of the wall plate. However, when C075 sections were used as wall plate, the system behaved differently. There was a large deformation in the wall plate and failure began in the distortional buckling of the wall plate followed by bearing of the connecting plates at the supports (U-bracket). The ultimate strength of the system also decreased dramatically when C075 sections were used.

Keywords: Cold-formed steel, wall plate system, distortional buckling, full scale laboratory test.

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Authors: Amin Almasi

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Design and evaluation of reciprocating compressors should include a pulsation study. The object is to ensure that predicted pulsation levels meet guidelines to limit vibration, shaking forces, noise, associated pressure drops, horsepower losses and fabrication cost and time to acceptable levels. This paper explains procedures and recommendations to select and size pulsation suppression devices to obtain optimum arrangement in terms of pulsation, vibration, shaking forces, performance, reliability, safety, operation, maintenance and commercial conditions. Model and advanced formulations for pulsation study are presented. The effect of the full fluid dynamic model on the prediction of pulsation waves and resulting frequency spectrum distributions are discussed. Advanced and optimum methods of controlling pulsations are highlighted. Useful recommendations and guidelines for pulsation control, piping pulsation analysis, pulsation vessel design, shaking forces, low pressure drop orifices, pulsation study report and devices to mitigate pulsation and shaking problems are discussed.

Keywords: Pulsation, Reciprocating Compressor.

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Authors: Yi-Tun Huang, Chih-Yang Wu, Shu-Wei Huang

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In this work, we examine fluid mixing in a full three-stream mixing channel with longitudinal vortex generators (LVGs) built on the channel bottom by numerical simulation and experiment. The effects of the asymmetrical arrangement and the attack angle of the LVGs on fluid mixing are investigated. The results show that the micromixer with LVGs at a small asymmetry index (defined by the ratio of the distance from the center plane of the gap between the winglets to the center plane of the main channel to the width of the main channel) is superior to the micromixer with symmetric LVGs and that with LVGs at a large asymmetry index. The micromixer using five mixing modules of the LVGs with an attack angle between 16.5 degrees and 22.5 degrees can achieve excellent mixing over a wide range of Reynolds numbers. Here, we call a section of channel with two pairs of staggered asymmetrical LVGs a mixing module. Besides, the micromixer with LVGs at a small attack angle is more efficient than that with a larger attack angle when pressure losses are taken into account.

Keywords: Microfluidics, Mixing, Longitudinal vortex generators, Two stream interfaces.

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Authors: Sagar Pramodrao Kadu, Rajendra H. Sarda

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The concerns about clean environment and high oil prices driving forces for the research on alternative fuels. The research efforts directed towards improving the performance of C.I engines using vegetable oil as fuel. The paper deals results of performance of a four stroke, single cylinder C.I. engine by preheated neat Karanja oil is done from 30 o C to 100 o C. The performance of the engine was studied for a speed range between 1500 to 4000 rpm, with the engine operated under full load conditions. The performance parameters considered for comparing are brake specific fuel consumption, thermal efficiency, brake power, Nox emission of the engine. The engine offers lower thermal efficiency when it is powered by preheated neat Karanja oil at higher speed. The power developed and Nox emission increase with the increase in the fuel inlet temperature and the specific fuel consumption is higher than diesel fuel operation at all elevated fuel inlet temperature.

Keywords: Alternative fuel, Compression ignition engine, neatKaranja oil, preheating.

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Authors: Heshalini Rajagopal, Li Sze Chow, Raveendran Paramesran

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Magnetic Resonance Imaging (MRI) is one of the most important medical imaging modality. Subjective assessment of the image quality is regarded as the gold standard to evaluate MR images. In this study, a database of 210 MR images which contains ten reference images and 200 distorted images is presented. The reference images were distorted with four types of distortions: Rician Noise, Gaussian White Noise, Gaussian Blur and DCT compression. The 210 images were assessed by ten subjects. The subjective scores were presented in Difference Mean Opinion Score (DMOS). The DMOS values were compared with four FR-IQA metrics. We have used Pearson Linear Coefficient (PLCC) and Spearman Rank Order Correlation Coefficient (SROCC) to validate the DMOS values. The high correlation values of PLCC and SROCC shows that the DMOS values are close to the objective FR-IQA metrics.

Keywords: Medical Resonance (MR) images, Difference Mean Opinion Score (DMOS), Full Reference Image Quality Assessment (FR-IQA).

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Authors: Guillermo Romero-Jiménez, Víctor Jiménez-Sánchez, Edgardo J. Roldán-Villasana

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This paper describes the development of a control system model using a graphical software tool. This control system is part of an operator training simulator developed for the National Training Center for Operators of Ixtapantongo (CNCAOI, acronym according to its name in Spanish language) of the Mexico-s Federal Commission of Electricity, CFE). The Department of Simulation of the Electrical Research Institute (IIE) developed this simulator using as reference the Unit I of the Combined Cycle Power Plant El Sauz, located at the centre of Mexico. The first step in the project was the developing of the Gas Turbine System and its control system simulator. The Turbo Gas simulator was finished and delivered to CNCAOI in March 2007 for commercial operation. This simulator is a high-fidelity real time dynamic simulator built and tested for accurate operation over the entire load range. The simulator was used primarily for operator training although it has been used for procedure development and evaluation of plant transients.

Keywords: Operators training, Power plant simulator, simulation environment.

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Authors: David L. Azevedo, Jordan Del Nero

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In this paper we study a system composed by carbon nanotube (CNT) and bundle of carbon nanotube (BuCNT) interacting with a specific fatty acid as molecular probe. Full system is represented by open nanotube (or nanotubes) and the linoleic acid (LA) relaxing due the interaction with CNT and BuCNT. The LA has in his form an asymmetric shape with COOH termination provoking a close BuCNT interaction mainly by van der Waals force field. The simulations were performed by classical molecular dynamics with standard parameterizations. Our results show that these BuCNT and CNT are dynamically stable and it shows a preferential interaction position with LA resulting in three features: (i) when the LA is interacting with CNT and BuCNT (including both termination, CH2 or COOH), the LA is repelled; (ii) when the LA terminated with CH2 is closer to open extremity of BuCNT, the LA is also repelled by the interaction between them; and (iii) when the LA terminated with COOH is closer to open extremity of BuCNT, the LA is encapsulated by the BuCNT. These simulations are part of a more extensive work on searching efficient selective molecular devices and could be useful to reach this goal.

Keywords: Carbon Nanotube, Linoleic Acid, MolecularDynamics.

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Authors: Ahmed H. El-Masry, Mohamed A. Dabaon, Tarek F. El-Shafiey, Abd El-Hakim A. Khalil

Abstract:

An experimental study was performed to investigate the behavior and strength of proposed technique to connect reinforced concrete (RC) beam to steel or composite columns. This approach can practically be used in several types of building construction. In this technique, the main beam of the frame consists of a transfer part (part of beam; Tr.P) and a common reinforcement concrete beam. The transfer part of the beam is connected to the column, whereas the rest of the beam is connected to the transfer part from each side. Four full-scale beam-column connections were tested under static loading. The test parameters were the length of the transfer part and the column properties. The test results show that using of the transfer part technique leads to modify the deformation capabilities for the RC beam and hence it increases its resistance against failure. Increase in length of the transfer part did not necessarily indicate an enhanced behavior. The test results contribute to the characterization of the connection behavior between RC beam - steel column and can be used to calibrate numerical models for the simulation of this type of connection.

Keywords: Composite column, reinforced concrete beam, Steel Column, Transfer Part.

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Authors: Chunguang Wang, Krishna Shankar, Evgeny V. Morozov

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The use of composite materials in offshore engineering for deep sea oil production riser systems has drawn considerable interest due to the potential weight savings and improvement in durability. The design of composite risers consists of two stages: (1) local design based on critical local load cases, and (2) global analysis of the full length composite riser under global loads and assessment of critical locations. In the first stage, eight different material combinations were selected and their laminate configurations optimised under local load considerations. Stage two includes a final local stress analysis of the critical sections of the riser under the combined loads determined in the global analysis. This paper describes two design methodologies of the composite riser to provide minimum structural weight and shows that the use of off angle fibre orientations in addition to axial and hoop reinforcements offer substantial weight savings and ensure the structural capacity.

Keywords: Composite Riser, Composite Tubular, Finite Element Modelling, Global Design, Local Design, Offshore Engineering.

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Authors: Tahvilian R., Siahi Shadbad MR., Hamishehkar H., Aghababa Gharehbagh V.

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Nowadays pharmaceutical care departments located in hospitals are amongst the important pillars of the healthcare system. The aim of this study was to evaluate quality of hospital drugstores affiliated with Kermanshah University of Medical Sciences. In this cross-sectional study a validated questionnaire was used. The questionnaire was filled in by the one of the researchers in all seventeen hospital drugstores located in the teaching and nonteaching hospitals affiliated with Kermanshah University of Medical Sciences. The results shows that in observed hospitals,24% of pharmacy environments, 25% of pharmacy store and storage conditions, 49% of storage procedure, 25% of ordering drugs and supplies, 73% of receiving supplies (proper procedure are fallowed for receiving supplies), 35% of receiving supplies (prompt action taken if deterioration of drugs received is suspected), 23.35% of drugs delivery to patients and finally 0% of stock cards are used for proper inventory control have full compliance with standards.

Keywords: Hospital pharmacy standards, Kermanshah, pharmacy management

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Authors: Yen-Po Wang, Ming-Chih Huang, Ming-Lian Chang

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A scheme integrated with deterministic–stochastic subspace system identification and the method of damage localization vector is proposed in this study for damage detection of structures based on seismic response data. A series of shaking table tests using a five-storey steel frame has been conducted in National Center for Research on Earthquake Engineering (NCREE), Taiwan. Damage condition is simulated by reducing the cross-sectional area of some of the columns at the bottom. Both single and combinations of multiple damage conditions at various locations have been considered. In the system identification analysis, either full or partial observation conditions have been taken into account. It has been shown that the damaged stories can be identified from global responses of the structure to earthquakes if sufficiently observed. In addition to detecting damage(s) with respect to the intact structure, identification of new or extended damages of the as-damaged (ill-conditioned) counterpart has also been studied. The proposed scheme proves to be effective.

Keywords: Damage locating vectors, deterministic-stochastic subspace system, shaking table tests, system identification.

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Authors: Dongfang Qiu, Yilin Lu

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The measurement of enterprise-university-research cooperative efficiency has important meanings in improving the cooperative efficiency, strengthening the effective integration of regional resource, enhancing the ability of regional innovation and promoting the development of regional economy. The paper constructs the DEA method and DEA-Malmquist productivity index method to research the cooperation efficiency of Hubei by making comparisons with other provinces in China. The study found out the index of technology efficiency is 0.52 and the enterprise-universityresearch cooperative efficiency is Non-DEA efficient. To realize the DEA efficiency of Hubei province, the amount of 1652.596 R&D employees and 638.368 R&D employees’ full time equivalence should be reduced or 137.89 billion yuan of new products’ sales income be increased. Finally, it puts forward policy recommendations on existing problems to strengthen the standings of the cooperation, realize the effective application of the research results, and improve the level of management of enterprise-university-research cooperation efficiency.

Keywords: Cooperation Ability, DEA Method, Enterprise-university-research Cooperation, Malmquist Efficiency Index.

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Authors: Liu Ying-jie, Lu Wen-bo, Peng Cheng-jian

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With the development of the automotive technology and electric vehicle, the contribution of the wind noise on the interior noise becomes the main source of noise. The main transfer path which the exterior excitation is transmitted through is the greenhouse panels and side windows. Simulating the wind noise transmitted into the vehicle accurately in the early development stage can be very challenging. The basic methodologies of this study were based on the Lighthill analogy; the exterior flow field around a passenger car was computed using unsteady Computational Fluid Dynamics (CFD) firstly and then a Finite Element Method (FEM) was used to compute the interior acoustic response. The major findings of this study include: 1) The Sound Pressure Level (SPL) response at driver’s ear locations is mainly induced by the turbulence pressure fluctuation; 2) Peaks were found over the full frequency range. It is found that the methodology used in this study could predict the interior wind noise induced by the exterior aerodynamic excitation in industry.

Keywords: Wind noise, computational fluid dynamics, finite element method, passenger car.

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Authors: M. Yoneda

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The purpose of this study is to identify human walking vertical force by using FFT power spectrum density from the experimental acceleration data of the human body. An experiment on human walking is carried out on a stationary floor especially paying attention to higher components of dynamic vertical walking force. Based on measured acceleration data of the human lumbar part, not only in-phase component with frequency of 2fw, 3fw, but also in-opposite-phase component with frequency of 0.5 fw, 1.5 fw, 2.5 fw where fw is the walking rate is observed. The vertical vibration of pedestrian bridge induced by higher components of human walking vertical force is also discussed in this paper. A full scale measurement for the existing pedestrian bridge with center span length of 33 m is carried out focusing on the resonance phenomenon due to higher components of human walking vertical force. Dynamic response characteristics excited by these vertical higher components of human walking are revealed from the dynamic design viewpoint of pedestrian bridge.

Keywords: Simplified method, Human walking vertical force, Higher component, Pedestrian bridge vibration.

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Authors: M. Raciti Castelli, S. De Betta, E. Benini

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This paper presents a means for reducing the torque variation during the revolution of a vertical-axis water turbine (VAWaterT) by increasing the blade number. For this purpose, twodimensional CFD analyses have been performed on a straight-bladed Darrieus-type rotor. After describing the computational model and the relative validation procedure, a complete campaign of simulations, based on full RANS unsteady calculations, is proposed for a three, four and five-bladed rotor architectures, characterized by a NACA 0025 airfoil. For each proposed rotor configuration, flow field characteristics are investigated at several values of tip speed ratio, allowing a quantification of the influence of blade number on flow geometric features and dynamic quantities, such as rotor torque and power. Finally, torque and power curves are compared for the three analyzed architectures, achieving a quantification of the effect of blade number on overall rotor performance.

Keywords: Vertical-Axis Water Turbine, rotor solidity, CFD, NACA 0025

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Authors: Brian H. Marsh, John H. Grove

Abstract:

Gypsum is being applied to ameliorate subsoil acidity and to overcome the problem of very slow lime movement from surface lime applications. Reduced Crude Conversion Spent Lime (RCCSL) containing anhydrite was evaluated for use as a liming material with specific consideration given to the movement of sulfate into the acid subsoil. Agricultural lime and RCCSL were applied at 0, 0.5, 1.0, and 1.5 times the lime requirement of 6.72 Mg ha^-1 to an acid Trappist silt loam (TypicHapuldult). Corn [Zea mays (L.)]was grown following lime material application and soybean [Glycine max (L.) Merr.]was grown in the second year.Soil pH increased rapidly with the addition of the RCCSL material. Over time there was no difference in soil pH between the materials but there was with increasing rate. None of the observed changes in plant nutrient concentration had an impact on yield. Grain yield was higher for the RCCSL amended treatments in the first year but not in the second. There was a significant increase in soybean grain yield from the full lime requirement treatments over no lime.

Keywords: Soil acidity, corn, soybean, liming materials.

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Authors: Said Khelifa, Zoulikha Mekkakia Maaza

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In this paper we present a full performance analysis of an energy conserving routing protocol in mobile ad hoc network, named ER-AODV (Energy Reverse Ad-hoc On-demand Distance Vector routing). ER-AODV is a reactive routing protocol based on a policy which combines two mechanisms used in the basic AODV protocol. AODV and most of the on demand ad hoc routing protocols use single route reply along reverse path. Rapid change of topology causes that the route reply could not arrive to the source node, i.e. after a source node sends several route request messages, the node obtains a reply message, and this increases in power consumption. To avoid these problems, we propose a mechanism which tries multiple route replies. The second mechanism proposes a new adaptive approach which seeks to incorporate the metric "residual energy " in the process route selection, Indeed the residual energy of mobile nodes were considered when making routing decisions. The results of simulation show that protocol ER-AODV answers a better energy conservation.

Keywords: Ad hoc mobile networks, Energy AODV, Energy consumption, ER-AODV, Reverse AODV.

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Authors: Shaival Dalal, Nilesh Shah, Dinshaw Pardiwala, David Rajan, Satyen Sanghavi, Charul Bhanji

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Autologous Chondrocyte Implantation (ACI) is used worldwide since 1998 to treat cartilage defect. GEL based ACI is a new tissue-engineering technique to treat full thickness cartilage defect with fibrin and thrombin as scaffold for chondrocytes. Purpose of this study is to see safety and efficacy of gel based ACI for knee cartilage defect in multiple centres with different surgeons. Gel-based Autologous Chondrocyte Implantation (GACI) has shown effectiveness in treating isolated cartilage defect of knee joint. Long term results are still needed to be studied. This study was followed-up up to two years and showed benefit to patients. All enrolled patients with a mean age of 28.5 years had an average defect size of3 square centimeters, and were grade IV as per ICRS grading. All patients were followed up several times and at several intervals at 6th week, 8th week, 11th week, 17th week, 29th week, 57th week after surgery. The outcomes were measured based on the IKDC (subjective and objective) and MOCART scores.

Keywords: Knee, chondrocyte, autologous chondrocyte implantation, gel.

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Authors: Li Gao, Elizabeth Chang, Song Han

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With the extensive inclusion of document, especially text, in the business systems, data mining does not cover the full scope of Business Intelligence. Data mining cannot deliver its impact on extracting useful details from the large collection of unstructured and semi-structured written materials based on natural languages. The most pressing issue is to draw the potential business intelligence from text. In order to gain competitive advantages for the business, it is necessary to develop the new powerful tool, text mining, to expand the scope of business intelligence. In this paper, we will work out the strong points of text mining in extracting business intelligence from huge amount of textual information sources within business systems. We will apply text mining to each stage of Business Intelligence systems to prove that text mining is the powerful tool to expand the scope of BI. After reviewing basic definitions and some related technologies, we will discuss the relationship and the benefits of these to text mining. Some examples and applications of text mining will also be given. The motivation behind is to develop new approach to effective and efficient textual information analysis. Thus we can expand the scope of Business Intelligence using the powerful tool, text mining.

Keywords: Business intelligence, document warehouse, text mining.

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Authors: S. Totong, K. Faungnawakij, N. Laosiripojana

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The development of alternative energy is interesting in the present especially, hydrogen production because it is an important energy resource in the future. This paper studied the hydrogen production from catalytic dehydrogenation of ethanol through via low temperature (<500°C) reaction. Copper (Cu) and silver (Ag) supported on fumed silica (SiO2) were selected in the present work; in addition, bimetallic material; Ag-Cu supported on SiO2 was also investigated. The catalysts were prepared by the incipient wetness impregnation method and characterized via X-ray diffraction (XRD), temperature-programmed reduction (TPR)and nitrogen adsorption measurements. The catalytic dehydrogenation of ethanol was carried out in a fixed bed continuous flow reactor at atmospheric pressure. The effect of reaction temperature between 300-375°C was studied in order to maximize the hydrogen yield. It was found that Ag-Cu/SiO2 exhibited the highest hydrogen yield compared to Ag/SiO2 and Cu/SiO2 at low reaction temperature (300°C) with full ethanol conversion. The highest hydrogen yield observed was 40% and will be further used as a reactant in fuel cells to generate electricity or feedstock of chemical production. 

Keywords: Catalyst, dehydrogenation, ethanol, hydrogen production.

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Authors: Muhammad Faisal Zafar, Dzulkifli Mohamad, Razib M. Othman

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On-line handwritten scripts are usually dealt with pen tip traces from pen-down to pen-up positions. Time evaluation of the pen coordinates is also considered along with trajectory information. However, the data obtained needs a lot of preprocessing including filtering, smoothing, slant removing and size normalization before recognition process. Instead of doing such lengthy preprocessing, this paper presents a simple approach to extract the useful character information. This work evaluates the use of the counter- propagation neural network (CPN) and presents feature extraction mechanism in full detail to work with on-line handwriting recognition. The obtained recognition rates were 60% to 94% using the CPN for different sets of character samples. This paper also describes a performance study in which a recognition mechanism with multiple thresholds is evaluated for counter-propagation architecture. The results indicate that the application of multiple thresholds has significant effect on recognition mechanism. The method is applicable for off-line character recognition as well. The technique is tested for upper-case English alphabets for a number of different styles from different peoples.

Keywords: On-line character recognition, character digitization, counter-propagation neural networks, extreme coordinates.

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Authors: Alexander Winkler, Jozef Suchý

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This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: Damping control, impedance control, robot force control, stability, stiffness control.

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Authors: Mohammed Qasim, Kyoung-Dae Kim

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In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: Artificial potential function, autonomy, collision avoidance, teleoperation, quadrotor, UAV.

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Authors: Arash Derakhshanmehr

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Nowadays, efficiency, effectiveness and economy are regarded as the main objectives of managers and the secret of the continuity of an organization in competing economy. In such competing settings, it is essential that the management of an organization has not been neglected and been obliged to identify quickly the opportunities for improving the operation of organization and remove the shortcomings of their managed system in order to use the opportunities for development. Operational auditing is a useful tool for system adjustment and leading an organization toward its objectives. Operational auditing is indeed a viewpoint which identifies the causes of insufficiencies, weaknesses and deficiencies of system and plans to eliminate them. Operational auditing is useful in the effectiveness and optimization of executive managers- decisions and increasing the efficiency and economy of their performance in the future and prevents the waste and incorrect use of resources. Evidence shows that operational auditing is used at a limited level in Iran. This matter raises some questions like the following ones in the minds. Why do a limited number of corporations use operational auditing? Which factors can guarantee its full implementation? What obstacles are there in its implementation? The purpose of this article is to determine executive objectives, the operation domain of operational auditing, the components of operational auditing and the executive obstacles to operational auditing in Iran.

Keywords: Operational Auditing, Iran

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Authors: Gints Jekabsons

Abstract:

The approach of subset selection in polynomial regression model building assumes that the chosen fixed full set of predefined basis functions contains a subset that is sufficient to describe the target relation sufficiently well. However, in most cases the necessary set of basis functions is not known and needs to be guessed – a potentially non-trivial (and long) trial and error process. In our research we consider a potentially more efficient approach – Adaptive Basis Function Construction (ABFC). It lets the model building method itself construct the basis functions necessary for creating a model of arbitrary complexity with adequate predictive performance. However, there are two issues that to some extent plague the methods of both the subset selection and the ABFC, especially when working with relatively small data samples: the selection bias and the selection instability. We try to correct these issues by model post-evaluation using Cross-Validation and model ensembling. To evaluate the proposed method, we empirically compare it to ABFC methods without ensembling, to a widely used method of subset selection, as well as to some other well-known regression modeling methods, using publicly available data sets.

Keywords: Basis function construction, heuristic search, modelensembles, polynomial regression.

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Authors: Pantip Kayee

Abstract:

17α-ethinylestradiol (EE₂) is a recalcitrant micropollutant which is found in small amounts in municipal wastewater. But these small amounts still adversely affect for the reproductive function of aquatic organisms. Evidence in the past suggested that full-scale WWTPs equipped with nitrification process enhanced the removal of EE₂ in the municipal wastewater. EE₂ has been proven to be able to be transformed by ammonia oxidizing bacteria (AOB) via co-metabolism. This research aims to clarify the EE₂ degradation pattern by different consortium of ammonia oxidizing microorganism (AOM) including AOA (ammonia oxidizing archaea) and investigate contribution between the existing ammonia monooxygenase (AMO) and new synthesized AOM. The result showed that AOA or AOB of N. oligotropha cluster in enriched nitrifying activated sludge (NAS) from 2mM and 5mM, commonly found in municipal WWTPs, could degrade EE₂ in wastewater via co-metabolism. Moreover, the investigation of the contribution between the existing ammonia monooxygenase (AMO) and new synthesized AOM demonstrated that the new synthesized AMO enzyme may perform ammonia oxidation rather than the existing AMO enzyme or the existing AMO enzyme may has a small amount to oxidize ammonia.

Keywords: 17α-ethinylestradiol, nitrification, ammonia oxidizing bacteria, ammonia oxidizing archaea.

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