Abstract: Nowadays, network is an essential need in almost every part of human daily activities. People now can seamlessly connect to others through the Internet. With advanced technology, our personal data now can be more easily accessed. One of many components we are concerned for delivering the best network is a security issue. This paper is proposing a method that provides more options for security. This research aims to improve network security by focusing on the physical layer which is the first layer of the OSI model. The layer consists of the basic networking hardware transmission technologies of a network. With the use of observation method, the research produces a schematic design for enhancing the network security through the gray code converter.
Abstract: A torsional piezoelectric ultrasonic transducer design
is proposed to measure shear moduli in soft tissue with direct
access availability, using shear wave elastography technique. The
measurement of shear moduli of tissues is a challenging problem,
mainly derived from a) the difficulty of isolating a pure shear wave,
given the interference of multiple waves of different types (P, S,
even guided) emitted by the transducers and reflected in geometric
boundaries, and b) the highly attenuating nature of soft tissular
materials. An immediate application, overcoming these drawbacks,
is the measurement of changes in cervix stiffness to estimate the
gestational age at delivery. The design has been optimized using
a finite element model (FEM) and a semi-analytical estimator of
the probability of detection (POD) to determine a suitable geometry,
materials and generated waves. The technique is based on the time
of flight measurement between emitter and receiver, to infer shear
wave velocity. Current research is centered in prototype testing and
validation. The geometric optimization of the transducer was able
to annihilate the compressional wave emission, generating a quite
pure shear torsional wave. Currently, mechanical and electromagnetic
coupling between emitter and receiver signals are being the research
focus. Conclusions: the design overcomes the main described
problems. The almost pure shear torsional wave along with the short
time of flight avoids the possibility of multiple wave interference.
This short propagation distance reduce the effect of attenuation, and
allow the emission of very low energies assuring a good biological
security for human use.
Abstract: This research is presented with microwave (MW) ablation by using the T-Prong monopole antennas. In the study, three-dimensional (3D) finite-element methods (FEM) were utilized to analyse: the tissue heat flux, temperature distributions (heating pattern) and volume destruction during MW ablation in liver cancer tissue. The configurations of T-Prong monopole antennas were considered: Three T-prong antenna, Expand T-Prong antenna and Arrow T-Prong antenna. The 3D FEMs solutions were based on Maxwell and bio-heat equations. The microwave power deliveries were 10 W; the duration of ablation in all cases was 300s. Our numerical result, heat flux and the hotspot occurred at the tip of the T-prong antenna for all cases. The temperature distribution pattern of all antennas was teardrop. The Arrow T-Prong antenna can induce the highest temperature within cancer tissue. The microwave ablation was successful when the region where the temperatures exceed 50°C (i.e. complete destruction). The Expand T-Prong antenna could complete destruction the liver cancer tissue was maximized (6.05 cm3). The ablation pattern or axial ratio (Widest/length) of Expand T-Prong antenna and Arrow T-Prong antenna was 1, but the axial ratio of Three T-prong antenna of about 1.15.
Abstract: Projects managers in construction industry usually face a difficult organizational environment especially if the project is unique. The organization lacks the processes to practice construction management correctly, and the executive’s technical managers who have lack of experience in playing their role and responsibilities correctly. Project managers need to adopt best practices that allow them to do things effectively to make sure that the project can be delivered without any delay even though the executive’s technical managers should follow a certain process to avoid any factor might cause any delay during the project life cycle. The purpose of the paper is to examine the awareness level of projects managers about construction management processes, tools, techniques and implications to complete projects on time. The outcome and the results of the study are prepared based on the designed questionnaires and interviews conducted with many project managers. The method used in this paper is a quantitative study. A survey with a sample of 100 respondents was prepared and distributed in a construction company in Dubai, which includes nine questions to examine the level of their awareness. This research will also identify the necessary benefits of processes of construction management that has to be adopted by projects managers to mitigate the maximum potential problems which might cause any delay to the project life cycle.
Abstract: The power generated by eight point absorber type wave energy converters each having a different buoy are calculated in order to investigate the performances of buoys in this study. The calculations are carried out by modeling three different sea states observed in two different locations in the Black Sea. The floats analyzed in this study have two basic geometries and four different draft/radius (d/r) ratios. The buoys possess the shapes of a semi-ellipsoid and a semi-elliptic paraboloid. Additionally, the draft/radius ratios range from 0.25 to 1 by an increment of 0.25. The radiation forces acting on the buoys due to the oscillatory motions of these bodies are evaluated by employing a 3D panel method along with a distribution of 3D pulsating sources in frequency domain. On the other hand, the wave forces acting on the buoys which are taken as the sum of Froude-Krylov forces and diffraction forces are calculated by using linear wave theory. Furthermore, the wave energy converters are assumed to be taut-moored to the seabed so that the secondary body which houses a power take-off system oscillates with much smaller amplitudes compared to the buoy. As a result, it is assumed that there is not any significant contribution to the power generation from the motions of the housing body and the only contribution to power generation comes from the buoy. The power take-off systems of the wave energy converters are high pressure oil hydraulic systems which are identical in terms of their characteristic parameters. The results show that the power generated by wave energy converters which have semi-ellipsoid floats is higher than that of those which have semi elliptic paraboloid floats in both locations and in all sea states. It is also determined that the power generated by the wave energy converters follow an unsteady pattern such that they do not decrease or increase with changing draft/radius ratios of the floats. Although the highest power level is obtained with a semi-ellipsoid float which has a draft/radius ratio equal to 1, other floats of which the draft/radius ratio is 0.25 delivered higher power that the floats with a draft/radius ratio equal to 1 in some cases.
Abstract: Many governments recently started to change the ways of providing their services by allowing their citizens to access services from anywhere without the need of visiting the location of the service provider. Mobile government (M-government) is one of the techniques that fulfill that goal. It has been adopted by many governments. M-government can be defined as an implementation of Electronic Government (E-Government) by using mobile technology with the aim of improving service delivery to citizens, businesses and all government agencies. There have been several research projects developing models to understand the behavior of individuals towards the adoption of m-government. This paper proposes a model for adoption of m-government services in Saudi Arabia by extending Technology Acceptance Model (TAM) by introducing external factors. This paper also reports on the development of a survey instrument designed to measure user perception of mobile government acceptance. A survey instrument has been developed by using existing scales from prior instruments and a pilot study has been conducted by distributing the survey to 33 participants. As a result, a survey instrument has been refined to retain 43 items. The results also showed that the reliabilities of all the scales in the survey instrument are above the levels acceptable in current academic research, thus the instruments developed by us are capable of analyzing the factors in M-government adoption.
Abstract: This study aimed to analyse the pregnancy outcomes in patients with TPO positivity after appropriate L-Thyroxin supplementation with close surveillance. All pregnant women attending the antenatal clinic at Milann-The Fertility Center, Bangalore, India- from Aug 2013 to Oct 2014 whose booking TSH was more than 2.5 mIU/L were included along with those pregnant women with prior hypothyroidism who were TPO positive. Those with TPO positive status were vigorously managed with appropriate thyroxin supplementation and the doses were readjusted every 3 to 4 weeks until delivery. Women with recurrent pregnancy loss were also tested for TPO positivity and if tested positive, were monitored serially with TSH and fT4 levels every 3 to 4 weeks and appropriately supplemented with thyroxin when the levels fluctuated. The testing was done after an informed consent in all these women. The statistical software namely SAS 9.2, SPSS 15.0, Stata 10.1, MedCalc 9.0.1, Systat 12.0 and R environment ver.2.11.1 were used for the analysis of the data. 460 pregnant women were screened for thyroid dysfunction at booking of which 52% were hypothyroid. Majority of them (31.08%) were subclinically hypothyroid and the remaining were overt. 25% of the total no. of patients screened were TPO positive. The various pregnancy complications that were observed in the TPO positive women were gestational glucose intolerance [60%], threatened abortion [21%], midtrimester abortion [4.3%], premature rupture of membranes [4.3%], cervical funneling [4.3%] and fetal growth restriction [3.5%]. 95.6% of the patients who followed up till the end delivered beyond 30 weeks. 42.6% of these patients had previous history of recurrent abortions or adverse obstetric outcome and 21.7% of the delivered babies required NICU admission. Obstetric outcomes in our study in terms of midtrimester abortions, placental abruption, and preterm delivery improved for the better after close monitoring of the thyroid hormone [TSH and fT4] levels every 3 to 4 weeks with appropriate dose adjustment throughout pregnancy. Euthyroid women with TPO positive status enrolled in the study incidentally were those with recurrent abortions/infertility and required thyroxin supplements due to elevated Thyroid hormone (TSH, fT4) levels during the course of their pregnancy. Significant associations were found with age>30 years and Hyperhomocysteinemia [p=0.017], recurrent pregnancy loss or previous adverse obstetric outcomes [p=0.067] and APLA [p=0.029]. TPO antibody levels >600 I U/ml were significantly associated with development of gestational hypertension [p=0.041] and fetal growth restriction [p=0.082]. Euthyroid women with TPO positivity were also screened periodically to counter fluctuations of the thyroid hormone levels with appropriate thyroxin supplementation. Thus, early identification along with aggressive management of thyroid dysfunction and stratification of these patients based on their TPO status with appropriate thyroxin supplementation beginning in the first trimester will aid risk modulation and also help avert complications.
Abstract: This paper is concerned with microwave (MW) ablation for a liver cancer tissue by using helix antenna. The antenna structure supports the propagation of microwave energy at 2.45 GHz. A 1½ turn spiral catheter-based microwave antenna applicator has been developed. We utilize the three-dimensional finite element method (3D FEM) simulation to analyze where the tissue heat flux, lesion pattern and volume destruction during MW ablation. The configurations of helix antenna where Helix air-core antenna and Helix Dielectric-core antenna. The 3D FEMs solutions were based on Maxwell and bio-heat equations. The simulation protocol was power control (10 W, 300s). Our simulation result, both helix antennas have heat flux occurred around the helix antenna and that can be induced the temperature distribution similar (teardrop). The region where the temperature exceeds 50°C the microwave ablation was successful (i.e. complete destruction). The Helix air-core antenna and Helix Dielectric-core antenna, ablation zone or axial ratios (Widest/length) were respectively 0.82 and 0.85; the complete destructions were respectively 4.18 cm3 and 5.64 cm3
Abstract: The problem of construction material waste remains unresolved, as a significant percentage of the materials delivered to some project sites end up as waste which might result in additional project cost. Cost overrun is a problem which affects 90% of the completed projects in the world. The argument on how to eliminate it has been on-going for the past 70 years, but there is neither substantial improvement nor significant solution for mitigating its detrimental effects. Research evidence has proposed various construction cost overruns and material-waste management approaches; nonetheless, these studies failed to give a clear indication on the framework and the equation for managing construction material waste and cost overruns. Hence, this research aims to develop a conceptual framework and a mathematical equation for managing material waste and cost overrun in the construction industry. The paper adopts the desktop methodological approach. This involves comparing the causes of material waste and those of cost overruns from the literature to determine the possible relationship. The review revealed a relationship between material waste and cost overrun that; increase in material waste would result to a corresponding increase in the amount of cost overrun at both the pre-contract and the post contract stages of a project. It was found from the equation that achieving an effective construction material waste management must ensure a “Good Quality-of-Planning, Estimating, and Design Management” and a “Good Quality- of-Construction, Procurement and Site Management”; a decrease in “Design Complexity” which would reduce “Material Waste” and subsequently reduce the amount of cost overrun by 86.74%. The conceptual framework and the mathematical equation developed in this study are recommended to the professionals of the construction industry.
Abstract: Rough set theory is used to handle uncertainty and incomplete information by applying two accurate sets, Lower approximation and Upper approximation. In this paper, the rough clustering algorithms are improved by adopting the Similarity, Dissimilarity–Similarity and Entropy based initial centroids selection method on three different clustering algorithms namely Entropy based Rough K-Means (ERKM), Similarity based Rough K-Means (SRKM) and Dissimilarity-Similarity based Rough K-Means (DSRKM) were developed and executed by yeast dataset. The rough clustering algorithms are validated by cluster validity indexes namely Rand and Adjusted Rand indexes. An experimental result shows that the ERKM clustering algorithm perform effectively and delivers better results than other clustering methods. Outlier detection is an important task in data mining and very much different from the rest of the objects in the clusters. Entropy based Rough Outlier Factor (EROF) method is seemly to detect outlier effectively for yeast dataset. In rough K-Means method, by tuning the epsilon (ᶓ) value from 0.8 to 1.08 can detect outliers on boundary region and the RKM algorithm delivers better results, when choosing the value of epsilon (ᶓ) in the specified range. An experimental result shows that the EROF method on clustering algorithm performed very well and suitable for detecting outlier effectively for all datasets. Further, experimental readings show that the ERKM clustering method outperformed the other methods.
Abstract: Education is an absolute necessity for human’s life
that one must fulfill for the entire life. Without education it is
impossible for human to develop her/himself well. The education
process is an effort to maintain a good behavior within one’s life.
Good behavior will be absolutely achieved if it is taught to early-aged
children. This paper focuses on how the story telling method enables
teachers to make the students have the construction of good behavior
and obtain the goal of national education in Indonesia. The targeted
students would involve students in As-Solihin kindergarten,
Salafiyah-Syafi’iyah Mumbulsari, Jember, Indonesia.
Story is what early-aged children like most. Thus, it is a gorgeous
chance to make story telling activity as a method to invest Islamic
education values to children. This paper, however, also focuses on
some deliberately important aspects which of course teachers need to
consider including objectives and strategies of the method’s
implementation. The teachers will be in need of knowing each
student’s characteristic in the classroom so that it would enable them
to select appropriate stories that fit best to early aged students. The
selected stories are taken from Islamic stories that tell the life of
Prophet and heroes of Islam as well as well-known persons in Islam.
In addition, there will be a number of activities done in the classroom
after the delivery of the story is over on purpose of leading students
to have the fundamental foundation of how to build self-awareness in
order they could understand better about the importance of being a
well-behaved person.
After reviewing relevant theories, secondary research and
scholars’ opinion involved in all aspects of early-aged children
behavior, the author concludes that by leveraging trusted sources, a
proactive, co-operative and creative strategy, the teacher can
successfully build up children’s good behavior by instilling the
Islamic value toward early-aged children through story telling
method.
Abstract: The objective of this study is to uncover the basic business-forces that necessitated the survival and sustainable performance of the medium scale contractors in the South African construction market. This study is essential as it set to contribute towards long-term strategic solutions for combating the incessant failure of start-ups construction organizations within South African. The study used a qualitative research methodology; as the most appropriate approach to elicit and understand, and uncover the phenomena that are basic business-forces for the active contractors in the market. The study also adopted a phenomenological study approach; and in-depth interviews were conducted with 20 medium scale contractors in Port Elizabeth, South Africa, between months of August to October 2015. This allowed for an in-depth understanding of the critical and basic business-forces that influenced their survival and performance beyond the first five years of business operation. Findings of the study showed that for potential contractors (startups), to survival in the competitive business environment such as construction industry, they must possess the basic business-forces. These forces are educational knowledge in construction and business management related disciplines, adequate industrial experiences, competencies and capabilities to delivery excellent services and products as well as embracing the spirit of entrepreneurship. Convincingly, it can be concluded that the strategic approach to minimize the endless failure of startups construction businesses; the potential construction contractors must endeavoring to access and acquire the basic educationally knowledge, training and qualification; need to acquire industrial experiences in collaboration with required competencies, capabilities and entrepreneurship acumen. Without these basic business-forces as been discovered in this study, the majority of the contractors gaining entrance in the market will find it difficult to develop and grow a competitive and sustainable construction organization in South Africa.
Abstract: The aim of this paper is to examine and identify the issue of linguistic redundancy in two competing grammars of Malay, namely the school grammar and the corpus grammar. The former is a normative grammar which is formally and prescriptively taught in the classroom, whereas the latter is a descriptive grammar that is informally acquired and mastered by the students as native speakers of the language outside the classroom. Corpus grammar is depicted based on its actual used in natural occurring texts, as attested in the corpus. It is observed that the grammar taught in schools is incompatible with the grammar used in the corpus. For instance, a noun phrase containing nominal reduplicated form which denotes plurality (i.e. murid-murid ‘students’ which is derived from murid ‘student’) and a modifier categorized as quantifiers (i.e. semua ‘all’, seluruh ‘entire’, and kebanyakan ‘most’) is not acceptable in the school grammar because the formation (i.e. semua murid-murid ‘all the students’ kebanyakan pelajar-pelajar ‘most of the students’) is claimed to be redundant, and redundancy is prohibited in the grammar. Redundancy is generally construed as the property of speech and language by which more information is provided than is precisely required for the message to be understood, so that, if some information is omitted, the remaining information will still be sufficient for the message to be comprehended. Thus, the correct construction to be used is strictly the reduplicated form (i.e. murid-murid ‘students’) or the quantifier plus the root (i.e. semua murid ‘all the students’) with the intention that the grammatical meaning of plural is not repeated. Nevertheless, the so-called redundant form (i.e. kebanyakan pelajar-pelajar ‘most of the students’) is frequently used in the corpus grammar. This study shows that there are a number of redundant forms occur in the morphology of the language, particularly in affixation, reduplication and combination of both. Apparently, the so-called redundancy has grammatical and socio-cultural functions in communication that is to give emphasis and to stress the importance of the information delivered by the speakers or writers.
Abstract: Control system for hi-tech industries could be realized generally and deeply by a special document. Vast heavy industries such as power plants with a large number of I/O signals are controlled by a distributed control system (DCS). This system comprises of so many parts from field level to high control level, and junior instrument engineers may be confused by this enormous information. The key document which can solve this problem is “control configuration system diagram” for each type of DCS. This is a road map that covers all of activities respect to control system in each industrial plant and inevitable to be studied by whom corresponded. It plays an important role from designing control system start point until the end; deliver the system to operate. This should be inserted in bid documents, contracts, purchasing specification and used in different periods of project EPC (engineering, procurement, and construction). Separate parts of DCS are categorized here in order of importance and a brief description and some practical plan is offered. This article could be useful for all instrument and control engineers who worked is EPC projects.
Abstract: Liver cancer is one of the common diseases that cause the death. Early detection is important to diagnose and reduce the incidence of death. Improvements in medical imaging and image processing techniques have significantly enhanced interpretation of medical images. Computer-Aided Diagnosis (CAD) systems based on these techniques play a vital role in the early detection of liver disease and hence reduce liver cancer death rate. This paper presents an automated CAD system consists of three stages; firstly, automatic liver segmentation and lesion’s detection. Secondly, extracting features. Finally, classifying liver lesions into benign and malignant by using the novel contrasting feature-difference approach. Several types of intensity, texture features are extracted from both; the lesion area and its surrounding normal liver tissue. The difference between the features of both areas is then used as the new lesion descriptors. Machine learning classifiers are then trained on the new descriptors to automatically classify liver lesions into benign or malignant. The experimental results show promising improvements. Moreover, the proposed approach can overcome the problems of varying ranges of intensity and textures between patients, demographics, and imaging devices and settings.
Abstract: Despite the benefits of innovation diffusion in the
South African public service, implementation thereof seems to be
problematic, particularly with regard to e-governance which would
enhance the quality of service delivery, especially accessibility,
choice, and mode of operation. This paper reports on differences
between the public service and the private sector in terms of
innovation diffusion. Innovation diffusion will be investigated to
explore identified obstacles that are hindering successful
implementation of e-governance. The research inquiry is underpinned
by the diffusion of innovation theory, which is premised on the
assumption that innovation has a distinct channel, time, and mode of
adoption within the organisation. A comparative thematic document
analysis was conducted to investigate organisational differences with
regard to innovation diffusion. A similar approach has been followed
in other countries, where the same conceptual framework has been
used to guide document analysis in studies in both the private and the
public sectors. As per the recommended conceptual framework, three
organisational characteristics were emphasised, namely the external
characteristics of the organisation, the organisational structure, and
the inherent characteristics of the leadership. The results indicated
that the main difference in the external characteristics lies in the
focus and the clientele of the private sector. With regard to
organisational structure, private organisations have veto power,
which is not the case in the public service. Regarding leadership,
similarities were observed in social and environmental responsibility
and employees’ attitudes towards immediate supervision. Differences
identified included risk taking, the adequacy of leadership
development, organisational approaches to motivation and
involvement in decision making, and leadership style. Due to the
organisational differences observed, it is recommended that
differentiated strategies be employed to ensure effective innovation
diffusion, and ultimately e-governance. It is recommended that the
results of this research be used to stimulate discussion on ways to
improve collaboration between the mentioned sectors, to capitalise on
the benefits of each sector.
Abstract: HMS Industrial Networks AB has been recognized as
one of the most innovative companies in the industrial
communication industry worldwide. The creation of their Anybus
innovation during the 1990s contributed considerably to the
company’s success. From inception, HMS’ employees were
innovating for the purpose of creating new business (the creation
phase). After the Anybus innovation, they began the process of
internationalization (the commercialization phase), which in turn led
them to concentrate on cost reduction, product quality, delivery
precision, operational efficiency, and increasing growth (the growth
phase). As a result of this transformation, performing new radical
innovations have become more complicated. The purpose of our research was to explore the dynamics of
innovation at HMS from the aspect of key actors, activities, and
events, over the three phases, in order to understand what led to the
creation of their Anybus innovation, and why it has become
increasingly challenging for HMS to create new radical innovations
for the future. Our research methodology was based on a longitudinal,
retrospective study from the inception of HMS in 1988 to 2014, a
single case study inspired by the grounded theory approach. We
conducted 47 interviews and collected 1 024 historical documents for
our research. Our analysis has revealed that HMS’ success in creating the
Anybus, and developing a successful business around the innovation,
was based on three main capabilities – cultivating customer relations
on different managerial and organizational levels, inspiring business
relations, and balancing complementary human assets for the purpose
of business creation. The success of HMS has turned the management’s attention away
from past activities of key actors, of their behavior, and how they
influenced and stimulated the creation of radical innovations.
Nowadays, they are rhetorically focusing on creativity and
innovation. All the while, their real actions put emphasis on growth,
cost reduction, product quality, delivery precision, operational
efficiency, and moneymaking. In the process of becoming an
international company, HMS gradually refocused. In so doing they
became profitable and successful, but they also forgot what made
them innovative in the first place. Fortunately, HMS’ management
has come to realize that this is the case and they are now in search of
recapturing innovation once again. Our analysis indicates that HMS’ management is facing several
barriers to innovation related path dependency and other lock-in
phenomena. HMS’ management has been captured, trapped in their
mindset and actions, by the success of the past. But now their future has to be secured, and they have come to realize that moneymaking is
not everything. In recent years, HMS’ management have begun to
search for innovation once more, in order to recapture their past
capabilities for creating radical innovations. In order to unlock their
managerial perceptions of customer needs and their counter-innovation
driven activities and events, to utilize the full potential of
their employees and capture the innovation opportunity for the future.
Abstract: Ultrasonic metal welding has been the subject of ongoing research and development, most recently concentrating on metal joining in miniature devices, for example to allow solder-free wire bonding. As well as at the small scale, there are also opportunities to research the joining of thicker sheet metals and to widen the range of similar and dissimilar materials that can be successfully joined using this technology. This study presents the design, characterisation and test of a lateral-drive ultrasonic metal spot welding device. The ultrasonic metal spot welding horn is modelled using finite element analysis (FEA) and its vibration behaviour is characterised experimentally to ensure ultrasonic energy is delivered effectively to the weld coupon. The welding stack and fixtures are then designed and mounted on a test machine to allow a series of experiments to be conducted for various welding and ultrasonic parameters. Weld strength is subsequently analysed using tensile-shear tests. The results show how the weld strength is particularly sensitive to the combination of clamping force and ultrasonic vibration amplitude of the welding tip, but there are optimal combinations of these and also limits that must be clearly identified.
Abstract: Voltage level must be raised in order to deliver the
produced energy to the consumption zones with less loss and less
cost. Power transformers used to raise or lower voltage are important
parts of the energy transmission system. Power transformers used in
switchgear and power generation plants stay in human's intensive
habitat zones as a result of expanding cities. Accordingly, noise
levels produced by power transformers have begun more and more
important and they have established itself as one of the research field.
In this research, the noise cause on transformers has been
investigated, it's causes has been examined and noise measurement
techniques have been introduced. Examples of transformer noise test
results are submitted and precautions to be taken were discussed for
the purpose of decreasing of the noise which will occurred by
transformers.
Abstract: The inverted pendulum system is a classic control
problem that is used in universities around the world. It is a suitable
process to test prototype controllers due to its high non-linearities and
lack of stability. The inverted pendulum represents a challenging
control problem, which continually moves toward an uncontrolled
state. This paper presents the possibility of balancing an inverted
pendulum system using sliding mode control (SMC). The goal is to
determine which control strategy delivers better performance with
respect to pendulum’s angle and cart's position. Therefore,
proportional-integral-derivative (PID) is used for comparison. Results
have proven SMC control produced better response compared to PID
control in both normal and noisy systems.