Search results for: friction piles

Authors: Saeed Delara, Kendra MacKay

Abstract:

Varying methodologies are considered for pile design for both Russian and Western approaches. Although both approaches rely on toe and side frictional resistances, different calculation methods are proposed to estimate pile capacity. The Western approach relies on compactness (internal friction angle) of soil for cohesionless soils and undrained shear strength for cohesive soils. The Russian approach relies on grain size for cohesionless soils and liquidity index for cohesive soils. Though most recommended methods in the Western approaches are relatively simple methods to predict pile settlement, the Russian approach provides a detailed method to estimate single pile and pile group settlement. Details to calculate pile axial capacity and settlement using the Russian and Western approaches are discussed and compared against field test results.

Keywords: pile capacity, pile settlement, Russian approach, western approach

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Authors: Khoa Tan Nguyen, Tuan Anh Le, Kihak Lee

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This paper presents the flexural response of Reinforced Geopolymer Concrete (RGPC) beams. A commercial finite element (FE) software ABAQUS has been used to perform a structural behavior of RGPC beams. Using parameters such: stress, strain, Young’s modulus, and Poisson’s ratio obtained from experimental results, a beam model has been simulated in ABAQUS. The results from experimental tests and ABAQUS simulation were compared. Due to friction forces at the supports and loading rollers; slip occurring, the actual deflection of RGPC beam from experimental test results were slightly different from the results of ABAQUS. And there is good agreement between the crack patterns of fly ash-based geopolymer concrete generated by FE analysis using ABAQUS, and those in experimental data.

Keywords: geopolymer concrete beam, finite element mehod, stress strain relation, modulus elasticity

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Authors: Enrique Castañeda, Tomas Hernadez, Mario Ulloa

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Recent studies related to submarine pipelines under high pressure, temperature and buried, forces us to make bibliographical and documentary research to make us of references applicable to our problem. This paper presents an experimental methodology to the implementation of results obtained in a scale model, bibliography soil mechanics and finite element simulation. The model consists of a tank of 0.60 x 0.90 x 0.60 basis equipped high side windows, tires and digital hardware devices for measuring different variables to be applied to the model, where the mechanical properties of the soil are determined, simulation of drag a pipeline buried in a non-cohesive seafloor of the Gulf of Mexico, estimate the failure surface and application of each of the variables for the determination of mechanical elements.

Keywords: static friction coefficient, maximum passive force resistant soil, normal, tangential stress

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Authors: Negadi Kheira, Arab Ahmed, Kamal Elbokl Mohamed, Setti Fatima

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In order to evaluate influences of roots on soil shear strength, monotonic drained and undrained triaxial laboratory tests were carried out on reconstituted specimens at various confining pressure (σc’=50, 100, 200, 300, 400 kPa) and a constant relative density (Dr = 50%). Reinforcement of soil by fibrous roots is crucial for preventing soil erosion and degradation. Therefore, we investigated soil reinforcement by roots of acacia planted in the area of Chlef where shallow landslides and slope instability are frequent. These roots were distributed in soil in two forms: vertically and horizontally. The monotonic test results showed that roots have more impacts on the soil shear strength than the friction angle, and the presence of roots in soil substantially increased the soil shear strength. Also, the results showed that the contribution of roots on the shear strength mobilized increases with increase in the confining pressure.

Keywords: soil, monotonic, triaxial test, root fiber, undrained

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Authors: Mohamed Zakaulla, A. R. Anwar Khan

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Al6061 alloy base matrix, reinforced with particles of silicon carbide (10 wt %) and Graphite powder (1wt%), known as hybrid composites have been fabricated by liquid metallurgy route (stir casting technique) and optimized at different parameters like applied load, sliding speed and sliding distance by taguchi method. A plan of experiment generated through taguchi technique was used to perform experiments based on L27 orthogonal array. The developed ANOVA and regression equations are used to find the optimum coefficient of friction and wear under the influence of applied load, sliding speed and sliding distance. On the basis of “smaller the best” the dry sliding wear resistance was analysed and finally confirmation tests were carried out to verify the experimental results.

Keywords: analysis of variance, dry sliding wear, hybrid composite, orthogonal array, Taguchi technique

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Authors: Issa S. Oweis, Gary Gartenberg, Luma J. Oweis

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The site for a residential apartment building overlies an abandoned iron mine in granitic gneiss in northern New Jersey. The mine stope is about 137 m (450 long) and dipping over 344m (800 feet) at 450 to 500. As the building footprint straddles, the mine site needed remediation. The remediation scheme consisted of compaction grouting a minimum 10 m (30 ft.) depth of the mine stope in rock to establish a buttress for the hanging wall and allow support of the building foundation. The rock strength parameters (friction and cohesion) were established based on Hoek Geologic Strength Index (GSI). The derived strength parameters were used in the wedge analysis to simulate rock cave-in. It was concluded that a cave-in would be unlikely. Verification holes confirmed the effectiveness of grouting. Although post grouting micro gravity survey depicted a few anomalies, no anomalies were found to exist by further drilling and excavation.

Keywords: grout, stope, rock, properties

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Authors: Navid Khayat

Abstract:

Drained shear strength of saturated soils is fully understood. Shear strength of unsaturated soils is usually expressed in terms of soil suction. Evaluation of shear strength of compacted mixtures of sand–clay at optimum water content is main purpose of this research. To prepare the required samples, first clay and sand are mixed in 10, 30, 50, and 70 percent by dry weight and then compacted at the proper optimum water content according to the standard proctor test. The samples were sheared in direct shear machine. Stress –strain relationship of samples indicated a ductile behavior. Most of the samples showed a dilatancy behavior during the shear and the tendency for dilatancy increased with the increase in sand proportion. The results show that with the increase in percentage of sand a decrease in cohesion intercept c' for mixtures and an increase in the angle of internal friction Φ’is observed.

Keywords: clay, sand, drained shear strength, cohesion intercept

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Authors: Muhammad Ramzan

Abstract:

A mathematical model has been envisaged to discuss three-dimensional Viscoelastic fluid flow with an effect of Cattaneo-Christov heat flux in attendance of magnetohydrodynamic (MHD). Variable thermal conductivity with the impact of homogeneous-heterogeneous reactions and convective boundary condition is also taken into account. Homotopy analysis method is engaged to obtain series solutions. Graphical illustrations depicting behaviour of sundry parameters on skin friction coefficient and all involved distributions are also given. It is observed that velocity components are decreasing functions of Viscoelastic fluid parameter. Furthermore, strength of homogeneous and heterogeneous reactions have opposite effects on concentration distribution. A comparison with a published paper has also been established and an excellent agreement is obtained; hence reliable results are being presented.

Keywords: Cattaneo Christov heat flux, homogenous-heterogeneous reactions, magnetic field, variable thermal conductivity

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Authors: I. Toumi, Y. Abed, A. Bouafia

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This paper presents a methodology for identifying the cohesive soil parameters that takes into account different constitutive equations. The procedure, applied to identify the parameters of generalized Prager model associated to the Drucker & Prager failure criterion from a pressuremeter expansion curve, is based on an inverse analysis approach, which consists of minimizing the function representing the difference between the experimental curve and the simulated curve using a simplex algorithm. The model response on pressuremeter path and its identification from experimental data lead to the determination of the friction angle, the cohesion and the Young modulus. Some parameters effects on the simulated curves and stresses path around pressuremeter probe are presented. Comparisons between the parameters determined with the proposed method and those obtained by other means are also presented.

Keywords: cohesive soils, cavity expansion, pressuremeter test, finite element method, optimization procedure, simplex algorithm

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Authors: Adriana Hernandez-Martinez, Edgar D. Ramon-Raygoza

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Currently, there has been a great interest, during the last years, on graphene due to its lubricant properties on friction and antiwear processes. Likewise, fluorographene has also been gaining renown due to its excellent chemical and physical properties which have been mostly applied in the electronics industry. Nevertheless, its tribological properties haven’t been analyzed thoroughly. In this paper, fluorographene was examined as an extreme pressure additive and the nano lubricant made with a cutting fluid and fluorographene in the range of 0.01-0.5% wt, which proved to withstand 53.78% more pounds than the conventional product and 7.12% more than the nano lubricant with graphene in a range between 0.01-0.5% wt. Said extreme pressure test was carried out with a Pin and Vee Block Tribometer following an ASTM D3233A test. The fluorographene used has a low C/F ratio, which reflects a greater presence of atomic fluorine and its low oxygen percentage, supports the substitution of oxygen-containing groups by fluorine. XPS Spectra shows high atomic fluorine content of 56.12%, and SEM analysis details the formation of long and clear crystalline structures, in the fluorographene used.

Keywords: extreme pressure additive, fluorographene, nanofluids, nanolubricant

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Authors: Rishab Das, Arnab Banerjee, Bappaditya Manna

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Mono-pile foundations are often used in soft soils in order to support heavy mega-structures, whereby often these deep footings may undergo dynamic excitation due to many causes like earthquake, wind or wave loads acting on the superstructure, blasting, and unbalanced machines, etc. A comprehensive analytical study is performed to study the dynamics of the mono-pile system embedded in cohesion-less soil. The soil is considered homogeneous and visco-elastic in nature and is analytically modeled using complex springs. Considering the N number of the elements of the pile, the final global stiffness matrix is obtained by using the theories of the spectral element matrix method. Further, statically condensing the intermediate internal nodes of the global stiffness matrix results to a smaller sub matrix containing the nodes experiencing the external translation and rotation, and the stiffness and damping functions (impedance functions) of the embedded piles are determined. Proper plots showing the variation of the real and imaginary parts of these impedance functions with the dimensionless frequency parameter are obtained. The plots obtained from this study are validated by that provided by Novak,1974. Further, the dynamic analysis of the resonator impregnated pile is proposed within this study. Moreover, with the aid of Wood's 1g laboratory scaling law, a proper scaled-down resonator-pile model is 3D printed using PLA material. Dynamic analysis of the scaled model is carried out in the time domain, whereby the lateral loads are imposed on the pile head. The response obtained from the sensors through the LabView software is compared with the proposed theoretical data.

Keywords: mono-pile, visco-elastic, impedance, LabView

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Authors: Seok Min Choi, Minho Bang, Seuong Yun Kim, Hyungmin Lee, Won-Gu Joo, Hyung Hee Cho

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The matrix cooling channel was used for gas turbine blade cooling passage. The matrix cooling structure is useful for the structure stability however the cooling performance of internal cooling channel was not enough for cooling. Therefore, we designed the rib configurations in the matrix cooling channel to enhance the cooling performance. The numerical simulation was conducted to analyze cooling performance of rib configured matrix cooling channel. Three different rib configurations were used which are vertical rib, angled rib and c-type rib. Three configurations were adopted in two positions of matrix cooling channel which is one fourth and three fourth of channel. The result shows that downstream rib has much higher cooling performance than upstream rib. Furthermore, the angled rib in the channel has much higher cooling performance than vertical rib. This is because; the angled rib improves the swirl effect of matrix cooling channel more effectively. The friction factor was increased with the installation of rib. However, the thermal performance was increased with the installation of rib in the matrix cooling channel.

Keywords: matrix cooling, rib, heat transfer, gas turbine

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Authors: Navid Khayat

Abstract:

Drained shear strength of saturated soils is fully understood. Shear strength of unsaturated soils is usually expressed in terms of soil suction. Evaluation of shear strength of compacted mixtures of sand-bentonite at optimum water content is main purpose of this research. To prepare the required samples, first, bentonite and sand are mixed in 10, 30, 50 and 70 percent by dry weight and then compacted at the proper optimum water content according to the standard proctor test. The samples were sheared in direct shear machine. Stress-strain relationship of samples indicated a ductile behavior. Most of the samples showed a dilatancy behavior during the shear and the tendency for dilatancy increased with the increase in sand proportion. The results show that with the increase in percentage of sand a decrease in cohesion intercept c' for mixtures and an increase in the angle of internal friction Φ’is observed.

Keywords: bentonite, sand, drained shear strength, cohesion intercept

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Authors: Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier

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The aim of this paper is to show that the observation of the external effort and the sensor-less control of a system is limited by the mechanical system. First, the model of a one-joint robot with a prismatic joint is presented. Based on this model, two different procedures were performed in order to identify the mechanical parameters of the system and observe the external effort applied on it. Experiments have proven that the accuracy of the force observer, based on the DC motor current, is limited by the mechanics of the robot. The sensor-less control will be limited by the accuracy in estimation of the mechanical parameters and by the maximum static friction force, that is the minimum force which can be observed in this case. The consequence of this limitation is that industrial robots without specific design are not well adapted to perform sensor-less precision tasks. Finally, an efficient control law is presented for high effort applications.

Keywords: control, identification, robot, co-manipulation, sensor-less

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Authors: A. Jomartov, A. Tuleshov, B. Tultaev

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One of the main tasks in the development of textile machinery is to increase the rapidity of automatic looms, and consequently, their productivity. With increasing automatic loom speeds, the dynamic loads on their separate mechanisms and moving joints sharply increase. Dynamic research allows us to determine the weakest mechanisms of the automatic loom. The modern automatic loom consists of a large number of structurally different mechanisms. These are cam, lever, gear, friction and combined cyclic mechanisms. The modern automatic loom contains various mechatronic devices: A device for the automatic removal of faulty weft, electromechanical drive warp yarns, electronic controllers, servos, etc. In the paper, we consider the multibody dynamic model of the automatic loom on the software complex SimulationX. SimulationX is multidisciplinary software for modeling complex physical and technical facilities and systems. The multibody dynamic model of the automatic loom allows consideration of: The transition processes, backlash at the joints and nodes, the force of resistance and electric motor performance.

Keywords: automatic loom, dynamics, model, multibody, SimulationX

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Authors: Taha Ahmed Husain

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The dynamic characteristics such as speed and torque as well as voltages and currents of pwm brushless DC motor inverter are analyzed with a MATLAB model. The contribution of external load torque and friction torque is monitored. The switching function technique is adopted for the current control of the embedded three phase inverter that drives the brushless DC motor.In switching functions the power conversions circuits can be modeled according to their functions rather than circuit topologies. Therefore, it can achieve simplification of the overall power conversion functions. The trapezoidal type (back emf) is used in the model as ithas lower switching loss compared with sinusoidal type (back emf). Results show reliable time analysis for speed, torque, phase and line voltages and currents and the effect of current commutation is clearly observed.

Keywords: BLDC motor, brushless dc motors, pwm inverter, DC motor control, trapezoidal back emf, ripple torque in brushless DC motor

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Authors: Alluru Gopala Krishna, Thella Babu Rao

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In machining, there is always a problem with heat generation and friction produced during the process as they consequently affect tool wear and surface finish. An instant heat transfer mechanism could protect the cutting tool edge and enhance the tool life by cooling the cutting edge of the tool. In the present work, carbon nanotube (CNT) based nano-cutting fluid is proposed for machining a hard-to-cut material. Tool wear and surface roughness are considered for the evaluation of the nano-cutting fluid in turning process. The performance of nanocoolant is assessed against the conventional coolant and dry machining conditions and it is observed that the proposed nanocoolant has produced better performance than the conventional coolant.

Keywords: CNT based nano cutting fluid, tool wear, turning, surface roughness

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Authors: Paolo Castaldo, Bruno Palazzo, Laura Lodato

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This study deals with the seizure effects of friction pendulum (FP) bearings on the seismic reliability of a 3D base-isolated nonlinear structural system, designed according to Italian seismic code (NTC08). The isolated system consists in a 3D reinforced concrete superstructure, a r.c. substructure and the FP devices, described by employing a velocity dependent model. The seismic input uncertainty is considered as a random variable relevant to the problem, by employing a set of natural seismic records selected in compliance with L’Aquila (Italy) seismic hazard as provided from NTC08. Several non-linear dynamic analyses considering the three components of each ground motion have been performed with the aim to evaluate the seismic reliability of the superstructure, substructure, and isolation level, also taking into account the seizure event of the isolation devices. Finally, a design solution aimed at increasing the seismic robustness of the base-isolated systems with FPS is analyzed.

Keywords: FP devices, seismic reliability, seismic robustness, seizure

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Authors: Alouaoui Redha, Ferhat Samira, Bouaziz Mohamed Najib

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In this work, we examine the thermal radiation effect on heat and mass transfer in steady laminar boundary layer flow of an incompressible viscous micropolar fluid over a vertical plate, with the presence of a magnetic field. Rosseland approximation is applied to describe the radiative heat flux in the energy equation. The resulting similarity equations are solved numerically. Many results are obtained and representative set is displayed graphically to illustrate the influence of the various parameters on different profiles. The conclusion is drawn that the flow field, temperature, concentration and microrotation as well as the skin friction coefficient and the both local Nusselt and local Sherwood numbers are significantly influenced by Magnetic parameter, material parameter and thermal radiation parameter.

Keywords: MHD, micropolar fluid, thermal radiation, heat and mass transfer, boundary layer

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Authors: Y. El Khchine, M. Sriti

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In the present work, the forced convection heat transfer and fluid flow past an unconfined semi-circular cylinder is investigated. The two-dimensional simulation is employed for Reynolds numbers ranging from 10 ≤ Re ≤ 200, employing air (Pr = 0.71) as an operating fluid with Newtonian constant physics property. Continuity, momentum, and energy equations with appropriate boundary conditions are solved using the Computational Fluid Dynamics (CFD) solver Ansys Fluent. Various parameters flow such as lift, drag, pressure, skin friction coefficients, Nusselt number, Strouhal number, and vortex strength are calculated. The transition from steady to time-periodic flow occurs between Re=60 and 80. The effect of the Reynolds number on heat transfer is discussed. Finally, a developed correlation of Nusselt and Strouhal numbers is presented.

Keywords: forced convection, semi-circular cylinder, Nusselt number, Prandtl number

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Authors: Tamás Mankovits, Dávid Huri, Imre Kállai, Imre Kocsis, Tamás Szabó

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Non-linear FEM calculations are indispensable when important technical information like operating performance of a rubber component is desired. Rubber bumpers built into air-spring structures may undergo large deformations under load, which in itself shows non-linear behavior. The changing contact range between the parts and the incompressibility of the rubber increases this non-linear behavior further. The material characterization of an elastomeric component is also a demanding engineering task. In this paper, a comprehensive investigation is introduced including laboratory measurements, mesh density analysis and complex finite element simulations to obtain the load-displacement curve of the chosen rubber bumper. Contact and friction effects are also taken into consideration. The aim of this research is to elaborate an FEM model which is accurate and competitive for a future shape optimization task.

Keywords: rubber bumper, finite element analysis, compression test, Mooney-Rivlin material model

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Authors: El-Said. I. Shabana, Mohammad S. Tayeb, Maher M. T. Qutub, Abdulraheem A. Kinsara

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Usually, phosphate deposits contain ²³⁸U and ²³²Th in addition to their decay products. Due to their different pathways in the environment, the ²³⁸U/²³²Th activity concentration ratio usually found to be greater than unity in phosphate sediments. The presence of these radionuclides creates a potential need to control exposure of workers in the mining and processing activities of the phosphate minerals in accordance with IAEA safety standards. The greatest dose to workers comes from exposure to radon, especially ²²²Rn from the uranium series, and has to be controlled. In this regard, radon (²²²Rn) was measured in the atmosphere (indoor and outdoor) of Al-Jalamid phosphate-mines working area using a portable radon-measurement instrument RAD7, in a purpose of radiation protection. Radon was measured in 61 sites inside the open phosphate mines, the phosphate upgrading facility (offices and rooms of the workers, and in some open-air sites) and in the dwellings of the workers residence-village that lies at about 3 km from the mines working area. The obtained results indicated that the average indoor radon concentration was about 48.4 Bq/m³. Inside the upgrading facility, the average outdoor concentrations were 10.8 and 9.7 Bq/m³ in the concentrate piles and crushing areas, respectively. It was 12.3 Bq/m³ in the atmosphere of the open mines. These values are comparable with the global average values. Based on the average values, the annual effective dose due to radon inhalation was calculated and risk estimates have been done. The average annual effective dose to workers due to the radon inhalation was estimated by 1.32 mSv. The potential excess risk of lung cancer mortality that could be attributed to radon, when considering the lifetime exposure, was estimated by 53.0x10^-4. The results have been discussed in detail.

Keywords: dosimetry, environmental monitoring, phosphate deposits, radiation protection, radon

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Authors: V. G. Rifert, V. V. Gorin, V. V. Sereda, V. V. Treputnev

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The analysis of heat transfer design methods in condensing inside plain tubes under existing influence of shear stress is presented in this paper. The existing discrepancy in more than 30-50% between rating heat transfer coefficients and experimental data has been noted. The analysis of existing theoretical and semi-empirical methods of heat transfer prediction is given. The influence of a precise definition concerning boundaries of phase flow (it is especially important in condensing inside horizontal tubes), shear stress (friction coefficient) and heat flux on design of heat transfer is shown. The substantiation of boundary conditions of the values of parameters, influencing accuracy of rated relationships, is given. More correct relationships for heat transfer prediction, which showed good convergence with experiments made by different authors, are substantiated in this work.

Keywords: film condensation, heat transfer, plain tube, shear stress

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Authors: Yıldırım I. Tosun, Halim Cevizci, Hakan Ceylan

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By GEO5 FEM program with four rockfill slope modeling and stability analysis was performed for S1, S2, S3 and S4 slopes where landslides of the shalefills were limited. Effective angle of internal friction (φ'°) 17°-22.5°, the effective cohesion (c') from 0.5 to 1.8 kPa, saturated unit weight 1.78-2.43 g/cm3, natural unit weight 1.9-2.35 g/cm3, dry unit weight 1.97-2.40 g/cm3, the permeability coefficient of 1x10-4 - 6.5x10-4 cm/s. In cross-sections of the slope, GEO 5 FEM program possible critical surface tension was examined. Rockfill dump design was made to prevent sliding slopes. Bulk material designated geotechnical properties using also GEO5 programs FEM and stability program via a safety factor determined and calculated according to the values S3 and S4 No. slopes are stable S1 and S2 No. slopes were close to stable state that has been found to be risk. GEO5 programs with limestone rock fill dump through FEM program was found to exhibit stability.

Keywords: slope stability, stability analysis, rockfills, sock stability

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Authors: Martin Camps

Abstract:

The two-thousand-mile border that divides the United States and Mexico is a “contact zone” of cultural friction and unbalanced power relations as defined by Mary Louise Pratt. The interest of this paper is to analyze digital platforms created to address the study and comprehension of the borderlands with pedagogical and research reasons. The paper explores ways to engage students in archival and analytical practices to build a repository of resources, links, and digital tools and consider how to adapt them to the study of the borderlands. Sites such as “Torn Apart / Separados,” “Digital Borderlands,” “Borderlands Archives Cartography,” and “Juaritos Literario” show visualizations, mapping, and access to materials and marginal literature on the border phenomenon. Analyzing these projects contributes to highlighting digital projects and the study of the border and how to engage in activism via the study of literature and the representation of a human tragedy that underscores the divisions and biopolitics imposed on the Global South and imagine the digital border futures.

Keywords: borderlands, digital humanities, activism, border literature

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Authors: Muhammad Khairul Anuar Mohamed, Mohd Zuki Salleh, Anuar Ishak, Nor Aida Zuraimi Md Noar

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In this study, the numerical investigation of viscous dissipation on convective boundary layer flow towards a horizontal circular cylinder with constant wall temperature is considered. The transformed partial differential equations are solved numerically by using an implicit finite-difference scheme known as the Keller-box method. Numerical solutions are obtained for the reduced Nusselt number and the skin friction coefficient as well as the velocity and temperature profiles. The features of the flow and heat transfer characteristics for various values of the Prandtl number and Eckert number are analyzed and discussed. The results in this paper is original and important for the researchers working in the area of boundary layer flow and this can be used as reference and also as complement comparison purpose in future.

Keywords: free convection, horizontal circular cylinder, viscous dissipation, convective boundary layer flow

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Authors: Reginaldo Cardoso, Magno Enrique Mendoza Meza

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This work focuses on simulation and comparison of two control skyhook techniques applied to a quarter-car of the active suspension. The objective is to provide comfort to the driver. The main idea of skyhook control is to imagine a damper connected to an imaginary sky; thus, the feedback is performed with the resultant force between the imaginary and the suspension damper. The first control technique is the Mandani fuzzy skyhook and the second control technique is a Takagi-Sugeno fuzzy skyhook controller, in the both controllers the inputs are the relative velocity between the two masses and the vehicle body velocity, the output of the Mandani fuzzy skyhook is the coefficient of imaginary damper viscous-friction and the Takagi-Sugeno fuzzy skyhook is the force. Finally, we compared the techniques. The Mandani fuzzy skyhook showed a more comfortable response to the driver, followed closely by the Takagi- Sugeno fuzzy skyhook.

Keywords: active suspention, Mandani, quarter-car, skyhook, Sugeno

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Authors: Ahmad Forouzantabar, Mohammad Azadi

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This paper presents sliding mode controller for bilateral teleoperation systems with robotic master and slave under constant communication delays. We extend the passivity-based coordination architecture to enhance position and force tracking in the presence of offset in initial conditions, environmental contacts and unknown parameters such as friction coefficient. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of master and slave robots and improve both position and force tracking. Using the Lyapunov theory, the boundedness of master- slave tracking errors and the stability of the teleoperation system are also guaranteed. Numerical simulations show that proposed controller position and force tracking performances are superior to that of conventional coordination controller tracking performances.

Keywords: Lyapunov stability, teleoperation system, time delay, sliding mode controller

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Authors: Fuyan Sun, Guang Wang, Xueyuan Nie

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In this study, a plasma electrolytic oxidation (PEO) process was used to form titanium-aluminium oxide coating on aluminized steel. The present work was mainly to study the effects of treatment time of PEO process on properties of the titanium coating. A potentiodynamic polarization corrosion test was employed to investigate the corrosion resistance of the coating. The friction coefficient and wear resistance of the coating were studied by using pin-on-disc test. The thermal transfer behaviours of uncoated and PEO-coated aluminized steels were also studied. It could be seen that treatment time of PEO process significantly influenced the properties of the titanium oxide coating. Samples with a longer treatment time had a better performance for corrosion and wear protection. This paper demonstrated different treatment time could alter the surface behaviour of the coating material.

Keywords: titanium-aluminum oxide, plasma electrolytic oxidation, corrosion, wear, thermal property

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Authors: Rudolf L. Kanyane, Nicolaus Malatji, Patritia A. Popoola

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Tribological failure of materials during application can lead to catastrophic events which also carry economic penalties. High entropy alloys (HEAs) have shown outstanding tribological properties in applications such as mechanical parts were moving parts under high friction are required. This work aims to investigate the effect of sintering temperature on microhardness properties and tribological properties of novel equiatomic TiAlMoSiW HEAs fabricated via spark plasma sintering. The effect of Spark plasma sintering temperature on morphological evolution and phase formation was also investigated. The microstructure and the phases formed for the developed HEAs were examined using scanning electron microscopy (SEM) and X-ray diffractometry (XRD) respectively. The microhardness and tribological properties were studied using a diamond base microhardness tester Rtec tribometer. The developed HEAs showed improved mechanical properties as the sintering temperature increases.

Keywords: sintering, high entropy alloy, microhardness, tribology

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