Search results for: inertia force minimization

Authors: Said Echchakoui

Abstract:

This paper aims to investigate how experiential value added by the salesperson mediates the relationship between perceived salesperson source characteristics and his performance. Structural equation modelling was employed to assess the proposed research model empirically. The empirical results revealed that the three dimensions of experiential value economic benefit, service productivity and enjoyable interaction, mediated the relationship between perceived salesperson source characteristics and his performance. Managerial implications are addressed.

Keywords: sales force, experiential added value, customer perceived value, performance

Procedia PDF Downloads 412

Authors: M. Heydari Vini

Abstract:

There is a complicated relation between effective input parameters of cold rolling and output rolling force and exit thickness of strips.in many mathematical models, the effect of some rolling parameters have been ignored and the outputs have not a desirable accuracy. In the other hand, there is a special relation among input thickness of strips,the width of the strips,rolling speeds,mandrill tensions and the required exit thickness of strips with rolling force and the real exit thickness of the rolled strip. First of all, in this paper the effective parameters of cold rolling process modeled using an artificial neural network according to the optimum network achieved by using a written program in MATLAB,it has been shown that the prediction of rolling stand parameters with different properties and new dimensions attained from prior rolled strips by an artificial neural network is applicable.

Keywords: cold rolling, artificial neural networks, rolling force, real rolled thickness of strips

Procedia PDF Downloads 480

Authors: Sylvia Graczka

Abstract:

Waste related environmental problems are not only exploding but are also spotlighted for capacity shortages in recycling, as China announced its ban on waste imports. According to the waste hierarchy, prevention is the primary solution for waste, and also the cheapest. Waste related environmental pollution as externality puts an ever-growing burden on communities bearing the social costs. Economic policies often claim to be pro-environment, this often appears only theoretically, or at the level of principles. There are few concrete occurrences of tools in economic policies, such as green taxes, that are truly effective in stimulating the shift towards waste reduction. The paper presents theoretical economic policy tools based on literature review, and case studies on applied economic policy tools by analyzing policy papers, strategies in force, in line with ‘polluter pays’ and ‘extended producer responsibility’ principles. The study also emphasizes the differences between the broader notion of waste reduction and that of waste minimization, parallel to the difference between resource efficiency and resource savings. It also puts the issue in the context of neoclassical environmental economics and ecological economics, to present alternatives in approach. The research concludes in identifying effective economic policy tools that support the reduction of material use, and the prevention of waste. Consumer and producer awareness of waste problems and consciousness related to their choices are inevitable to make economic policy tools work effectively.

Keywords: economic policy, producer responsibility, resource efficiency, waste prevention

Procedia PDF Downloads 129

Authors: Faraji Sepideh

Abstract:

Nowadays, purchase rate of the smart device is increasing and user authentication is one of the important issues in information security. Alphanumeric strong passwords are difficult to memorize and also owners write them down on papers or save them in a computer file. In addition, text password has its own flaws and is vulnerable to attacks. Graphical password can be used as an alternative to alphanumeric password that users choose images as a password. This type of password is easier to use and memorize and also more secure from pervious password types. In this paper we have designed a more secure graphical password system to prevent shoulder surfing, smudge and brute force attack. This scheme is a combination of two types of graphical passwords recognition based and Cued recall based. Evaluation the usability and security of our proposed scheme have been explained in conclusion part.

Keywords: brute force attack, graphical password, shoulder surfing attack, smudge attack

Procedia PDF Downloads 136

Authors: Zulkifli Ahmad, Mohd Razlan Azizan, Nasrul Hadi Johari

Abstract:

This paper presents a study on development and conducting of a wearable sensor system for gait analysis measurement. For validation, the method of plantar surface measurement by force plate was prepared. In general gait analysis, force plate generally represents a studies about barefoot in whole steps and do not allow analysis of repeating movement step in normal walking and running. The measurements that were usually perform do not represent the whole daily plantar pressures in the shoe insole and only obtain the ground reaction force. The force plate measurement is usually limited a few step and it is done indoor and obtaining coupling information from both feet during walking is not easily obtained. Nowadays, in order to measure pressure for a large number of steps and obtain pressure in each insole part, it could be done by placing sensors within an insole. With this method, it will provide a method for determine the plantar pressures while standing, walking or running of a shoe wearing subject. Inserting pressure sensors in the insole will provide specific information and therefore the point of the sensor placement will result in obtaining the critical part under the insole. In the wearable shoe sensor project, the device consists left and right shoe insole with ten FSR. Arduino Mega was used as a micro-controller that read the analog input from FSR. The analog inputs were transmitted via bluetooth data transmission that gains the force data in real time on smartphone. Blueterm software which is an android application was used as an interface to read the FSR reading on the shoe wearing subject. The subject consist of two healthy men with different age and weight doing test while standing, walking (1.5 m/s), jogging (5 m/s) and running (9 m/s) on treadmill. The data obtain will be saved on the android device and for making an analysis and comparison graph.

Keywords: gait analysis, plantar pressure, force plate, earable sensor

Procedia PDF Downloads 425

Authors: Sara Nasiri Semnani, Alireza Ramzani

Abstract:

Background and Aims: Sodium bicarbonate is a supplementation that used to reduce fatigue and increase power output in short-term training. On the other hand, the Ischemic Reperfusion Preconditioning (IRPC) is an appropriate stimulus to increase the submaximal contractile response. Materials and methods: 9 female student-athletes in double-blind randomized crossover design were three mode, sodium bicarbonate + IRPC, sodium bicarbonate and placebo+ IRPC. Participants moved forward single arm dumbbell hand with a weight of 2 kg can be carried out most frequently. Results: The results showed that plasma lactate concentration and records of sodium bicarbonate + IRPC and sodium bicarbonate conditions were significantly different compared to placebo + IRPC (Respectively p=0.001, p=0/02). Conclusion: According to the research findings, bicarbonate supplementation in IRPC training condition increased force and delay fatigue in submaximal dynamic contraction.

Keywords: ischemic reperfusion, preconditioning, sodium bicarbonate, submaximal dynamic force

Procedia PDF Downloads 278

Authors: Amin Aghatabar Roodbary, Mohammad Hassan Bastani

Abstract:

One of the defects of stepped frequency radar systems is their sensitivity to target motion. In such systems, target motion causes range cell shift, false peaks, Signal to Noise Ratio (SNR) reduction and range profile spreading because of power spectrum interference of each range cell in adjacent range cells which induces distortion in High Resolution Range Profile (HRRP) and disrupt target recognition process. Thus Target Motion Parameters (TMPs) effects compensation should be employed. In this paper, such a method for estimating TMPs (velocity and acceleration) and consequently eliminating or suppressing the unwanted effects on HRRP based on entropy minimization has been proposed. This method is carried out in two major steps: in the first step, a discrete search method has been utilized over the whole acceleration-velocity lattice network, in a specific interval seeking to find a less-accurate minimum point of the entropy function. Then in the second step, a 1-D search over velocity is done in locus of the minimum for several constant acceleration lines, in order to enhance the accuracy of the minimum point found in the first step. The provided simulation results demonstrate the effectiveness of the proposed method.

Keywords: automatic target recognition (ATR), high resolution range profile (HRRP), motion compensation, stepped frequency waveform technique (SFW), target motion parameters (TMPs)

Procedia PDF Downloads 133

Authors: Jui-Pui Hung, Yu-Sheng Lai, Tzuo-Liang Luo, Kung-Da Wu, Yun-Ji Zhan

Abstract:

This study presented the investigation of the influence of the tool holder interface stiffness on the dynamic characteristics of a spindle tool system. The interface stiffness was produced by drawbar force on the tool holder, which tends to affect the spindle dynamics. In order to assess the influence of interface stiffness on the vibration characteristic of spindle unit, we first created a three dimensional finite element model of a high speed spindle system integrated with tool holder. The key point for the creation of FEM model is the modeling of the rolling interface within the angular contact bearings and the tool holder interface. The former can be simulated by a introducing a series of spring elements between inner and outer rings. The contact stiffness was calculated according to Hertz contact theory and the preload applied on the bearings. The interface stiffness of the tool holder was identified through the experimental measurement and finite element modal analysis. Current results show that the dynamic stiffness was greatly influenced by the tool holder system. In addition, variations of modal damping, static stiffness and dynamic stiffness of the spindle tool system were greatly determined by the interface stiffness of the tool holder which was in turn dependent on the draw bar force applied on the tool holder. Overall, this study demonstrates that identification of the interface characteristics of spindle tool holder is of very importance for the refinement of the spindle tooling system to achieve the optimum machining performance.

Keywords: dynamic stiffness, spindle-tool holder, interface stiffness, drawbar force

Procedia PDF Downloads 371

Authors: Yin Rui, Yin Ming, Wang Yang

Abstract:

For a rotational reference frame of the theory of special relativity, the critical radius is defined as the distance from the axis to the point where the tangential velocity is equal to the speed of light, and the critical cylinder as the set of all points separated from the axis by this critical radius. Based on these terms, two relativistic effects of rotation are discovered: (i) the tangential velocity in the region of Outside Critical Cylinder (OCC) is not superluminal due to the existence of space-time exchange; (ii) some of the physical quantities of the rotational body have an opposite mathematic sign at OCC versus those at Inside Critical Cylinder (ICC), which is termed as the Critical Cylindrical Effect (CCE). The laboratory experiments demonstrate that the repulsive force exerted on an anion by electrons will change to an attractive force by the electrons in precession while the anion is at OCC of the precession. Thirty-six screenshots from four experimental videos are provided. Theoretical proofs for both space-time exchange and CCE are then presented. The CCEs of field force are also discussed.

Keywords: critical radius, critical cylindrical effect, special relativity, space-time exchange

Procedia PDF Downloads 40

Authors: M. A. Aleem, M. S. Awan

Abstract:

Flat spiral coil for electromagnetic forming system has been modelled in FEMM 4.2 software. Copper strip was chosen as the material for designing the actuator coil. Relationship between height to width ratio (S-factor) of the copper strip and coil’s performance has been studied. Magnetic field intensities, eddy currents, and Lorentz force were calculated for the coils that were designed using six different 'S-factor' values (0.65, 0.75, 1.05, 1.25, 1.54 and 1.75), keeping the cross-sectional area of strip the same. Results obtained through simulation suggest that actuator coil with S-factor ~ 1 shows optimum forming performance as it exerts maximum Lorentz force (84 kN) on work piece. The same coils were fabricated and used for electromagnetic sheet forming experiments. Aluminum 6061 sheets of thickness 1.5 mm have been formed using different voltage levels of capacitor bank. Smooth forming profiles were obtained with dome heights 28, 35 and 40 mm in work piece at 800, 1150 and 1250 V respectively.

Keywords: FEM modelling, electromagnetic forming, spiral coil, Lorentz force

Procedia PDF Downloads 266

Authors: Xinlan Zhang, Dandong Ge, Bingying Liu, Haoyang Liang

Abstract:

With the rapid development of technology and urbanization, innovation has become an important driving force for urban development. Since the late 20th Century, a number of cities and regions have emerged in the world with innovation as the main driving force, and many of them are still the most important innovation centers in the world. Based on the perspective of innovation ecosystem theory, this paper compares Silicon Valley in the United States, Cambridge in the United Kingdom, Tsukuba in Japan and Zhongguancun in China to explore the reasons for the success of innovative regions and their respective characteristics, hoping to provide a reference for the development of other innovative cities. The main conclusions of this study are the following; firstly, different countries have different social backgrounds. The development model of innovative regions is closely related to the regional backgrounds. Secondly, the market force and the government power have important significance for the development of the innovation regions. The influence of the government power in the early stage of development is great, and in the latter stage, development is dominated by the market force. In addition, the self-organizing ability of the region has a great impact on the innovation ability of the region. Strong self-organizing ability is conducive to the development of innovation economy.

Keywords: contrastive study, development model, innovation ecosystem, innovative regions

Procedia PDF Downloads 134

Authors: Androniki-Anna Doulgeroglou, Panagiotis Kotronis, Giulio Sciarra, Catherine Bouillon

Abstract:

The interaction diagrams are functions that define ultimate states expressed in terms of generalized forces (axial force, bending moment and shear force). Two characteristic states for reinforced concrete (RC) sections are proposed: the first characteristic state corresponds to the yield of the reinforcement bars and the second to the peak values of the generalized forces generalized displacements curves. 3D numerical simulations are then conducted for RC columns and the global responses are compared to experimental results. Interaction diagrams for combined flexion, shear and axial force loading conditions are numerically produced for symmetrically RC square sections for different reinforcement ratios. Analytical expressions of the interaction diagrams are also proposed, satisfying the condition of convexity. Comparison with interaction diagrams from the Eurocode is finally presented for the study cases.

Keywords: analytical convex expressions, finite element method, interaction diagrams, reinforced concrete

Procedia PDF Downloads 117

Authors: Easa Ali Abbasi, Akbar Allahverdizadeh, Reza Jahangiri, Behnam Dadashzadeh

Abstract:

Electrical current measurement is a suitable method for the performance determination of electrical devices. There are two contact and noncontact methods in this measuring process. Contact method has some disadvantages like having direct connection with wire which may endamage the system. Thus, in this paper, a bimorph piezoelectric cantilever beam which has a permanent magnet on its free end is used to measure electrical current in a noncontact way. In mathematical modeling, based on Galerkin method, the governing equation of the cantilever beam is solved, and the equation presenting the relation between applied force and beam’s output voltage is presented. Magnetic force resulting from current carrying wire is considered as the external excitation force of the system. The results are compared with other references in order to demonstrate the accuracy of the mathematical model. Finally, the effects of geometric parameters on the output voltage and natural frequency are presented.

Keywords: cantilever beam, electrical current measurement, forced excitation, piezoelectric

Procedia PDF Downloads 205

Authors: Def Primal, Sasanty Kusumaningtyas, Ermita I. Ibrahim

Abstract:

Purpose: The main objective of this study is to determine the pes planus plantaris (flat foot) condition can contribute to the disturbance of postural stability in basketball athletes in static and dynamic activities. Methods: This cross-sectional quantitative analytical retrospective study on 47 subjects of basketball student-athletes identified the foot arch index by extensive footprint area and AMTI (Advanced Mechanical Technology Inc.) Force flat-form (force plate) determined their postural stability. Subjects were conducted in three activities (static, dynamic vertical jump, and dynamic loading response) for ground reaction force (GRF) resultant vectors towards the vertical plane of body mass (W). Results Analytical results obtained that 80.9% of subjects had pes planus plantaris. It shows no significant differences in pes planus plantaris incidence in both sexes subject (p>0.005); however, there are differences in athlete’s exercise period aspect. Athlete students who have practiced strictly for more than four years’ experience over 50% of pes planus plantaris; furthermore, a long period of exercise was believed to stimulate pes planus. The average value of GRF vectors of pes planus plantaris subjects on three different basketball movements shows a significant correlation to postural stability. Conclusions Pes planus plantaris affected almost basketball athletes regarding the length and intensity of exercise performed. The condition significantly contributes to postural stability disturbance on a static condition, dynamic vertical jump, and dynamic vertical jump loading response.

Keywords: pes planus plantaris, flatfoot, ground reaction force, static and dynamic stability

Procedia PDF Downloads 126

Authors: Debasis Sengupta, Sudipta Das

Abstract:

The class of life distributions with decreasing mean residual life (DMRL) is well known in the field of reliability modeling. It contains the IFR class of distributions and is contained in the NBUE class of distributions. While upper and lower bounds of the reliability distribution function of aging classes such as IFR, IFRA, NBU, NBUE, and HNBUE have discussed in the literature for a long time, there is no analogous result available for the DMRL class. We obtain the upper and lower bounds for the reliability function of the DMRL class in terms of first order finite moment. The lower bound is obtained by showing that for any fixed time, the minimization of the reliability function over the class of all DMRL distributions with a fixed mean is equivalent to its minimization over a smaller class of distribution with a special form. Optimization over this restricted set can be made algebraically. Likewise, the maximization of the reliability function over the class of all DMRL distributions with a fixed mean turns out to be a parametric optimization problem over the class of DMRL distributions of a special form. The constructive proofs also establish that both the upper and lower bounds are sharp. Further, the DMRL upper bound coincides with the HNBUE upper bound and the lower bound coincides with the IFR lower bound. We also prove that a pair of sharp upper and lower bounds for the reliability function when the distribution is increasing mean residual life (IMRL) with a fixed mean. This result is proved in a similar way. These inequalities fill a long-standing void in the literature of the life distribution modeling.

Keywords: DMRL, IMRL, reliability bounds, hazard functions

Procedia PDF Downloads 381

Authors: Iliya Dimitrov Stoev, Benjamin Seelbinder, Elena Erben, Nicola Maghelli, Moritz Kreysing

Abstract:

Despite the revolutionizing impact of optical tweezers in materials science and cell biology up to the present date, trapping has so far extensively relied on specific material properties of the probe and local heating has limited applications related to investigating dynamic processes within living systems. To overcome these limitations while maintaining high sensitivity, here we present a new optofluidic approach that can be used to gently trap microscopic particles and measure femtoNewton forces in a contact-free manner and with thermally limited precision.

Keywords: optofluidics, force measurements, microrheology, FLUCS, thermoviscous flows

Procedia PDF Downloads 149

Authors: Ekin Nurbaş

Abstract:

One of the essential challenges in array signal processing, which has drawn enormous research interest over the past several decades, is estimating the direction of arrival (DOA) of plane waves impinging on an array of sensors. In recent years, the Compressive Sensing based DoA estimation methods have been proposed by researchers, and it has been discovered that the Compressive Sensing (CS)-based algorithms achieved significant performances for DoA estimation even in scenarios where there are multiple coherent sources. On the other hand, the Genetic Algorithm, which is a method that provides a solution strategy inspired by natural selection, has been used in sparse representation problems in recent years and provides significant improvements in performance. With all of those in consideration, in this paper, a method that combines the Genetic Algorithm (GA) and the Multi-Criteria Decision Making (MCDM) approaches for Direction of Arrival (DoA) estimation in the Compressive Sensing (CS) framework is proposed. In this method, we generate a multi-objective optimization problem by splitting the norm minimization and reconstruction loss minimization parts of the Compressive Sensing algorithm. With the help of the Genetic Algorithm, multiple non-dominated solutions are achieved for the defined multi-objective optimization problem. Among the pareto-frontier solutions, the final solution is obtained with the multiple MCDM methods. Moreover, the performance of the proposed method is compared with the CS-based methods in the literature.

Keywords: genetic algorithm, direction of arrival esitmation, multi criteria decision making, compressive sensing

Procedia PDF Downloads 125

Authors: Najib K. Dankadai, Ahmad 'Athif Mohd Faudzi, Khairuddin Osman, Muhammad Rusydi Muhammad Razif, IIi Najaa Aimi Mohd Nordin

Abstract:

Researches in soft actuators are now growing rapidly because of their adequacy to be applied in sectors like medical, agriculture, biological and welfare. This paper presents system identification (SI) and control of the force generated by a two chambers pneumatic soft actuator (PSA). A force mathematical model for the actuator was identified experimentally using data acquisition card and MATLAB SI toolbox. Two control techniques; a predictive functional control (PFC) and conventional proportional integral and derivative (PID) schemes are proposed and compared based on the identified model for the soft actuator flexible mechanism. Results of this study showed that both of the proposed controllers ensure accurate tracking when the closed loop system was tested with the step, sinusoidal and multi step reference input through MATLAB simulation although the PFC provides a better response than the PID.

Keywords: predictive functional control (PFC), proportional integral and derivative (PID), soft actuator, system identification

Procedia PDF Downloads 300

Authors: Henni Mansour Abdelwaheb

Abstract:

This study discusses the design of a bounded position/force feedback controller developed to ensure position and force tracking for bilateral teleoperation arms operating with variable delay, and actuator saturation. Also, an adaptive robust Radial Basis Function (RBF) neural network is used to estimate the environment torque. The parameters of the environment torque are then sent from the slave site to the master site as a non-power signal to avoid passivity problems. Moreover, a nonlinear function is applied to each controller term as a smooth saturation function, providing a bounded control signal and preserving the system’s actuators. Lastly, the Lyapunov approach demonstrates the global stability of the controlled system, and numerical experiment results further confirm the validity of the presented strategy.

Keywords: teleoperation manipulators system, time-varying delay, actuator saturation, adaptive robust rbf neural network approximation, uncertainties

Procedia PDF Downloads 48

Authors: B. Käfer, V. K. Bheemineni, H. Lammer, M. Kotnik, F. O. Riemelmoser

Abstract:

Axial compression tests are performed on circular tubes made of Aluminum EN AW 6060 (AlMgSi0.5 alloy) in T66 state. All the received tubes have the uniform outer diameter of 40mm and thickness of 1.5mm. Two different lengths 100mm and 200mm are used in the analysis. After performing compression tests on the uniform tube, important crashworthy parameters like peak force, average force, crush efficiency and energy absorption are measured. The present paper has given importance to increase the percentage of crush efficiency without decreasing the value energy absorption of a tube, so a circumferential notch was introduced on the top section of the tube. The effects of position and cut-out lengths of a circumferential notch on the crush efficiency are well explained with relative deformation modes and force-displacement curves. The numerical simulations were carried on the software tool ANSYS/LS-DYNA. It is seen that the numerical results are reasonably good in agreement with the experimental results. 

Keywords: crash box, Notch triggering, energy absorption, FEM simulation

Procedia PDF Downloads 435

Authors: Naghmeh M. Bandari, Javad Dargahi, Muthukumaran Packirisamy

Abstract:

Robot-assisted minimally invasive surgery (RMIS) has been widely performed around the world during the last two decades. RMIS demonstrates significant advantages over conventional surgery, e.g., improving the accuracy and dexterity of a surgeon, providing 3D vision, motion scaling, hand-eye coordination, decreasing tremor, and reducing x-ray exposure for surgeons. Despite benefits, surgeons cannot touch the surgical site and perceive tactile information. This happens due to the remote control of robots. The literature survey identified the lack of force feedback as the riskiest limitation in the existing technology. Without the perception of tool-tissue contact force, the surgeon might apply an excessive force causing tissue laceration or insufficient force causing tissue slippage. The primary use of force sensors has been to measure the tool-tissue interaction force in real-time in-situ. Design of a tactile sensor is subjected to a set of design requirements, e.g., biocompatibility, electrical-passivity, MRI-compatibility, miniaturization, ability to measure static and dynamic force. In this study, a planar optical fiber-based sensor was proposed to mount at the surgical grasper. It was developed based on the light intensity modulation principle. The deflectable part of the sensor was a beam modeled as a cantilever Euler-Bernoulli beam on rigid substrates. A semi-cylindrical indenter was attached to the bottom surface the beam at the mid-span. An optical fiber was secured at both ends on the same rigid substrates. The indenter was in contact with the fiber. External force on the sensor caused deflection in the beam and optical fiber simultaneously. The micro-bending of the optical fiber would consequently result in light power loss. The sensor was simulated and studied using finite element methods. A laser light beam with 800nm wavelength and 5mW power was used as the input to the optical fiber. The output power was measured using a photodetector. The voltage from photodetector was calibrated to the external force for a chirp input (0.1-5Hz). The range, resolution, and hysteresis of the sensor were studied under monotonic and harmonic external forces of 0-2.0N with 0 and 5Hz, respectively. The results confirmed the validity of proposed sensing principle. Also, the sensor demonstrated an acceptable linearity (R2 > 0.9). A minimum external force was observed below which no power loss was detectable. It is postulated that this phenomenon is attributed to the critical angle of the optical fiber to observe total internal reflection. The experimental results were of negligible hysteresis (R2 > 0.9) and in fair agreement with the simulations. In conclusion, the suggested planar sensor is assessed to be a cost-effective solution, feasible, and easy to use the sensor for being miniaturized and integrated at the tip of robotic graspers. Geometrical and optical factors affecting the minimum sensible force and the working range of the sensor should be studied and optimized. This design is intrinsically scalable and meets all the design requirements. Therefore, it has a significant potential of industrialization and mass production.

Keywords: force sensor, minimally invasive surgery, optical sensor, robotic surgery, tactile sensor

Procedia PDF Downloads 198

Authors: Herath M. P. C. Jayaweera, Samer Hanoun

Abstract:

Path planning for on-time obstacle avoidance is an essential and challenging task that enables drones to achieve safe operation in any application domain. The level of challenge increases significantly on the obstacle avoidance technique when the drone is following a ground mobile entity (GME). This is mainly due to the change in direction and magnitude of the GME′s velocity in dynamic and unstructured environments. Force field techniques are the most widely used obstacle avoidance methods due to their simplicity, ease of use, and potential to be adopted for three-dimensional dynamic environments. However, the existing force field obstacle avoidance techniques suffer many drawbacks, including their tendency to generate longer routes when the obstacles are sideways of the drone′s route, poor ability to find the shortest flyable path, propensity to fall into local minima, producing a non-smooth path, and high failure rate in the presence of symmetrical obstacles. To overcome these shortcomings, this paper proposes an on-time three-dimensional obstacle avoidance method for drones to effectively and efficiently avoid dynamic and static obstacles in unknown environments while pursuing a GME. This on-time obstacle avoidance technique generates velocity waypoints for its obstacle-free and efficient path based on the shape of the encountered obstacles. This method can be utilized on most types of drones that have basic distance measurement sensors and autopilot-supported flight controllers. The proposed obstacle avoidance technique is validated and evaluated against existing force field methods for different simulation scenarios in Gazebo and ROS-supported PX4-SITL. The simulation results show that the proposed obstacle avoidance technique outperforms the existing force field techniques and is better suited for real-world applications.

Keywords: drones, force field methods, obstacle avoidance, path planning

Procedia PDF Downloads 60

Authors: Evgeniya Orlova, Dmitriy Feoktistov, Geniy Kuznetsov

Abstract:

Spreading of a droplet over a solid substrate is a key phenomenon observed in the following engineering applications: thin film coating, oil extraction, inkjet printing, and spray cooling of heated surfaces. Droplet cooling systems are known to be more effective than film or rivulet cooling systems. It is caused by the greater evaporation surface area of droplets compared with the film of the same mass and wetting surface. And the greater surface area of droplets is connected with the curvature of the interface. Location of the droplets on the cooling surface influences on the heat transfer conditions. The close distance between the droplets provides intensive heat removal, but there is a possibility of their coalescence in the liquid film. The long distance leads to overheating of the local areas of the cooling surface and the occurrence of thermal stresses. To control the location of droplets is possible by changing the roughness, structure and chemical composition of the surface. Thus, control of spreading can be implemented. The most important characteristic of spreading of droplets on solid surfaces is a dynamic contact angle, which is a function of the contact line speed or capillary number. However, there is currently no universal equation, which would describe the relationship between these parameters. This paper presents the results of the experimental studies of water droplet spreading on metal substrates with different surface roughness. The effect of the droplet growth rate and the surface roughness on spreading characteristics was studied at low capillary numbers. The shadow method using high speed video cameras recording up to 10,000 frames per seconds was implemented. A droplet profile was analyzed by Axisymmetric Drop Shape Analyses techniques. According to change of the dynamic contact angle and the contact line speed three sequential spreading stages were observed: rapid increase in the dynamic contact angle; monotonous decrease in the contact angle and the contact line speed; and form of the equilibrium contact angle at constant contact line. At low droplet growth rate, the dynamic contact angle of the droplet spreading on the surfaces with the maximum roughness is found to increase throughout the spreading time. It is due to the fact that the friction force on such surfaces is significantly greater than the inertia force; and the contact line is pinned on microasperities of a relief. At high droplet growth rate the contact angle decreases during the second stage even on the surfaces with the maximum roughness, as in this case, the liquid does not fill the microcavities, and the droplet moves over the “air cushion”, i.e. the interface is a liquid/gas/solid system. Also at such growth rates pulsation of liquid flow was detected; and the droplet oscillates during the spreading. Thus, obtained results allow to conclude that it is possible to control spreading by using the surface roughness and the growth rate of droplets on surfaces as varied factors. Also, the research findings may be used for analyzing heat transfer in rivulet and drop cooling systems of high energy equipment.

Keywords: contact line speed, droplet growth rate, dynamic contact angle, shadow system, spreading

Procedia PDF Downloads 307

Authors: K. Chethana, A. S. Guru Prasad, S. N. Omkar, B. Vadiraj, S. Asokan

Abstract:

This paper describes an ab-initio design, development and calibration results of an Optical Sensor Ground Reaction Force Measurement Platform (OSGRFP) for gait and geriatric studies. The developed system employs an array of FBG sensors to measure the respective ground reaction forces from all three axes (X, Y and Z), which are perpendicular to each other. The novelty of this work is two folded. One is in its uniqueness to resolve the tri axial resultant forces during the stance in to the respective pure axis loads and the other is the applicability of inherently advantageous FBG sensors which are most suitable for biomechanical instrumentation. To validate the response of the FBG sensors installed in OSGRFP and to measure the cross sensitivity of the force applied in other directions, load sensors with indicators are used. Further in this work, relevant mathematical formulations are presented for extracting respective ground reaction forces from wavelength shifts/strain of FBG sensors on the OSGRFP. The result of this device has implications in understanding the foot function, identifying issues in gait cycle and measuring discrepancies between left and right foot. The device also provides a method to quantify and compare relative postural stability of different subjects under test, which has implications in post surgical rehabilitation, geriatrics and optimizing training protocols for sports personnel.

Keywords: balance and stability, gait analysis, FBG applications, optical sensor ground reaction force platform

Procedia PDF Downloads 381

Authors: Alireza Rasekh, Peter Sergeant, Jan Vierendeels

Abstract:

This paper copes with the numerical simulation for convective heat transfer in the stator disk of an axial flux permanent magnet (AFPM) electrical machine. Overheating is one of the main issues in the design of AFMPs, which mainly occurs in the stator disk, so that it needs to be prevented. A rotor-stator configuration with 16 magnets at the periphery of the rotor is considered. Air is allowed to flow through openings in the rotor disk and channels being formed between the magnets and in the gap region between the magnets and the stator surface. The rotating channels between the magnets act as a driving force for the air flow. The significant non-dimensional parameters are the rotational Reynolds number, the gap size ratio, the magnet thickness ratio, and the magnet angle ratio. The goal is to find correlations for the Nusselt number on the stator disk according to these non-dimensional numbers. Therefore, CFD simulations have been performed with the multiple reference frame (MRF) technique to model the rotary motion of the rotor and the flow around and inside the machine. A minimization method is introduced by a pattern-search algorithm to find the appropriate values of the reference temperature. It is found that the correlations are fast, robust and is capable of predicting the stator heat transfer with a good accuracy. The results reveal that the magnet angle ratio diminishes the stator heat transfer, whereas the rotational Reynolds number and the magnet thickness ratio improve the convective heat transfer. On the other hand, there a certain gap size ratio at which the stator heat transfer reaches a maximum.

Keywords: AFPM, CFD, magnet parameters, stator heat transfer

Procedia PDF Downloads 228

Authors: Ziad. Sh. Al Sarraf

Abstract:

Ultrasonic metal welding has been the subject of ongoing research and development, most recently concentrating on metal joining in miniature devices, for example to allow solder-free wire bonding. As well as at the small scale, there are also opportunities to research the joining of thicker sheet metals and to widen the range of similar and dissimilar materials that can be successfully joined using this technology. This study presents the design, characterisation and test of a lateral-drive ultrasonic metal spot welding device. The ultrasonic metal spot welding horn is modelled using finite element analysis (FEA) and its vibration behaviour is characterised experimentally to ensure ultrasonic energy is delivered effectively to the weld coupon. The welding stack and fixtures are then designed and mounted on a test machine to allow a series of experiments to be conducted for various welding and ultrasonic parameters. Weld strength is subsequently analysed using tensile-shear tests. The results show how the weld strength is particularly sensitive to the combination of clamping force and ultrasonic vibration amplitude of the welding tip, but there are optimal combinations of these and also limits that must be clearly identified.

Keywords: ultrasonic welding, vibration amplitude, welding force, weld strength

Procedia PDF Downloads 345

Authors: Babesse Saad, Ameddah Djemeleddine

Abstract:

In this paper, a learning algorithm using neuronal networks to improve the roll stability and prevent the rollover in a single unit heavy vehicle is proposed. First, LQR control to keep balanced normalized rollovers, between front and rear axles, below the unity, then a data collected from this controller is used as a training basis of a neuronal regulator. The ANN controller is thereafter applied for the nonlinear side force model, and gives satisfactory results than the LQR one.

Keywords: rollover, single unit heavy vehicle, neural networks, nonlinear side force

Procedia PDF Downloads 448

Authors: Isaias Teklia Berhe

Abstract:

A decision that deals with international disputes, be it arbitral or judicial, has to properly reflect objectivity and coherence with existing rules of international law. This paper shows the decision of the Ethio-Eritrea Claims Commission on the jus ad bellum case is bereft of objectivity and coherence, which contributed a disservice to international law on many aspects. The Commission’s decision that holds Eritrea in contravention to Art 2(4) of the UN Charter based on Ethiopia’s contention is flawed. It fails to consider: the illegitimacy of an actual authority established over contested territory through hostile acts, the proper determination of effectivites under international law, the sanctity of colonially determined boundaries, Ethiopia’s prior firm political recognition and undergirds to respect colonial boundary, and Ethio-Eritrea Border Commission’s decision. The paper will also argue that the Commission confused Eritrea’s right of self-defense with the rule against the non-use of force to settle territorial disputes; wherefore its decision sanitizes or sterilizes unlawful change of territory resulted through unlawful use of force to the effect of advantaging aggressions. The paper likewise argues that the decision is so sacrilegious that it disregards the ossified legal finality of colonial boundaries. Moreover, its approach toward armed attack does not reflect the peculiarity of the jus ad bellum case rather it brings about definitional uncertainties and sustains the perception that the law on self-defense is unsettled.

Keywords: armed attack, Eritrea, Ethiopia, self-defense, territorial integrity, use of force

Procedia PDF Downloads 264

Authors: Richard L. Summers

Abstract:

The advanced computational analysis of biological systems is becoming increasingly dependent upon an understanding of the information-theoretic structure of the materials, energy and interactive processes that comprise those systems. The stability and survival of these living systems are fundamentally contingent upon their ability to acquire and process the meaning of information concerning the physical state of its biological continuum (biocontinuum). The drive for adaptive system reconciliation of a divergence from steady-state within this biocontinuum can be described by an information metric-based formulation of the process for actionable knowledge acquisition that incorporates the axiomatic inference of Kullback-Leibler information minimization driven by survival replicator dynamics. If the mathematical expression of this process is the Lagrangian integrand for any change within the biocontinuum then it can also be considered as an action functional for the living system. In the direct method of Lyapunov, such a summarizing mathematical formulation of global system behavior based on the driving forces of energy currents and constraints within the system can serve as a platform for the analysis of stability. As the system evolves in time in response to biocontinuum perturbations, the summarizing function then conveys information about its overall stability. This stability information portends survival and therefore has absolute existential meaning for the living system. The first derivative of the Lyapunov energy information function will have a negative trajectory toward a system's steady state if the driving force is dissipating. By contrast, system instability leading to system dissolution will have a positive trajectory. The direction and magnitude of the vector for the trajectory then serves as a quantifiable signature of the meaning associated with the living system’s stability information, homeostasis and survival potential.

Keywords: meaning, information, Lyapunov, living systems

Procedia PDF Downloads 115

Authors: Onimisi Ekuh Abdullahi, Lasbat Omoshalewa Akinsemoyin

Abstract:

In Nigeria, over two decades now, there has been a steady increase in the insecurity of human lives and physical properties. In the South-South Nigeria, there is an acute insecurity of militants destroying oil pipe-lines and kidnapping cases; in the Middle-Belt zone, insecurity centers on kidnapping and in a few states crises between Herdsmen and Farmers range like wildfire; in the South-Western zone, kidnapping is vile, in the North-East zone the issue of Boko Haram has become World-wide concern, and in North-west zone, cattle rustlers and religious crisis are of great concern. At the initial stage, the Nigerian Police Force was called upon to quell the crisis. It soon became obvious that the dimension of the crisis was beyond police force. The Nigerian Armed Forces were called to maintain peace and order because the magnitude of the crisis was threatening the national unity and cohesion. The main objective of this paper, was to examine the investigative techniques of criminal by the military in Nigeria. Specifically to examine the physical and psychological force; the abusive techniques and tactics; and suggest modern psychological techniques of interrogating criminals accepted to Human Right Activists and the rule of law. The process is to create room behaviour and practices that carefully monitored the trust and reliability of admissions produced by Psychological manipulative process in Nigeria.

Keywords: military, Nigerian criminal, physical, psychological force

Procedia PDF Downloads 138