Search results for: Split Bregman Method

Authors: Seyed Sadegh Naseralavi

Abstract:

This paper presents a Kernel parallelization equation for damage identification in structures under unknown periodic excitations. Herein, the dynamic differential equation of the motion of structure is viewed as a mapping from displacements to external forces. Utilizing this viewpoint, a new method for damage detection in structures under periodic loads is presented. The developed method requires only two periods of load. The method detects the damages without finding the input loads. The method is based on the fact that structural displacements under free and forced vibrations are associated with two parallel subspaces in the displacement space. Considering the concept, kernel parallelization equation (KPE) is derived for damage detection under unknown periodic loads. The method is verified for a case study under periodic loads.

Keywords: Kernel, unknown periodic load, damage detection, Kernel parallelization equation

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Authors: Eyasu Gemech, Kassa Michael, Mulugeta Atnafu

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A non-equivalent group's quasi-experiment research was conducted at Wolkite University to investigate MATLAB supported learning and students' conceptual understanding in learning Applied Mathematics II using four different comparative instructional approaches: MATLAB supported traditional lecture method, MATLAB supported collaborative method, only collaborative method, and only traditional lecture method. Four intact classes of mechanical engineering groups 1 and 2, garment engineering and textile engineering students were randomly selected out of eight departments. The first three departments were considered as treatment groups and the fourth one 'Textile engineering' was assigned as a comparison group. The departments had 30, 29, 35 and 32 students respectively. The results of the study show that there is a significant mean difference in students' conceptual understanding between groups of students learning through MATLAB supported collaborative method and the other learning approaches. Students who were learned through MATLAB technology-supported learning in combination with collaborative method were found to understand concepts of functions of two variables better than students learning through the other methods of learning. These, hence, are informative of the potential approaches universities would follow for a better students’ understanding of concepts.

Keywords: MATLAB supported collaborative method, MATLAB supported learning, collaborative method, conceptual understanding, functions of two variables

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Authors: Ahmad Awajan, Sadam Al Wadi

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In this study, a hybrid method based on Empirical Mode Decomposition and Holt-Winter (EMD-HW) is used to forecast Amman stock market data. First, the data are decomposed by EMD method into Intrinsic Mode Functions (IMFs) and residual components. Then, all components are forecasted by HW technique. Finally, forecasting values are aggregated together to get the forecasting value of stock market data. Empirical results showed that the EMD- HW outperform individual forecasting models. The strength of this EMD-HW lies in its ability to forecast non-stationary and non- linear time series without a need to use any transformation method. Moreover, EMD-HW has a relatively high accuracy comparing with eight existing forecasting methods based on the five forecast error measures.

Keywords: Holt-Winter method, empirical mode decomposition, forecasting, time series

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Authors: Amenaghawon Clement Osemwinyen

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The Activity, Student-centred, Experiment, Improvisation - Plan, Do, See, Improve (ASEI-PDSI) method championed by the Strengthening Mathematics And Science Education (SMASE) - Nigeria Project is an attempt to improve the quality of mathematics, which has consistently declined over the years in both public primary and secondary schools across the country. The study thus assessed the ASEI-PDSI method on students’ attitudes and achievement in junior secondary schools (JSS) mathematics in FCT-Abuja. A survey research design was adopted, and 100 mathematics teachers using a stratified random sampling method were used for the study. The data were collected using structured questionnaires and analyzed using descriptive statistics. The findings showed that the ASEI-PDSI method had significantly improved the attitudes of students toward mathematics. The study also revealed that the ASEI-PDSI method significantly influenced junior secondary school (JSS) students’ mathematics achievement. Amongst the recommendations were that teachers should be encouraged to adopt the ASEI-PDSI method in teaching and learning mathematics in order to create a mathematically stimulating classroom environment which could advertently influence junior secondary school (JSS) students’ attitude and academic performance in mathematics. Also, regular in-service training programs should be organized by stakeholders (government and other interest groups) so as to improve the teaching strategies of teachers, mostly as they affect the ASEI-PDSI method.

Keywords: achievement, ASEI-PDSI method, attitude, mathematics, SMASE

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Authors: Heng Han, Zhilei Liang, Xiangong Zhou

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In this paper, the finite element method is used to study the temperature field of the main cable of the suspension bridge, and the calculation method of the average temperature of the cross-section of the main cable suitable for the construction control of the cable system is proposed; By comparing and analyzing the temperature field of the main cable with five diameters, a reasonable diameter limit for calculating the average temperature of the cross section of the main cable by finite element method is proposed. The results show that the maximum error of this method is less than 1℃, which meets the requirements of construction control accuracy; For the main cable with a diameter greater than 400mm, the surface temperature measuring points combined with the finite element method shall be used to calculate the average cross-section temperature.

Keywords: suspension bridge, main cable, temperature field, finite element

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Authors: Yuyan Yi, Jingyi Zheng, Nedret Billor

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Independent component analysis (ICA) is one of the most commonly used blind source separation (BSS) techniques for signal pre-processing, such as noise reduction and feature extraction. The main parameter in the ICA method is the number of independent components (IC). Although there have been several methods for the determination of the number of ICs, it has not been given sufficient attentionto this important parameter. In this study, wereview the mostused methods fordetermining the number of ICs and providetheir advantages and disadvantages. Further, wepropose an improved version of column-wise ICAByBlock method for the determination of the number of ICs.To assess the performance of the proposed method, we compare the column-wise ICAbyBlock with several existing methods through different ICA methods by using simulated and real signal data. Results show that the proposed column-wise ICAbyBlock is an effective and stable method for determining the optimal number of components in ICA. This method is simple, and results can be demonstrated intuitively with good visualizations.

Keywords: independent component analysis, optimal number, column-wise, correlation coefficient, cross-validation, ICAByblock

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Authors: Mesfin Getu Woldetensay

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Representatives and commercially viable natural gas liquids (NGLs) recovery processes were studied under various feed conditions that are classified as lean and rich. The conventional turbo- expander process scheme (ISS) was taken as a base case. The performance of this scheme was compared against with the gas sub-cooled process (GSP), cold residue-gas (CRR) and recycle split-vapor (RSV), enhanced NGL recovery process (IPSI-1) and enhanced NGL recovery process with internal refrigeration (IPSI-2). The development made for the GSP, CRR and RSV are at the top section of the demethanizer column whereas the IPSI-1 and IPSI-2 improvement focus in the lower section. HYSYS process flowsheet was initially developed for all the processes including the ISS under a common criteria that could help to demonstrate the performance comparison. Accordingly, a number of simulation runs were made for the selected eight types of feed. Results show that the reboiler duty requirement using rich feeds for GSP, CRR and RSV is quite high compared to IPSI-1 and IPSI-2. The latter shows relatively lower duty due to the presence of self-refrigeration system that allows the inlet feed to be used for achieving cooling without the need to use propane refrigerant. The energy consumption for lean feed is much lower than that of the rich feed in all process schemes.

Keywords: composition, lean, rich, duty

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Authors: Marwa Hussein Mohamed, Mohamed Helmy Khafagy, Samah Ahmed Senbel

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Map Reduce is a programming model used to handle and support massive data sets. Rapidly increasing in data size and big data are the most important issue today to make an analysis of this data. map reduce is used to analyze data and get more helpful information by using two simple functions map and reduce it's only written by the programmer, and it includes load balancing , fault tolerance and high scalability. The most important operation in data analysis are join, but map reduce is not directly support join. This paper explains two-way map-reduce join algorithm, semi-join and per split semi-join, and proposes new algorithm hash semi-join that used hash table to increase performance by eliminating unused records as early as possible and apply join using hash table rather than using map function to match join key with other data table in the second phase but using hash tables isn't affecting on memory size because we only save matched records from the second table only. Our experimental result shows that using a hash table with hash semi-join algorithm has higher performance than two other algorithms while increasing the data size from 10 million records to 500 million and running time are increased according to the size of joined records between two tables.

Keywords: map reduce, hadoop, semi join, two way join

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Authors: C. Lanzerstorfer

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The off-gas from the basic oxygen furnace (BOF), where pig iron is converted into steel, is treated in the primary ventilation system. This system is in full operation only during oxygen-blowing when the BOF converter vessel is in a vertical position. When pig iron and scrap are charged into the BOF and when slag or steel are tapped, the vessel is tilted. The generated emissions during charging and tapping cannot be captured by the primary off-gas system. To capture these emissions, a secondary ventilation system is usually installed. The emissions are captured by a canopy hood installed just above the converter mouth in tilted position. The aim of this study was to investigate the dependence of Zn and other components on the particle size of BOF secondary ventilation dust. Because of the high temperature of the BOF process it can be expected that Zn will be enriched in the fine dust fractions. If Zn is enriched in the fine fractions, classification could be applied to split the dust into two size fractions with a different content of Zn. For this air classification experiments with dust from the secondary ventilation system of a BOF were performed. The results show that Zn and Pb are highly enriched in the finest dust fraction. For Cd, Cu and Sb the enrichment is less. In contrast, the non-volatile metals Al, Fe, Mn and Ti were depleted in the fine fractions. Thus, air classification could be considered for the treatment of dust from secondary BOF off-gas cleaning.

Keywords: air classification, converter dust, recycling, zinc

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Authors: Phanida Phukoetphim, Asaad Y. Shamseldin

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In this study, the novel Stochastic Gradient Boosting (SGB) combination method is addressed for producing daily river flows from four different rain-runoff models of Ohinemuri catchment, New Zealand. The selected rainfall-runoff models are two empirical black-box models: linear perturbation model and linear varying gain factor model, two conceptual models: soil moisture accounting and routing model and Nedbør-Afrstrømnings model. In this study, the simple average combination method and the weighted average combination method were used as a benchmark for comparing the results of the novel SGB combination method. The models and combination results are evaluated using statistical and graphical criteria. Overall results of this study show that the use of combination technique can certainly improve the simulated river flows of four selected models for Ohinemuri catchment, New Zealand. The results also indicate that the novel SGB combination method is capable of accurate prediction when used in a combination method of the simulated river flows in New Zealand.

Keywords: multi-model combination, rainfall-runoff modeling, stochastic gradient boosting, bioinformatics

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Authors: Wenjuan Du

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The phase compensation method was proposed based on the concept of the damping torque analysis (DTA). It is a method for the design of a PSS (power system stabilizer) to suppress local-mode power oscillations in a single-machine infinite-bus power system. This paper presents the application of the phase compensation method for the design of a PSS in a multi-machine power system. The application is achieved by examining the direct damping contribution of the stabilizer to the power oscillations. By using linearized equal area criterion, a theoretical proof to the application for the PSS design is presented. Hence PSS design in the paper is an example of stable tending control by localized method.

Keywords: phase compensation method, power system small-signal stability, power system stabilizer

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Authors: Hram Bik

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This is an analytical paper on how to apply theology to the global godless culture. The paper will analyze and materialize theology of culture and come up with theo-cultural principles which will enable Christians to properly engage with today godless culture. If theology and daily life are in any way split apart, Christians will lose the authenticity essential to their calling. Living out godliness in the ungodly culture requires materializing theology into daily life. To do that has become an unbeatable challenge for Christians in 21st century with the overtaking in of global godless culture enforced by Information Technology resulting in rapid and chaotic change of global lifestyles wherein Christianity stands in danger of being swallowed up. Staying away from the culture will rob Christianity of its mission to witness and staying with and like it will rob Christianity of its effectiveness. Thus the question is how should today Christians apply theology to the culture wherein what are said to be sins in the Bible no longer look like sins? Should we forge an all-out war against it or should distance ourselves away from it? The extreme response to it could fruit Christian Jihadism on the right and the apathetic response would let it booming with no one attempting to stop it on the left. This paper calls for global Christians to essentially make theology a part of their daily lives to form a united global force to influence the godless global culture by influencing our own family and community.

Keywords: Christians, global culture, godliness, theology

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Authors: Renata L. C. Leão, João E. Nascimento, Natalia C. E. S. Nascimento, Elaine S. Vasconcelos, Mércia L. Oliveira

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The quality control procedures of a radiopharmaceutical include the assessment of its chemical purity. The method suggested by international pharmacopeias consists of a thin layer chromatographic run. In this paper, the method proposed by the United States Pharmacopeia (USP) is compared to a direct method to determine the final concentration of aminopolyether in Fludeoxyglucose (¹⁸F-FDG) preparations. The approach (no chromatographic run) was achieved by placing the thin-layer chromatography (TLC) plate directly on an iodine vapor chamber. Both methods were validated and they showed adequate results to determine the concentration of aminopolyether in ¹⁸F-FDG preparations. However, the direct method is more sensitive, faster and simpler when compared to the reference method (with chromatographic run), and it may be chosen for use in routine quality control of ¹⁸F-FDG.

Keywords: chemical purity, Kryptofix 222, thin layer chromatography, validation

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Authors: Haniye Dehestani, Yadollah Ordokhani

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In this work, we present an efficient approach for solving variable-order time-fractional partial differential equations, which are based on Legendre and Laguerre polynomials. First, we introduced the pseudo-operational matrices of integer and variable fractional order of integration by use of some properties of Riemann-Liouville fractional integral. Then, applied together with collocation method and Legendre-Laguerre functions for solving variable-order time-fractional partial differential equations. Also, an estimation of the error is presented. At last, we investigate numerical examples which arise in physics to demonstrate the accuracy of the present method. In comparison results obtained by the present method with the exact solution and the other methods reveals that the method is very effective.

Keywords: collocation method, fractional partial differential equations, legendre-laguerre functions, pseudo-operational matrix of integration

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Authors: Andrey V. Timofeev

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An adaptive nonparametric method is proposed for stable real-time detection of seismoacoustic sources in multichannel C-OTDR systems with a significant number of channels. This method guarantees given upper boundaries for probabilities of Type I and Type II errors. Properties of the proposed method are rigorously proved. The results of practical applications of the proposed method in a real C-OTDR-system are presented in this report.

Keywords: guaranteed detection, multichannel monitoring systems, change point, interval estimation, adaptive detection

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Authors: Mojtaba Esmaeilzad Limoudehi

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To evaluate the model ORYZA2000, under the management of irrigation and nitrogen fertilization experiment, a split plot with a randomized complete block design with three replications on hybrid cultivars (spring) in the 1388-1387 crop year was conducted at the Rice Research Institute. Permanent flood irrigation as the main plot in the fourth level, around 5 days, from 11 days to 8 days away, and the four levels of nitrogen fertilizer as the subplots 0, 90, 120, and 150 kg N Ha were considered. Simulated and measured values of leaf area index, grain yield, and biological parameters using the regression coefficient, t-test, the root mean square error (RMSE), and normalized root mean square error (RMSEn) were performed. Results, the normalized root mean square error of 10% in grain yield, the biological yield of 9%, and 23% of maximum LAI was determined. The simulation results show that grain yield and biological ORYZA2000 model accuracy are good but do not simulate maximum LAI well. The results show that the model can support ORYZA2000 test results and can be used under conditions of nitrogen fertilizer and irrigation management.

Keywords: evaluation, rice, nitrogen fertilizer, model ORYZA2000

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Authors: Wataru Nakamura, Tomoaki Hashimoto, Liang-Kuang Chen

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This paper provides a state estimation method for automatic control systems of nonlinear vehicle dynamics. A nonlinear tire model is employed to represent the realistic behavior of a vehicle. In general, all the state variables of control systems are not precisedly known, because those variables are observed through output sensors and limited parts of them might be only measurable. Hence, automatic control systems must incorporate some type of state estimation. It is needed to establish a state estimation method for nonlinear vehicle dynamics with restricted measurable state variables. For this purpose, unscented Kalman filter method is applied in this study for estimating the state variables of nonlinear vehicle dynamics. The objective of this paper is to propose a state estimation method using unscented Kalman filter for nonlinear vehicle dynamics. The effectiveness of the proposed method is verified by numerical simulations.

Keywords: state estimation, control systems, observer systems, nonlinear systems

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Authors: T. Kizza, M. Muyinda

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Irrigation schedules are normally given in terms of frequency (irrigation days). Specific timings within a given day are not usually included. This study examined the effect of irrigation timing for a two-day irrigation schedule of a surface drip-irrigated tomato field on yield. It was carried out for three dry seasons; July-Sept 2016, Jan-April 2017 and Jan-March 2018, at MuZARDI research station. Four irrigation treatments; T1 morning (8.00hrs), T2 noon (12:00hrs), T3 evening (17:00hr) and T4, a combination of morning and evening, were evaluated. The irrigation duration was one hour for T1-T3 and split into 30 minutes for T4. First season results indicated noon watering as having the best yield over other treatments at 51.59t/ha followed closely by morning watering at 50.6t/ha. Plants watered at noon had the highest number of fruits at 19/plant with an average weight of 94g/fruit. Plants watered in the morning had fruits with the highest average weight at 111.2g/fruit but they were the lowest number at 16 fruits/plant. The three-season data indicated the highest yield at 45.9t/ha for morning watering, followed by noon watering at 44.3t/ha and the least yield was for evening watering at 40.9t/ha. Watering tomatoes in the morning will give optimum yields for a two-day irrigation schedule.

Keywords: drip irrigation, irrigation schedule, irrigation timing, tomato yield

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Authors: Dingyang Hu, Dan Liu

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DNN (Deep Neural Network) deep learning models are widely used in classification, prediction, and other task scenarios. To address the difficulties of generic adversarial perturbation generation for deep learning models under black-box conditions, a generic adversarial ingestion generation method based on a saliency map (CJsp) is proposed to obtain salient image regions by counting the factors that influence the input features of an image on the output results. This method can be understood as a saliency map attack algorithm to obtain false classification results by reducing the weights of salient feature points. Experiments also demonstrate that this method can obtain a high success rate of migration attacks and is a batch adversarial sample generation method.

Keywords: adversarial sample, gradient, probability, black box

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Authors: Nizar Tayem, AbuMuhammad Moinuddeen, Ahmed A. Hussain, Redha M. Radaydeh

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This research paper introduces an approach for estimating the direction of arrival (DOA) of multiple RF noncoherent sources in a uniform linear array (ULA). The proposed method utilizes a Capon-like estimation algorithm and incorporates LU decomposition to enhance the accuracy of DOA estimation while significantly reducing computational complexity compared to existing methods like the Capon method. Notably, the proposed method does not require prior knowledge of the number of sources. To validate its effectiveness, the proposed method undergoes validation through both software simulations and practical experimentation on a prototype testbed constructed using a software-defined radio (SDR) platform and GNU Radio software. The results obtained from MATLAB simulations and real-time experiments provide compelling evidence of the proposed method's efficacy.

Keywords: DOA estimation, real-time validation, software defined radio, computational complexity, Capon's method, GNU radio

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Authors: Young Hee Geum

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We propose the numerical method defined by xn+1 = xn − λ[f(xn − μh(xn))/]f'(xn) , n ∈ N, and determine the control parameter λ and μ to converge cubically. In addition, we derive the asymptotic error constant. Applying this proposed scheme to various test functions, numerical results show a good agreement with the theory analyzed in this paper and are proven using Mathematica with its high-precision computability.

Keywords: asymptotic error constant, iterative method, multiple root, root-finding

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Authors: Marcin Sowa

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The paper discusses the subinterval-based numerical method for fractional derivative computations. It is now referred to by its acronym – SubIval. The basis of the method is briefly recalled. The ability of the method to be applied in time stepping solvers is discussed. The possibility of implementing a time step size adaptive solver is also mentioned. The solver is tested on a transient circuit example. In order to display the accuracy of the solver – the results have been compared with those obtained by means of a semi-analytical method called gcdAlpha. The time step size adaptive solver applying SubIval has been proven to be very accurate as the results are very close to the referential solution. The solver is currently able to solve FDE (fractional differential equations) with various derivative orders for each equation and any type of source time functions.

Keywords: numerical method, SubIval, fractional calculus, numerical solver, circuit analysis

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Authors: A. M. Sagir

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The aim of this paper is to investigate the performance of the developed linear multistep block method for solving first order initial value problem of Ordinary Differential Equations (ODEs). The method calculates the numerical solution at three points simultaneously and produces three new equally spaced solution values within a block. The continuous formulations enable us to differentiate and evaluate at some selected points to obtain three discrete schemes, which were used in block form for parallel or sequential solutions of the problems. A stability analysis and efficiency of the block method are tested on ordinary differential equations involving practical applications, and the results obtained compared favorably with the exact solution. Furthermore, comparison of error analysis has been developed with the help of computer software.

Keywords: block method, first order ordinary differential equations, linear multistep, self-starting

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Authors: A. M. Sagir

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This paper derived four newly schemes which are combined in order to form an accurate and efficient block method for parallel or sequential solution of third order ordinary differential equations of the form y^'''= f(x,y,y^',y^'' ), y(α)=y_0,〖y〗^' (α)=β,y^('' ) (α)=μ with associated initial or boundary conditions. The implementation strategies of the derived method have shown that the block method is found to be consistent, zero stable and hence convergent. The derived schemes were tested on stiff and non-stiff ordinary differential equations, and the numerical results obtained compared favorably with the exact solution.

Keywords: block method, hybrid, linear multistep, self-starting, third order ordinary differential equations

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Authors: Martina Drdlová, Michal Frank, Radek Řídký, Jaroslav Buchar, Josef Krátký

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The main aim of the presented experiments is to improve behaviour of sandwich structures under dynamic loading, such as crash or explosion. This paper describes experimental investigation on the response of new advanced materials to low and high velocity load. Blast wave energy absorbers were designed using two types of porous lightweight raw particle materials based on expanded glass and ceramics with dimensions of 0.5-1 mm, combined with polymeric binder. The effect of binder amount on the static and dynamic properties of designed materials was observed. Prism shaped specimens were prepared and loaded to obtain physico-mechanical parameters – bulk density, compressive and flexural strength under quasistatic load, the dynamic response was determined using Split Hopkinson Pressure bar apparatus. Numerical investigation of the material behaviour in sandwich structure was performed using implicit/explicit solver LS-Dyna. As the last step, the developed material was used as the interlayer of blast resistant litter bin, and it´s functionality was verified by real field blast tests.

Keywords: blast energy absorber, SHPB, expanded glass, expanded ceramics

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Authors: Aymen Laadhari

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We present in this paper a fully implicit finite element method tailored for the numerical modeling of inextensible fluidic membranes in a surrounding Newtonian fluid. We consider a highly simplified version of the Canham-Helfrich model for phospholipid membranes, in which the bending force and spontaneous curvature are disregarded. The coupled problem is formulated in a fully Eulerian framework and the membrane motion is tracked using the level set method. The resulting nonlinear problem is solved by a Newton-Raphson strategy, featuring a quadratic convergence behavior. A monolithic solver is implemented, and we report several numerical experiments aimed at model validation and illustrating the accuracy of the proposed method. We show that stability is maintained for significantly larger time steps with respect to an explicit decoupling method.

Keywords: finite element method, level set, Newton, membrane

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Authors: Woei-Shyan Lee, Hao-Chien Kao

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The impact deformation and fracture behaviour of cobalt-based Haynes 188 superalloy are investigated by means of a split Hopkinson pressure bar. Impact tests are performed at strain rates ranging from 1×103 s-1 to 5×103 s-1 and temperatures between 25°C and 800°C. The experimental results indicate that the flow response and fracture characteristics of cobalt-based Haynes 188 superalloy are significantly dependent on the strain rate and temperature. The flow stress, work hardening rate and strain rate sensitivity all increase with increasing strain rate or decreasing temperature. It is shown that the impact response of the Haynes 188 specimens is adequately described by the Zerilli-Armstrong fcc model. The fracture analysis results indicate that the Haynes 188 specimens fail predominantly as the result of intensive localised shearing. Furthermore, it is shown that the flow localisation effect leads to the formation of adiabatic shear bands. The fracture surfaces of the deformed Haynes 188 specimens are characterised by dimple- and / or cleavage-like structure with knobby features. The knobby features are thought to be the result of a rise in the local temperature to a value greater than the melting point.

Keywords: Haynes 188 alloy, impact, strain rate and temperature effect, adiabatic shearing

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Authors: Sh. Edrisi, M. Moeeni, A. Farahbakhsh

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To study the effect of nitrogenous additive spray solution on the efficacy of three herbicides i.e. pinoxaden (Trade name: Axial), sulfosulfuron+metsulfuron-methyl (Trade name: Total) and sulfosulfuron (Trade name: Apirus) in controlling wild barley (Hordeum spontaneum C. Koch), in different growth stages, a greenhouse experiment as a split plot in a completely randomized design in three replications was conducted. One month after treatments, all plants were harvested and growth parameters were determined. The data were analyzed with computer. The results showed that the herbicide applications with and without nitrogen additive caused significant reductions in growth parameters of wild barley at 2-4 leaf stage. However, the plants were not killed by this herbicide. Plants were killed completely due to applications of the two other herbicides i.e. Apirus and Total at 2-4 leaf. There was no significant difference between the effect of these two herbicides. There was no significant difference between the highest rate of each herbicide used alone and that of the lowest rate with nitrogenous additive.

Keywords: growth stage, herbicide, nitrogen, wild barley

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Authors: Atilla Bayram

Abstract:

This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: computed force method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss

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Authors: Yael Dubinsky, Orit Hazzan

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There is a constant need for hi-tech innovation to be decentralized to peripheral regions. This work describes how we applied design science research (DSR) principles to define what we refer to as the Sea of Galilee (SoG) method. The goal of the SoG method is to harness existing and new technological initiatives in peripheral regions to create a socio-technological network that can initiate and maintain hi-tech activities. The SoG method consists of a set of principles, a stakeholder network, and actual hi-tech business initiatives, including their infrastructure and practices. The three cycles of DSR, the Relevance, Design, and Rigor cycles, layout a research framework to sharpen the requirements, collect data from case studies, and iteratively refine the SoG method based on the existing knowledge base. We propose that the SoG method can be deployed by regional authorities that wish to be considered smart regions (an extension of the notion of smart cities).

Keywords: design science research, socio-technological initiatives, Sea of Galilee method, periphery stakeholder network, hi-tech initiatieves

Procedia PDF Downloads 131