Search results for: efficient solution
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 9848

Search results for: efficient solution

2678 3D Modeling Approach for Cultural Heritage Structures: The Case of Virgin of Loreto Chapel in Cusco, Peru

Authors: Rony Reátegui, Cesar Chácara, Benjamin Castañeda, Rafael Aguilar

Abstract:

Nowadays, heritage building information modeling (HBIM) is considered an efficient tool to represent and manage information of cultural heritage (CH). The basis of this tool relies on a 3D model generally obtained from a cloud-to-BIM procedure. There are different methods to create an HBIM model that goes from manual modeling based on the point cloud to the automatic detection of shapes and the creation of objects. The selection of these methods depends on the desired level of development (LOD), level of information (LOI), grade of generation (GOG), as well as on the availability of commercial software. This paper presents the 3D modeling of a stone masonry chapel using Recap Pro, Revit, and Dynamo interface following a three-step methodology. The first step consists of the manual modeling of simple structural (e.g., regular walls, columns, floors, wall openings, etc.) and architectural (e.g., cornices, moldings, and other minor details) elements using the point cloud as reference. Then, Dynamo is used for generative modeling of complex structural elements such as vaults, infills, and domes. Finally, semantic information (e.g., materials, typology, state of conservation, etc.) and pathologies are added within the HBIM model as text parameters and generic models families, respectively. The application of this methodology allows the documentation of CH following a relatively simple to apply process that ensures adequate LOD, LOI, and GOG levels. In addition, the easy implementation of the method as well as the fact of using only one BIM software with its respective plugin for the scan-to-BIM modeling process means that this methodology can be adopted by a larger number of users with intermediate knowledge and limited resources since the BIM software used has a free student license.

Keywords: cloud-to-BIM, cultural heritage, generative modeling, HBIM, parametric modeling, Revit

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2677 Efficacy of Teachers' Cluster Meetings on Teachers' Lesson Note Preparation and Teaching Performance in Oyo State, Nigeria

Authors: Olusola Joseph Adesina, Sunmaila Oyetunji Raimi, Olufemi Akinloye Bolaji, Abiodun Ezekiel Adesina

Abstract:

The quality of education and the standard of a nation cannot rise above the quality of the teacher (NPE, 2004). Efforts at improving the falling standard of education in the country call for the need-based assessment of the primary tier of education in Nigeria. It was revealed that the teachers’ standard of performance and pupils’ achievement was below average. Teachers’ cluster meeting intervention was therefore recommended as a step towards enhancing the teachers’ professional competency, efficient and effective proactive and interactive lesson presentation. The study thus determined the impact of the intervention on teachers’ professional performance (lesson note preparation and teaching performance) in Oyo State, Nigeria. The main and interaction effects of the gender of the teachers as moderator variable were also determined. Three null hypotheses guided the study. Pre-test, posttest control group quazi experimental design was adopted for the study. Three hundred intact classes from three hundred different schools were randomly selected into treatment and control groups. Two response instruments-Classroom Lesson Note Preparation Checklist (CLNPC; r = 0.89) Cluster Lesson Observation Checklist (CLOC; r = 0.86) were used for data collection. Mean, Standard deviation and Analysis of Covariance (ANCOVA) were used to analyse the collected data. The results showed that the teachers’ cluster meeting have significant impact on teachers’ lesson note preparation (F(1,295) = 31.607; p < 0.05; η2 = .097) and teaching performance (F(1,295) = 20.849; p < 0.05; η2 = .066) in the core subjects of primary schools in Oyo State, Nigeria. The study therefore recommended among others that teachers’ cluster meeting should be sustained for teachers’ professional development in the State.

Keywords: teachers’ cluster meeting, teacher lesson note preparation, teaching performance, teachers’ gender, primary schools in Oyo state

Procedia PDF Downloads 338
2676 Decarboxylation of Waste Coconut Oil and Comparison of Acid Values

Authors: Pabasara H. Gamage, Sisira K. Weliwegamage, Sameera R. Gunatilake, Hondamuni I. C De Silva, Parakrama Karunaratne

Abstract:

Green diesel is an upcoming category of biofuels, which has more practical advantages than biodiesel. Production of green diesel involves production of hydrocarbons from various fatty acid sources. Though green diesel is chemically similar to fossil fuel hydrocarbons, it is more environmentally friendly. Decarboxylation of fatty acid sources is one of green diesel production methods and is less expensive and more energy efficient compared to hydrodeoxygenation. Free fatty acids (FFA), undergo decarboxylation readily than triglycerides. Waste coconut oil, which is a rich source of FFA, can be easily decarboxylated than other oils which have lower FFA contents. These free fatty acids can be converted to hydrocarbons by decarboxylation. Experiments were conducted to carry out decarboxylation of waste coconut oil in a high pressure hastealloy reactor (Toption Goup LTD), in the presence of soda lime and mixtures of soda lime and alumina. Acid value (AV) correlates to the amount of FFA available in a sample of oil. It can be shown that with the decreasing of AV, FFAs have converted to hydrocarbons. First, waste coconut oil was reacted with soda lime alone, at 150 °C, 200 °C, and 250 °C and 1.2 MPa pressure for 2 hours. AVs of products at different temperatures were compared. AV of products decreased with increasing temperature. Thereafter, different mixtures of soda lime and alumina (100% Soda lime, 1:1 soda lime and alumina and 100% alumina) were employed at temperatures 150 °C, 200 °C, and 250 °C and 1.2 MPa pressure. The lowest AV of 2.99±0.03 was obtained when 1:1 soda lime and alumina were employed at 250 °C. It can be concluded with respect to the AV that the amount of FFA decreased when decarboxylation temperature was increased. Soda lime:alumina 1:1 mixture showed the lowest AV among the compositions studied. These findings lead to formulate a method to successfully synthesize hydrocarbons by decarboxylating waste coconut oil in the presence of soda lime and alumina (1:1) at elevated tempertaures such as 250 °C.

Keywords: acid value, free fatty acids, green diesel, high pressure reactor, waste coconut oil

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2675 The Scanning Vibrating Electrode Technique (SVET) as a Tool for Optimising a Printed Ni(OH)2 Electrode under Charge Conditions

Authors: C. F. Glover, J. Marinaccio, A. Barnes, I. Mabbett, G. Williams

Abstract:

The aim of the current study is to optimise formulations, in terms of charging efficiency, of a printed Ni(OH)2 precursor coating of a battery anode. Through the assessment of the current densities during charging, the efficiency of a range of formulations are compared. The Scanning vibrating electrode technique (SVET) is used extensively in the field of corrosion to measure area-averaged current densities of freely-corroding metal surfaces when fully immersed in electrolyte. Here, a Ni(OH)2 electrode is immersed in potassium hydroxide (30% w/v solution) electrolyte and charged using a range of applied currents. Samples are prepared whereby multiple coatings are applied to one substrate, separated by a non-conducting barrier, and charged using a constant current. With a known applied external current, electrode efficiencies can be calculated based on the current density outputs measured using SVET. When fully charged, a green Ni(OH)2 is oxidised to a black NiOOH surface. Distinct regions displaying high current density, and hence a faster oxidising reaction rate, are located using the SVET. This is confirmed by a darkening of the region upon transition to NiOOH. SVET is a highly effective tool for assessing homogeneity of electrodes during charge/discharge. This could prove particularly useful for electrodes where there are no visible surface appearance changes. Furthermore, a scanning Kelvin probe technique, traditionally used to assess underfilm delamination of organic coatings for the protection of metallic surfaces, is employed to study the change in phase of oxides, pre and post charging.

Keywords: battery, electrode, nickel hydroxide, SVET, printed

Procedia PDF Downloads 233
2674 The Weavability of Waste Plants and Their Application in Fashion and Textile Design

Authors: Jichi Wu

Abstract:

The dwindling of resources requires a more sustainable design. New technology could bring new materials and processing techniques to the fashion industry and push it to a more sustainable future. Thus this paper explores cutting-edge researches on the life-cycle of closed-loop products and aims to find innovative ways to recycle and upcycle. For such a goal, the author investigated how low utilization plants and leftover fiber could be turned into ecological textiles in fashion. Through examining the physical and chemical properties (cellulose content/ fiber form) of ecological textiles to explore their wearability, this paper analyzed the prospect of bio-fabrics (weavable plants) in body-oriented fashion design and their potential in sustainable fashion and textile design. By extracting cellulose from 9 different types or sections of plants, the author intends to find an appropriate method (such as ion solution extraction) to mostly increase the weavability of plants, so raw materials could be more effectively changed into fabrics. All first-hand experiment data were carefully collected and then analyzed under the guidance of related theories. The result of the analysis was recorded in detail and presented in an understandable way. Various research methods are adopted through this project, including field trip and experiments to make comparisons and recycle materials. Cross-discipline cooperation is also conducted for related knowledge and theories. From this, experiment data will be collected, analyzed, and interpreted into a description and visualization results. Based on the above conclusions, it is possible to apply weavable plant fibres to develop new textile and fashion.

Keywords: wearable bio-textile, sustainability, economy, ecology, technology, weavability, fashion design

Procedia PDF Downloads 139
2673 A Discrete Event Simulation Model For Airport Runway Operations Optimization (Case Study)

Authors: Awad Khireldin, Colin Law

Abstract:

Runways are the major infrastructure of airports around the world. Efficient operations of runways are key to ensure that airports are running smoothly with minimal delays. There are many factors that affect the efficiency of runway operations, such as the aircraft wake separation, runways system configuration, the fleet mix, and the runways separation distance. This paper aims to address how to maximize runway operations using a Discrete Event Simulation model. A case study of Cairo International Airport (CIA) is developed to maximize the utilizing of three parallel runways using a simulation model. Different scenarios have been designed where every runway could be assigned for arrival, departure, or mixed operations. A benchmarking study was also included to compare the actual to the proposed results to spot the potential improvements. The simulation model shows that there is a significant difference in utilization and delays between the actual and the proposed ones, there are several recommendations that can be provided to airport management, in the short and long term, to increase the efficiency and to reduce the delays. By including the recommendation with different operations scenarios, such as upgrading the airport slot Coordination from Level 1 to Level 2 in the short term. In the long run, discuss the possibilities to increase the International Air Transport association (IATA) slot coordination to Level 3 as more flights are expected to be handled by the airport. Technological advancements such as radar in the approach full airside simulation model could improve the airport performance where the airport is recommended to review the standard operations procedures with the appropriate authorities. Also, the airport can adopt a future operational plan to accommodate the forecasted additional traffic density in case of adding a fourth terminal building to increase the airport capacity.

Keywords: airport performance, runway, discrete event simulation, capacity, airside

Procedia PDF Downloads 117
2672 A User Interface for Easiest Way Image Encryption with Chaos

Authors: D. López-Mancilla, J. M. Roblero-Villa

Abstract:

Since 1990, the research on chaotic dynamics has received considerable attention, particularly in light of potential applications of this phenomenon in secure communications. Data encryption using chaotic systems was reported in the 90's as a new approach for signal encoding that differs from the conventional methods that use numerical algorithms as the encryption key. The algorithms for image encryption have received a lot of attention because of the need to find security on image transmission in real time over the internet and wireless networks. Known algorithms for image encryption, like the standard of data encryption (DES), have the drawback of low level of efficiency when the image is large. The encrypting based on chaos proposes a new and efficient way to get a fast and highly secure image encryption. In this work, a user interface for image encryption and a novel and easiest way to encrypt images using chaos are presented. The main idea is to reshape any image into a n-dimensional vector and combine it with vector extracted from a chaotic system, in such a way that the vector image can be hidden within the chaotic vector. Once this is done, an array is formed with the original dimensions of the image and turns again. An analysis of the security of encryption from the images using statistical analysis is made and is used a stage of optimization for image encryption security and, at the same time, the image can be accurately recovered. The user interface uses the algorithms designed for the encryption of images, allowing you to read an image from the hard drive or another external device. The user interface, encrypt the image allowing three modes of encryption. These modes are given by three different chaotic systems that the user can choose. Once encrypted image, is possible to observe the safety analysis and save it on the hard disk. The main results of this study show that this simple method of encryption, using the optimization stage, allows an encryption security, competitive with complicated encryption methods used in other works. In addition, the user interface allows encrypting image with chaos, and to submit it through any public communication channel, including internet.

Keywords: image encryption, chaos, secure communications, user interface

Procedia PDF Downloads 481
2671 Potential of Enhancing Oil Recovery in Omani Oil Fields via Biopolymer Injection

Authors: Yahya Al-Wahaibi, Saif Al-Bahry, Abdulkadir Elshafie, Ali Al-Bemani, Sanket Joshi

Abstract:

Microbial enhanced oil recovery is one of the most economical and efficient methods for extending the life of production wells in a declining reservoir. There are a variety of metabolites produced by microorganisms that can be useful for oil recovery, like biopolymers-polysaccharides secreted by microbes, biodegradable thus environmentally friendly. Some fungi like Schizophyllum commune (a type of mushroom), and Aureobasidium pullulans are reported to produce biopolymers-schizophyllan and pullulan. Hence, we have procured a microbial strain (Schizophyllum commune) from American Type Culture Collection, which is reported for producing a biopolymer and also isolated several Omani strains of Aureobasidium pullulans from different samples. Studies were carried out for maintenance of the strains and primary screening of production media and environmental conditions for growth of S. commune and Omani A. pullulans isolates, for 30 days. The observed optimum growth and production temperature was ≤35 °C for S. commune and Omani A. pullulans isolates. Better growth was observed for both types of fungi under shaking conditions. The initial yield of lyophilized schizophyllan was ≥3.0 g/L, and the yield of pullulan was ≥0.5g/L. Both schizophyllan and pullulan were extracted in crude form and were partially identified by Fourier transform infrared spectroscopy (FTIR), which showed partial similarity in chemical structure with published biopolymers. The produced pullulan and schizophyllan increased the viscosity from 9-20 cp of the control media (without biopolymer) to 20 - 121.4 cp of the cell free broth at 0.1 s-1 shear rate at range of temperatures from 25–45 °C. Enhanced biopolymer production and its physicochemical and rheological properties under different environmental conditions (different temperatures, salt concentrations and wide range of pH), complete characterization and effects on oil recovery enhancement were also investigated in this study.

Keywords: Aureobasidium pullulans, biopolymer, oil recovery enhancement, Schizophyllum commune

Procedia PDF Downloads 384
2670 A Chemical-Free Colouration Technique for Regenerated Fibres Using Waste Alpaca Fibres

Authors: M. Abdullah Al Faruque, Rechana Remadevi, Abu Naser M. Ahsanul Haque, Joselito Razal, Xungai Wang, Maryam Naebe

Abstract:

Generally, the colouration of textile fibres is performed by using synthetic colourants in dope dyeing or conventional dyeing methods. However, the toxic effect of some synthetic colorants due to long-term exposure can cause several health threats including cancer, asthma and skin diseases. Moreover, in colouration process, these colourants not only consume a massive amount of water but also generates huge proportion of wastewater to the environment. Despite having the environmentally friendly characteristics, current natural colourants have downsides in their yield and need chemical extraction processes which are water consuming as well. In view of this, the present work focuses to develop a chemical-free biocompatible and natural pigment based colouration technique to colour regenerated fibres. Waste alpaca fibre was used as a colourant and the colour properties, as well as the mechanical properties, of the regenerated fibres were investigated. The colourant from waste alpaca was fabricated through mechanical milling process and it was directly applied to the polyacrylonitrile (PAN) dope solution in different ratios of alpaca: PAN (10:90, 20:80, 30:70). The results obtained from the chemical structure characterization suggested that all the coloured regenerated fibres exhibited chemical functional groups of both PAN and alpaca. Furthermore, the color strength was increased gradually with the increment of alpaca content and showed excellent washing fastness properties. These results reveal a potential new pathway for chemical-free dyeing technique for fibres with improved properties.

Keywords: alpaca, chemical-free coloration, natural colorant, polyacrylonitrile, water consumption, wet spinning

Procedia PDF Downloads 167
2669 Combining in vitro Protein Expression with AlphaLISA Technology to Study Protein-Protein Interaction

Authors: Shayli Varasteh Moradi, Wayne A. Johnston, Dejan Gagoski, Kirill Alexandrov

Abstract:

The demand for a rapid and more efficient technique to identify protein-protein interaction particularly in the areas of therapeutics and diagnostics development is growing. The method described here is a rapid in vitro protein-protein interaction analysis approach based on AlphaLISA technology combined with Leishmania tarentolae cell-free protein production (LTE) system. Cell-free protein synthesis allows the rapid production of recombinant proteins in a multiplexed format. Among available in vitro expression systems, LTE offers several advantages over other eukaryotic cell-free systems. It is based on a fast growing fermentable organism that is inexpensive in cultivation and lysate production. High integrity of proteins produced in this system and the ability to co-express multiple proteins makes it a desirable method for screening protein interactions. Following the translation of protein pairs in LTE system, the physical interaction between proteins of interests is analysed by AlphaLISA assay. The assay is performed using unpurified in vitro translation reaction and therefore can be readily multiplexed. This approach can be used in various research applications such as epitope mapping, antigen-antibody analysis and protein interaction network mapping. The intra-viral protein interaction network of Zika virus was studied using the developed technique. The viral proteins were co-expressed pair-wise in LTE and all possible interactions among viral proteins were tested using AlphaLISA. The assay resulted to the identification of 54 intra-viral protein-protein interactions from which 19 binary interactions were found to be novel. The presented technique provides a powerful tool for rapid analysis of protein-protein interaction with high sensitivity and throughput.

Keywords: AlphaLISA technology, cell-free protein expression, epitope mapping, Leishmania tarentolae, protein-protein interaction

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2668 Using Dynamic Glazing to Eliminate Mechanical Cooling in Multi-family Highrise Buildings

Authors: Ranojoy Dutta, Adam Barker

Abstract:

Multifamily residential buildings are increasingly being built with large glazed areas to provide tenants with greater daylight and outdoor views. However, traditional double-glazed window assemblies can lead to significant thermal discomfort from high radiant temperatures as well as increased cooling energy use to address solar gains. Dynamic glazing provides an effective solution by actively controlling solar transmission to maintain indoor thermal comfort, without compromising the visual connection to outdoors. This study uses thermal simulations across three Canadian cities (Toronto, Vancouver and Montreal) to verify if dynamic glazing along with operable windows and ceiling fans can maintain the indoor operative temperature of a prototype southwest facing high-rise apartment unit within the ASHRAE 55 adaptive comfort range for a majority of the year, without any mechanical cooling. Since this study proposes the use of natural ventilation for cooling and the typical building life cycle is 30-40 years, the typical weather files have been modified based on accepted global warming projections for increased air temperatures by 2050. Results for the prototype apartment confirm that thermal discomfort with dynamic glazing occurs only for less than 0.7% of the year. However, in the baseline scenario with low-E glass there are up to 7% annual hours of discomfort despite natural ventilation with operable windows and improved air movement with ceiling fans.

Keywords: electrochromic glazing, multi-family housing, passive cooling, thermal comfort, natural ventilation

Procedia PDF Downloads 101
2667 Estimation Model for Concrete Slump Recovery by Using Superplasticizer

Authors: Chaiyakrit Raoupatham, Ram Hari Dhakal, Chalermchai Wanichlamlert

Abstract:

This paper is aimed to introduce the solution of concrete slump recovery using chemical admixture type-F (superplasticizer, naphthalene base) to the practice, in order to solve unusable concrete problem due to concrete loss its slump, especially for those tropical countries that have faster slump loss rate. In the other hand, randomly adding superplasticizer into concrete can cause concrete to segregate. Therefore, this paper also develops the estimation model used to calculate amount of second dose of superplasticizer need for concrete slump recovery. Fresh properties of ordinary Portland cement concrete with volumetric ratio of paste to void between aggregate (paste content) of 1.1-1.3 with water-cement ratio zone of 0.30 to 0.67 and initial superplasticizer (naphthalene base) of 0.25%- 1.6% were tested for initial slump and slump loss for every 30 minutes for one and half hour by slump cone test. Those concretes with slump loss range from 10% to 90% were re-dosed and successfully recovered back to its initial slump. Slump after re-dosed was tested by slump cone test. From the result, it has been concluded that, slump loss was slower for those mix with high initial dose of superplasticizer due to addition of superplasticizer will disturb cement hydration. The required second dose of superplasticizer was affected by two major parameter, which were water-cement ratio and paste content, where lower water-cement ratio and paste content cause an increase in require second dose of superplasticizer. The amount of second dose of superplasticizer is higher as the solid content within the system is increase, solid can be either from cement particles or aggregate. The data was analyzed to form an equation use to estimate the amount of second dosage requirement of superplasticizer to recovery slump to its original.

Keywords: estimation model, second superplasticizer dosage, slump loss, slump recovery

Procedia PDF Downloads 197
2666 Molecular Engineering of Intrinsically Microporous Polybenzimidazole for Energy-efficient Gas Separation

Authors: Mahmoud Abdulhamid, Rifan Hardian, Prashant Bhatt, Shuvo Datta, Adrian Ramirez, Jorge Gascon, Mohamed Eddaoudi, Gyorgy Szekely

Abstract:

Polybenzimidazole (PBI) is a high-performance polymer that exhibits high thermal and chemical stability. However, it suffers from low porosity and low fractional free volume, which hinder its application as separation material. Herein, we demonstrate the molecular engineering of gas separation materials by manipulating a PBI backbone possessing kinked moieties. PBI was selected as it contains NH groups which increase the affinity towards CO₂, increase sorption capacity, and favors CO₂ over other gasses. We have designed and synthesized an intrinsically microporous polybenzimidazole (iPBI) featuring a spirobisindane structure. Introducing a kinked moiety in conjunction with crosslinking enhanced the polymer properties, markedly increasing the gas separation performance. In particular, the BET surface area of PBI increased 30-fold by replacing a flat benzene ring with a kinked structure. iPBI displayed a good CO₂ uptake of 1.4 mmol g⁻¹ at 1 bar and 3.6 mmol g⁻¹ at 10 bar. Gas sorption uptake and breakthrough experiments were conducted using mixtures of CO₂/CH₄ (50%/50%) and CO₂/N₂ (50%/50%), which revealed the high selectivity of CO₂ over both CH₄ and N₂. The obtained CO₂/N₂ selectivity is attractive for power plant flue gas application requiring CO₂ capturing materials. Energy and process simulations of biogas CO₂ removal demonstrated that up to 70% of the capture energy could be saved when iPBI was used rather than the current amine technology (methyl diethanolamine [MDEA]). Similarly, the combination of iPBI and MDEA in a hybrid system exhibited the highest CO₂ capture yield (99%), resulting in nearly 50% energy saving. The concept of enhancing the porosity of PBI using kinked moieties provides new scope for designing highly porous polybenzimidazoles for various separation processes.

Keywords: polybenzimidazole (PBI), intrinsically microporous polybenzimidazole (iPBI), gas separation, pnergy and process simulations

Procedia PDF Downloads 85
2665 CAD Tool for Parametric Design modification of Yacht Hull Surface Models

Authors: Shahroz Khan, Erkan Gunpinar, Kemal Mart

Abstract:

Recently parametric design techniques became a vital concept in the field of Computer Aided Design (CAD), which helps to provide sophisticated platform to the designer in order to automate the design process in efficient time. In these techniques, design process starts by parameterizing the important features of design models (typically the key dimensions), with the implementation of design constraints. The design constraints help to retain the overall shape of the model while modifying its parameters. However, the process of initializing an appropriate number of design parameters and constraints is the crucial part of parametric design techniques, especially for complex surface models such as yacht hull. This paper introduces a method to create complex surface models in favor of parametric design techniques, a method to define the right number of parameters and respective design constraints, and a system to implement design parameters in contract to design constraints schema. For this, in our proposed approach the design process starts by dividing the yacht hull into three sections. Each section consists of different shape lines, which form the overall shape of yacht hull. The shape lines are created using Cubic Bezier Curves, which allow larger design flexibility. Design parameters and constraints are defined on the shape lines in 3D design space to facilitate the designers for better and individual handling of parameters. Afterwards, shape modifiers are developed, which allow the modification of each parameter while satisfying the respective set of criteria and design constraints. Such as, geometric continuities should be maintained between the shape lines of the three sections, fairness of the hull surfaces should be preserved after modification and while design modification, effect of a single parameter should be negligible on other parameters. The constraints are defined individually on shape lines of each section and mutually between the shape lines of two connecting sections. In order to validate and visualize design results of our shape modifiers, a real time graphic interface is created.

Keywords: design parameter, design constraints, shape modifies, yacht hull

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2664 Near Optimal Closed-Loop Guidance Gains Determination for Vector Guidance Law, from Impact Angle Errors and Miss Distance Considerations

Authors: Karthikeyan Kalirajan, Ashok Joshi

Abstract:

An optimization problem is to setup to maximize the terminal kinetic energy of a maneuverable reentry vehicle (MaRV). The target location, the impact angle is given as constraints. The MaRV uses an explicit guidance law called Vector guidance. This law has two gains which are taken as decision variables. The problem is to find the optimal value of these gains which will result in minimum miss distance and impact angle error. Using a simple 3DOF non-rotating flat earth model and Lockheed martin HP-MARV as the reentry vehicle, the nature of solutions of the optimization problem is studied. This is achieved by carrying out a parametric study for a range of closed loop gain values and the corresponding impact angle error and the miss distance values are generated. The results show that there are well defined lower and upper bounds on the gains that result in near optimal terminal guidance solution. It is found from this study, that there exist common permissible regions (values of gains) where all constraints are met. Moreover, the permissible region lies between flat regions and hence the optimization algorithm has to be chosen carefully. It is also found that, only one of the gain values is independent and that the other dependent gain value is related through a simple straight-line expression. Moreover, to reduce the computational burden of finding the optimal value of two gains, a guidance law called Diveline guidance is discussed, which uses single gain. The derivation of the Diveline guidance law from Vector guidance law is discussed in this paper.

Keywords: Marv guidance, reentry trajectory, trajectory optimization, guidance gain selection

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2663 Evaluate Effects of Different Curing Methods on Compressive Strength, Modulus of Elasticity and Durability of Concrete

Authors: Dhara Shah, Chandrakant Shah

Abstract:

Construction industry utilizes plenty of water in the name of curing. Looking at the present scenario, the days are not so far when all construction industries will have to switch over to an alternative-self curing system, not only to save water for sustainable development of the environment but also to promote indoor and outdoor construction activities even in water scarce areas. At the same time, curing is essential for the development of proper strength and durability. IS 456-2000 recommends a curing period of 7 days for ordinary Portland cement concrete, and 10 to 14 days for concrete prepared using mineral admixtures or blended cements. But, being the last act in the concreting operations, it is often neglected or not fully done. Consequently, the quality of hardened concrete suffers, more so, if the freshly laid concrete gets exposed to the environmental conditions of low humidity, high wind velocity and high ambient temperature. To avoid the adverse effects of neglected or insufficient curing, which is considered a universal phenomenon, concrete technologist and research scientists have come up with curing compounds. Concrete is said to be self-cured, if it is able to retain its water content to perform chemical reaction for the development of its strength. Curing compounds are liquids which are either incorporated in concrete or sprayed directly onto concrete surfaces and which then dry to form a relatively impermeable membrane that retards the loss of moisture from the concrete. They are an efficient and cost-effective means of curing concrete and may be applied to freshly placed concrete or that which has been partially cured by some other means. However, they may affect the bond between concrete and subsequent surface treatments. Special care in the choice of a suitable compound needs to be exercised in such circumstances. Curing compounds are generally formulated from wax emulsions, chlorinated rubbers, synthetic and natural resins, and from PVA emulsions. Their effectiveness varies quite widely, depending on the material and strength of the emulsion.

Keywords: curing methods, self-curing compound, compressive strength, modulus of elasticity, durability

Procedia PDF Downloads 321
2662 Jatropha curcas L. Oil Selectivity in Froth Flotation

Authors: André C. Silva, Izabela L. A. Moraes, Elenice M. S. Silva, Carlos M. Silva Filho

Abstract:

In Brazil, most soils are acidic and low in essential nutrients required for the growth and development of plants, making fertilizers essential for agriculture. As the biggest producer of soy in the world and a major producer of coffee, sugar cane and citrus fruits, Brazil is a large consumer of phosphate. Brazilian’s phosphate ores are predominantly from igneous rocks showing a complex mineralogy, associated with carbonites and oxides, typically iron, silicon and barium. The adopted industrial concentration circuit for this type of ore is a mix between magnetic separation (both low and high field) to remove the magnetic fraction and a froth flotation circuit composed by a reverse flotation of apatite (barite’s flotation) followed by direct flotation circuit (rougher, cleaner and scavenger circuit). Since the 70’s fatty acids obtained from vegetable oils are widely used as lower-cost collectors in apatite froth flotation. This is a very effective approach to the apatite family of minerals, being that this type of collector is both selective and efficient (high recovery). This paper presents Jatropha curcas L. oil (JCO) as a renewable and sustainable source of fatty acids with high selectivity in froth flotation of apatite. JCO is considerably rich in fatty acids such as linoleic, oleic and palmitic acid. The experimental campaign involved 216 tests using a modified Hallimond tube and two different minerals (apatite and quartz). In order to be used as a collector, the oil was saponified. The results found were compared with the synthetic collector, Fotigam 5806 produced by Clariant, which is composed mainly by soy oil. JCO showed the highest selectivity for apatite flotation with cold saponification at pH 8 and concentration of 2.5 mg/L. In this case, the mineral recovery was around 95%.

Keywords: froth flotation, jatropha curcas, microflotation, selectivity

Procedia PDF Downloads 426
2661 Flooring Solution for Sports Courts Such as Ecological Mortar

Authors: Helida T. G. Soares, Antonio J. P. da Silva

Abstract:

As the society develops, the accumulation of solid waste in landfills, in the environment, and the depletion of the raw material increases. In this way, there is relevance in researching the interaction between the environmental management and civil construction; therefore, this project has for scope the analysis and the effects of the rubber microparticles use as a small aggregate added to the sand, producing an ecological mortar for the pavement constitution, from the mixture of a paste, composed of Portland cement and water, and its application in sports courts. It was used the detailed reutilization of micro rubber in its most primordial, micro form, highlighting the powder pattern as the additional balancing of the mortar, analyzing the evolution of the mechanical properties. Percentages of 5, 10 and 15% rubber were used based on the total mass of the trace, where there is no removal of aggregates or cement, only increment of the rubber. The results obtained through the mechanical test of simple compression showed that the rubber, added to the mortar, presents low mechanical resistance compared to the reference trait, the study of this subject is vast of possibilities to be explored. In this sense, we seek sustainability and innovation from the use of an ecological material, thus adding value and reducing the impact of this material on the environment. The manufacturing process takes place from the direct mixing of cement paste and rubber, whether manually, mechanically or industrially. It results in the production of a low-cost mortar, through the use of recycled rubber, with high efficiency in general properties, such as compressive strength and friction coefficient, allowing its use for the construction of floors for sports courts with high durability. Thus, it is possible to reuse this micro rubber residue in other applications in simple concrete artifacts.

Keywords: civil construction, ecological mortar, high efficiency, rubber

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2660 A Case Study of Alkali-Silica Reaction Induced Consistent Damage and Strength Degradation Evaluation in a Textile Mill Building Due to Slow-Reactive Aggregates

Authors: Ahsan R. Khokhar, Fizza Hassan

Abstract:

Alkali-Silica Reaction (ASR) has been recognized as a potential cause of concrete degradation in the world since the 1940s. In Pakistan, mega hydropower structures like dams, weirs constructed from aggregates extracted from a local riverbed exhibited different levels of alkali-silica reactivity over an extended service period. The concrete expansion potential due to such aggregates has been categorized as slow-reactive. Apart from hydropower structures, ASR existence has been identified in the concrete structural elements of a Textile Mill building which used aggregates extracted from the nearby riverbed. The original structure of the Textile Mill was erected in the 80s with the addition of a textile ‘sizing and wrapping’ hall constructed in the 90s. In the years to follow, intensive spalling was observed in the structural members of the subject hall; enough to threat to the overall stability of the building. Limitations such as incomplete building data posed hurdles during the detailed structural investigation. The paper lists observations made while assessing the extent of damage and its effect on the building hall structure. Core testing and Petrographic tests were carried out as per the ASTM standards for strength degradation analysis followed by the identifying its root cause. Results confirmed significant structural strength reduction because of ASR which necessitated the formulation of an immediate re-strengthening solution. The paper also discusses the possible tracks of rehabilitative measures which are being adapted to stabilize the structure and seize further concrete expansion.

Keywords: Alkali-Silica Reaction (ASR), concrete strength degradation, damage assessment, damage evaluation

Procedia PDF Downloads 126
2659 Ground Source Ventilation and Solar PV Towards a Zero-Carbon House in Riyadh

Authors: Osamah S. Alanazi, Mohammad G. Kotbi, Mohammed O. AlFadil

Abstract:

While renewable energy technology is developing in Saudi Arabia, and the ambitious 2030 vision encourages the shift towards more efficient and clean energy usage. The research on the application of geothermal resources in residential use for the Saudi Arabian context will contribute towards a more sustainable environment. This paper is a part of an ongoing master's thesis, which its main goal is to investigate the possibility of achieving a zero-carbon house in Riyadh by applying a ground-coupled system into a current sustainable house that uses a grid-tied solar system. The current house was built and designed by King Saud University for the 2018 middle east solar decathlon competition. However, it failed to reach zero-carbon operation due to the high cooling demand. This study will redesign and validate the house using Revit and Carriers Hourly Analysis 'HAP' software with the use of ordinary least square 'OLS' regression. After that, a ground source ventilation system will be designed using the 'GCV Tool' to reduce cooling loads. After the application of the ground source system, the new electrical loads will be compared with the current house. Finally, a simple economic analysis that includes the cost of applying a ground source system will be reported. The findings of this study will indicate the possibility and feasibility of reaching a zero-carbon house in Riyadh, Saudi Arabia, using a ground-coupled ventilation system. While cooling in the residential sector is the dominant energy consumer in the Gulf region, this work will certainly help in moving towards using renewable sources to meet those demands. This paper will be limited to highlight the literature review, the methodology of the research, and the expected outcome.

Keywords: renewable energy, zero-carbon houses, sustainable buildings, geothermal energy, solar PV, GCV Tool

Procedia PDF Downloads 175
2658 Effects of Spent Dyebath Recycling on Pollution and Cost of Production in a Cotton Textile Industry

Authors: Dinesh Kumar Sharma, Sanjay Sharma

Abstract:

Textile manufacturing industry uses a substantial amount of chemicals not only in the production processes but also in manufacturing the raw materials. Dyes are the most significant raw material which provides colour to the fabric and yarn. Dyes are produced by using a large amount of chemicals both organic and inorganic in nature. Dyes are further classified as Reactive or Vat Dyes which are mostly used in cotton textiles. In the process of application of dyes to the cotton fiber, yarn or fabric, several auxiliary chemicals are also used in the solution called dyebath to improve the absorption of dyes. There is a very little absorption of dyes and auxiliary chemicals and a residual amount of all these substances is released as the spent dye bath effluent. Because of the wide variety of chemicals used in cotton textile dyes, there is always a risk of harmful effects which may not be apparent immediately but may have an irreversible impact in the long term. Colour imparted by the dyes to the water also has an adverse effect on its public acceptability and the potability. This study has been conducted with an objective to assess the feasibility of reuse of the spent dye bath. Studies have been conducted in two independent industries manufacturing dyed cotton yarn and dyed cotton fabric respectively. These have been referred as Unit-I and Unit-II. The studies included assessment of reduction in pollution levels and the economic benefits of such reuse. The study conclusively establishes that the reuse of spent dyebath results in prevention of pollution, reduction in pollution loads and cost of effluent treatment & production. This pollution prevention technique presents a good preposition for pollution prevention in cotton textile industry.

Keywords: dyes, dyebath, reuse, toxic, pollution, costs

Procedia PDF Downloads 387
2657 Efficient Video Compression Technique Using Convolutional Neural Networks and Generative Adversarial Network

Authors: P. Karthick, K. Mahesh

Abstract:

Video has become an increasingly significant component of our digital everyday contact. With the advancement of greater contents and shows of the resolution, its significant volume poses serious obstacles to the objective of receiving, distributing, compressing, and revealing video content of high quality. In this paper, we propose the primary beginning to complete a deep video compression model that jointly upgrades all video compression components. The video compression method involves splitting the video into frames, comparing the images using convolutional neural networks (CNN) to remove duplicates, repeating the single image instead of the duplicate images by recognizing and detecting minute changes using generative adversarial network (GAN) and recorded with long short-term memory (LSTM). Instead of the complete image, the small changes generated using GAN are substituted, which helps in frame level compression. Pixel wise comparison is performed using K-nearest neighbours (KNN) over the frame, clustered with K-means, and singular value decomposition (SVD) is applied for each and every frame in the video for all three color channels [Red, Green, Blue] to decrease the dimension of the utility matrix [R, G, B] by extracting its latent factors. Video frames are packed with parameters with the aid of a codec and converted to video format, and the results are compared with the original video. Repeated experiments on several videos with different sizes, duration, frames per second (FPS), and quality results demonstrate a significant resampling rate. On average, the result produced had approximately a 10% deviation in quality and more than 50% in size when compared with the original video.

Keywords: video compression, K-means clustering, convolutional neural network, generative adversarial network, singular value decomposition, pixel visualization, stochastic gradient descent, frame per second extraction, RGB channel extraction, self-detection and deciding system

Procedia PDF Downloads 182
2656 Currency Boards in Crisis: Experience of Baltic Countries

Authors: Gordana Kordić, Petra Palić

Abstract:

The European countries that during the past two decades based their exchange rate regimes on currency board arrangement (CBA) are usually analysed from the perspective of corner solution choice’s stabilisation effects. There is an open discussion on the positive and negative background of a strict exchange rate regime choice, although it should be seen as part of the transition process towards the monetary union membership. The focus of the paper is on the Baltic countries that after two decades of a rigid exchange rate arrangement and strongly influenced by global crisis are finishing their path towards the euro zone. Besides the stabilising capacity, the CBA is highly vulnerable regime, with limited developing potential. The rigidity of the exchange rate (and monetary) system, despite the ensured credibility, do not leave enough (or any) space for the adjustment and/or active crisis management. Still, the Baltics are in a process of recovery, with fiscal consolidation measures combined with (painful and politically unpopular) measures of internal devaluation. Today, two of them (Estonia and Latvia) are members of euro zone, fulfilling their ultimate transition targets, but de facto exchanging one fixed regime with another. The paper analyses the challenges for the CBA in unstable environment since the fixed regimes rely on imported stability and are sensitive to external shocks. With limited monetary instruments, these countries were oriented to the fiscal policies and used a combination of internal devaluation and tax policy measures. Despite their rather quick recovery, our second goal is to analyse the long term influence that the measures had on the national economy.

Keywords: currency board arrangement, internal devaluation, exchange rate regime, great recession

Procedia PDF Downloads 260
2655 Improvement of Contractor’s Competitiveness through Sustainable Construction Practices in UAE

Authors: Sareh Rajabi, Taha Anjamrooz, Salwa Bheiry

Abstract:

Sustainability of construction projects is an important issue to be addressed since the sector will continue to be developed in the coming years, especially in developing countries. Thus, it is significant to discover approaches and solutions for improving sustainability. Currently, the construction industry is the largest consumer of natural resources. This is the same in other countries in the Gulf region, and the United Arab Emirates (UAE) has limited natural resources such as water, electricity, etc. Recently, the UAE has taken several actions in order to implement sustainable initiatives within its construction industry. Within the industry, the contractors’ role is significant in promoting sustainable development by taking the responsibility to minimize their negative impacts on the environment and society, and maximize their economic distribution. In this research, sustainability will be studied as an important key to bring competitive advantages to contracting organizations. The contractors should understand the need to improve their sustainable performance in order to expand their business competitiveness. Competitiveness at the construction project level refers to a contractor’s ability to compete for a project. There is less focus on how to improve contractors’ competitiveness by implementing sustainable construction practices. Based on an inclusive literature review on the relationship between sustainability performance and business competitiveness, this research will conduct a study of sustainable practice in the construction industry and the relationship between sustainability performance and business competitiveness in order to develop a framework for evaluating how contractors can improve their competitiveness in terms of more efficient processes, enhancements in productivity, and lower costs of compliance in order to reduce the initial project cost and obtain market opportunities in the UAE. The research findings will provide a framework that can be a useful guideline for contractors to develop their sustainability policy, strategy and practice for meeting the increased requirements for sustainable development in construction.

Keywords: sustainable construction practice, sustainability, competitiveness, construction industry, contractors

Procedia PDF Downloads 117
2654 The Three-Zone Composite Productivity Model of Multi-Fractured Horizontal Wells under Different Diffusion Coefficients in a Shale Gas Reservoir

Authors: Weiyao Zhu, Qian Qi, Ming Yue, Dongxu Ma

Abstract:

Due to the nano-micro pore structures and the massive multi-stage multi-cluster hydraulic fracturing in shale gas reservoirs, the multi-scale seepage flows are much more complicated than in most other conventional reservoirs, and are crucial for the economic development of shale gas. In this study, a new multi-scale non-linear flow model was established and simplified, based on different diffusion and slip correction coefficients. Due to the fact that different flow laws existed between the fracture network and matrix zone, a three-zone composite model was proposed. Then, according to the conformal transformation combined with the law of equivalent percolation resistance, the productivity equation of a horizontal fractured well, with consideration given to diffusion, slip, desorption, and absorption, was built. Also, an analytic solution was derived, and the interference of the multi-cluster fractures was analyzed. The results indicated that the diffusion of the shale gas was mainly in the transition and Fick diffusion regions. The matrix permeability was found to be influenced by slippage and diffusion, which was determined by the pore pressure and diameter according to the Knudsen number. It was determined that, with the increased half-lengths of the fracture clusters, flow conductivity of the fractures, and permeability of the fracture network, the productivity of the fractured well also increased. Meanwhile, with the increased number of fractures, the distance between the fractures decreased, and the productivity slowly increased due to the mutual interference of the fractures. In regard to the fractured horizontal wells, the free gas was found to majorly contribute to the productivity, while the contribution of the desorption increased with the increased pressure differences.

Keywords: multi-scale, fracture network, composite model, productivity

Procedia PDF Downloads 264
2653 Pareto System of Optimal Placement and Sizing of Distributed Generation in Radial Distribution Networks Using Particle Swarm Optimization

Authors: Sani M. Lawal, Idris Musa, Aliyu D. Usman

Abstract:

The Pareto approach of optimal solutions in a search space that evolved in multi-objective optimization problems is adopted in this paper, which stands for a set of solutions in the search space. This paper aims at presenting an optimal placement of Distributed Generation (DG) in radial distribution networks with an optimal size for minimization of power loss and voltage deviation as well as maximizing voltage profile of the networks. And these problems are formulated using particle swarm optimization (PSO) as a constraint nonlinear optimization problem with both locations and sizes of DG being continuous. The objective functions adopted are the total active power loss function and voltage deviation function. The multiple nature of the problem, made it necessary to form a multi-objective function in search of the solution that consists of both the DG location and size. The proposed PSO algorithm is used to determine optimal placement and size of DG in a distribution network. The output indicates that PSO algorithm technique shows an edge over other types of search methods due to its effectiveness and computational efficiency. The proposed method is tested on the standard IEEE 34-bus and validated with 33-bus test systems distribution networks. Results indicate that the sizing and location of DG are system dependent and should be optimally selected before installing the distributed generators in the system and also an improvement in the voltage profile and power loss reduction have been achieved.

Keywords: distributed generation, pareto, particle swarm optimization, power loss, voltage deviation

Procedia PDF Downloads 360
2652 Experimental and Simulation Analysis of an Innovative Steel Shear Wall with Semi-Rigid Beam-to-Column Connections

Authors: E. Faizan, Wahab Abdul Ghafar, Tao Zhong

Abstract:

Steel plate shear walls (SPSWs) are a robust lateral load resistance structure because of their high flexibility and efficient energy dissipation when subjected to seismic loads. This research investigates the seismic performance of an innovative infill web strip (IWS-SPSW) and a typical unstiffened steel plate shear wall (USPSW). As a result, two 1:3 scale specimens of an IWS-SPSW and USPSW with a single story and a single bay were built and subjected to a cyclic lateral loading methodology. In the prototype, the beam-to-column connections were accomplished with the assistance of semi-rigid end-plate connectors. IWS-SPSW demonstrated exceptional ductility and shear load-bearing capacity during the testing process, with no cracks or other damage occurring. In addition, the IWS-SPSW could effectively dissipate energy without causing a significant amount of beam-column connection distortion. The shear load-bearing capacity of the USPSW was exceptional. However, it exhibited low ductility, severe infill plate corner ripping, and huge infill web plate cracks. The FE models were created and then confirmed using the experimental data. It has been demonstrated that the infill web strips of an SPSW system can affect the system's high performance and total energy dissipation. In addition, a parametric analysis was carried out to evaluate the material qualities of the IWS, which can considerably improve the system's seismic performances. These properties include the steel's strength as well as its thickness.

Keywords: steel shear walls, seismic performance, failure mode, hysteresis response, nonlinear finite element analysis, parametric study

Procedia PDF Downloads 69
2651 In vitro Determination of Carbonic Anhydrase Inhibition of the Flowers of Vanda Orchid, Vanda Tessellata Roxb. (1795) by Modified Colorimetric Maren T.H. (1960) Method

Authors: John Carlo Combista, Jimbert Tan

Abstract:

The orchid, Vanda tessellata was chosen by the researchers because of the presence of the constituents in the family Orchidaceae such as alkaloids, flavonoids and glycosides that might give an inhibition activity of the carbonic anhydrase enzyme. This study aimed to determine the in vitro inhibition of carbonic anhydrase of Vanda tessellata flower extract. With the use of modified colorimetric Maren T.H. (1960) method, the time in seconds each test solution changed its color after the rate of CO2 hydration were recorded. Two solvents were used: the semi-polar, 95% ethanol and the non-polar, dichloromethane solvents. The percent inhibition activity of carbonic anhydrase of the different concentrations of solvents ethanol (1%, 25% and 50%) and dichloromethane (1% and 10%) test solutions were determined. Results showed that the ethanol-based extract of Vanda tessellata in different concentrations showed an inhibitory effect while the dichloromethane-based extract of Vanda tessellata showed no inhibitory effect of carbonic anhydrase activity. For ethanol extract, the concentration with the highest activity was 50% followed by 25% which changed its color from red to yellow with an average time of 13.11 seconds and 11.57 seconds but 1% with an average time of 7.56 seconds did not exhibit an effect. The researchers recommend the isolation of the specific active constituents of Vanda tessellata that is responsible for the inhibitory effect of carbonic anhydrase enzyme. It is also recommended to utilize different blood types to observe different reactions to the inhibition of the carbonic anhydrase.

Keywords: carbonic anhydrase, inhibition, modified colorimetric Maren TH method, Vanda orchid

Procedia PDF Downloads 296
2650 Transmission of Intergenerational Trauma: Protecting Those who Still Suffer from Pain of their Ancestors’ Trauma

Authors: Bonnie Pollak

Abstract:

As the world continues to suffer grievous injuries, future generations will suffer from trauma that was inflicted on innocent victims. Trauma can result from refugees fleeing their homes, exposure to warfare, loss of loved ones, and lack of shelter and basic necessities. The Holocaust continues to cause pain even though WWII ended nearly 80 years ago. One cannot forget the inhumane treatment and murder of relatives. The pain and trauma may continue for generations. The purpose of the Final Solution was to eliminate Jews in totality. Though Hitler’s plan was not successful, he managed to cause trauma that will continue with no end date in sight. “The Effects of Trauma and Secondary Trauma,” Trauma can cause life-long challenges, eating disorders, cardiovascular disease, cancer, sleeping difficulties, fear of going outside, guilt, separation problems, and epigenetic changes. Secondary Trauma, witnessing a loved one in danger or hearing about the danger, can cause similar symptoms as seen in primary trauma. The transmission of trauma was demonstrated in children of Holocaust survivors and in communities where oppression was commonplace. We are witnessing a repeat of widescale death and horrific injuries today in Ukraine and in other parts of the world, where concern for pain and trauma is not acknowledged by perpetrators. Lessons from the Holocaust can be applied to help others who have been traumatized by widescale terrorism resulting in death of loved ones, loss of home and shelter, food and other life-sustaining measures. The world must help victims by providing basic necessities but also by using trauma-informed care, focusing on strength and resilience, and helping individuals to feel pride in their identity.

Keywords: transmission of intergenerational trauma, impact on religious beliefs and practices, 2nd generation, identity

Procedia PDF Downloads 103
2649 Hybrid Velocity Control Approach for Tethered Aerial Vehicle

Authors: Lovesh Goyal, Pushkar Dave, Prajyot Jadhav, GonnaYaswanth, Sakshi Giri, Sahil Dharme, Rushika Joshi, Rishabh Verma, Shital Chiddarwar

Abstract:

With the rising need for human-robot interaction, researchers have proposed and tested multiple models with varying degrees of success. A few of these models performed on aerial platforms are commonly known as Tethered Aerial Systems. These aerial vehicles may be powered continuously by a tether cable, which addresses the predicament of the short battery life of quadcopters. This system finds applications to minimize humanitarian efforts for industrial, medical, agricultural, and service uses. However, a significant challenge in employing such systems is that it necessities attaining smooth and secure robot-human interaction while ensuring that the forces from the tether remain within the standard comfortable range for the humans. To tackle this problem, a hybrid control method that could switch between two control techniques: constant control input and the steady-state solution, is implemented. The constant control approach is implemented when a person is far from the target location, and error is thought to be eventually constant. The controller switches to the steady-state approach when the person reaches within a specific range of the goal position. Both strategies take into account human velocity feedback. This hybrid technique enhances the outcomes by assisting the person to reach the desired location while decreasing the human's unwanted disturbance throughout the process, thereby keeping the interaction between the robot and the subject smooth.

Keywords: unmanned aerial vehicle, tethered system, physical human-robot interaction, hybrid control

Procedia PDF Downloads 93