Search results for: 3-axis linear interpolation
2053 Simulation of Behaviour Dynamics and Optimization of the Energy System
Authors: Iva Dvornik, Sandro Božić, Žana Božić Brkić
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System-dynamic simulating modelling is one of the most appropriate and successful scientific methods of the complex, non-linear, natural, technical and organizational systems. In the recent practice its methodology proved to be efficient in solving the problems of control, behavior, sensitivity and flexibility of the system dynamics behavior having a high degree of complexity, all these by computing simulation i.e. “under laboratory conditions” what means without any danger for observed realities. This essay deals with the research of the gas turbine dynamic process as well as the operating pump units and transformation of gas energy into hydraulic energy has been simulated. In addition, system mathematical model has been also researched (gas turbine- centrifugal pumps – pipeline pressure system – storage vessel).Keywords: system dynamics, modelling, centrifugal pump, turbine, gases, continuous and discrete simulation, heuristic optimisation
Procedia PDF Downloads 912052 Parametric Analysis of Lumped Devices Modeling Using Finite-Difference Time-Domain
Authors: Felipe M. de Freitas, Icaro V. Soares, Lucas L. L. Fortes, Sandro T. M. Gonçalves, Úrsula D. C. Resende
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The SPICE-based simulators are quite robust and widely used for simulation of electronic circuits, their algorithms support linear and non-linear lumped components and they can manipulate an expressive amount of encapsulated elements. Despite the great potential of these simulators based on SPICE in the analysis of quasi-static electromagnetic field interaction, that is, at low frequency, these simulators are limited when applied to microwave hybrid circuits in which there are both lumped and distributed elements. Usually the spatial discretization of the FDTD (Finite-Difference Time-Domain) method is done according to the actual size of the element under analysis. After spatial discretization, the Courant Stability Criterion calculates the maximum temporal discretization accepted for such spatial discretization and for the propagation velocity of the wave. This criterion guarantees the stability conditions for the leapfrogging of the Yee algorithm; however, it is known that for the field update, the stability of the complete FDTD procedure depends on factors other than just the stability of the Yee algorithm, because the FDTD program needs other algorithms in order to be useful in engineering problems. Examples of these algorithms are Absorbent Boundary Conditions (ABCs), excitation sources, subcellular techniques, grouped elements, and non-uniform or non-orthogonal meshes. In this work, the influence of the stability of the FDTD method in the modeling of concentrated elements such as resistive sources, resistors, capacitors, inductors and diode will be evaluated. In this paper is proposed, therefore, the electromagnetic modeling of electronic components in order to create models that satisfy the needs for simulations of circuits in ultra-wide frequencies. The models of the resistive source, the resistor, the capacitor, the inductor, and the diode will be evaluated, among the mathematical models for lumped components in the LE-FDTD method (Lumped-Element Finite-Difference Time-Domain), through the parametric analysis of Yee cells size which discretizes the lumped components. In this way, it is sought to find an ideal cell size so that the analysis in FDTD environment is in greater agreement with the expected circuit behavior, maintaining the stability conditions of this method. Based on the mathematical models and the theoretical basis of the required extensions of the FDTD method, the computational implementation of the models in Matlab® environment is carried out. The boundary condition Mur is used as the absorbing boundary of the FDTD method. The validation of the model is done through the comparison between the obtained results by the FDTD method through the electric field values and the currents in the components, and the analytical results using circuit parameters.Keywords: hybrid circuits, LE-FDTD, lumped element, parametric analysis
Procedia PDF Downloads 1352051 Directionally-Sensitive Personal Wearable Radiation Dosimeter
Authors: Hai Huu Le, Paul Junor, Moshi Geso, Graeme O’Keefe
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In this paper, the authors propose a personal wearable directionally-sensitive radiation dosimeter using multiple semiconductor CdZnTe detectors. The proposed dosimeter not only measures the real-time dose rate but also provide the direction of the radioactive source. A linear relationship between radioactive source direction and the radiation intensity measured by each detectors is established and an equation to determine the source direction is derived by the authors. The efficiency and accuracy of the proposed dosimeter is verified by simulation using Geant4 package. Results have indicated that in a measurement duration of about 7 seconds, the proposed dosimeter was able to estimate the direction of a 10μCi 137/55Cs radioactive source to within 2 degrees.Keywords: dose rate, Geant4 package, radiation dosimeter, radioactive source direction
Procedia PDF Downloads 3142050 Study of Seismic Behavior of an Earth Dam with Sealing Walls: The Case of Kef Eddir’s Dam, Tipaza, Algeria
Authors: M. Boumaiza, S. Mohamadi, B. Moussai
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In this article the study of the seismic response of an earth dam with sealing walls has been made by introducing the effect of the change of position and depth of the sealing wall and the effect of non-linear behavior of soil of the foundation by taking into account the variation of the viscous damping and shear modulus in each layer of soil on the seismic response of the dam. As a case study, we take the Algerian dam Kef-Eddir which lies in the far west of the territory of the Wilaya of Tipaza (wadi Eddamous), classified according to the RPA 2003 as a high seismicity zone (zone III). With a height of 71m above the foundation and a width of 478m. The seismic event applied to the rock, is the earthquake of Chenoua (29 October, 1989), with a magnitude Mw=6 that hit the region.Keywords: earth dam, earthquake, sealing walls, viscous damping
Procedia PDF Downloads 5942049 Assessment of Seismic Behavior of Masonry Minarets by Discrete Element Method
Authors: Ozden Saygili, Eser Cakti
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Mosques and minarets can be severely damaged as a result of earthquakes. Non-linear behavior of minarets of Mihrimah Sultan and Süleymaniye Mosques and the minaret of St. Sophia are analyzed to investigate seismic response, damage and failure mechanisms of minarets during earthquake. Selected minarets have different height and diameter. Discrete elements method was used to create the numerical minaret models. Analyses were performed using sine waves. Two parameters were used for evaluating the results: the maximum relative dislocation of adjacent drums and the maximum displacement at the top of the minaret. Both parameters were normalized by the drum diameter. The effects of minaret geometry on seismic behavior were evaluated by comparing the results of analyses.Keywords: discrete element method, earthquake safety, nonlinear analysis, masonry structures
Procedia PDF Downloads 2972048 60 GHz Multi-Sector Antenna Array with Switchable Radiation-Beams for Small Cell 5G Networks
Authors: N. Ojaroudi Parchin, H. Jahanbakhsh Basherlou, Y. Al-Yasir, A. M. Abdulkhaleq, R. A. Abd-Alhameed, P. S. Excell
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A compact design of multi-sector patch antenna array for 60 GHz applications is presented and discussed in details. The proposed design combines five 1×8 linear patch antenna arrays, referred to as sectors, in a multi-sector configuration. The coaxial-fed radiation elements of the multi-sector array are designed on 0.2 mm Rogers RT5880 dielectrics. The array operates in the frequency range of 58-62 GHz and provides switchable directional/omnidirectional radiation beams with high gain and high directivity characteristics. The designed multi-sector array exhibits good performances and could be used in the fifth generation (5G) cellular networks.Keywords: mm-wave communications, multi-sector array, patch antenna, small cell networks
Procedia PDF Downloads 1332047 Normalizing Logarithms of Realized Volatility in an ARFIMA Model
Authors: G. L. C. Yap
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Modelling realized volatility with high-frequency returns is popular as it is an unbiased and efficient estimator of return volatility. A computationally simple model is fitting the logarithms of the realized volatilities with a fractionally integrated long-memory Gaussian process. The Gaussianity assumption simplifies the parameter estimation using the Whittle approximation. Nonetheless, this assumption may not be met in the finite samples and there may be a need to normalize the financial series. Based on the empirical indices S&P500 and DAX, this paper examines the performance of the linear volatility model pre-treated with normalization compared to its existing counterpart. The empirical results show that by including normalization as a pre-treatment procedure, the forecast performance outperforms the existing model in terms of statistical and economic evaluations.Keywords: Gaussian process, long-memory, normalization, value-at-risk, volatility, Whittle estimator
Procedia PDF Downloads 3422046 Habitat Model Review and a Proposed Methodology to Value Economic Trade-Off between Cage Culture and Habitat of an Endemic Species in Lake Maninjau, Indonesia
Authors: Ivana Yuniarti, Iwan Ridwansyah
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This paper delivers a review of various methodologies for habitat assessment and a proposed methodology to assess an endemic fish species habitat in Lake Maninjau, Indonesia as a part of a Ph.D. project. This application is mainly aimed to assess the trade-off between the economic value of aquaculture and the fisheries. The proposed methodology is a generalized linear model (GLM) combined with GIS to assess presence-absence data or habitat suitability index (HSI) combined with the analytical hierarchy process (AHP). Further, a cost of habitat replacement approach is planned to be used to calculate the habitat value as well as its trade-off with the economic value of aquaculture. The result of the study is expected to be a scientific consideration in local decision making and to provide a reference for other areas in the country.Keywords: AHP, habitat, GLM, HSI, Maninjau
Procedia PDF Downloads 1342045 Non-Homogeneous Layered Fiber Reinforced Concrete
Authors: Vitalijs Lusis, Andrejs Krasnikovs
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Fiber reinforced concrete is important material for load bearing structural elements. Usually fibers are homogeneously distributed in a concrete body having arbitrary spatial orientations. At the same time, in many situations, fiber concrete with oriented fibers is more optimal. Is obvious, that is possible to create constructions with oriented short fibers in them, in different ways. Present research is devoted to one of such approaches- fiber reinforced concrete prisms having dimensions 100 mm×100 mm×400 mm with layers of non-homogeneously distributed fibers inside them were fabricated. Simultaneously prisms with homogeneously dispersed fibers were produced for reference as well. Prisms were tested under four point bending conditions. During the tests vertical deflection at the center of every prism and crack opening were measured (using linear displacements transducers in real timescale). Prediction results were discussed.Keywords: fiber reinforced concrete, 4-point bending, steel fiber, construction engineering
Procedia PDF Downloads 3532044 Asymptotic Expansion of the Korteweg-de Vries-Burgers Equation
Authors: Jian-Jun Shu
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It is common knowledge that many physical problems (such as non-linear shallow-water waves and wave motion in plasmas) can be described by the Korteweg-de Vries (KdV) equation, which possesses certain special solutions, known as solitary waves or solitons. As a marriage of the KdV equation and the classical Burgers (KdVB) equation, the Korteweg-de Vries-Burgers (KdVB) equation is a mathematical model of waves on shallow water surfaces in the presence of viscous dissipation. Asymptotic analysis is a method of describing limiting behavior and is a key tool for exploring the differential equations which arise in the mathematical modeling of real-world phenomena. By using variable transformations, the asymptotic expansion of the KdVB equation is presented in this paper. The asymptotic expansion may provide a good gauge on the validation of the corresponding numerical scheme.Keywords: asymptotic expansion, differential equation, Korteweg-de Vries-Burgers (KdVB) equation, soliton
Procedia PDF Downloads 2322043 Application of Artificial Neural Networks to Adaptive Speed Control under ARDUINO
Authors: Javier Fernandez De Canete, Alvaro Fernandez-Quintero
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Nowadays, adaptive control schemes are being used when model based control schemes are applied in presence of uncertainty and model mismatches. Artificial neural networks have been employed both in modelling and control of non-linear dynamic systems with unknown dynamics. In fact, these are powerful tools to solve this control problem when only input-output operational data are available. A neural network controller under SIMULINK together with the ARDUINO hardware platform has been used to perform real-time speed control of a computer case fan. Comparison of performance with a PID controller has also been presented in order to show the efficacy of neural control under different command signals tracking and also when disturbance signals are present in the speed control loops.Keywords: neural networks, ARDUINO platform, SIMULINK, adaptive speed control
Procedia PDF Downloads 3382042 Seismic Reliability of Two-DegreE-of-Freedom Systems with Supplemental Damping
Authors: A.D. García-Soto, Miguel Jaimes, J.G. Valdés-Vázquez, A. Hernández-Martínez
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The seismic reliability of two-degree-of-freedom (2DOF) systems with and without supplemental damping are computed. The used records are scaled from realistic records using standard incremental dynamic Analysis (IDA). The total normalized shear base is computed for both cases using different scaling factors, and it is considered as the demand. The seismic reliability is computed using codified design to stipulate the capacity and, after some assumptions, applying the first-order reliability method (FORM). The 2DOF considered can be thought as structures with non-linear behavior, with and without seismic protection, subjected to earthquake activity in Mexico City. It is found that the reliability of 2DOF structures retrofitted with supplemental damper at its first story is generally higher than the reliability of 2DOF structures without supplemental damping.Keywords: 2DOF structures, IDA, FORM, seismic reliability
Procedia PDF Downloads 1172041 Numerical Analysis of End Plate Bolted Connection with Corrugated Beam
Authors: M. A. Sadeghian, J. Yang, Q. F. Liu
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Steel extended end plate bolted connections are recommended to be widely utilized in special moment-resisting frame subjected to monotonic loading. Improper design of steel beam to column connection can lead to the collapse and fatality of structures. Therefore comprehensive research studies of beam to column connection design should be carried out. Also the performance and effect of corrugated on the strength of beam column end plate connection up to failure under monotonic loading in horizontal direction is presented in this paper. The non-linear elastic–plastic behavior has been considered through a finite element analysis using the multi-purpose software package LUSAS. The effect of vertically and horizontally types of corrugated web was also investigated.Keywords: corrugated beam, monotonic loading, finite element analysis, end plate connection
Procedia PDF Downloads 2982040 Factors Related to Teachers’ Analysis of Classroom Assessments
Authors: Hussain A. Alkharusi, Said S. Aldhafri, Hilal Z. Alnabhani, Muna Alkalbani
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Analysing classroom assessments is one of the responsibilities of the teacher. It aims improving teacher’s instruction and assessment as well as student learning. The present study investigated factors that might explain variation in teachers’ practices regarding analysis of classroom assessments. The factors considered in the investigation included gender, in-service assessment training, teaching load, teaching experience, knowledge in assessment, attitude towards quantitative aspects of assessment, and self-perceived competence in analysing assessments. Participants were 246 in-service teachers in Oman. Results of a stepwise multiple linear regression analysis revealed that self-perceived competence was the only significant factor explaining the variance in teachers’ analysis of assessments. Implications for research and practice are discussed.Keywords: analysis of assessment, classroom assessment, in-service teachers, self-competence
Procedia PDF Downloads 3122039 Analytical Solutions for Corotational Maxwell Model Fluid Arising in Wire Coating inside a Canonical Die
Authors: Muhammad Sohail Khan, Rehan Ali Shah
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The present paper applies the optimal homotopy perturbation method (OHPM) and the optimal homotopy asymptotic method (OHAM) introduced recently to obtain analytic approximations of the non-linear equations modeling the flow of polymer in case of wire coating of a corotational Maxwell fluid. Expression for the velocity field is obtained in non-dimensional form. Comparison of the results obtained by the two methods at different values of non-dimensional parameter l10, reveal that the OHPM is more effective and easy to use. The OHPM solution can be improved even working in the same order of approximation depends on the choices of the auxiliary functions.Keywords: corotational Maxwell model, optimal homotopy asymptotic method, optimal homotopy perturbation method, wire coating die
Procedia PDF Downloads 3242038 Study of the Behavior of Bolted Joints with and Without Reinforcement
Authors: Karim Akkouche
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Many methods have been developed for characterizing the behavior of bolted joints. However, in the presence of a certain model of stiffeners, no orientation was given in relation to their modeling. To this end, multitude of coarse errors can arise in the reproduction of the propagation of efforts and in representation of the modes of deformations. Considering these particularities, a numerical investigation was carried out in our laboratory. In this paper we will present a comparative study between three types of assemblies. A non-linear 3D modeling was chosen, given that it takes into consideration geometric and material non-linearity, using the Finite Element calculation code ABAQUS. Initially, we evaluated the influence of the presence of each stiffener on the "global" behavior of the assemblies, this by analyzing their Moment-Rotation curves, also by referring to the classification system proposed by NF EN 1993- 1.8 which is based on the resisting moment Mj-Rd and the initial stiffness Sj.int. In a second step, we evaluated the "local" behavior of their components by referring to the stress-strain curves.Keywords: assembly, post-beam, end plate, nonlinearity
Procedia PDF Downloads 552037 Radiative Reactions Analysis at the Range of Astrophysical Energies
Authors: A. Amar
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Analysis of the elastic scattering of protons on 10B nuclei has been done in the framework of the optical model and single folding model at the beam energies up to 17 MeV. We could enhance the optical potential parameters using Esis88 Code, as well as SPI GENOA Code. Linear relationship between volume real potential (V0) and proton energy (Ep) has been obtained. Also, surface imaginary potential WD is proportional to the proton energy (Ep) in the range 0.400 and 17 MeV. The radiative reaction 10B(p,γ)11C has been analyzed using potential model. A comparison between 10B(p,γ)11C and 6Li(p,γ)7Be has been made. Good agreement has been found between theoretical and experimental results in the whole range of energy. The radiative resonance reaction 7Li(p,γ)8Be has been studied.Keywords: elastic scattering of protons on 10B nuclei, optical potential parameters, potential model, radiative reaction
Procedia PDF Downloads 1942036 Estimation of Foliar Nitrogen in Selected Vegetation Communities of Uttrakhand Himalayas Using Hyperspectral Satellite Remote Sensing
Authors: Yogita Mishra, Arijit Roy, Dhruval Bhavsar
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The study estimates the nitrogen concentration in selected vegetation community’s i.e. chir pine (pinusroxburghii) by using hyperspectral satellite data and also identified the appropriate spectral bands and nitrogen indices. The Short Wave InfraRed reflectance spectrum at 1790 nm and 1680 nm shows the maximum possible absorption by nitrogen in selected species. Among the nitrogen indices, log normalized nitrogen index performed positively and negatively too. The strong positive correlation is taken out from 1510 nm and 760 nm for the pinusroxburghii for leaf nitrogen concentration and leaf nitrogen mass while using NDNI. The regression value of R² developed by using linear equation achieved maximum at 0.7525 for the analysis of satellite image data and R² is maximum at 0.547 for ground truth data for pinusroxburghii respectively.Keywords: hyperspectral, NDNI, nitrogen concentration, regression value
Procedia PDF Downloads 2772035 A Comparison between Reagents Extracted from Tree Leaves for Spectrophotometric Determination of Hafnium(IV)
Authors: A. Boveiri Monji, H. Yousefnia, S. Zolghadri, B. Salimi
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The main goal of this paper was to make use of green reagents as a substitute of perilous synthetic reagents and organic solvents for spectrophotometric determination of hafnium(IV). The extracts taken from six different kinds of tree leaves including Acer negundo, Ficus carica, Cerasus avium, Chimonanthus, Salix babylonica and Pinus brutia, were applied as green reagents for the experiments. In 6-M hydrochloric acid, hafnium reacted with the reagent to form a yellow product and showed maximum absorbance at 421 nm. Among tree leaves, Chimonanthus showed satisfactory results with a molar absorptivity value of 0.61 × 104 l mol-1 cm-1 and the method was linear in the 0.3-9 µg mL -1 concentration range. The detection limit value was 0.064 µg mL-1. The proposed method was simple, low cost, clean, and selective.Keywords: hafnium, spectrophotometric determination, synthetic reagents, tree leaves
Procedia PDF Downloads 1652034 Quantitative Structure-Activity Relationship Study of Some Quinoline Derivatives as Antimalarial Agents
Authors: M. Ouassaf, S. Belaid
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A series of quinoline derivatives with antimalarial activity were subjected to two-dimensional quantitative structure-activity relationship (2D-QSAR) studies. Three models were implemented using multiple regression linear MLR, a regression partial least squares (PLS), nonlinear regression (MNLR), to see which descriptors are closely related to the activity biologic. We relied on a principal component analysis (PCA). Based on our results, a comparison of the quality of, MLR, PLS, and MNLR models shows that the MNLR (R = 0.914 and R² = 0.835, RCV= 0.853) models have substantially better predictive capability because the MNLR approach gives better results than MLR (R = 0.835 and R² = 0,752, RCV=0.601)), PLS (R = 0.742 and R² = 0.552, RCV=0.550) The model of MNLR gave statistically significant results and showed good stability to data variation in leave-one-out cross-validation. The obtained results suggested that our proposed model MNLR may be useful to predict the biological activity of derivatives of quinoline.Keywords: antimalarial, quinoline, QSAR, PCA, MLR , MNLR, MLR
Procedia PDF Downloads 1372033 On the Equalization of Nonminimum Phase Electroacoustic Systems Using Digital Inverse Filters
Authors: Avelino Marques, Diamantino Freitas
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Some important electroacoustic systems, like loudspeaker systems, exhibit a nonminimum phase behavior that poses considerable effort when applying advanced digital signal processing techniques, such as linear equalization. In this paper, the position and the number of zeros and poles of the inverse filter, FIR type or IIR type, designed using time domain techniques, are studied, compared and related to the nonminimum phase zeros of system to be equalized. Conclusions about the impact of the position of the system non-minimum phase zeros, on the length/order of the inverse filter and on the delay of the equalized system are outlined as a guide to previously decide which type of filter will be more adequate.Keywords: loudspeaker systems, nonminimum phase system, FIR and IIR filter, delay
Procedia PDF Downloads 542032 The Role of Team Efficacy and Coaching on the Relationships between Distributive and Procedural Justice and Job Engagement
Authors: Yoonhee Cho, Gye-Hoon Hong
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This study focuses on the roles of distributive and procedural justice on job engagement. Additionally, the study focuses on whether situational factors such as team efficacy and team leaders’ coaching moderate the relationship between distributive and procedural justice and job engagement. Ordinary linear regression was used to analyze data from seven South Korean Companies (total N=346). Results confirmed the hypothesized model indicating that both distributive and procedural justices were positively related to job engagement of employees. Team efficacy and team leaders’ coaching moderated the relationship between distributive justice and job engagement whereas it brought non-significant result found for procedural justice. The facts that two types of justice and the interactive effects of two situational variables were different implied that different managerial strategies should be used when job engagement was to be enhanced.Keywords: coaching, distributive justice, job engagement, procedural justice, team efficacy
Procedia PDF Downloads 5362031 Control of Spherical Robot with Sliding Mode
Authors: Roya Khajepour, Alireza B. Novinzadeh
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A major issue with spherical robot is it surface shape, which is not always predictable. This means that given only the dynamic model of the robot, it is not possible to control the robot. Due to the fact that in certain conditions it is not possible to measure surface friction, control methods must be prepared for these conditions. Moreover, although spherical robot never becomes unstable or topples thanks to its special shape, since it moves by rolling it has a non-holonomic constraint at point of contact and therefore it is considered a non-holonomic system. Existence of such a point leads to complexity and non-linearity of robot's kinematic equations and makes the control problem difficult. Due to the non-linear dynamics and presence of uncertainty, the sliding-mode control is employed. The proposed method is based on Lyapunov Theory and guarantees system stability. This controller is insusceptible to external disturbances and un-modeled dynamics.Keywords: sliding mode, spherical robot, non-holomonic constraint, system stability
Procedia PDF Downloads 3722030 Robust Diagnosis Efficiency by Bond-Graph Approach
Authors: Benazzouz Djamel, Termeche Adel, Touati Youcef, Alem Said, Ouziala Mahdi
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This paper presents an approach which detect and isolate efficiently a fault in a system. This approach avoids false alarms, non-detections and delays in detecting faults. A study case have been proposed to show the importance of taking into consideration the uncertainties in the decision-making procedure and their effect on the degradation diagnostic performance and advantage of using Bond Graph (BG) for such degradation. The use of BG in the Linear Fractional Transformation (LFT) form allows generating robust Analytical Redundancy Relations (ARR’s), where the uncertain part of ARR’s is used to generate the residuals adaptive thresholds. The study case concerns an electromechanical system composed of a motor, a reducer and an external load. The aim of this application is to show the effectiveness of the BG-LFT approach to robust fault detection.Keywords: bond graph, LFT, uncertainties, detection and faults isolation, ARR
Procedia PDF Downloads 2882029 Proximal Method of Solving Split System of Minimization Problem
Authors: Anteneh Getachew Gebrie, Rabian Wangkeeree
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The purpose of this paper is to introduce iterative algorithm solving split system of minimization problem given as a task of finding a common minimizer point of finite family of proper, lower semicontinuous convex functions and whose image under a bounded linear operator is also common minimizer point of another finite family of proper, lower semicontinuous convex functions. We obtain strong convergence of the sequence generated by our algorithm under some suitable conditions on the parameters. The iterative schemes are developed with a way of selecting the step sizes such that the information of operator norm is not necessary. Some applications and numerical experiment is given to analyse the efficiency of our algorithm.Keywords: Hilbert Space, minimization problems, Moreau-Yosida approximate, split feasibility problem
Procedia PDF Downloads 1222028 Design and Evaluation of a Pneumatic Muscle Actuated Gripper
Authors: Tudor Deaconescu, Andrea Deaconescu
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Deployment of pneumatic muscles in various industrial applications is still in its early days, considering the relative newness of these components. The field of robotics holds particular future potential for pneumatic muscles, especially in view of their specific behaviour known as compliance. The paper presents and discusses an innovative constructive solution for a gripper system mountable on an industrial robot, based on actuation by a linear pneumatic muscle and transmission of motion by gear and rack mechanism. The structural, operational and constructive models of the new gripper are presented, along with some of the experimental results obtained subsequently to the testing of a prototype. Further presented are two control variants of the gripper system, one by means of a 3/2-way fast-switching solenoid valve, the other by means of a proportional pressure regulator. Advantages and disadvantages are discussed for both variants.Keywords: gripper system, pneumatic muscle, structural modelling, robotics
Procedia PDF Downloads 2182027 Adaptive Cooperative Control of Nonholonomic Mobile Robot Based on Immersion and Invariance
Authors: Imil Hamda Imran, Sami El Ferik
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This paper deals with adaptive cooperative control of non holonomic mobile robot moved together in a given formation. The controller is designed based on the Immersion and Invariance (I&I) approach. I&I is a framework for adaptive stabilization of nonlinear systems with uncertain parameters. We investigate the tracking control of non holonomic mobile robot with uncertainties in The I&I-based adaptive controller regulates the angular and linear velocity of non holonomic mobile robot. The results demonstrate that the ability of I&I-based adaptive cooperative control in tracking the position of non holonomic mobile robot.Keywords: nonholonomic mobile robot, immersion and invariance, adaptive control, uncertain nonlinear systems
Procedia PDF Downloads 4732026 Compressed Suffix Arrays to Self-Indexes Based on Partitioned Elias-Fano
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A practical and simple self-indexing data structure, Partitioned Elias-Fano (PEF) - Compressed Suffix Arrays (CSA), is built in linear time for the CSA based on PEF indexes. Moreover, the PEF-CSA is compared with two classical compressed indexing methods, Ferragina and Manzini implementation (FMI) and Sad-CSA on different type and size files in Pizza & Chili. The PEF-CSA performs better on the existing data in terms of the compression ratio, count, and locates time except for the evenly distributed data such as proteins data. The observations of the experiments are that the distribution of the φ is more important than the alphabet size on the compression ratio. Unevenly distributed data φ makes better compression effect, and the larger the size of the hit counts, the longer the count and locate time.Keywords: compressed suffix array, self-indexing, partitioned Elias-Fano, PEF-CSA
Procedia PDF Downloads 2342025 Lyapunov and Input-to-State Stability of Stochastic Differential Equations
Authors: Arcady Ponosov, Ramazan Kadiev
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Input-to-State Stability (ISS) is widely used in deterministic control theory but less known in the stochastic case. Roughly speaking, the theory explains when small perturbations of the right-hand sides of the system on the entire semiaxis cause only small changes in the solutions of the system, again on the entire semiaxis. This property is crucial in many applications. In the report, we explain how to define and study ISS for systems of linear stochastic differential equations with or without delays. The central result connects ISS with the property of Lyapunov stability. This relationship is well-known in the deterministic setting, but its stochastic version is new. As an application, a method of studying asymptotic Lyapunov stability for stochastic delay equations is described and justified. Several examples are provided that confirm the efficiency and simplicity of the framework.Keywords: asymptotic stability, delay equations, operator methods, stochastic perturbations
Procedia PDF Downloads 1562024 Gender Equality for the Environment: Positioning India
Authors: Nivedita Roy, Aparajita Chattopadhyay
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Gender discrimination is already one of the major factors why India is still in the list of the 3rd World Countries, but, when it comes to gender inclusion in the environmental arena, this umbrella concept is quite unheard of by our countrymen. The main objective was to assess gender equality for the environment through calculating Environment and Gender Index on a country level, India, in this case. 22 states out of 29 were considered for calculation. Also, out of the 72 countries chosen by IUCN to calculate EGI, the lower middle income group of countries was chosen to assess the position of India, also a lower middle income group country, among them. Linear Regression is executed through SPSS and simple graphs and tables are prepared through MS-EXCEL for analysis. India portrays good governance, reporting activities well to the UN but in terms of basic livelihood and gender equality, the performance is comparatively weak.Keywords: environment, gender, livelihood, rights, participation, development, conservation
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