Search results for: seismic ground motion

Authors: Hussein Altartouri

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In this paper the kinematic and kinetic models of an omnidirectional holonomic mobile robot is presented. The kinematic and kinetic models form the OmniDrive model. Therefore, a mathematical model for the robot equipped with three- omnidirectional wheels is derived. This model which takes into consideration the kinematics and kinetics of the robot, is developed to state space representation. Relative analysis of the velocities and displacements is used for the kinematics of the robot. Lagrange’s approach is considered in this study for deriving the equation of motion. The drive train and the mechanical assembly only of the Festo Robotino® is considered in this model. Mainly the model is developed for motion control. Furthermore, the model can be used for simulation purposes in different virtual environments not only Robotino® View. Further use of the model is in the mechatronics research fields with the aim of teaching and learning the advanced control theories.

Keywords: mobile robot, omni-direction wheel, mathematical model, holonomic mobile robot

Procedia PDF Downloads 591

Authors: M. Abou Al-alaa, H. A. Elsadek, E. A. Abdallah, E. A. Hashish

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A square patch antenna with both frequency and polarization reconfigurability is presented. The antenna consists of a square patch with coplanar feed on the ground plane. On the patch side, there is a parasitic square ring that is responsible for changing the antenna polarization. On the ground plane, there is a rectangular slot. By changing of length of this slot, the antenna resonance frequency can be changed. The antenna operates at 1.57 and 2.45 GHz that used in GPS and Bluetooth applications, respectively. The length of the slot in the proposed antenna is 40 mm, and the antenna operates at the lower frequency (1.57 GHz). By using switches in the ground plane the slot length can be adjust to 24 mm, so the antenna operates at upper frequency (2.45 GHz). Two switches are mounted on the parasitic ring at optimized positions. By switching between the different states of these two switches, the proposed antenna operates with linear polarization (LP) and circular polarization (CP) at each operating frequency. The antenna gain at 1.57 and 2.45 GHz are 5.9 and 7.64 dBi, respectively. The antenna is analyzed using the CST Microwave Studio. The proposed antenna was fabricated and measured. Results comparison shows good agreement. The antenna has applications in several wireless communication systems.

Keywords: microstrip patch antenna, reconfigurable antenna, frequency reconfigurability, polarization reconfigurability, parasitic square ring, linear polarization, circular polarization

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Authors: Abdulhamit Donder, Erhan Ilhan Konukseven

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Grinding operation is performed in order to obtain desired surfaces precisely in machining process. The needed relative motion between the cutting tool and the workpiece is generally created either by the movement of the cutting tool or by the movement of the workpiece or by the movement of both of them as in our case. For all these cases, the coherence level between the movements and the interaction forces is a key influential parameter for efficient grinding. Therefore, in this work, spectral coherence analysis has been performed to investigate the coherence level between grinding interaction forces and the movement of the workpiece on our robotic-grinding experimental setup in METU Mechatronics Laboratory.

Keywords: coherence analysis, correlation, FFT, grinding, hanning window, machining, Piezo actuator, reverse arrangements test, spectral analysis

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Authors: G. Sarojamma, K. Vendabai

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An analysis is carried out to investigate the effect of magnetic field and heat source on the steady boundary layer flow and heat transfer of a Casson nanofluid over a vertical cylinder stretching exponentially along its radial direction. Using a similarity transformation, the governing mathematical equations, with the boundary conditions are reduced to a system of coupled, non –linear ordinary differential equations. The resulting system is solved numerically by the fourth order Runge – Kutta scheme with shooting technique. The influence of various physical parameters such as Reynolds number, Prandtl number, magnetic field, Brownian motion parameter, thermophoresis parameter, Lewis number and the natural convection parameter are presented graphically and discussed for non – dimensional velocity, temperature and nanoparticle volume fraction. Numerical data for the skin – friction coefficient, local Nusselt number and the local Sherwood number have been tabulated for various parametric conditions. It is found that the local Nusselt number is a decreasing function of Brownian motion parameter Nb and the thermophoresis parameter Nt.

Keywords: casson nanofluid, boundary layer flow, internal heat generation/absorption, exponentially stretching cylinder, heat transfer, brownian motion, thermophoresis

Procedia PDF Downloads 378

Authors: Noureddine Ben Ayed, Abdelkader Soumaya, Saïd Maouche, Ali Kadri, Mongi Gueddiche, Hayet Khayati-Ammar, Ahmed Braham

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The archaeological monument of Utica, located in north-eastern Tunisia, was founded (8th century BC) By the Phoenicians as a port installed on the trade route connecting Phoenicia and the Straits of Gibraltar in the Mediterranean Sea. The flourishment of this city as an important settlement during the Roman period was followed by a sudden abandonment, disuse and progressive oblivion in the first half of the fifth century AD. This decadence can be attributed to the destructive earthquake of 5 July 408 - 410 AD, affecting this historic city as documented in 1906 by the seismologist Fernand De Montessus De Ballore. The magnitude of the Utica earthquake was estimated at 6.8 by the Tunisian National Institute of Meteorology (INM). In order to highlight the damage caused by this earthquake, a field survey was carried out at the Utica ruins to detect and analyse the earthquake archaeological effects (EAEs) using structural geology methods. This approach allowed us to highlight several structural damages, including: (1) folded mortar pavements, (2) cracks affecting the mosaic and walls of a water basin in the "House of the Grand Oecus", (3) displaced columns, (4) block extrusion in masonry walls, (5) undulations in mosaic pavements, (6) tilted walls. The structural analysis of these EAEs and data measurements reveal a seismic cause for all evidence of deformation in the Utica monument. The maximum horizontal strain of the ground (e.g. SHmax) inferred from the building oriented damage in Utica shows a NNW-SSE direction under a compressive tectonic regime. For the seismogenic source of this earthquake, we propose the active E-W to NE-SW trending Utique - Ghar El Melh reverse fault, passing through the Utica Monument and extending towards the Ghar El Melh Lake, as the causative tectonic structure. The active fault trace is well supported by instrumental seismicity, geophysical data (e.g., gravity, seismic profiles) and geomorphological analyses. In summary, we find that the archaeoseismic records detected at Utica are similar to those observed at many other archaeological sites affected by destructive ancient earthquakes around the world. Furthermore, the calculated orientation of the average maximum horizontal stress (SHmax) closely match the state of the actual stress field, as highlighted by some earthquake focal mechanisms in this region.

Keywords: Tunisia, utica, seimogenic fault, archaeological earthquake effects

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Authors: Soran Aminiaghdam, Christian Rode, Reinhard Blickhan, Astrid Zech

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Despite considerable studies on the impact of imposed trunk posture on human walking, less is known about such locomotion while negotiating changes in ground level. The aim of this study was to investigate the behavior of the VBCOM in response to a two-fold expected perturbation, namely alterations in body posture and in ground level. To this end, the kinematic data and ground reaction forces of twelve able participants were collected. We analyzed the vertical position of the body center of mass (VBCOM) from the ground determined by the body segmental analysis method relative to the laboratory coordinate system at touchdown and toe-off instants during walking across uneven ground — characterized by perturbation contact (a 10-cm visible drop) and pre- and post-perturbation contacts — in comparison to unperturbed level contact while maintaining three postures (regular erect, ~30° and ~50° of trunk flexion from the vertical). The VBCOM was normalized to the distance between the greater trochanter marker and the lateral malleoli marker at the instant of TD. Moreover, we calculated the backward rotation during step-down as the difference of the maximum of the trunk angle in the pre-perturbation contact and the minimal trunk angle in the perturbation contact. Two-way repeated measures ANOVAs revealed contact-specific effects of posture on the VBCOM at touchdown (F = 5.96, p = 0.00). As indicated by the analysis of simple main effects, during unperturbed level and pre-perturbation contacts, no between-posture differences for the VBCOM at touchdown were found. In the perturbation contact, trunk-flexed gaits showed a significant increase of VBCOM as compared to the pre-perturbation contact. In the post-perturbation contact, the VBCOM demonstrated a significant decrease in all gait postures relative to the preceding corresponding contacts with no between-posture differences. Main effects of posture revealed that the VBCOM at toe-off significantly decreased in trunk-flexed gaits relative to the regular erect gait. For the main effect of contact, the VBCOM at toe-off demonstrated changes across perturbation and post-perturbation contacts as compared to the unperturbed level contact. Furthermore, participants exhibited a backward trunk rotation during step-down possibly to control the angular momentum of their whole body. A more pronounced backward trunk rotation (2- to 3-fold compared with level contacts) in trunk-flexed walking contributed to the observed elevated VBCOM during the step-down which may have facilitated drop negotiation. These results may shed light on the interaction between posture and locomotion in able gait, and specifically on the behavior of the body center of mass during perturbed locomotion.

Keywords: center of mass, perturbation, posture, uneven ground, walking

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Authors: Tingneyuc Sekac, Sujoy Kumar Jana, Indrajit Pal, Dilip Kumar Pal

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Tectonism induced Tsunami, landslide, ground shaking leading to liquefaction, infrastructure collapse, conflagration are the common earthquake hazards that are experienced worldwide. Apart from human casualty, the damage to built-up infrastructures like roads, bridges, buildings and other properties are the collateral episodes. The appropriate planning must precede with a view to safeguarding people’s welfare, infrastructures and other properties at a site based on proper evaluation and assessments of the potential level of earthquake hazard. The information or output results can be used as a tool that can assist in minimizing risk from earthquakes and also can foster appropriate construction design and formulation of building codes at a particular site. Different disciplines adopt different approaches in assessing and monitoring earthquake hazard throughout the world. For the present study, GIS and Remote Sensing potentials were utilized to evaluate and assess earthquake hazards of the study region. Subsurface geology and geomorphology were the common features or factors that were assessed and integrated within GIS environment coupling with seismicity data layers like; Peak Ground Acceleration (PGA), historical earthquake magnitude and earthquake depth to evaluate and prepare liquefaction potential zones (LPZ) culminating in earthquake hazard zonation of our study sites. The liquefaction can eventuate in the aftermath of severe ground shaking with amenable site soil condition, geology and geomorphology. The latter site conditions or the wave propagation media were assessed to identify the potential zones. The precept has been that during any earthquake event the seismic wave is generated and propagates from earthquake focus to the surface. As it propagates, it passes through certain geological or geomorphological and specific soil features, where these features according to their strength/stiffness/moisture content, aggravates or attenuates the strength of wave propagation to the surface. Accordingly, the resulting intensity of shaking may or may not culminate in the collapse of built-up infrastructures. For the case of earthquake hazard zonation, the overall assessment was carried out through integrating seismicity data layers with LPZ. Multi-criteria Evaluation (MCE) with Saaty’s Analytical Hierarchy Process (AHP) was adopted for this study. It is a GIS technology that involves integration of several factors (thematic layers) that can have a potential contribution to liquefaction triggered by earthquake hazard. The factors are to be weighted and ranked in the order of their contribution to earthquake induced liquefaction. The weightage and ranking assigned to each factor are to be normalized with AHP technique. The spatial analysis tools i.e., Raster calculator, reclassify, overlay analysis in ArcGIS 10 software were mainly employed in the study. The final output of LPZ and Earthquake hazard zones were reclassified to ‘Very high’, ‘High’, ‘Moderate’, ‘Low’ and ‘Very Low’ to indicate levels of hazard within a study region.

Keywords: hazard micro-zonation, liquefaction, multi criteria evaluation, tectonism

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Authors: M. Nemer, E. I. Konukseven

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In this paper, a motion generation algorithm for a six Degrees of Freedom (DoF) robotic hand in a static environment is presented. The purpose of developing this method is to be used in the path generation of the end-effector for edge finishing and inspection processes by utilizing the CAD model of the considered workpiece. Nonetheless, the proposed algorithm may be extended to be applicable for other similar manufacturing processes. A software package programmed in the application programming interface (API) of SolidWorks generates tool path data for the robot. The proposed method significantly simplifies the given problem, resulting in a reduction in the CPU time needed to generate the path, and offers an efficient overall solution. The ABB IRB2000 robot is chosen for executing the generated tool path.

Keywords: CAD-based tools, edge deburring, edge scanning, offline programming, path generation

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Authors: Tarek M. Alguhane, Ayman H. Khalil, Nour M. Fayed, Ayman M. Ismail

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An existing RC building in Madinah is seismically evaluated with and without infill wall. Four model systems have been considered i. e. model I (no infill), model IIA (strut infill-update from field test), model IIB (strut infill- ASCE/SEI 41) and model IIC (strut infill-Soft storey-ASCE/SEI 41). Three dimensional pushover analyses have been carried out using SAP 2000 software incorporating inelastic material behavior for concrete, steel and infill walls. Infill wall has been modeled as equivalent strut according to suggested equation matching field test measurements and to the ASCE/SEI 41 equation. The effect of building modeling on the performance point as well as capacity and demand spectra due to EQ design spectrum function in Madinah area has been investigated. The response modification factor (R) for the 5 story RC building is evaluated from capacity and demand spectra (ATC-40) for the studied models. The results are summarized and discussed.

Keywords: infill wall, pushover analysis, response modification factor, seismic assessment

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Authors: I. Zahraoui, J. Terhzaz, A. Errkik, El. H. Abdelmounim, A. Tajmouati, L. Abdellaoui, N. Ababssi, M. Latrach

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This paper presents a novel design of a microstrip fractal antenna based on the use of Sierpinski triangle shape, it’s designed and simulated by using FR4 substrate in the operating frequency bands (GPS, WiMAX), the design is a fractal antenna with a modified ground structure. The proposed antenna is simulated and validated by using CST Microwave Studio Software, the simulated results presents good performances in term of radiation pattern and matching input impedance.

Keywords: dual-band antenna, fractal antenna, GPS band, modified ground structure, sierpinski triangle, WiMAX band

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Authors: G. Venkata Rao, R. Srinivasa Rao, B. Neelima Sri Priya

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The over extraction of groundwater from the coastal aquifers, result in reduction of groundwater resource and lowering of water level. In general, the depletion of groundwater level enhances the landward migration of saltwater wedge. Now a days the ground water extraction increases by year to year because increased population and industrialization. The ground water is the only source of irrigation, domestic and Industrial purposes at Pydibhimavaram industrial area, which is located in the coastal belt of Srikakulam district, India of Latitudes 18.145N 83.627E and Longitudes 18.099N 83.674E. The present study has been attempted to calculate amount of water getting recharged into this aquifer, status of rainfall pattern for the past two decades and the runoff is calculated by using Khosla’s formula with available rainfall and temperature in the study area. A decision support model has been developed on the basis of Monthly Extractions of the water from the ground through bore wells and the Net Recharge of the aquifer. It is concluded that the amount of extractions is exceeding the amount of recharge from May to October in a given year which will in turn damage the water balance in the subsurface layers.

Keywords: aquifer, decision support model, groundwater extraction, run off estimation and rainfall

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Authors: Agata Matuszewska, Małgorzata Syczewska

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The movement of the upper limbs contributes significantly to balance control while walking in humans. However, the impact of different arm swing modes on gait stability is yet to be determined. This work intends to establish numerical parameters for assessing the arm swing. Nineteen people, comprising fifteen young, healthy individuals, two middle-aged individuals, and two individuals with dysfunctions, were analyzed using the movement analysis system. Proposed parameters such as ASᵢₐ (reflecting the arm swing amplitude) and Pearson’s correlation coefficient between the right and left upper limbs can be used to classify the type of movement task each participant performs. The results indicate that the ASᵢₐ parameter could potentially detect any abnormalities in upper limb functions, which may be due to musculoskeletal disorders or other malfunctions.

Keywords: arm swing, human balance, interlimb coordination, motion analysis system

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Authors: Rohan V. Ambekar, Shrirang N. Tande

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The present study estimates the seismic response reduction factor (R) of reinforced concrete special moment resisting frame (SMRF) with and without shear wall using static nonlinear (pushover) analysis. Calculation of response reduction factor (R) is done as per the new formulation of response reduction factor (R) given by Applied Technology Council (ATC)-19 which is the product of strength factor (Rs), ductility factor (Rµ) and redundancy factor (RR). The analysis revealed that these three factors affect the actual value of response reduction factor (R) and therefore they must be taken into consideration while determining the appropriate response reduction factor to be used during the seismic design process. The actual values required for determination of response reduction factor (R) is worked out on the basis of pushover curve which is a plot of base shear verses roof displacement. Finally, the calculated values of response reduction factor (R) of reinforced concrete special moment resisting frame (SMRF) with and without shear wall are compared with the codal values.

Keywords: response reduction factor, ductility ratio, base shear, special moment resisting frames

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Authors: K. Dhanalakshmi, N. Deepak, E. Manikandan, S. Kanagaraj, M. Sulthan Ariff Rahman, P. Chilambarasan C. Abhimanyu, C. A. Akaash Emmanuel Raj, V. R. Sanal Kumar

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In this paper using a validated double precision, density-based implicit standard k-ε model, the detailed 2D and 3D numerical studies have been carried out to examine the external flow choking at wing-in-ground (WIG) effect craft. The CFD code is calibrated using the exact solution based on the Sanal flow choking condition for adiabatic flows. We observed that at the identical WIG effect conditions the numerically predicted 2D boundary layer blockage is significantly higher than the 3D case and as a result, the airfoil exhibited an early external flow choking than the corresponding wing, which is corroborated with the exact solution. We concluded that, in lieu of the conventional 2D numerical simulation, it is invariably beneficial to go for a realistic 3D simulation of the wing in ground effect, which is analogous and would have the aspects of a real-time parametric flow. We inferred that under the identical flying conditions the chances of external flow choking at WIG effect is higher for conventional aircraft than an aircraft facilitating a divergent channel effect at the bottom surface of the fuselage as proposed herein. We concluded that the fuselage and wings integrated geometry optimization can improve the overall aerodynamic performance of WIG craft. This study is a pointer to the designers and/or pilots for perceiving the zone of danger a priori due to the anticipated external flow choking at WIG effect craft for safe flying at the close proximity of the terrain and the dynamic surface of the marine.

Keywords: boundary layer blockage, chord dominated ground effect, external flow choking, WIG effect

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Authors: Isadora Bugarin, Taygoara F. de Oliveira

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Binary fluids and emulsions, in general, are present in a vast range of industrial, medical, and scientific applications, showing complex behaviors responsible for defining the flow dynamics and the system operation. However, the literature describing those highlighted fluids in non-isothermal models is currently still limited. The present work brings a detailed investigation on droplet migration due to natural convection in square enclosure, aiming to clarify the effects of drop viscosity on the flow dynamics by showing how distinct viscosity ratios (droplet/ambient fluid) influence the drop motion and the final movement pattern kept on stationary regimes. The analysis was taken by observing distinct combinations of Rayleigh number, drop initial position, and viscosity ratios. The Navier-Stokes and Energy equations were solved considering the Boussinesq approximation in a laminar flow using the finite differences method combined with the Level Set method for binary flow solution. Previous results collected by the authors showed that the Rayleigh number and the drop initial position affect drastically the motion pattern of the droplet. For Ra ≥ 10⁴, two very marked behaviors were observed accordingly with the initial position: the drop can travel either a helical path towards the center or a cyclic circular path resulting in a closed cycle on the stationary regime. The variation of viscosity ratio showed a significant alteration of pattern, exposing a large influence on the droplet path, capable of modifying the flow’s behavior. Analyses on viscosity effects on the flow’s unsteady Nusselt number were also performed. Among the relevant contributions proposed in this work is the potential use of the flow initial conditions as a mechanism to control the droplet migration inside the enclosure.

Keywords: binary fluids, droplet motion, level set method, natural convection, viscosity

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Authors: Daniel Y. Abebe, Jaehyouk Choi

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There are several types of metal-based devices conceived as dampers for the seismic energy absorber whereby damages to the major structural components could be minimized for both new and existing structures. This paper aimed to develop and evaluate structural performance of slit circular shear panel damper for passive seismic energy protection by inelastic deformation. Structural evaluation was done using commercially available nonlinear FE simulation program. The main parameters considered are: diameter-to-thickness (D/t) ratio and slit length-to-width ratio (l/w). Depending on these parameters three different buckling modes and hysteretic behaviors were found: yielding prior to buckling without strength degradation, yielding prior to buckling with strength degradation, and yielding with buckling and strength degradation which forms pinching at initial displacement. The susceptible location at which the possible crack is initiated is also identified for selected specimens using rupture index.

Keywords: slit circular shear panel damper, hysteresis characteristics, slip length-to-width ratio, D/t ratio, FE analysis

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Authors: Asanga Gunawansa, Shenella Fonseka

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On-demand bonds, also known as unconditional bonds, are commonplace in the construction industry as a means of safeguarding the employer from any potential non-performance by a contractor. On-demand bonds may be obtained from commercial banks, and they serve as an undertaking by the issuing bank to honour payment on demand without questioning and/or considering any dispute between the employer and the contractor in relation to the underlying contract. Thus, whether or not a breach had occurred under the underlying contract, which triggers the demand for encashment by the employer, is not a question the bank needs to be concerned with. As a result, an unconditional bond allows the beneficiary to claim the money almost without any condition. Thus, an unconditional bond is as good as cash-in-hand. In the past, establishing fraud on the part of the employer, of which the bank had knowledge, was the only ground on which a bank could dishonour a claim made under an on-demand bond. However, recent jurisprudence in common law countries shows that courts are beginning to consider unconscionable conduct on the part of the employer in claiming under an on-demand bond as a ground that contractors could rely on the prevent the banks from honouring such claims. This has created uncertainty in connection with on-demand bonds and their liquidity. This paper analyzes recent judicial decisions in four common law jurisdictions, namely, England, Singapore, Hong Kong, and Sri Lanka, to identify the scope of using the concept of “unconscionability” as a ground for preventing unreasonable claims for encashment of on-demand bonds. The objective of this paper is to argue that on-demand bonds have lost their effectiveness as “cash-in-hand” and that this is, in fact, an advantage and not an impediment to international commerce, as the purpose of such bonds should not be to provide for illegal and unconscionable conduct by the beneficiaries.

Keywords: fraud, performance guarantees, on-demand bonds, unconscionability

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Authors: S. Dorbani, M. Badaoui, D. Benouar

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The aim of this paper is to investigate the effect of the building fundamental period of reinforced concrete buildings of (6, 9, and 12-storey), with different floor plans: Symmetric, mono-symmetric, and unsymmetric. These structures are erected at different epicentral distances. Using the Boumerdes, Algeria (2003) earthquake data, we focused primarily on the establishment of the deterministic formulation linking the base shear force to two parameters: The first one is the fundamental period that represents the numerical fingerprint of the structure, and the second one is the epicentral distance used to represent the impact of the earthquake on this force. In a second step, with a view to highlight the effect of uncertainty in these parameters on the analyzed response, these parameters are modeled as random variables with a log-normal distribution. The variability of the coefficients of variation of the chosen uncertain parameters, on the statistics on the seismic base shear force, showed that the effect of uncertainty on fundamental period on this force statistics is low compared to the epicentral distance uncertainty influence.

Keywords: base shear force, fundamental period, epicentral distance, uncertainty, lognormal variables, statistics

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Authors: Nesreddine Djafar Henni, Akram Khelaifia, Salah Guettala, Rachid Chebili

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Reinforced concrete shear walls and vertical plate-like elements play a pivotal role in efficiently managing a building's response to seismic forces. This study investigates how the performance of reinforced concrete buildings equipped with shear walls featuring different shear wall-to-frame stiffness ratios aligns with the requirements stipulated in the Algerian seismic code RPA99v2003, particularly in high-seismicity regions. Seven distinct 3D finite element models are developed and evaluated through nonlinear static analysis. Engineering Demand Parameters (EDPs) such as lateral displacement, inter-story drift ratio, shear force, and bending moment along the building height are analyzed. The findings reveal two predominant categories of induced responses: force-based and displacement-based EDPs. Furthermore, as the shear wall-to-frame ratio increases, there is a concurrent increase in force-based EDPs and a decrease in displacement-based ones. Examining the distribution of shear walls from both force and displacement perspectives, model G with the highest stiffness ratio, concentrating stiffness at the building's center, intensifies induced forces. This configuration necessitates additional reinforcements, leading to a conservative design approach. Conversely, model C, with the lowest stiffness ratio, distributes stiffness towards the periphery, resulting in minimized induced shear forces and bending moments, representing an optimal scenario with maximal performance and minimal strength requirements.

Keywords: dual RC buildings, RC shear walls, modeling, static nonlinear pushover analysis, optimization, seismic performance

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

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New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball

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Authors: Hassan Mohammad Alkomy, Hesham Elkaranshawy, Ahmed Ibrahim Ashour, Khaled Tawfik Mohamed

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For a rigid body sliding on a rough surface, a range of uncertainty or non-uniqueness of solution could be found, which is termed: Painlevé paradox. Painlevé paradox is the reason of a wide range of bouncing motion, observed during sliding of robotic manipulators on rough surfaces. In this research work, the existence of the paradox zone during the sliding motion of a two-link (P-R) robotic manipulator with a unilateral constraint is investigated. Parametric study is performed to investigate the effect of friction, link-length ratio, total height and link-mass ratio on the paradox zone.

Keywords: dynamical system, friction, multibody system, painlevé paradox, robotic systems, sliding robots, unilateral constraint

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Authors: Yavuz Yardım

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The most important criteria for structural engineering is the structure’s ability to carry intended loads safely. The key element of this ability is mathematical modeling of really loadings situation into a simple loads input to use in structure analysis and design. Amongst many different types of loads, the most challenging load is earthquake load. It is possible magnitude is unclear and timing is unknown. Therefore the concept of intended loads and safety have been built on experience of previous earthquake impact on the structures. Understanding and developing these concepts is achieved by investigating performance of the structures after real earthquakes. Damage after an earthquake provide results of thousands of full-scale structure test under a real seismic load. Thus, Earthquakes reveille all the weakness, mistakes and deficiencies of analysis, design rules and practice. This study deals with lesson learnt from earthquake recoded last two decades in Turkey. Results of investigation after several earthquakes exposes many deficiencies in structural detailing, inappropriate design, wrong architecture layout, and mainly mistake in construction practice.

Keywords: earthquake, seismic assessment, RC buildings, building performance

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Authors: Valeriy Nebritov

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The paper presents a generalized method for determining the service solid angle based on the assigned gripper axis orientation with a stationary grip center. Motion synthesis in this work is carried out in the vector of velocities. As an example, a solid angle of the android robot arm is determined, this angle being formed by the longitudinal axis of a gripper. The nature of the method is based on the study of sets of configuration positions, defining the end point positions of the unit radius sphere sweep, which specifies the service solid angle. From this the spherical curve specifying the shape of the desired solid angle was determined. The results of the research can be used in the development of control systems of autonomous android robots.

Keywords: android robot, control systems, motion synthesis, service angle

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Authors: Rana Waqar Aslam, Urooj Saeed, Hammad Mehmood, Hameed Ullah, Imtiaz Younas

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This research has been conducted to assess the water quality in and around Lahore Metropolitan area on the basis of three different land uses, i.e. residential, commercial, and industrial land uses. For this, 29 sample sites have been selected on the basis of simple random sampling technique. Samples were collected at the source (WASA tube wells). The criteria for selecting sample sites are to have a maximum concentration of population in the selected land uses. The results showed that in the residential land use the proportion of nitrate and turbidity is at their highest level in the areas of Allama Iqbal Town and Samanabad Town. Commercial land use of Gulberg and Data Gunj Bakhsh Town have highest level of proportion of chlorides, calcium, TDS, pH, Mg, total hardness, arsenic and alkalinity. Whereas in industrial type of land use in Ravi and Wahga Town have the proportion of arsenic, Mg, nitrate, pH, and turbidity are at their highest level. The high rate of concentration of these parameters in these areas is basically due to the old and fractured pipelines that allow bacterial as well as physiochemical contaminants to contaminate the portable water at the sources. Furthermore, it is seen in most areas that waste water from domestic, industrial, as well as municipal sources may get easy discharge into open spaces and water bodies, like, cannels, rivers, lakes that seeps and become a part of ground water. In addition, huge dumps located in Lahore are becoming the cause of ground water contamination as when the rain falls, the water gets seep into the ground and impures the ground water quality. On the basis of the derived results with the help of Geo-spatial technology ACRGIS 9.3 Interpolation (IDW), it is recommended that water filtration plants must be installed with specific parameter control. A separate team for proper inspection has to be made for water quality check at the source. Old water pipelines must be replaced with the new pipelines, and safe water depth must be ensured at the source end.

Keywords: GIS, remote sensing, pH, nitrate, disaster, IDW

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Authors: Ehsan Sadie

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Today, after devastating earthquakes and many deaths due to the destruction of residential buildings, the scientific community has attracted the attention of the existing structures to strengthen and standardize construction. Due to the fact that the existing buildings are sometimes constructed without sufficient knowledge of the correct design, and even the buildings built according to the old standards today need to be reinforced due to changes in some provisions of the regulations. The location of some countries in the seismic zone has always caused a lot of human and economic damage throughout history, and attention to the strengthening of buildings, important facilities, and vital arteries is the result of this situation. Engineers' efforts to design earthquake-resistant buildings began when decades had passed since the development of design criteria and ensuring the safety of buildings against loads. New methods, mass reduction, reducing the weight of the building, use of moving structures to deal with earthquakes, as well as the use of new technologies in this field, including the use of dampers, composites in the reinforcement of structures are discussed, and appropriate solutions have been provided in each of the fields.

Keywords: brace, concrete structure, damper, earthquake, FRP reinforcement, lightweight material, retrofitting, seismic isolator, shear wall, steel structure

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Authors: Liping Qiu, Xiaofeng Zhang

Abstract:

In its long history, precious tomb murals suffered from various diseases due to natural and man-made destruction. The key to how to protect tomb murals is how to strengthen and protect the tomb murals. In order to maximize the life of the tomb murals, the artistic, historic, and scientific values of the tomb murals can be continued. In this paper, four kinds of traditional reinforcement materials (silicone acrylic lotion, pure acrylic lotion, polyvinyl acetate lotion, and B72) are selected to reinforce the ground support layer of tomb murals, and the reinforcement effect of each reinforcement material on the ground support layer of murals is compared and analyzed, and the best protection material is obtained.

Keywords: mural, destruction cycle, reinforcement material, disease

Procedia PDF Downloads 119

Authors: Dina Jalalvand, Joshua A. Cleland

Abstract:

This double-blind, randomized control trial with parallel groups aimed to examine the effectiveness of office-based occupational therapy for office workers with low back pain on the intensity of pain and range of motion. Seventy-two male office workers (age: 20-50 years) with chronic low back pain (more than three months with at least two symptoms of chronic low back pain) satisfied eligibility criteria and agreed to participate in this study. The absence of joint burst following magnetic resonance imagining (MRI) was considered as an important inclusion criterion as well. Subjects were randomly assigned to a control or experimental group. The experimental group received the modified package of exercise-based occupational therapy, which included 11 simple exercise movements (derived from Williams and McKenzie), and the control group just received the conventional therapy, which included their routine physiotherapy sessions. The subjects completed the exercises three times a week for a duration of six weeks. Each exercise session was 10-15 minutes. Pain intensity and range of motion were the primary outcomes and were measured at baseline, 6 weeks, and 12 weeks after the end of the intervention using the numerical rating scale (NRS) and goniometer accordingly. Repeated measure ANOVA was used for analyzing data. The results of this study showed that significant decreases in pain intensity (p ≤ 0.05) and an increase in range of motion (p ≤ 0.001) in the experimental group in comparison with the control group after 6 and 12 weeks of intervention (between-group comparisons). In addition, there was a significant decrease in intensity of the pain (p ≤ 0.05) and an increase (p ≤ 0.001) in range of motion in the intervention group in comparison with baseline after 6 and 12 weeks (within-group comparison). This showed a positive effect of exercise-based occupational therapy that could potentially be used with low cost among office workers who suffer from low back pain. In addition, it should be noted that the introduced package of exercise training is easy to do, and there is not a need for a specific introduction.

Keywords: public health, office workers, low back pain, occupational therapy

Procedia PDF Downloads 213

Authors: Chaiyawat Musikapan, Ratchatin Chancharoen, Saknan Bongsebandhu-Phubhakdi

Abstract:

For many recent years, soft robotic fingers were used for supporting the patients who had survived the neurological diseases that resulted in muscular disorders and neural network damages, such as stroke and Parkinson’s disease, and inflammatory symptoms such as De Quervain and trigger finger. Generally, the major hand function is significant to manipulate objects in activities of daily living (ADL). In this work, we proposed the model of soft actuator that manufactured by full 3D printing without the molding process and one material for use. Furthermore, we designed the model with a technique of multi cavitation cells (MC-Cells). Then, we demonstrated the curvature bending, fluidic pressure and force that generated to the model for assistive finger flexor and hand grasping. Also, the soft actuators were characterized in mathematics solving by the length of chord and arc length. In addition, we used an adaptive push-button switch machine to measure the force in our experiment. Consequently, we evaluated biomechanics efficiency by the range of motion (ROM) that affected to metacarpophalangeal joint (MCP), proximal interphalangeal joint (PIP) and distal interphalangeal joint (DIP). Finally, the model achieved to exhibit the corresponding fluidic pressure with force and ROM to assist the finger flexor and hand grasping.

Keywords: biomechanics efficiency, curvature bending, hand functional assistance, multi cavitation cells (MC-Cells), range of motion (ROM)

Procedia PDF Downloads 252

Authors: Woo-seok Choi, Eun-sup Kim, Nam-Seo Park

Abstract:

The demand for new technique in soft ground improvement continuously increases as general soft ground methods like PBD and DCM have a application problem in soft grounds with deep depth and wide distribution in Southern coast of Korea and Southeast. In this study, partial cement mixing method utilizing geogrid and fixing unit(CMG) is suggested and Finite element analysis is performed for analyzing the depth of surface soil and deep soil stabilization and comparing with DCM method. In the result of the experiment, the displacement in DCM method were lower than the displacement in CMG, it's because the upper load is transferred to deep part soil not treated by cement in CMG method case. The differential settlement in DCM method was higher than the differential settlement in CMG, because of the effect load transfer effect by surface part soil treated by cement and geogrid. In conclusion, CMG method has the advantage of economics and constructability in embankment road, railway, etc in which differential settlement is the important consideration.

Keywords: soft ground, geogrid, fixing unit, partial cement mixing, finite element analysis

Procedia PDF Downloads 374

Authors: Cheng-Hao Jiang, Mu-Xuan Tao

Abstract:

The rigid diaphragm model may cause errors in the calculation of internal forces due to neglecting the in-plane deformation of the diaphragm. This paper thus studies the effects of different diaphragm in-plane models (including in-plane rigid model and in-plane flexible model) on the seismic performance of structures. Taking an actual industrial plant as an example, the seismic performance of the structure is predicted using different floor diaphragm models, and the analysis errors caused by different diaphragm in-plane models including deformation error and internal force error are calculated. Furthermore, the influence of the aspect ratio on the analysis errors is investigated. Finally, the code rationality is evaluated by assessing the analysis errors of the structure models whose floors were determined as rigid according to the code’s criterion. It is found that different floor models may cause great differences in the distribution of structural internal forces, and the current code may underestimate the influence of the floor in-plane effect.

Keywords: industrial plant, diaphragm, calculating error, code rationality

Procedia PDF Downloads 137