Search results for: ground reaction force

Authors: Y. K. Park, B. K. Kim, J. W. Lee, S. J. Lee

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To assess the risk of the underground structures and surrounding ground, we collect basic data by the engineering method of measurement, exploration and surveys and, derive the risk through proper analysis and each assessment for urban railroad underground structures and surrounding ground including station inflow. Basic data are obtained by the fiber-optic sensors, MEMS sensors, water quantity/quality sensors, tunnel scanner, ground penetrating radar, light weight deflectometer, and are evaluated if they are more than the proper value or not. Based on these data, we analyze the risk level of urban railroad underground structures and surrounding ground. And we develop the risk management system to manage efficiently these data and to support a convenient interface environment at input/output of data.

Keywords: urban railroad, underground structures, ground subsidence, station inflow, risk

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Authors: Ji-il Park, Min Kyu Yu, Jong-woo Lee, Sam-hyeon Yoo

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The purpose of this research is to analyze the gait strategy between the normal and loaded gait. To this end, five male participants satisfied two conditions: the normal and loaded gait (backpack load 25.2 kg). As expected, results showed that additional loads elicited not a proportional increase in vertical and shear ground reaction force (GRF) parameters but also increase of the impulse, momentum and mechanical work. However, in case of the loaded gait, the time duration of the double support phase was increased unexpectedly. It is because the double support phase which is more stable than the single support phase can reduce instability of the loaded gait. Also, the directions of the pre-collision and after-collision were moved upward and downward compared to the normal gait. As a result, regardless of the additional backpack load, the impulse-momentum diagram during the step-to-step transition was maintained such as the normal gait. It means that human walk efficiently to keep stability and minimize total net works in case of the loaded gait.

Keywords: normal gait, loaded gait, impulse, collision, gait analysis, mechanical work, backpack load

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Authors: Roselyn Zaman, Mobarak Hossain

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A new mathematical model is developed to study crack breathing behavior considering effect of angular position of unbalanced force at different crack locations. Crack breathing behavior has been determined using effectual bending angle by studying the transient change of the crack area. Different crack breathing behavior of the unbalanced shaft has been observed for different combination of angular position of unbalanced force with crack location except crack locations 0.3L and 0.8335L, where L is the total length of the shaft, where unbalanced shaft behave completely like the balanced shaft. Based on different combination of angular position of unbalanced force with crack location, the stiffness of unbalanced shaft can be divided into three regions. An unbalanced shaft is overall stiffer than a balanced shaft when angular position of unbalance force is between 90° to 270° and crack located between 0.3L and 0.8335L, and it is overall flexible when the crack located in outside this crack region. On the other hand, it is overall flexible when angular position of unbalanced force is between 0° to 90° or 270° to 360° and crack located in middle region and it is overall stiffer for outside this crack region.

Keywords: cracked shaft, crack location, shaft stiffness, unbalanced force, and unbalanced force orientation

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Authors: Kamel Al-Khaled

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Reaction-diffusion equations are commonly used in population biology to model the spread of biological species. In this paper, we propose a fractional reaction-diffusion equation, where the classical second derivative diffusion term is replaced by a fractional derivative of order less than two. Based on the symbolic computation system Mathematica, Adomian decomposition method, developed for fractional differential equations, is directly extended to derive explicit and numerical solutions of space fractional reaction-diffusion equations. The fractional derivative is described in the Caputo sense. Finally, the recent appearance of fractional reaction-diffusion equations as models in some fields such as cell biology, chemistry, physics, and finance, makes it necessary to apply the results reported here to some numerical examples.

Keywords: fractional partial differential equations, reaction-diffusion equations, adomian decomposition, biological species

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Authors: Nouby Ghazaly

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The present paper investigates experimentally the effect coefficient of friction at different operation conditions on the variation of the brake temperature, brake force, and brake vibration with the braking time. All the experimental tests were carried out using brake dynamometer which designed and constructed in Vehicle Dynamic Laboratory. The results indicate that the brake temperature increases with the increase of the normal force and sliding speed especially with the increase of the braking time. The normal force has the effect on increasing the brake force. On the contrary, the vehicle speed has the effect on decreasing the brake force. Both the normal force and sliding speed affect the brake vibration according to the friction behavior.

Keywords: brake dynamometer, coefficient of friction, drum brake vibrations, friction behavior

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Authors: Vinay Agrawal, Suyash Garg, Ravindra Nagar, Vinay Chandwani

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Open ground storey with floating columns is a typical feature in the modern multistory constructions in urban India. Such features are very much undesirable in buildings built in seismically active areas. The present study proposes a feasible solution to mitigate the effects caused due to non-uniformity of stiffness and discontinuity in load path and to simultaneously hold the functional use of the open storey particularly under the floating column, through a combination of various lateral strengthening systems. An investigation is performed on an example building with nine different analytical models to bring out the importance of recognising the presence of open ground storey and floating columns. Two separate analyses on various models of the building namely, the equivalent static analysis and the response spectrum analysis as per IS: 1893-2002 were performed. Various measures such as incorporation of Chevron bracings and shear walls, strengthening the columns in the open ground storey, and their different combinations were examined. The analysis shows that, in comparison to two short ones separated by interconnecting beams, the structural walls are most effective when placed at the periphery of the buildings and used as one long structural wall. Further, it can be shown that the force transfer from floating columns becomes less horizontal when the Chevron Bracings are placed just below them, thereby reducing the shear forces in the beams on which the floating column rests.

Keywords: equivalent static analysis, floating column, open ground storey, response spectrum analysis, shear wall, stiffness irregularity

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Authors: Koushik Roy, Sourav Gur, Sudib K. Mishra

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Evidence of pulse type features in near-fault ground motions has raised serious concern to the structural engineering community, in view of their possible implications on the behavior of structures located on the fault regions. Studies in the recent past explore the effects of pulse type ground motion on the special structures, such as transmission towers in view of their high flexibility. Identically, long period sloshing of liquid in the storage tanks under dynamic loading might increase their failure vulnerability under near-fault pulses. Therefore, the behavior of the elevated liquid storage tank is taken up in this study. Simple lumped mass model is considered, with the bilinear force-deformation hysteresis behavior. Set of near-fault seismic ground acceleration time histories are adopted for this purpose, along with the far-field records for comparison. It has been demonstrated that pulse type motions lead to significant increase of the responses; in particular, sloshing of the fluid mass could be as high as 5 times, then the far field counterpart. For identical storage capacity, slender tanks are found to be more vulnerable than the broad ones.

Keywords: far-field motion, hysteresis, liquid storage tank, near fault earthquake, sloshing

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Authors: Flavio A. F. Da Ponte, Jackson Q. Malveira, Monica C. G. Albuquerque

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In recent years a worldwide interest in renewable resources from the biomass has spurred the industry. In this work the chemical structure of oleic acid chains was modified by homogeneous and heterogeneous catalysis in order to produce esters. The homogeneous epoxidation was carried out at H2O2 to oleic acid unsaturation molar ratio of 20:1. The reaction temperature was 338 K and reaction time 16 h. Formic acid was used as catalyst. For heterogeneous catalysis reaction temperature was 343 K and reaction time 24 h. The esters production was carried out by heterogeneous catalysis of the epoxidized oleic acid and butanol using Mg/SBA-15 as catalyst. The resulting products were confirmed by NMR (1H and 13C) and FTIR spectroscopy. The products were characterized before and after each reaction. The catalysts were characterized by X-ray diffraction, X-ray fluorescence, thermogravimetric analysis (TGA) and BET surface areas. The results were satisfactory for the bioproducts formed.

Keywords: acid oleic, bioproduct, esters, epoxidation

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Authors: Ahmed A. Abdel-Khalek, Reham A. Mohamed

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The kinetics of oxidation of binary complex [CrIII(DMG)2(H2O)4 ]+ to Cr(VI) by periodate has been investigated spectrophotometrically where, [DMG= Dimethylglyoxime] at 370nm under pseudo first order reaction conditions in aqueous medium over 20- 40ºC range, PH 2-3, and I=0.07 mol dm-3. The reaction is first order with respect to both [IO4-] and Cr(III), and the reaction increased with PH increased. Thermodymanic activation parameters have been calculated. It is suggested that electron transfer proceeds through an inner sphere mechanism via coordination of IO4- to Cr (III). The reaction obeys the following rate law Rate= {k1 K5+ k2 K6 K2 } [Cr III (DMG)2(H2O)4 ]+ [H5IO6].

Keywords: chromium, dimethylglyoxime, kinetics, oxidation, periodate

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Authors: Parya Nasehi, Mohammad Kazem Mohammadi

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3,4-dihydropyrimidin-2(1H)-thiones were synthesized in the presence of Ag nanoparticle/melamine sulfonic acid (MSA) supported on alumina. The reaction was carried out at 110 oC for 20 min under solvent free conditions. This method have some advantages such as good yield, mild reaction conditions, ease of operation and work up, short reaction time and high product purity.

Keywords: nanoparticle melamine sulfonic acid, Al2O3, Biginelli reaction, 3, 4-dihydropyrimidin-2(1H, solvent free

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Authors: Pelin Su Firat, Sohyung Cho

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Biopsy or aspiration procedures are known to be complicated as they involve the penetration of a needle through human tissues, including vital organs. This research presents the design of a force sensor-guided device to be used with syringes and needles for aspiration and biopsy. The development of the device was aimed to help accomplish accurate needle placement and increase the performance of the surgeon in navigating the tool and tracking the target. Specifically, a prototype for a force-sensor embedded syringe has been created using 3D (3-Dimensional) modeling and printing techniques in which two different force sensors were used to provide significant force feedback to users during the operations when needles pernitrate different tissues. From the extensive tests using synthetic tissues, it is shown that the proposed syringe design has accomplished the desired accuracy, efficiency, repeatability, and effectiveness. Further development is desirable through usability tests.

Keywords: biopsy, syringe, force sensors, haptic feedback

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Authors: Fashad Amini, Lin Li

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High performance turf reinforcement mat (HPTRM) is one of the most advanced flexible armoring technologies for severe erosion challenges. The effect of turbulence on the slope stability of an earthen levee strengthened by high performance turf reinforcement mat (HPTRM) is investigated in this study for combined storm surge and wave overtopping conditions. The results show that turbulence has strong influence on the slope stability during the combined storm surge and wave overtopping conditions. Among the surge height, peak wave force and turbulent force. The turbulent force has the ability to stabilize the earthen levee at the large wave force the turbulent force has strongest effect on the FS. The surge storm acts as an independent force on the slope stability of the earthen levee. It just adds to the effects of the turbulent force and wave force on the slope stability of HPTRM strengthened levee.

Keywords: slope stability, strength reduction method, HPTRM, levee, overtopping

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Authors: George Eduful, Dominic Yeboah, Kingsford Joseph A. Atanga

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The use of tyre ash as backfill material for ground electrode has been found to provide ultra-low and stable ground resistance value for grounding systems. However, health and environmental concerns have been expressed regarding its application. To address these concerns, the paper investigates chemical contents of the tyre ash and compares them to levels considered non-hazardous to health and the environment. It was found that the levels of the pollutant agents in the tyre ash were within the recommended safety margins. The rate of ground electrode corrosion in tyre ash material was also investigated. It was found that the effect of corrosion and the life of electrode can be extended if the tyre ash is mixed with cement. For best results, a ratio of 10 portions of tyre ash to 1 portion of cement is recommended.

Keywords: tyre ash, scrapped tyre, ground resistance reducing agent, rate of corrosion

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Authors: Eleonora Di Mario

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This paper describes the application of ground improvement to replace a typical piled foundation scheme in a power plant in Singapore. Several buildings within the plant were founded on vibro-compacted sand, including a turbine unit which had extremely stringent requirements on the allowable settlement. The achieved savings in terms of cost and schedule are presented. The monitoring data collected during the operation of the turbine are compared to the design predictions to validate the design approach, and the quality of the ground improvement works. In addition, the calculated carbon footprint of the ground improvement works are compared to the piled solution, showing that the vibro-compaction has a significantly lower carbon footprint.

Keywords: ground improvement, vibro-compaction, case study, sustainability, carbon footprint

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Authors: Umut Tac, Leyla Tavacioglu, Pelin Bolat

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Human factor has been one of the elements that cause vulnerabilities which can be resulted with accidents in maritime transportation. When the roots of human factor based accidents are analyzed, gaps in performing cognitive abilities (reaction time, attention, memory…) are faced as the main reasons for the vulnerabilities in complex environment of maritime systems. Thus cognitive processes in maritime systems have arisen important subject that should be investigated comprehensively. At this point, neurocognitive tests such as reaction time analysis tests have been used as coherent tools that enable us to make valid assessments for cognitive status. In this respect, the aim of this study is to evaluate the reaction time (response time or latency) of seafarers due to their occupational experience and age. For this study, reaction time for different maneuverers has been taken while the participants were performing a sea voyage through a simulator which was run up with a certain scenario. After collecting the data for reaction time, a statistical analyze has been done to understand the relation between occupational experience and cognitive abilities.

Keywords: cognitive abilities, human factor, neurocognitive test battery, reaction time

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Authors: A. Ersan, A. S. Kipcak, M. Yildirim, A. M. Erayvaz, E. M. Derun, S. Piskin, N. Tugrul

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Zinc borates are used as a multi-functional flame retardant additive for its high dehydration temperature. In this study, a new method of ultrasonic mixing was used in the synthesis of zinc borates. The reactants of zinc oxide (ZnO) and boric acid (H3BO3) were used at the constant reaction parameters of 90°C reaction temperature and 55 min of reaction time. Several molar ratios of ZnO:H3BO3 (1:1, 1:2, 1:3, 1:4, and 1:5) were conducted for the determination of the optimum reaction ratio. Prior to the synthesis, the characterization of the synthesized zinc borates were made by X-Ray Diffraction (XRD) and Fourier Transform Infrared Spectroscopy (FT-IR). From the results Zinc Oxide Borate Hydrate [Zn3B6O12.3.5H2O], were synthesized optimum at the molar ratio of 1:3, with a reaction efficiency of 95.2%.

Keywords: zinc borates, ultrasonic mixing, XRD, FT-IR, reaction efficiency

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Authors: Mei-Hsiu Chi, Jyh-Yang Wu, Sheng-Gwo Chen

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The diffusion-reaction equations are important Partial Differential Equations in mathematical biology, material science, physics, and so on. However, finding efficient numerical methods for diffusion-reaction systems on curved surfaces is still an important and difficult problem. The purpose of this paper is to present a convergent geometric method for solving the reaction-diffusion equations on closed surfaces by an O(r)-LTL configuration method. The O(r)-LTL configuration method combining the local tangential lifting technique and configuration equations is an effective method to estimate differential quantities on curved surfaces. Since estimating the Laplace-Beltrami operator is an important task for solving the reaction-diffusion equations on surfaces, we use the local tangential lifting method and a generalized finite difference method to approximate the Laplace-Beltrami operators and we solve this reaction-diffusion system on closed surfaces. Our method is not only conceptually simple, but also easy to implement.

Keywords: closed surfaces, high-order approachs, numerical solutions, reaction-diffusion systems

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Authors: Océane Grosset, Charles Pézerat, Jean-Hugh Thomas, Frédéric Ablitzer

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This paper presents a method to take into account the fluid-structure coupling into an inverse method, the Force Analysis Technique (FAT). The FAT method, also called RIFF method (Filtered Windowed Inverse Resolution), allows to identify the force distribution from local vibration field. In order to only identify the external force applied on a structure, it is necessary to quantify the fluid-structure coupling, especially in naval application, where the fluid is heavy. This method can be decomposed in two parts, the first one consists in identifying the fluid-structure coupling and the second one to introduced it in the FAT method to reconstruct the external force. Results of simulations on a plate coupled with a cavity filled with water are presented.

Keywords: aeroacoustics, fluid-structure coupling, inverse methods, naval, turbulent flow

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Authors: Maamar Yahiaoui, Abdelrrahmene Kechich, Ismail Elkhallile Bousserhene

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This article presents a study in simulation by means of MATLAB/Simulink software of the nonlinear control in positioning of a linear synchronous machine with the esteemed force of load, to have effective control in the estimator in all tests the wished trajectory follows and the disturbance of load start. The results of simulation prove clearly that the control proposed can detect the reference of positioning the value estimates of load force equal to the actual value.

Keywords: mathematical model, Matlab, PMLSM, control, linearization, estimator, force, load, current

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Authors: O. Giorgishvili

Abstract:

For calculation of foundations one of the important characteristics is the module of deformation (E0). As we all know, the main goal of calculation of the foundations of buildings on deformation is to arrange the base settling and difference in settlings in such limits that do not cause origination of cracks and changes in design levels that will be dangerous to standard operation in the buildings and their individual structures. As is known from the literature and the practical application, the modulus of deformation is determined by two basic methods: laboratory method, soil test on compression (without the side widening) and soil test in field conditions. As we know, the deformation modulus of soil determined by field method is closer to the actual modulus deformation of soil, but the complexity of the tests to be carried out and the financial concerns did not allow determination of ground deformation modulus by field method. Therefore, we determine the ground modulus of deformation by compression method without side widening. Concerning this, we introduce a new way for determination of ground modulus of deformation by laboratory order that occurs by side widening and more accurately reflects the ground modulus of deformation and more accurately reflects the actual modulus of deformation and closer to the modulus of deformation determined by the field method. In this regard, we bring a new approach on the ground deformation detection laboratory module, which is done by widening sides. The tests and the results showed that the proposed method of ground deformation modulus is closer to the results that are obtained in the field, which reflects the foundation's work in real terms more accurately than the compression of the ground deformation module.

Keywords: build, deformation modulus, foundations, ground, laboratory research

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Authors: Sorayya Kazemi, Hamed Kharrati, Mehdi Abedinpour Fallah

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This paper presents the design and implementation of a novel electric pressure-sensitive toothbrush, capable of measuring the forces applied to the head of the brush. The developed device is used for gum recession measurement. In particular, the percentage of gum recession is measured by a Programmable Automation controller (PAC). Moreover, the brushing forces are measured by a Force Sensing Resistor (FSR) sensor. These forces are analog inputs of PAC. According to the applied forces during patient’s brushing and the patient’s percentage of gum recession, dentist sets the standard force range. The instrument alarms when the patient applies a force over the set range.

Keywords: gum recession, force sensing resistor, controller, toothbrush

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Authors: Andrew Youssef, David Matthews, Jie Pan

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Identifying the magnitude and direction of a force on an elastic solid is highly desirable, as this allows for investigation and continual monitoring of the dynamic loading. This was traditionally conducted by connecting the solid to the supporting structure by multi-axial force transducer, providing that the transducer will not change the mounting conditions. Polyvinylidene fluoride (PVDF) film is a versatile force transducer that can be easily embedded in structures. Here a PVDF sensor array is embedded inside a simple structure in an effort to determine the force vector applied to the structure is an inverse problem. In this paper, forces of different magnitudes and directions where applied to the structure with an impact hammer, and the output of the PVDF was captured and processed to gain an estimate of the forces applied by the hammer. The outcome extends the scope of application of PVDF sensors for measuring the external or contact force vectors.

Keywords: embedded sensor, monitoring, PVDF, vibration

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Authors: Somojit Saha, Rohit K. Chatterjee, Sarit K. Das, Avijit Kar

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A new force field is designed for propagation of the parametric contour into deep narrow cortical fold in the application of knowledge based reconstruction of cerebral cortex from MR image of brain. Designing of this force field is highly inspired by the Generalized Gradient Vector Flow (GGVF) model and markedly differs in manipulation of image information in order to determine the direction of propagation of the contour. While GGVF uses edge map as its main driving force, the newly designed force field uses the map of distance between zero valued pixels and their nearest non-zero valued pixel as its main driving force. Hence, it is called Zero-Non-Zero Distance (ZNZD) force field. The objective of this force field is forceful propagation of the contour beyond spurious convergence due to partial volume effect (PVE) in to narrow sulcal fold. Being function of the corresponding non-zero pixel value, the force field has got an inherent property to determine spuriousness of the edge automatically. It is effectively applied along with some morphological processing in the application of cortical reconstruction to breach the hindrance of PVE in narrow sulci where conventional GGVF fails.

Keywords: deformable model, external force field, partial volume effect, cortical reconstruction, MR image of brain

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Authors: Devinder Singh, Arvind Kumar, Rajneesh Kumar

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The general solution of the equations for a homogeneous isotropic microstretch thermo elastic medium with mass diffusion for two dimensional problems is obtained due to normal and tangential forces. The integral transform technique is used to obtain the components of displacements, microrotation, stress and mass concentration, temperature change and mass concentration. A particular case of interest is deduced from the present investigation.

Keywords: normal force, tangential force, microstretch, thermoelastic, the integral transform technique, deforming force, microstress force, boundary value problem

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Authors: M. Unis, S. Turky, A. Elalem, A. Meshrghi

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The Esterification kinetics of acetic acid with isopropnol in the presence of sulfuric acid as a homogenous catalyst was studied with isothermal batch experiments at 60,70 and 80°C and at a different molar ratio of isopropnol to acetic acid. Investigation of kinetics of the reaction indicated that the low of molar ratio is favored for esterification reaction, this is due to the reaction is catalyzed by acid. The maximum conversion, approximately 60.6% was obtained at 80°C for molar ratio of 1:3 acid : alcohol. It was found that increasing temperature of the reaction, increases the rate constant and conversion at a certain mole ratio, that is due to the esterification is exothermic. The homogenous reaction has been described with simple power-law model. The chemical equilibrium combustion calculated from the kinetic model in agreement with the measured chemical equilibrium.

Keywords: artificial flavors, esterification, chemical equilibria, isothermal

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Authors: Nicolay Zarutskiy, Roman Bulkin

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The paper deals with the existing methods of force-torque sensor calibration with a number of components from one to six, analyzed their advantages and disadvantages, the necessity of introduction of a calibration method. Calibration method and its constructive realization are also described here. A calibration method allows performing automated force-torque sensor calibration both with selected components of the main vector of forces and moments and with complex loading. Thus, two main advantages of the proposed calibration method are achieved: the automation of the calibration process and universality.

Keywords: automation, calibration, calibration device, calibration method, force-torque sensors

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Authors: Ali Zazi, Ouiza Cherifi

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Natural gas currently represents a raw material of choice for the manufacture of a wide range of chemical products via synthesis gas, among the routes of transformation of methane into synthesis gas The reaction of the oxidation of methane by gas vapor 'water. This work focuses on the study of the effect of cerieum on the nickel-based catalyst supported by silica for the methane vapor reforming reaction, with a variation of certain parameters of the reaction. The reaction temperature, the H₂O / CH₄ ratio and the flow rate of the reaction mixture (CH₄-H₂O). Two catalysts were prepared by impregnation of Degussa silica with a solution of nickel nitrates and a solution of cerium nitrates [Ni (NO₃) 2 6H₂O and Ce (NO₃) 3 6H₂O] so as to obtain the 1.5% nickel concentrations. For both catalysts and plus 1% cerium for the second catalyst. These Catalysts have been characterized by physical and chemical analysis techniques: BET technique, Atomic Absorption, IR Spectroscopy, X-ray diffraction. These characterizations indicated that the nitrates had impregnated the silica. And that the NiO and Ce₂O3 phases are present and Ni°(after reaction). The BET surface of the silica decreases without being affected. The catalytic tests carried out on the two catalysts for the steam reforming reactions show that the addition of cerium to the nickel improves the catalytic performances of the nickel. And that these performances also depend on the parameters of the reaction, namely the temperature, the rate of the reaction mixture, and the ratio (H₂O / CH₄).

Keywords: heterogeneous catalysis, steam reforming, Methane, Nickel, Cerium, synthesis gas, hydrogen

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Authors: Sandro Samir Nasief, Hussein Hamed Ghouz, Mohamed Fathy

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A compact ultra-wide band micro-strip MIMO antenna is introduced. The antenna consists of two elements each of size 24X24 mm2 (square millimetre) while the total MIMO size is 58X24 mm2 after the spacing between MIMO elements and adding a decouple circuit. The first one covers from 3.29 to 6.9 GHZ using digital ground and the second antenna covers from 8.76 to 13.27 GHZ using defective ground. This type of antenna is used for 3G and 4G applications. The introduction for the antenna structure and the parametric study (reflection coefficients, gain, coupling and decoupling) will be introduced.

Keywords: micro-strip antenna, MIMO, digital ground, defective ground, decouple circuit, bandwidth

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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

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Authors: Jyh Jyh Chen, Fu H. Yang, Chen W. Wang, Yu M. Lin

Abstract:

In this work, a reaction chamber is reciprocated among three temperature regions by using an oscillatory thermal cycling machine. Three cartridge heaters are collocated to heat three aluminum blocks in order to achieve PCR requirements in the reaction chamber. The effects of various chamber moving speeds among different temperature regions on the chamber temperature profiles are presented. To solve the evaporation effect of the sample in the PCR experiment, the mineral oil and the cover lid are used. The influences of various extension times on DNA amplification are also demonstrated. The target fragments of the amplification are 385-bp and 420-bp. The results show when the forward speed is set at 6 mm/s and the backward speed is 2.4 mm/s, the temperature required for the experiment can be achieved. It is successful to perform the amplification of DNA fragments in our device.

Keywords: oscillatory, polymerase chain reaction, reaction chamber, thermal cycling machine

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