Search results for: simplified method

Authors: Seyed Amin Vakili, Sahar Sadat Vakili, Seyed Ehsan Vakili, Nader Abdoli Yazdi

Abstract:

The main purpose of this paper is to present the Modified Newmark Method as a method of non-linear frame analysis by considering the effect of the axial load (second order analysis). The discussion will be restricted to plane frameworks containing a constant cross-section for each element. In addition, it is assumed that the frames are prevented from out-of-plane deflection. This part of the investigation is performed to generalize the established method for the assemblage structures such as frameworks. As explained, the governing differential equations are non-linear and cannot be formulated easily due to unknown axial load of the struts in the frame. By the assumption of constant axial load, the governing equations are changed to linear ones in most methods. Since the modeling and the solutions of the non-linear form of the governing equations are cumbersome, the linear form of the equations would be used in the established method. However, according to the ability of the method to reconsider the minor omitted parameters in modeling during the solution procedure, the axial load in the elements at each stage of the iteration can be computed and applied in the next stage. Therefore, the ability of the method to present an accurate approach to the solutions of non-linear equations will be demonstrated again in this paper.

Keywords: nonlinear, stability, buckling, modified newmark method

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Authors: Timothee Gidenne, Xia Pinqi

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In this paper, an investigation of the use of carbon nanotubes (CNTs) reinforced polymer as an actuator for an active flutter suppression to counter the flutter phenomena is conducted. The goal of this analysis is to establish a link between the behavior of the control surface and the actuators to demonstrate the veracity of using such a suppression system for the aeronautical field. A preliminary binary flutter model using simplified unsteady aerodynamics is developed to study the behavior of the wing while reaching the flutter speed and when the control system suppresses the flutter phenomena. The Timoshenko beam theory for bilayer materials is used to match the response of the control surface with the CNTs reinforced polymer (CNRP) actuators. According to Timoshenko theory, results show a good and realistic response for such a purpose. Even if the results are still preliminary, they show evidence of the potential use of CNRP for control surface actuation for the small-scale and lightweight system.

Keywords: actuators, aeroelastic, aeroservoelasticity, carbon nanotubes, flutter, flutter suppression

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Authors: Donggun Lee, Q-Han Park

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Due to its coarse grid, the Pseudo-Spectral Time Domain (PSTD) method has advantages against the Finite Difference Time Domain (FDTD) method in terms of memory requirement and operation time. However, since the efficiency of parallelization is much lower than that of FDTD, PSTD is not a useful method for a large-scale electromagnetic simulation in a parallel platform. In this paper, we propose the parallelization technique of the hybrid PSTD-FDTD (HPF) method which simultaneously possesses the efficient parallelizability of FDTD and the quick speed and low memory requirement of PSTD. Parallelization cost of the HPF method is exactly the same as the parallel FDTD, but still, it occupies much less memory space and has faster operation speed than the parallel FDTD. Experiments in distributed memory systems have shown that the parallel HPF method saves up to 96% of the operation time and reduces 84% of the memory requirement. Also, by combining the OpenMP library to the MPI library, we further reduced the operation time of the parallel HPF method by 50%.

Keywords: FDTD, hybrid, MPI, OpenMP, PSTD, parallelization

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Authors: Elysia Barker, Jian Guo Zhou, Ling Qian, Steve Decent

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A method of modelling topography used in the simulation of riverbeds is proposed in this paper, which removes the need for datapoints and measurements of physical terrain. While complex scans of the contours of a surface can be achieved with other methods, this requires specialised tools, which the proposed method overcomes by using fractional Brownian motion (FBM) as a basis to estimate the real surface within a 15% margin of error while attempting to optimise algorithmic efficiency. This removes the need for complex, expensive equipment and reduces resources spent modelling bed topography. This method also accounts for the change in topography over time due to erosion, sediment transport, and other external factors which could affect the topography of the ground by updating its parameters and generating a new bed. The lattice Boltzmann method (LBM) is used to simulate both stationary and steady flow cases in a side-by-side comparison over the generated bed topography using the proposed method and a test case taken from an external source. The method, if successful, will be incorporated into the current LBM program used in the testing phase, which will allow an automatic generation of topography for the given situation in future research, removing the need for bed data to be specified.

Keywords: bed topography, FBM, LBM, shallow water, simulations

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Authors: Seyed Sadegh Naseralavi

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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: Bakr Gomaa

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Cross ventilation is an important and practical mean to achieve thermal comfort and conserve energy. This is especially true in the breezy waterfront settings. However, due to a number of factors, cross ventilation in buildings is usually studied by using oversimplified scenarios. It is then reasonable to study the impact of complex set of factors on the accuracy of predicting air flow rate because of wind driven cross ventilation. The objective of this paper is to provide architects with the tools necessary to achieve natural ventilation for cooling purposes in a waterfront urban canyon context. Also, urban canyons have not received much attention in terms of their impact on cross ventilation, and while we know how the wind flows between buildings in different urban canyon settings, the effect of the parallel-to-the-wind urban canyon on cross ventilation in buildings remains unclear. For this, we use detailed weather data, boundary layer correction factor, and CFD simulations to study the pressure patterns that form on the canyons surfaces in the case study of Alexandria. We found that the simplified numerical methods of calculating the cross ventilation in buildings can lead to inaccurate design decisions.

Keywords: cross ventilation, Alexandria, CFD, urban canyon

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Authors: Edén Bojórquez, Victor Baca, Alfredo Reyes-Salazar, Jorge González

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In this paper, simplified equations to predict maximum inter-story drift demands of steel framed buildings are proposed in terms of two ground motion intensity measures based on the acceleration spectral shape. For this aim, the maximum inter-story drifts of steel frames with 4, 6, 8 and 10 stories subjected to narrow-band ground motion records are estimated and compared with the spectral acceleration at first mode of vibration Sa(T1) which is commonly used in earthquake engineering and seismology, and with a new parameter related with the structural response known as INp. It is observed that INp is the parameter best related with the structural response of steel frames under narrow-band motions. Finally, equations to compute maximum inter-story drift demands of steel frames as a function of spectral acceleration and INp are proposed.

Keywords: intensity measures, spectral shape, steel frames, peak demands

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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: 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: 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: Dechrit Maneetham

Abstract:

The aim of this paper was to design a void and head controlled electric power wheelchair (EPW). A novel activate the control system for quadriplegics with voice, head and neck mobility. Head movement has been used as a control interface for people with motor impairments in a range of applications. Acquiring measurements from the module is simplified through a synchronous a motor. Axis measures the two directions namely x and y. At the same time, patients can control the motorized wheelchair using voice signals (forward, backward, turn left, turn right, and stop) given by it self. The model of a dc motor is considered as a speed control by selection of a PID parameters using genetic algorithm. An experimental set-up constructed, which consists of micro controller as controller, a DC motor driven EPW and feedback elements. This paper is tuning methods of parameter for a pulse width modulation (PWM) control system. A speed controller has been designed successfully for closed loop of the dc motor so that the motor runs very closed to the reference speed and angle. Intelligent wheelchair can be used to ensure the person’s voice and head are attending the direction of travel asserted by a conventional, direction and speed control.

Keywords: wheelchair, quadriplegia, rehabilitation , medical devices, speed control

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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: Yuan Jie Kelvin Lu, Amin Chegenizadeh

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Asphalt pavement itself is a mixture made up of mainly aggregates, binders, and fillers that acts as a composition used for pavement construction. An experimental program was setup to determine the fatigue performance test of Asphalt with three different grades of conventional binders. Asphalt specimen has achieved the maximum optimum bulk density and air voids with a consistent bulk density of 2.3 t/m3, with an air void of 5% ± 0.5, before loading into the Asphalt Mixture Performance Tested (AMPT) for fatigue test. The number of cycles is defined as the point where phase angle drops, which is caused by the formation of cracks due to the increasing micro cracks when asphalt is undergoing repeated cycles of loading. Thus, the data collected are analyzed using the drop of phase angle as failure criteria. Based in the data analyzed, it is evident that the fatigue life of asphalt lies on the grade of binder. The result obtained shows that all specimens do experience a drop in phase angle due to macro cracks in the asphalt specimen.

Keywords: asphalt binder, AMPT, CX test, simplified – viscoelastic continuum damage (S-VECD)

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Authors: Marcin Sowa

Abstract:

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: Yagya Sharma, Basanta K. Rana, Arup K. Das

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Rotary entrainment is a phenomenon in which the interfaces of two immiscible fluids are subjected to external flux in the form of rotation. Present work reports the experimental study on rotary motion of a horizontal cylinder between the interface of air and water to observe the penetration of gas inside the liquid. Experiments have been performed to establish entrainment of air mass in water alongside the cylindrical surface. The movement of tracer and seeded particles have been tracked to calculate the speed and path of the entrained air inside water. Simplified particle image velocimetry technique has been used to trace the movement of particles/tracers at the moment they are injected inside the entrainment zone and suspended beads have been used to replicate the particle movement with respect to time in order to determine the flow dynamics of the fluid along the cylinder. Present paper establishes a thorough experimental analysis of the rotary entrainment phenomenon between air and water keeping in interest the extent to which we can intermix the two and also to study its entrainment trajectories.

Keywords: entrainment, gas-liquid flow, particle image velocimetry, stratified layer mixing

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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: Ollie Hall, Salma ElSayed

Abstract:

Affective adaptation is a novel way for game designers to add an extra layer of engagement to their productions. When player’s emotions factor in game design, endless possibilities for creative gameplay emerge. Whilst gaining popularity, existing affective game research mostly runs controlled experiments carried in restrictive settings and relies on one or more specialist devices for measuring a player’s emotional state. These conditions, albeit effective, are not necessarily realistic. Moreover, the simplified narrative and intrusive wearables may not be suitable for the average player. This exploratory study investigates delivering an immersive affective experience in the wild with minimal requirements in an attempt for the average developer to reach the average player. A puzzle game is created with a rich narrative and creative mechanics. It employs both explicit and implicit adaptation and only requires a web camera. Participants played the game on their own machines in various settings. Whilst it was rated feasible, very engaging, and enjoyable, it remains questionable whether a fully immersive experience was delivered due to the limited sample size.

Keywords: affective games, dynamic adaptation, emotion recognition, game design

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Authors: Jorge Gonzalez Camus, Valentin Keyantuo, Mahamadi Warma

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In this work, we obtain representation results for solutions of a time-fractional differential equation involving the discrete fractional Laplace operator in terms of generalized Wright functions. Such equations arise in the modeling of many physical systems, for example, chain processes in chemistry and radioactivity. The focus is on the linear problem of the simplified Moore - Gibson - Thompson equation, where the discrete fractional Laplacian and the Caputo fractional derivate of order on (0,2] are involved. As a particular case, we obtain the explicit solution for the discrete heat equation and discrete wave equation. Furthermore, we show the explicit solution for the equation involving the perturbed Laplacian by the identity operator. The main tool for obtaining the explicit solution are the Laplace and discrete Fourier transforms, and Stirling's formula. The methodology mainly is to apply both transforms in the equation, to find the inverse of each transform, and to prove that this solution is well defined, using Stirling´s formula.

Keywords: discrete fractional Laplacian, explicit representation of solutions, fractional heat and wave equations, fundamental

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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

Procedia PDF Downloads 335