Search results for: seismic ground motion

Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: preview control, Nao robot, model predictive control

Procedia PDF Downloads 126

Authors: Wissem Tighidet, Faïçal Naït Bouda, Moussa Allouche

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The numerical study of the Fluid-Structure Interaction (FSI) in a partially filled flexible tank submitted to a horizontal harmonic excitation motion. It is investigated by using two-way Fluid-Structure Interaction (FSI) in a flexible tank by Coupling between the Transient Structural (Mechanical) and Fluid Flow (Fluent) in ANSYS-Workbench Student version. The Arbitrary Lagrangian-Eulerian (ALE) formulation is adopted to solve with the finite volume method, the Navier-Stokes equations in two phases in a moving domain. The Volume of Fluid (VOF) method is applied to track the free surface. However, the equations of the dynamics of the structure are solved with the finite element method assuming a linear elastic behavior. To conclude, the Fluid-Structure Interaction (IFS) has a vital role in the analysis of the dynamic behavior of the rectangular tank. The results indicate that the flexibility of the tank walls has a significant impact on the amplitude of tank sloshing and the deformation of the free surface as well as the effect of liquid sloshing on wall deformation.

Keywords: arbitrary lagrangian-eulerian, fluid-structure interaction, sloshing, volume of fluid

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Authors: Amiya Kumar Thakur, Dinesh Ganvir, Prem Pal Bansal

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Industrial by product utilization has been encouraged due to environment and economic factors. Since electric arc furnace slag aggregate is a by-product of steel industry and its storage is a major concern hence it can be used as a replacement of natural aggregate as its physical and mechanical property are comparable or better than the natural aggregates. The present study investigates the effect of partial and full replacement of natural coarse aggregate with coarse EAF slag aggregate and partial replacement of cement with ground granulated blast furnace slag (GGBFS) on the mechanical and durability properties of roller compacted concrete pavement (RCCP).The replacement level of EAF slag aggregate were at five levels (i.e. 0% ,25% ,50%,75% & 100%) and of GGBFS was (0 % & 30%).The EAF slag aggregate was stabilized by exposing to outdoor condition for several years and the volumetric expansion test using steam exposure device was done to check volume stability. Soil compaction method was used for mix proportioning of RCCP. The fresh properties of RCCP investigated were fresh density and modified vebe test was done to measure the consistency of concrete. For investigating the mechanical properties various tests were done at 7 and 28 days (i.e. Compressive strength, split tensile strength, flexure strength modulus of elasticity) and also non-destructive testing was done at 28 days (i.e. Ultra pulse velocity test (UPV) & rebound hammer test). The durability test done at 28 days were water absorption, skid resistance & abrasion resistance. The results showed that with the increase in slag aggregate percentage there was an increase in the fresh density of concrete and also slight increase in the vebe time but with the 30 % GGBFS replacement the vebe time decreased and the fresh density was comparable to 0% GGBFS mix. The compressive strength, split tensile strength, flexure strength & modulus of elasticity increased with the increase in slag aggregate percentage in concrete when compared to control mix. But with the 30 % GGBFS replacement there was slight decrease in mechanical properties when compared to 100 % cement concrete. In UPV test and rebound hammer test all the mixes showed excellent quality of concrete. With the increase in slag aggregate percentage in concrete there was an increase in water absorption, skid resistance and abrasion resistance but with the 30 % GGBFS percentage the skid resistance, water absorption and abrasion resistance decreased when compared to 100 % cement concrete. From the study it was found that the mix containing 30 % GGBFS with different percentages of EAF slag aggregate were having comparable results for all the mechanical and durability property when compared to 100 % cement mixes. Hence 30 % GGBFS can be used as cement replacement with 100 % EAF slag aggregate as natural coarse aggregate replacement.

Keywords: durability properties, electric arc furnace slag aggregate, GGBFS, mechanical properties, roller compacted concrete pavement, soil compaction method

Procedia PDF Downloads 137

Authors: Angga S. Fajar, Y. Takahashi, J. Kiyono, S. Sawada

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The problem of medium span bridge bearing support in the extreme temperatures fluctuation region is deterioration in case the suppression of superstructure that sustains temperature expansion. The other hand, the behavior and the parameter of RC column accompanied with friction damping mechanism were determined successfully based on the experiment and numerical analysis. This study proposes the structural system of RC pier accompanied with multi sliding friction damping mechanism to substitute the conventional system of pier together with bearing support. In this system, the pier has monolith behavior to the superstructure with flexible small deformation to accommodate thermal expansion of the superstructure. The flexible small deformation behavior is realized by adding the gap mechanism in the multi sliding friction devices form. The important performances of this system are sufficient lateral flexibility in small deformation, sufficient elastic deformation capacity, sufficient lateral force resistance, and sufficient energy dissipation. Numerical analysis performed for this system with fiber element model. It shows that the structural system has good performance not only under small deformation due to thermal expansion of the superstructure but also under seismic load.

Keywords: RC Pier, thermal expansion, multi sliding friction device, flexible small deformation

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Authors: Kadri Koçer, Sezer Kefeli

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This paper proposes a comparison of hydrodynamic performance and stability characteristic for an underwater vehicle which has two type of tail design, namely X and +tail-body configurations. The effects of these configurations on the underwater vehicle’s hydrodynamic performance and maneuvering characteristic will be investigated comprehensively. Hydrodynamic damping coefficients for modeling the motion of the underwater vehicles will be predicted. Additionally, forces and moments due to control surfaces will be compared using computational fluid dynamics methods. In the aviation, the X tail-body configuration is widely used for high maneuverability requirements. However, in the underwater, the + tail-body configuration is more commonly used than the X tail-body configuration for its stability characteristics. Thus it is important to see the effect and differences of the tail designs in the underwater world. For CFD analysis, the incompressible, three-dimensional, and steady Navier-Stokes equations will be used to simulate the flows. Also, k-ε Realizable turbulence model with enhanced wall treatment will be taken. Numerical results is verified with experimental results for verification. The overall goal of this study is to present the advantages and disadvantages of hydrodynamic performance and stability characteristic for X and + tail-body configurations of the underwater vehicle.

Keywords: maneuverability, stability, CFD, tail configuration, hydrodynamic design

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Authors: Hang Tran, Victor Brial, Luca Sorelli, Claudiane Ouellet-Plamondon, David Conciatori, Laurent Birry

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Spend pot lining (SPL) is a by-product generated from primary aluminum production. SPL consists of two parts, the first cut is rich in carbonaceous materials, and the second cut is rich in aluminum and silicon oxides. After treating by the hydrometallurgical Low Caustic Leaching and Liming process, the refractory part of SPL becomes an inert material, called LCLL ash in this project. LCLL ash was calcined at different temperatures (800 and 1000°C) and Calcined LCLL ash ground as fines of cement and replacement a part of cement in concrete production. The effect of LCLL ash on the chemical properties, mechanical properties and fresh behavior of concrete was evaluated by isothermal calorimetry, compressive test, and slump test. These results were compared to the reference mixture.

Keywords: spend pot lining, concrete, cement, compressive strength, calorimetry

Procedia PDF Downloads 212

Authors: Ch. Surawut, D. Sukawat

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In order to utilize results from global climate models, dynamical and statistical downscaling techniques have been developed. For dynamical downscaling, usually a limited area numerical model is used, with associated high computational cost. This research proposes dynamic equation for specific space-time regional climate downscaling from the Educational Global Climate Model (EdGCM) for Southeast Asia. The equation is for surface air temperature. These equations provide downscaling values of surface air temperature at any specific location and time without running a regional climate model. In the proposed equations, surface air temperature is approximated from ground temperature, sensible heat flux and 2m wind speed. Results from the application of the equation show that the errors from the proposed equations are less than the errors for direct interpolation from EdGCM.

Keywords: dynamic equation, downscaling, inverse distance, weight interpolation

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Authors: Manar Amayri, Hussain Kazimi, Quoc-Dung Ngo, Stephane Ploix

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A general approach is proposed to determine occupant behavior (occupancy and activity) in residential buildings and to use these estimates for improved energy management. Occupant behaviour is modelled with a Bayesian Network in an unsupervised manner. This algorithm makes use of domain knowledge gathered via questionnaires and recorded sensor data for motion detection, power, and hot water consumption as well as indoor CO₂ concentration. Two case studies are presented which show the real world applicability of estimating occupant behaviour in this way. Furthermore, experiments integrating occupancy estimation and hot water production control show that energy efficiency can be increased by roughly 5% over known optimal control techniques and more than 25% over rule-based control while maintaining the same occupant comfort standards. The efficiency gains are strongly correlated with occupant behaviour and accuracy of the occupancy estimates.

Keywords: energy, management, control, optimization, Bayesian methods, learning theory, sensor networks, knowledge modelling and knowledge based systems, artificial intelligence, buildings

Procedia PDF Downloads 366

Authors: Alexandre Rabaseda, Emelie Seguin, Marc Doumit

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Human mobility exoskeletons have been in development for several years and are becoming increasingly efficient. Unfortunately, user comfort was not always a priority design criterion throughout their development. To further improve this technology, exoskeletons should operate and deliver assistance without causing discomfort to the user. For this, improvements are necessary from an ergonomic point of view. The device’s control method is important when endeavoring to enhance user comfort. Exoskeleton or rehabilitation device controllers use methods of control called interaction controls (admittance and impedance controls). This paper proposes an extended version of an admittance controller to enhance user comfort. The control method used consists of adding an inner loop that is controlled by a proportional-integral-derivative (PID) controller. This allows the interaction force to be kept as close as possible to the desired force trajectory. The force-tracking admittance controller modifies the actuation force of the system in order to follow both the desired motion trajectory and the desired relative force between the user and the exoskeleton.

Keywords: mobility assistive device, exoskeleton, force-tracking admittance controller, user comfort

Procedia PDF Downloads 148

Authors: Mehmet Salih Bayraktutan

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Geomechanical properties of Rock Salt Deposits in Tuzluca Salt Mine Area (Eastern Turkey) are studied for modeling the operation- excavation strategy. The purpose of this research focused on calculating the critical value of span height- which will meet the safety requirements. The Mine Site Tuzluca Hills consist of alternating parallel bedding of Salt ( NaCl ) and Gypsum ( CaS04 + 2 H20) rocks. Rock Salt beds are more resistant than narrow Gypsum interlayers. Rock Salt beds formed almost 97 percent of the total height of the Hill. Therefore, the geotechnical safety of Galleries depends on the mechanical criteria of Rock Salt Cores. General deposition of Tuzluca Basin was finally completed by Tuzluca Evaporites, as for the uppermost stratigraphic unit. They are currently running mining operations performed by classic mechanical excavation, room and pillar method. Rooms and Pillars are currently experiencing an initial stage of fracturing in places. Geotechnical safety of the whole mining area evaluated by Rock Mass Rating (RMR), Rock Quality Designation (RQD) spacing of joints, and the interaction of groundwater and fracture system. In general, bedded rock salt Show large lateral deformation capacity (while deformation modulus stays in relative small values, here E= 9.86 GPa). In such litho-stratigraphic environments, creep is a critical mechanism in failure. Rock Salt creep rate in steady-state is greater than interbedding layers. Under long-lasted compressive stresses, creep may cause shear displacements, partly using bedding planes. Eventually, steady-state creep in time returns to accelerated stages. Uniaxial compression creep tests on specimens were performed to have an idea of rock salt strength. To give an idea, on Rock Salt cores, average axial strength and strain are found as 18 - 24 MPa and 0.43-0.45 %, respectively. Uniaxial Compressive strength of 26- 32 MPa, from bedded rock salt cores. Elastic modulus is comparatively low, but lateral deformation of the rock salt is high under the uniaxial compression stress state. Poisson ratio = 0.44, break load = 156 kN, cohesion c= 12.8 kg/cm2, specific gravity SG=2.17 gr/cm3. Fracture System; spacing of fractures, joints, faults, offsets are evaluated under acting geodynamic mechanism. Two sand beds, each 4-6 m thick, exist near to upper level and at the top of the evaporating sequence. They act as aquifers and keep infiltrated water on top for a long duration, which may result in the failure of roofs or pillars. Two major active seismic ( N30W and N70E ) striking Fault Planes and parallel fracture strands have seismically triggered moderate risk of structural deformation of rock salt bedding sequence. Earthquakes and Floods are two prevailing sources of geohazards in this region—the seismotectonic activity of the Mine Site based on the crossing framework of Kagizman Faults and Igdir Faults. Dominant Hazard Risk sources include; a) Weak mechanical properties of rock salt, gypsum, anhydrite beds-creep. b) Physical discontinuities cutting across the thick parallel layers of Evaporite Mass, c) Intercalated beds of weak cemented or loose sand, clayey sandy sediments. On the other hand, absorbing the effects of salt-gyps parallel bedded deposits on seismic wave amplitudes has a reducing effect on the Rock Mass.

Keywords: bedded rock salt, creep, failure mechanism, geotechnical safety

Procedia PDF Downloads 186

Authors: Bokku Kang, Changsoo Chon, Han Sung Kim

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We developed new design of rod of pedicle screw system that is beneficial in maintaining the spacing between the vertebrae and assessed the performance of the posterior fixation screw systems by numerical analysis according to the range of motion (flexion, extension, lateral bending, and axial rotation) of the vertebral column after inserting the pedicle screws. The simulation results showed that the conventional rod was the most low equivalent stress value among implant units in the case of flexion, extension and lateral bending of the vertebrae. In all cases except the torsional rotation, the results showed that the stress level of the single and double rounded rod exceeded about 30% to 70% compare to the conventional rod. Therefore, this product is not suitable for actual application in the field yet and it seems that product design optimization is necessary. Acknowledgement: This research was supported by the Ministry of Trade, Industry & Energy (MOTIE), Korea Institute for Advancement of Technology (KIAT) through the Encouragement Program for The Industries of Economic Cooperation Region.

Keywords: lumber spine, internal fixation device, finite element method, biomechanics

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Authors: Sukla Saha, Alok Sinha

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Acid mine drainage (AMD) is the generation of acidic water from active as well as abandoned mines. AMD generates due to the oxidation of pyrites present in the rock in mining areas. Sulfur oxidizing bacteria such as Thiobacillus ferrooxidans acts as a catalyst in this oxidation process. The characteristics of AMD is extreme low pH (2-3) with elevated concentration of different heavy metals such as Fe, Al, Zn, Mn, Cu and Co and anions such sulfate and chloride. AMD contaminate the ground water as well as surface water which leads to the degradation of water quality. Moreover, it carries detrimental effect for aquatic organism and degrade the environment. In the present study, AMD is treated with fly ash, modified with alkaline agent (NaOH). This modified fly ash (MFA) was experimentally proven as a very effective neutralizing agent for the treatment of AMD. It was observed that pH of treated AMD raised to 9.22 from 1.51 with 100g/L of MFA dose. Approximately, 99% removal of Fe, Al, Mn, Cu and Co took place with the same MFA dose. The treated water comply with the effluent discharge standard of (IS: 2490-1981).

Keywords: acid mine drainage, heavy metals, modified fly ash, neutralization

Procedia PDF Downloads 142

Authors: S. Yunus, A. Suratman, N. Mohamad Nor, M. Othman

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This paper presents the measurement and simulation results by Finite Element Method (FEM) for earth resistance (R_DC) for interconnected vertical ground rod configurations. The soil resistivity was measured using the Wenner four-pin Method, and R_DC was measured using the Fall of Potential (FOP) method, as outlined in the standard. Genetic Algorithm (GA) is employed to interpret the soil resistivity to that of a 2-layer soil model. The same soil resistivity data that were obtained by Wenner four-pin method were used in FEM for simulation. This paper compares the results of R_DC obtained by FEM simulation with the real measurement at field site. A good agreement was seen for R_DC obtained by measurements and FEM. This shows that FEM is a reliable software to be used for design of earthing systems. It is also found that the parallel rod system has a better performance compared to a similar setup using a grid layout.

Keywords: earthing system, earth electrodes, finite element method, genetic algorithm, earth resistances

Procedia PDF Downloads 103

Authors: Elnaz Lashgari, Emel Demircan

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Electromyography (EMG) is one of the most important interfaces between humans and robots for rehabilitation. Decoding this signal helps to recognize muscle activation and converts it into smooth motion for the robots. Detecting each muscle’s pattern during walking and running is vital for improving the quality of a patient’s life. In this study, EMG data from 10 muscles in 10 subjects at 4 different speeds were analyzed. EMG signals are nonlinear with high dimensionality. To deal with this challenge, we extracted some features in time-frequency domain and used manifold learning and Laplacian Eigenmaps algorithm to find the intrinsic features that represent data in low-dimensional space. We then used the Bayesian classifier to identify various patterns of EMG signals for different muscles across a range of running speeds. The best result for vastus medialis muscle corresponds to 97.87±0.69 for sensitivity and 88.37±0.79 for specificity with 97.07±0.29 accuracy using Bayesian classifier. The results of this study provide important insight into human movement and its application for robotics research.

Keywords: electromyography, manifold learning, ISOMAP, Laplacian Eigenmaps, locally linear embedding

Procedia PDF Downloads 355

Authors: Anil Kumar Pandey

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Power plane noise is the most significant source of signal integrity (SI) issues in a high-speed digital design. In this paper, power integrity (PI) analysis of multiple power planes in a power delivery system of a 12-layer high-speed FPGA board is presented. All 10 power planes of HSD board are analyzed separately by using 3D Electromagnetic based PI solver, then the transient simulation is performed on combined PI data of all planes along with voltage regulator modules (VRMs) and 70 current drawing chips to get the board level power noise coupling on different high-speed signals. De-coupling capacitors are placed between power planes and ground to reduce power noise coupling with signals.

Keywords: power integrity, power-aware signal integrity analysis, electromagnetic simulation, channel simulation

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Authors: Tarek S. Duzan, Abdulaziz F. Ettir

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Wave velocities, Core and Log petrophysical data were collected from recently drilled four new wells scattered through-out the Dahra/Jofra (PL-5) Reservoir. The collected data were analyzed for the relationships of Wave Velocities with rock property such as Porosity, permeability and Bulk Density. Lots of Literature review reveals a number of differing results and conclusions regarding wave velocities (Compressional Waves (Vp) and Shear Waves (Vs)) versus rock petrophysical property relationships, especially in carbonate reservoirs. In this paper, we focused on the relationships between wave velocities (Vp , Vs) and the ratio Vp/Vs with rock properties for shallow marine libyan carbonate reservoir (Real Case). Upon data analysis, a relationship between petrophysical properties and wave velocities (Vp, Vs) and the ratio Vp/Vs has been found. Porosity and bulk density properties have shown exponential relationship with wave velocities, while permeability has shown a power relationship in the interested zone. It is also clear that wave velocities (Vp , Vs) seems to be a good indicator for the lithology change with true vertical depth. Therefore, it is highly recommended to use the output relationships to predict porosity, bulk density and permeability of the similar reservoir type utilizing the most recent seismic data.

Keywords: conventional core analysis (porosity, permeability bulk density) data, VS wave and P-wave velocities, shallow carbonate reservoir in D/J field

Procedia PDF Downloads 325

Authors: Amel Bouderhem, Aminata Ould El Hadj Khelil, Amina N. Djrarbaoui, Aroussi Aroussi

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The present work aims to find the influence of the nature of the soil on the effectiveness of the biodegradation of hydrocarbons by a mixture of bacterial strains hydrocarbonoclastes. Processes of bioaugmentation and biostimulation trial are applied to samples of soils polluted voluntarily by the crude oil. For the evaluation of the biodegradation of hydrocarbons, the bacterial load, the pH and organic carbon total are followed in the different experimental batches. He bacterial load of the sandy soil varies among the witnesses of 45,2 .108 CFU/ml at the beginning of the experimentation to 214,07.108 CFU/ml at the end of the experiment. Of the soil silty-clay varies between 103,31 .108 CFU/ml and 614,86.108 CFU/ml . It was found a strong increase in the bacterial biomass during the processing of all samples. This increase is more important in the samples of sand bioaugmente or biomass increased from 63.16 .108 CFU/ml to 309.68 .108 CFU/ml than in soil samples silty clay- bioaugmente whose content in bacteria evolved of 73,01 .108 CFU/ml to 631.80 . 108CFU/ml

Keywords: pollution, hydrocarbons, bioremediation, bacteria hydrocarbonoclastes, ground, texture

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Authors: Hasan Husnu Korkmaz, Serra Zerrin Korkmaz

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The reinforced concrete (RC) framed structures composed of beams, columns, shear walls and the slabs. The other members are assumed to be nonstructural. Especially the brick infill walls which are used to separate the rooms or spaces are just handled as dead loads. On the other hand, if these infills are constructed within the frame bays, they also have higher shear and compression capacities. It is a well-known fact that, brick infills increase the lateral rigidity of the structure and thought to be a reserve capacity in the design. But, brick infills can create unfavorable failure or damage modes in the earthquake action such as soft story or short columns. The increase in the lateral rigidity also causes an over estimation of natural period of the structure and the corresponding earthquake loads in the design are less than the actual ones. In order to obtain accurate and realistic design results, the infills must be modelled in the structural design and their capacities must be included. Unfortunately, in Turkish Earthquake Code, there is no design methodology for the engineers. In this paper, finite element modelling of infilled reinforced concrete structures are studied. The proposed or used method is compared with the experimental results of a previous study. The effect of infills on the structural response is expressed within the paper.

Keywords: seismic loading, brick infills, finite element analysis, reinforced concrete, earthquake code

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Authors: B. X. Tchomeni, A. A. Alugongo, L. M. Masu

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This paper presents a 4-DOF nonlinear model of a cracked of Laval rotor established based on Energy Principles. The model has been used to simulate coupled torsional-lateral response of the cracked rotor stator-system with multiple parametric excitations, namely, rotor-stator-rub, a breathing transverse crack, unbalanced mass, and an axial force. Nonlinearity due to a “breathing” crack is incorporated by considering a simple hinge model which is suitable for small breathing crack. The vibration response of a cracked rotor passing through its critical speed with rotor-stator interaction is analyzed, and an attempt for crack detection and monitoring explored. Effects of unbalanced eccentricity with phase and acceleration are investigated. By solving the motion equations, steady-state vibration response is obtained in presence of several rotor faults. The presence of a crack is observable in the power spectrum despite the excitation by the axial force and rotor-stator rub impact. Presented results are consistent with existing literature and could be adopted into rotor condition monitoring strategies

Keywords: rotor, crack, rubbing, axial force, non linear

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Authors: Hong-Nam Choi, Hyeong-Wook Song, Sungwan Hong, Hong-Kyu Kim

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In Korea, elements that decide the quality of residential environment are not only diverse, but show deviation as well. However, people do not consider these elements and instead, they try to settle the uniformed style of residential environment, which focuses on the construction development of apartment housing and business based plans. Recently, block-unit redevelopment is becoming the standout alternative plan of standardize redevelopment projects, but constructions become inefficient because of indefinite planning criteria. In conclusion, the following research is about analyzing and categorizing the development method and legal ground of redevelopment project district, plan determinant and applicable standard. The purpose of this study is to become a basis in compatible analysis of planning standards that will happen in the future.

Keywords: shape restrictions, improvement of regulation, diversity of residential environment, classification of redevelopment project, planning criteria of redevelopment, special architectural district (SAD)

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Authors: Assem Sallam, Aly Elzahaby, Ahmed Makled, Mohamed Khalil

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Change in design parameters of launch vehicle affects its overall flight path trajectory. In this paper, several design parameters are introduced to study their effect. Selected parameters are the launch vehicle mass, which is presented in the form of payload mass, the maximum allowable angle of attack the launch vehicle can withstand, the flight path angle that is predefined for the launch vehicle second stage, the required inclination and its effect on the launch azimuth and finally by changing the launch pad coordinate. Selected design parameters are studied for their effect on the variation of altitude, ground range, absolute velocity and the flight path angle. The study gives a general mean of adjusting the design parameters to reach the required launch vehicle performance.

Keywords: launch vehicle azimuth, launch vehicle trajectory, launch vehicle payload, launch pad location

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Authors: Sukanta K. Shill, Md. M. Hoque, Md. Shaifullah

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An experiment on the punching of RC column footing, comparison of test result to established different codes for punching shear calculation of column footings is presented in the paper. The principal aim of this study is to investigate the punching shear behavior of an isolated column footing using brick aggregate as coarse aggregate. Consequence, a RC model footing was constructed on a stabilized soil and tested the footing under field condition. The test result yields that the experimental punching shear capacity is greater than all the theoretical punching shear capacities obtained by using different codes of practices. It can be stated that BNBC 1993, as well as ACI 318, 2002 code formulae are very conservative in predicting the punching shear resistance of RC footing, whereas the CEB-FIP MC, 1990 formula and Eurocode2 formula are less conservative in predicting the punching shear resistance of footing.

Keywords: footing, punching shear, field condition, stabilized soil, brick aggregate

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Authors: Seyed Jamal Haddadi, M. Reza Mehranpour, Roya Sadat Mortazavi, Zahra Sadat Mortazavi

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Principal aim of this research is trajectory tracking, attitude and position control scheme in real flight mode by an Octorotor helicopter. For more stability, in this Unmanned Aerial Vehicle (UAV), number of motors is increased to eight motors which end of each arm installed two coaxial counter rotating motors. Dynamic model of this Octorotor includes of motion equation for translation and rotation. Utilized controller is proportional-integral-derivative (PID) control loop. The proposed controller is designed such that to be able to attenuate an effect of external wind disturbance and guarantee stability in this condition. The trajectory is determined by a Global Positioning System (GPS). Also an ARM CortexM4 is used as microprocessor. Electronic board of this UAV designed as able to records all of the sensors data, similar to an aircraft black box in external memory. Finally after auto landing of Octorotor, flight data is shown in MATLAB software and Experimental results of the proposed controller show the effectiveness of our approach on the Autonomous Quadrotor in real conditions.

Keywords: octorotor, design, PID controller, autonomous, trajectory tracking

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Authors: Haozhe Xiang

Abstract:

With the rise of the Internet of Things era, intelligent products are gradually integrating into people's lives. Pedestrian trajectory prediction has become a key issue, which is crucial for the motion path planning of intelligent agents such as autonomous vehicles, robots, and drones. In the current technological context, deep learning technology is becoming increasingly sophisticated and gradually replacing traditional models. The pedestrian trajectory prediction algorithm combining neural networks and attention mechanisms has significantly improved prediction accuracy. Based on in-depth research on deep learning and pedestrian trajectory prediction algorithms, this article focuses on physical environment modeling and learning of historical trajectory time dependence. At the same time, social interaction between pedestrians and scene interaction between pedestrians and the environment were handled. An improved pedestrian trajectory prediction algorithm is proposed by analyzing the existing model architecture. With the help of these improvements, acceptable predicted trajectories were successfully obtained. Experiments on public datasets have demonstrated the algorithm's effectiveness and achieved acceptable results.

Keywords: deep learning, graph convolutional network, attention mechanism, LSTM

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Authors: Masoud Gholam Ale Mohammad, Mojtaba Hafezi Birgani

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An experimental study of saturated pool boiling on a single artificial nucleation site without and with the application of an electric field on the boiling surface has been conducted. N-pentane is boiling on a copper surface and is recorded with a high speed camera providing high quality pictures and movies. The accuracy of the visualization allowed establishing an experimental bubble growth law from a large number of experiments. This law shows that the evaporation rate is decreasing during the bubble growth, and underlines the importance of liquid motion induced by the preceding bubble. Bubble rise is therefore studied: once detached, bubbles accelerate vertically until reaching a maximum velocity in good agreement with a correlation from literature. The bubbles then turn to another direction. The effect of applying an electric field on the boiling surface in finally studied. In addition to changes in the bubble shape, changes are also shown in the liquid plume and the convective structures above the surface. Lower maximum rising velocities were measured in the presence of electric fields, especially with a negative polarity.

Keywords: single and double bubbles, electric field, boiling, rising

Procedia PDF Downloads 224

Authors: İmren Öztürk Yılmaz, Abdullah Yasin Bilici, Yasin Atalay Candemir

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The system consists of 4 main elements: motion system, image acquisition system, image processing software, and control interface. The parts coming out of the production line to enter the image processing system with the conveyor belt at the end of the line. The 3D scanning of the produced part is performed with the laser scanning system integrated into the system entry side. With the 3D scanning method, it is determined at what position and angle the parts enter the system, and according to the data obtained, parameters such as part origin and conveyor speed are calculated with the designed software, and the robot is informed about the position where it will take part. The robot, which receives the information, takes the produced part on the belt conveyor and shows it to high-resolution cameras for quality control. Measurement processes are carried out with a maximum error of 20 microns determined by the experiments.

Keywords: quality control, industry 4.0, image processing, automated fault detection, digital visual inspection

Procedia PDF Downloads 108

Authors: D. Vidhyaprakash, A. Elango

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In real-time applications, wheeled mobile robots are increasingly used and operated in extreme and diverse conditions traversing challenging surfaces such as a pitted, uneven terrain, natural flat, smooth terrain, as well as wet and dry surfaces. In order to accomplish such tasks, it is critical that the motion control functions without wheel slip and odometry error during the navigation of the two-wheeled mobile robot (WMR). Wheel slip and odometry error are disrupting factors on overall WMR performance in the form of deviation from desired trajectory, navigation, travel time and budgeted energy consumption. The wheeled mobile robot’s ability to operate at peak performance on various work surfaces without wheel slippage and odometry error is directly connected to four main parameters, which are the range of payload distribution, speed, wheel diameter, and wheel width. This paper analyses the effects of those parameters on overall performance and is concerned with determining the ideal range of parameters for optimum performance.

Keywords: wheeled mobile robot, terrain, wheel slippage, odometryerror, trajectory

Procedia PDF Downloads 276

Authors: Yansong Zhang, Xueyuan Li, Junjie Zhou, Xufeng Yin, Shihua Yuan, Shuxian Liu

Abstract:

Aiming at the verification of control algorithms for skid-steering vehicles, a vehicle simulation model of 6×6 electric skid-steering unmanned vehicle was established based on Trucksim and Simulink. The original transmission and steering mechanism of Trucksim are removed, and the electric skid-steering model and a closed-loop controller for the vehicle speed and yaw rate are built in Simulink. The simulation results are compared with the ones got by theoretical formulas. The results show that the predicted tire mechanics and vehicle kinematics of Trucksim-Simulink simulation model are closed to the theoretical results. Therefore, it can be used as an effective approach to study the dynamic performance and control algorithm of skid-steering vehicle. In this paper, a method of motion control based on feed forward control is also designed. The simulation results show that the feed forward control strategy can make the vehicle follow the target yaw rate more quickly and accurately, which makes the vehicle have more maneuverability.

Keywords: skid-steering, Trucksim-Simulink, feedforward control, dynamics

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Authors: Renato Santos Paulinelli Raposo, Vinicius Resende Domingues, Manoel Porfirio Cordao Neto

Abstract:

Rapid drawdown is one of the cases referred to ground stability study in dam projects. Due to the complexity generated by the combination of loads and the difficulty in determining the parameters, analyses of rapid drawdown are usually performed considering the immediate reduction of water level upstream. The proposal of a simulation, considering the gradual reduction in water level upstream, requires knowledge of parameters about consolidation and those related to unsaturated soil. In this context, the purpose of this study is to understand the methodology of collection and analysis of parameters to simulate a rapid drawdown in dams. Using a numerical tool, the study is complemented with a hypothetical case study that can assist the practical use of data compiled. The referenced dam presents homogeneous section composed of clay soil, a height of 70 meters, a width of 12 meters, and upstream slope with inclination 1V:3H.

Keywords: dam, GeoStudio, rapid drawdown, stability analysis

Procedia PDF Downloads 251

Authors: Saravanan R.

Abstract:

The landscape of Kerala was paved way for the growth of maritime contacts with foreigners. Pepper was the important exported item from here because this region only having pepper production on the West Coast of India. The paper is attempting to analysis the available references of ancient port town in Kerala. It is merely preliminary investigation about Early Historic urban centres with the available literary evidences and excavations reports that would help us to understand the ancient port town in Kerala coast. There were number of ancient port towns mentioned in classical Greek and Sangam literatures. For instance, Naura, Tyndis, Nelcynda, Bacare and Muziris were the major sites of Kerala which represented only in the text but not able to locate these sites on the ground so far. There are lot of studies on site based as well as state based regarding the various aspects of ancient port towns. But, it is mainly focussed on factual narration and theoretical interpretation.

Keywords: urban centre, amphora, Muziris, port town, Sangam text and trade

Procedia PDF Downloads 66