Search results for: spatial design transformation

Authors: R. Kumaravelu, S. Poornima, Sunil Kumar Kashyap

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The optimized and digitalized restoration of the information from the old and used manual jacquard punched card in textile industry is referred to as Jacquard Punch Card (JPC) reader. In this paper, we present a novel design and development of photo electronics based system for reading old and used punched cards and storing its binary information for transforming them into an effective image file format. In our textile industry the jacquard punched cards holes diameters having the sizes of 3mm, 5mm and 5.5mm pitch. Before the adaptation of computing systems in the field of textile industry those punched cards were prepared manually without digital design source, but those punched cards are having rich woven designs. Now, the idea is to retrieve binary information from the jacquard punched cards and store them in digital (Non-Graphics) format before processing it. After processing the digital format (Non-Graphics) it is converted into an effective image file format through either by Row major or Column major parsing technique.To accomplish these activities, an embedded system based device and software integration is developed. As part of the test and trial activity the device was tested and installed for industrial service at Weavers Service Centre, Kanchipuram, Tamilnadu in India.

Keywords: file system, SPI. UART, ARM controller, jacquard, punched card, photo LED, photo diode

Procedia PDF Downloads 149

Authors: Sun Lim, Kyun Jung

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In this paper, we describe the control strategy of high speed parallel robot system with EtherCAT network. This work deals the parallel robot system with centralized control on the real-time operating system such as window TwinCAT3. Most control scheme and algorithm is implemented master platform on the PC, the input and output interface is ported on the slave side. The data is transferred by maximum 20usecond with 1000byte. EtherCAT is very high speed and stable industrial network. The control strategy with EtherCAT is very useful and robust on Ethernet network environment. The developed parallel robot is controlled pre-design nonlinear controller for 6G/0.43 cycle time of pick and place motion tracking. The experiment shows the good design and validation of the controller.

Keywords: parallel robot control, etherCAT, nonlinear control, parallel robot inverse kinematic

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Authors: Gus Salazar, Jeremy Bekker, Lauren Linford, Jared Warren

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Positive psychology practices allow for its principles to be applied to all people, regardless of their current level of functioning. To increase the dissemination of these practices, interventions are being adapted for use with digital technology, such as mobile apps. However, the research regarding positive psychology mobile app interventions is still in its infancy. In an effort to facilitate progress in this important area, we 1) conducted a qualitative review to summarize the current state of the positive psychology mobile app literature and 2) developed research-supported recommendations for positive psychology app development to maximize behavior change. In our literature review, we found that while positive psychology apps varied widely in content and purpose, there was a near-complete lack of research supporting their effectiveness. Most apps provided no rationale for the behavioral change techniques (BCTs) they employed in their app, and most did not develop their app with specific theoretical frameworks or design models in mind. Given this problem, we recommended four steps for effective positive psychology app design. First, developers must establish their app in a research-supported theory of change. Second, researchers must select appropriate behavioral change techniques which are consistent with their app’s goals. Third, researchers must leverage effective design principles. These steps will help mobile applications use data-driven methods for encouraging behavior change in their users. Lastly, we discuss directions for future research. In particular, researchers must investigate the effectiveness of various BCTs in positive psychology interventions. Although there is some research on this point, we do not yet clearly understand the mechanisms within the apps that lead to behavior change. Additionally, app developers must also provide data on the effectiveness of their mobile apps. As developers follow these steps for effective app development and as researchers continue to investigate what makes these apps most effective, we will provide millions of people in need with access to research-based mental health resources.

Keywords: behavioral change techniques, mobile app, mobile intervention, positive psychology

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Authors: Dosun Shin, Assegid Kidane, Pavan Turaga

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According to the National Institute of Health, living a sedentary lifestyle leads to a number of health issues, including increased risk of cardiovascular dis-ease, type 2 diabetes, obesity, and certain types of cancers. This project brings together experts in multiple disciplines to bring product design, sensor design, algorithms, and health intervention studies to develop a product and system that helps reduce the amount of time sitting at the workplace. This paper illustrates ongoing improvements to prototypes the research team developed in initial research; including working prototypes with a software application, which were developed and demonstrated for users. Additional modifications were made to improve functionality, aesthetics, and ease of use, which will be discussed in this paper. Extending on the foundations created in the initial phase, our approach sought to further improve the product by conducting additional human factor research, studying deficiencies in competitive products, testing various materials/forms, developing working prototypes, and obtaining feedback from additional potential users. The solution consisted of an aesthetically pleasing seat cover cushion that easily attaches to common office chairs found in most workplaces, ensuring a wide variety of people can use the product. The product discreetly contains sensors that track when the user sits on their chair, sending information to a phone app that triggers reminders for users to stand up and move around after sitting for a set amount of time. This paper also presents the analyzed typical office aesthetics and selected materials, colors, and forms that complimented the working environment. Comfort and ease of use remained a high priority as the design team sought to provide a product and system that integrated into the workplace. As the research team continues to test, improve, and implement this solution for the sedentary workplace, the team seeks to create a viable product that acts as an impetus for a more active workday and lifestyle, further decreasing the proliferation of chronic disease and health issues for sedentary working people. This paper illustrates in detail the processes of engineering, product design, methodology, and testing results.

Keywords: anti-sedentary work behavior, new product development, sensor design, health intervention studies

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Authors: Mohamed Al Araby, Amany Salman, Mostafa Amin, Mohamed Madbully, Dalia Keraa, Mariam Ali, Marah Abdelfatah, Mariam Ahmed, Ahmed Hassab

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In recent years, the architecture, engineering, and construction (A.E.C.) industry have been exposed to important innovations, most notably the global integration of digital design and fabrication (D.D.F.) processes in the industry’s workflow. Despite this evolution in that sector, Africa was excluded from the examination of this development. The reason behind this exclusion is the preconceived view of it as a developing region that still employs traditional methods of construction. The primary objective of this review is to investigate the trend of digital construction (D.C.) in the African environment and the difficulties in its regular utilization of it. This objective can be attained by recognizing the notion of distributed computing in Africa and evaluating the impact of the projects deploying this technology on both the immediate and broader contexts. The paper’s methodology begins with the collection of data from 224 initiatives throughout Africa. Then, 50 of these projects were selected based on the criteria of the project's recency, typology variety, and location diversity. After that, a literature-based comparative analysis was undertaken. This study’s findings reveal a pattern of motivation for applying digital fabrication processes. Moreover, it is essential to evaluate the socio-economic effects of these projects on the population living near the analyzed subject. The last step in this study is identifying the influence on the neighboring nations.

Keywords: Africa, digital construction, digital design, fabrication

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Authors: Gong Kangming, Zhao Caiqi

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High-rise special-shaped structure, such as main frame structure of the statues, is one of the structure forms in irregular structure widely used. Due to the complex shape of the statue structure, with a large aspect ratio, its wind load value and the overall mechanical properties are very different from the high-rise buildings with the general rules. The paper taking a certain 48 meters high main frame structure of the statue located in Shuangyashan City, Heilongjiang Province, static and dynamic properties are analyzed by the finite element software. Through static and dynamic analysis, it got a number of useful conclusions that have a certain reference value for the analysis and design of the future similar structure.

Keywords: a Buddhism goddess Guanyin body, wind load, dynamic analysis, bolster, node design

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Authors: René Davids

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Some Western countries are abandoning coal and finding cleaner alternatives, such as solar, wind, hydroelectric, biomass, and geothermal, for the production of energy. As a consequence, industries have closed, and the toxic contaminated slag heaps formed essentially of discarded rock that did not contain coal are being colonized by spontaneously generated plant communities. In becoming green hiking territory, goat farms, viewing platforms, vineyards, great staging posts for species experiencing, and skiing slopes, many of the formerly abandoned hills of refuse have become delightful amenities to the surrounding communities. Together with the transformation of many industrial facilities into cultural venues, these changes to the slag hills have allowed the old coal districts to develop a new identity, but in the process, they have also literally buried the past. This essay reviews a few case studies to analyze the different ways slag heaps have contributed to the cultural landscape in the ex-coal county while arguing that it is important when deciding on their future, that we find ways to make the environmental damage that the extraction industry caused visibly and honor the lives of the people that worked under often appalling conditions in them.

Keywords: slag-heaps, mines, extraction, remediation, pollution

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Authors: Rabah Haoui

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Hypersonic flows around spatial vehicles during their reentry phase in planetary atmospheres are characterized by intense aerothermodynamics phenomena. The aim of this work is to analyze high temperature flows around an axisymmetric blunt body taking into account chemical and vibrational non-equilibrium for air mixture species and the no slip condition at the wall. For this purpose, the Navier-Stokes equations system is resolved by the finite volume methodology to determine the flow parameters around the axisymmetric blunt body especially at the stagnation point and in the boundary layer along the wall of the blunt body. The code allows the capture of shock wave before a blunt body placed in hypersonic free stream. The numerical technique uses the Flux Vector Splitting method of Van Leer. CFL coefficient and mesh size level are selected to ensure the numerical convergence.

Keywords: hypersonic flow, viscous flow, chemical kinetic, dissociation, finite volumes, frozen and non-equilibrium flow

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Authors: Hussein Shaman

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This study introduces an innovative design for an RF phase shifter that can maintain a consistent phase shift across a broad spectrum of frequencies. The proposed design integrates an adaptive control system into a reflective-type phase shifter, typically showing frequency-related variations. Adjusting the DC voltage according to the frequency ensures a more reliable phase shift across the frequency span of operation. In contrast, conventional frequency-dependent reflective-type phase shifters may exhibit significant fluctuations in phase shifts exceeding 60 degrees in the same bandwidth. The proposed phase shifter is configured to deliver a 90-degree operation with an expected deviation of around 15 degrees. The fabrication of the phase shifter and adaptive control circuit has been verified through experimentation, with the measured outcomes aligning with the simulation results.

Keywords: phase shifter, adaptive control, varactors, electronic circuits.

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Authors: Luigi Pintacuda

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What characterize the phenomenology of Bucharest is that all operations of modernization have never been completed, creating a city made up of fragments. Understood this fragmented nature, the traces and fractures, the acceptance of their scars must represent the basis for the design of development for Bucharest. From this insight comes a new analysis of this city: a city of two million inhabitants that does not need a project on an urban scale (as all other major projects for the city have failed), but, starting from the study of all these interstitial spaces of public property, it must find its own strategy, a strategy on a large-scale that reflects on the sites on an architectural one. It is a city composed by fragments, not waste, but places for the project: ‘waiting spaces’ for a possible continuation of the process of genesis of a city which is often incomplete.

Keywords: public spaces, traces fractures, urban design, urban development

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Authors: Edward B. Ssekulima, Amir Etemadi

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This paper presents a Systems Thinking and System of Systems (SoS) viewpoint for managing requirements complexity in the grid integration of Variable Renewable Energy (VRE). To achieve a SoS approach, it is often necessary to inculcate a Systems Thinking (ST) perspective in the planning and design of the attendant system. We show how this approach can support the enhanced integration of VRE (wind, solar small hydro) for which intermittency is a key inhibiting factor to their sustainable grid integration. The results indicate that a ST and SoS approach are a critical tool for decision makers in the planning, design and deployment of VRE Sources for their sustainable grid-integration in accordance with relevant techno-economic, social and environmental requirements.

Keywords: sustainable grid-integration, system of systems, systems thinking, variable energy resources

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Authors: Y. Sarı Nayim, B. N. Nayim

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This research proposal includes the defining and evaluation of the semi-natural and cultural ecosystems at Bartın University main campus in Turkey in terms of landscape mosaics. The ecosystem mosaic of the main campus was divided into zones based on ecological classification technique. Based on the results from the study, it was found that 6 different ecosystem mosaics should be used as a base in the planning and design of the existing and future landscape planning of Kutlubeyyazıcılar campus. The first landscape zone involves the 'social areas'. These areas include yards, dining areas, recreational areas and lawn areas. The second landscape zone is 'main vehicle and pedestrian areas'. These areas include vehicle access to the campus landscape, moving in the campus with vehicles, parking and pedestrian walk ways. The third zone is 'landscape areas with high visual landscape quality'. These areas will be the places where attractive structural and plant landscape elements will be used. Fourth zone will be 'landscapes of building borders and their surroundings.' The fifth and important zone that should be survived in the future is 'Actual semi-natural forest and bush areas'. And the last zone is 'water landscape' which brings ecological value to landscape areas. While determining the most convenient areas in the planning and design of the campus, these landscape mosaics should be taken into consideration. This zoning will ensure that the campus landscape is protected and living spaces in the campus apart from the areas where human activities are carried out will be used properly.

Keywords: campus landscape planning and design, landscape ecology, landscape mosaics, Bartın

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Authors: Ivana Cestar, Ivica Stančerić, Saša Ahac, Vesna Dragčević, Tamara Džambas

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On special paved areas, such as road intersections, vehicles are usually moving through horizontal curves with smaller radii and occupy considerably greater area compared to open road segments. Planning procedure of these areas is mainly an iterative process that consists of designing project elements, assembling those elements to a design project, and analyzing swept paths for the design vehicle. If applied elements do not fulfill the swept path requirements for the design vehicle, the process must be carried out again. Application of specialized computer software for swept path analysis significantly facilitates planning procedure of special paved areas. There are various software of this kind available on the global market, and each of them has different specifications. In this paper, comparison of two software commonly used in Croatia (Auto TURN and Vehicle Tracking) is presented, their advantages and disadvantages are described, and their applicability on a particular paved area is discussed. In order to reveal which one of the analyszed software is more favorable in terms of swept paths widths, which one includes input parameters that are more relevant for this kind of analysis, and which one is more suitable for the application on a certain special paved area, the analysis shown in this paper was conducted on a number of different intersection types.

Keywords: software comparison, special paved areas, swept path analysis, swept path input parameters

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Authors: Fatima Bellali, Mariem Kharroubi

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Fish scale wastes are one of the main sources of production of value-added products such as collagen. The main aim of this study is to investigate the optimization conditions of the sardine scale deproteinization using response surface methodology (RSM) on a pilot scale. In order to look for the optimal conditions, a Box–Behnken-based design of experiment (DOE) method was carried out. The model predicted values of product coal ash content were in good agreement with the experiment values (R2 = 0.9813). Finally, model-based optimization was carried out to identify the operating parameters (reaction time=4h and the solid-liquid ratio= 1/10) and to obtain the lowest collagen content.

Keywords: pilot scale, Plackett and Burman design, fish waste, deproteinization

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Authors: Seon-Hack Hong, Tae-Il Choi

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Interoperability is defined as systems, components, and devices developed by different entities smoothly exchanging information and functioning organically without mutual consultation, being able to communicate with each other and computer systems of the same type or different types, and exchanging information or the ability of two or more systems to exchange information and use the information exchanged without extra effort. Insufficiencies such as duplication of functions when developing systems and applications due to lack of interoperability in the electric power system and low efficiency due to a lack of mutual information transmission system between the inside of the application program and the design is improved, and the seamless linkage of newly developed systems is improved. Since it is necessary to secure interoperability for this purpose, we designed the smart grid-based interoperability standard model in this paper.

Keywords: interoperability, power system, common information model, SCADA, IEEE2030, Zephyr

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Authors: A. Tereci, M. Atmaca

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Recreational spaces designed or build for refreshment of the users through natural riches and/or activities. Those places contribute to the quality of city life by providing relaxation point for citizens and maintaining the environmental equilibrium. The elements which constitute the recreational areas also promote long-term environmental and social sustainability of cities. Preservation and creation of the recreation open spaces are important for water and air quality, natural habitat and also social communication. On this point, it is also a good area for promoting the renewable energy sources through comprehension of the sustainable development which is possible only with using nature and technic together. Energy production is mainly technical issue, and architectural design of these elements to the site always ignores or avoid. The main problems for integration of renewable energy sources are the system suitability, security, durability, and resiliency. In this paper, one of the city recreational open spaces in Konya, Turkey was evaluated for integration of possible renewable energy sources. It shows that the solar energy potential is high and PV integration is the best option. On the other hand wind, energy power and area is not suitable for wind turbine, so wind belts were decided to integrate on the design. According to recreational activities, the chosen elements was designed for site application, and their performance was calculated. According to possible installation on the furniture, there is 50 MWh/a electricity production capacity.

Keywords: energy, integrated design, recreational space, renewables

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Authors: P. Mbecke

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Developmental social welfare implemented through developmental social work is being applauded internationally as an approach that facilitates social development theory and practice. However, twenty-two years into democracy, there are no tangible evidences that the much-desired developmental social welfare approach has assisted the post-apartheid macroeconomic policy frameworks in addressing poverty and inequality, thus, the derailment of the post-apartheid development approach in South Africa. Based on the implementation research theory, and the literature review technique, this paper recognizes social work as a principal role-player in social development. It recommends the redesign and implementation of an effective developmental social welfare approach with specific strategies, programs, activities and sufficient resources aligned to and appropriate in delivering on the promises of the government’s macroeconomic policy frameworks. Such approach should be implemented by skilled and dedicated developmental social workers in order to achieve transformation in South Africa.

Keywords: apartheid, developmental social welfare, developmental social work, inequality, poverty alleviation, social development, South Africa

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Authors: Hiroyuki Aoki

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The glass transition phenomenon has been extensively studied for a long time. The glass transition of polymer materials is assigned to the transition of the dynamics of the chain backbone segment. However, the detailed mechanism of the transition behavior of the segmental motion is still unclear. In the current work, the single molecule detection technique was employed to reveal the trajectory of the molecular motion of the single polymer chain. The center segment of poly(butyl methacrylate) chain was labeled by a perylenediimide dye molecule and observed by a highly sensitive fluorescence microscope in a defocus condition. The translational and rotational diffusion of the center segment in a single polymer chain was analyzed near the glass transition temperature. The direct observation of the individual polymer chains revealed the intermittent behavior of the segmental motion, indicating the spatial inhomogeneity.

Keywords: glass transition, molecular motion, polymer materials, single molecule

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Authors: Ahmed Mohammed Mohagir, Ahmat-Charfadine Mahamat, Nde Divine Bup, Richard Kamga, César Kapseu

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In this investigation, kinetics studies of adsorption of colour material of shea butter showed a peak at the wavelength 440 nm and the equilibrium time was found to be 30 min. Response surface methodology applying Doehlert experimental design was used to investigate decolourisation parameters of crude shea butter. The decolourisation process was significantly influenced by three independent parameters: contact time, decolourisation temperature and adsorbent dose. The responses of the process were oil loss, acid value, peroxide value and colour index. Response surface plots were successfully made to visualise the effect of the independent parameters on the responses of the process.

Keywords: decolourisation, doehlert experimental design, physicochemical characterisation, RSM, shea butter

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Authors: Sanyka Banerjee, Saikat Nandi, P. K. Dan

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Synchronizers as an integral part of gearbox is a key element in the transmission system in automotive. The performance of synchronizer affects transmission efficiency and driving comfort. Synchronizing mechanism as a major component of transmission system must be capable of preventing vibration and noise in the gears. Gear shifting efficiency improvement with an aim to achieve smooth, quick and energy efficient power transmission remains a challenge for the automotive industry. Performance of the synchronizer is dependent on the features and characteristics of its sub-components and therefore analysis of the contribution of such characteristics is necessary. An important exercise involved is to identify all such characteristics or factors which are associated with the modeling and analysis and for this purpose the literature was reviewed, rather extensively, to study the mathematical models, formulated considering such. It has been observed that certain factors are rather common across models; however, there are few factors which have specifically been selected for individual models, as reported. In order to obtain a more realistic model, an attempt here has been made to identify and assimilate practically all possible factors which may be considered in formulating the model more comprehensively. A simulation study, formulated as a block model, for such analysis has been carried out in a reliable environment like MATLAB. Lower synchronization time is desirable and hence, it has been considered here as the output factors in the simulation modeling for evaluating transmission efficiency. An improved synchronizer model requires optimized values of sub-component design parameters. A parametric optimization utilizing Taguchi’s design of experiment based response data and their analysis has been carried out for this purpose. The effectiveness of the optimized parameters for the improved synchronizer performance has been validated by the simulation study of the synchronizer block model with improved parameter values as input parameters for better transmission efficiency and driver comfort.

Keywords: design of experiments, modeling, parametric optimization, simulation, synchronizer

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Authors: Sky Chou, Joseph C. Chen

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This paper focuses on using six sigma methodologies to reach the desired shrinkage of a manufactured high-density polyurethane (HDPE) part produced by the injection molding machine. It presents a case study where the correct shrinkage is required to reduce or eliminate defects and to improve the process capability index Cp and Cpk for an injection molding process. To improve this process and keep the product within specifications, the six sigma methodology, design, measure, analyze, improve, and control (DMAIC) approach, was implemented in this study. The six sigma approach was paired with the Taguchi methodology to identify the optimized processing parameters that keep the shrinkage rate within the specifications by our customer. An L9 orthogonal array was applied in the Taguchi experimental design, with four controllable factors and one non-controllable/noise factor. The four controllable factors identified consist of the cooling time, melt temperature, holding time, and metering stroke. The noise factor is the difference between material brand 1 and material brand 2. After the confirmation run was completed, measurements verify that the new parameter settings are optimal. With the new settings, the process capability index has improved dramatically. The purpose of this study is to show that the six sigma and Taguchi methodology can be efficiently used to determine important factors that will improve the process capability index of the injection molding process.

Keywords: injection molding, shrinkage, six sigma, Taguchi parameter design

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Authors: Pedro F. Albuquerque, Pedro V. Gamboa, Miguel A. Silvestre

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The present work describes the implementation of the Enhanced Collaborative Optimization (ECO) multilevel architecture with a gradient-based optimization algorithm with the aim of performing a multidisciplinary design optimization of a generic unmanned aerial vehicle with morphing technologies. The concepts of weighting coefficient and a dynamic compatibility parameter are presented for the ECO architecture. A routine that calculates the aircraft performance for the user defined mission profile and vehicle’s performance requirements has been implemented using low fidelity models for the aerodynamics, stability, propulsion, weight, balance and flight performance. A benchmarking case study for evaluating the advantage of using a variable span wing within the optimization methodology developed is presented.

Keywords: multidisciplinary, multilevel, morphing, enhanced collaborative optimization

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Authors: Pavle Dakić, Dimitrije Kotur, Zoran Stojanović

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This paper presents the results of the study in which the excitation system fault of synchronous generator is simulated. In a case of excitation system fault (loss of field), distance relay is used to prevent further damage. Loss-of-field relay calculates complex impedance using measured voltage and current at the generator terminals. In order to obtain phasors from sampled measured values, discrete Fourier transform is used. All simulations are conducted using Matlab and Simulink software package. The analysis is conducted on the two machine system which supplies equivalent load. While simulating loss of excitation on one generator in different conditions (at idle operation, weakly loaded, and fully loaded), diagrams of active power, reactive power, and measured impedance are analyzed and monitored. Moreover, in the simulations, the effect of generator load on relay tripping time is investigated. In conclusion, the performed tests confirm that the fault in the excitation system can be detected by measuring the impedance.

Keywords: loss-of-excitation, synchronous generator, distance protection, Fourier transformation

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Authors: Defne Akay, Bekir S. Kandemir

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In this paper, we investigate the low-lying energy levels of the two-dimensional parabolic graphene quantum dots (GQDs) in the presence of topological defects with long range Coulomb impurity and subjected to an external uniform magnetic field. The low-lying energy levels of the system are obtained within the framework of the perturbation theory. We theoretically demonstrate that a valley splitting can be controlled by geometrical parameters of the graphene quantum dots and/or by tuning a uniform magnetic field, as well as topological defects. It is found that, for parabolic graphene dots, the valley splitting occurs due to the introduction of spatial confinement. The corresponding splitting is enhanced by the introduction of a uniform magnetic field and it increases by increasing the angle of the cone in subcritical regime.

Keywords: coulomb impurity, graphene cones, graphene quantum dots, topological defects

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Authors: Argyroula Argyrou

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The purpose of my current research, of which this paper form’s part, is to explore the architectural and religious transformations of Trypiti Bay in the region of Kourion, Cyprus, between the 1st and 6th centuries AD. This research aims to explore and analyse three different stages in the religious and architectural transformations of the ancient port, with evidence supporting these transformations from the main city of Kourion and the Sanctuary of Apollo Hylates between the 1st and 6th centuries. In addition, the research is using historical and archaeological comparisons with coastal sites in the Levant, North Africa, Lebanon, and Europe in an attempt to identify a pattern of development in the religious topography of Kourion and how these contributed to change in the use and symbolism of Trypiti bay as an important passageway to religious sanctuaries in the vicinity of the coast. The construction of Trypiti Bay has been proven, according to archaeological and historical evidence, gathered throughout Kourion’s fieldwork and archival research, that it served as a natural port for cargos that needed to be protected from the strong west winds of the area. The construction of Trypiti Bay is believed to be unique to the island as no similar structure has yet been discovered.

Keywords: architecture, heritage, perservation, transformation, unique

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Authors: D. Maneetham, L. Sivhour

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Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: forward kinematics, D-H model, robotic toolbox, PC- and EtherCAT-based control

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Authors: Tariq Aljuneidi, Akif Asil Bulgak

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Remanufacturing may be defined as the process of bringing used products to “like-new” functional state with warranty to match, and it is one of the most popular product end-of-life scenarios. An efficient remanufacturing network lead to an efficient design of sustainable manufacturing enterprise. In remanufacturing network, products are collected from the customer zone, disassembled and remanufactured at a suitable remanufacturing facility. In this respect, another issue to consider is how the returned product to be remanufactured, in other words, what is the best layout for such facility. In order to achieve a sustainable manufacturing system, Cellular Manufacturing System (CMS) designs are highly recommended, CMSs combine high throughput rates of line layouts with the flexibility offered by functional layouts (job shop). Introducing the CMS while designing a remanufacturing network will benefit the utilization of such a network. This paper presents and analyzes a comprehensive mathematical model for the design of Dynamic Cellular Remanufacturing Systems (DCRSs). In this paper, the proposed model is the first one to date that consider CMS and remanufacturing system simultaneously. The proposed DCRS model considers several manufacturing attributes such as multi-period production planning, dynamic system reconfiguration, duplicate machines, machine capacity, available time for workers, worker assignments, and machine procurement, where the demand is totally satisfied from a returned product. A numerical example is presented to illustrate the proposed model.

Keywords: cellular manufacturing system, remanufacturing, mathematical programming, sustainability

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Authors: Saeed Nazari, Masoom Nazari, Ali Hejazi, Siamak Sanoobari Ghazi Jahani, Mohammad Dehghani, Javad Vakili

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More than ever, digitization is an imperative for businesses to keep their competitive advantages, foster innovation and reduce paperwork. To design and successfully implement digital transformation initiatives within process safety management system, employees need to be equipped with the right tool, frameworks, and best practices. we developed a unique full stack application so-called SHEQTool which is entirely dynamic based on our extensive expertise, experience, and client feedback to help business processes particularly operations safety management. We use our best knowledge and scientific methodologies published by CCPS and OSHA Guidelines to streamline operations and integrated them into task management within Petrochemical Companies. We digitalize their main process safety management system elements and their sub elements such as hazard identification and risk management, training and communication, inspection and audit, critical changes management, contractor management, permit to work, pre-start-up safety review, incident reporting and investigation, emergency response plan, personal protective equipment, occupational health, and action management in a fully customizable manner with no programming needs for users. We review the feedback from main actors within petrochemical plant which highlights improving their business performance and productivity as well as keep tracking their functions’ key performance indicators (KPIs) because it; 1) saves time, resources, and costs of all paperwork on our businesses (by Digitalization); 2) reduces errors and improve performance within management system by covering most of daily software needs of the organization and reduce complexity and associated costs of numerous tools and their required training (One Tool Approach); 3) focuses on management systems and integrate functions and put them into traceable task management (RASCI and Flowcharting); 4) helps the entire enterprise be resilient to any change of your processes, technologies, assets with minimum costs (through Organizational Resilience); 5) reduces significantly incidents and errors via world class safety management programs and elements (by Simplification); 6) gives the companies a systematic, traceable, risk based, process based, and science based integrated management system (via proper Methodologies); 7) helps business processes complies with ISO 9001, ISO 14001, ISO 45001, ISO 31000, best practices as well as legal regulations by PDCA approach (Compliance).

Keywords: process, safety, digitalization, management, risk, incident, SHEQTool, OSHA, CCPS

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Authors: C. Copilusi, C. Ploscaru

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This paper addresses attention to a research regarding the design of a knee orthosis in a modular form used on children walking rehabilitation. This research is focused on the human lower limb kinematic analysis which will be used as input data on virtual simulations and prototype validation. From this analysis, important data will be obtained and used as input for virtual simulations of the knee modular orthosis. Thus, a knee orthosis concept was obtained and validated through virtual simulations by using MSC Adams software. Based on the obtained results, the modular orthosis prototype will be manufactured and presented in this article.

Keywords: human lower limb, children orthoses, kinematic analysis, knee orthosis

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Authors: Fatma Al Abdullah, Shahad Al Ameer, Ritaj Jaragh, Fatimah Khajah, Rawan Qambar, Amr Nounou

Abstract:

Kuwait currently manufactures its tankers in foreign countries. Oil tankers play a role in the supply chain of the oil industry. Therefore, with Kuwait’s sufficient financial resources, the country should secure itself strategically in order to protect its oil industry to sustain economic development. The purpose of this report is designing an oil tankers’ shipyard facility. Basing the shipyard facility in Kuwait will have great economic rewards. The shipbuilding industry directly enhances the industrial chain in terms of new job and business opportunities as well as educational fields. Heavy Engineering Industries & Shipbuilding Co. K.S.C. (HEISCO) was chosen as a host due to benefits that will result from HEISCO’s existing infrastructure and expertise to reduce cost. The Facility Design methodology chosen has been used because it covers all aspects needed for the report. The oil tanker market is witnessing a shift from crude tankers to product tankers. Therefore the Panamax tanker (product tanker) was selected to be manufactured in the facility. The different departments needed in shipyards were identified based on studying different global shipyards. Technologies needed to build ships helped in the process design. It was noticed that ships are engineer to order. The new layout development of the proposed shipyard is currently in progress. A feasibility study will be conducted to ensure the success of the facility after developing the shipyard’s layout.

Keywords: oil tankers, shipbuilding, shipyard, facility design, Kuwait

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