Search results for: strong ground motion data
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 28487

Search results for: strong ground motion data

28187 Genetic Testing and Research in South Africa: The Sharing of Data Across Borders

Authors: Amy Gooden, Meshandren Naidoo

Abstract:

Genetic research is not confined to a particular jurisdiction. Using direct-to-consumer genetic testing (DTC-GT) as an example, this research assesses the status of data sharing into and out of South Africa (SA). While SA laws cover the sending of genetic data out of SA, prohibiting such transfer unless a legal ground exists, the position where genetic data comes into the country depends on the laws of the country from where it is sent – making the legal position less clear.

Keywords: cross-border, data, genetic testing, law, regulation, research, sharing, South Africa

Procedia PDF Downloads 127
28186 Investigation of Airship Motion Sensitivity to Geometric Parameters

Authors: Han Ding, Wang Xiaoliang, Duan Dengping

Abstract:

During the process of airship design, the layout and the geometric shape of the hull and fins are crucial to the motion characteristics of the airship. In this paper, we obtained the quantification motion sensitivity of the airship to geometric parameters through turning circles and horizontal/vertical zigzag maneuvers by the parameterization of airship shape and building the dynamic model using Lagrangian approach and MATLAB Simulink program. In the dynamics simulation program, the affection of geometric parameters to the mass, center of gravity, moments of inertia, product of inertia, added mass and the aerodynamic forces and moments have been considered.

Keywords: airship, Lagrangian approach, turning circles, horizontal/vertical zigzag maneuvers

Procedia PDF Downloads 394
28185 Design and Fabrication of Electricity Generating Speed Breaker

Authors: Haider Aamir, Muhammad Ali Khalid

Abstract:

Electricity harvesting speed bump (EHSB) is speed breaker of conventional shape, but the difference is that it is not fixed, rather it moves up and down, and electricity can be generated from its vibrating motion. This speed bump consists of an upper cover which will move up and down, a shaft mechanism which will be used to drive the generator and a rack and pinion mechanism which will connect the cover and shaft. There is a spring mechanism to return the cover to its initial state when a vehicle has passed over the bump. Produced energy in the past was up to 80 Watts. For this purpose, a clutch mechanism is used so that both the up-down movements of the cover can be used to drive the generator. Mechanical Motion Rectifier (MMR) mechanism ensures the conversion of both the linear motions into rotational motion which is used to drive the generator.

Keywords: electricity harvesting, generator, rack and pinion, stainless steel shaft

Procedia PDF Downloads 241
28184 Next-Generation Laser-Based Transponder and 3D Switch for Free Space Optics in Nanosatellite

Authors: Nadir Atayev, Mehman Hasanov

Abstract:

Future spacecraft will require a structural change in the way data is transmitted due to the increase in the volume of data required for space communication. Current radio frequency communication systems are already facing a bottleneck in the volume of data sent to the ground segment due to their technological and regulatory characteristics. To overcome these issues, free space optics communication plays an important role in the integrated terrestrial space network due to its advantages such as significantly improved data rate compared to traditional RF technology, low cost, improved security, and inter-satellite free space communication, as well as uses a laser beam, which is an optical signal carrier to establish satellite-ground & ground-to-satellite links. In this approach, there is a need for high-speed and energy-efficient systems as a base platform for sending high-volume video & audio data. Nano Satellite and its branch CubeSat platforms have more technical functionality than large satellites, wheres cover an important part of the space sector, with their Low-Earth-Orbit application area with low-cost design and technical functionality for building networks using different communication topologies. Along the research theme developed in this regard, the output parameter indicators for the FSO of the optical communication transceiver subsystem on the existing CubeSat platforms, and in the direction of improving the mentioned parameters of this communication methodology, 3D optical switch and laser beam controlled optical transponder with 2U CubeSat structural subsystems and application in the Low Earth Orbit satellite network topology, as well as its functional performance and structural parameters, has been studied accordingly.

Keywords: cubesat, free space optics, nano satellite, optical laser communication.

Procedia PDF Downloads 56
28183 A Simple Low-Cost 2-D Optical Measurement System for Linear Guideways

Authors: Wen-Yuh Jywe, Bor-Jeng Lin, Jing-Chung Shen, Jeng-Dao Lee, Hsueh-Liang Huang, Tung-Hsien Hsieh

Abstract:

In this study, a simple 2-D measurement system based on optical design was developed to measure the motion errors of the linear guideway. Compared with the transitional methods about the linear guideway for measuring the motion errors, our proposed 2-D optical measurement system can simultaneously measure horizontal and vertical running straightness errors for the linear guideway. The performance of the 2-D optical measurement system is verified by experimental results. The standard deviation of the 2-D optical measurement system is about 0.4 μm in the measurement range of 100 mm. The maximum measuring speed of the proposed automatic measurement instrument is 1 m/sec.

Keywords: 2-D measurement, linear guideway, motion errors, running straightness

Procedia PDF Downloads 457
28182 Automatic Motion Trajectory Analysis for Dual Human Interaction Using Video Sequences

Authors: Yuan-Hsiang Chang, Pin-Chi Lin, Li-Der Jeng

Abstract:

Advance in techniques of image and video processing has enabled the development of intelligent video surveillance systems. This study was aimed to automatically detect moving human objects and to analyze events of dual human interaction in a surveillance scene. Our system was developed in four major steps: image preprocessing, human object detection, human object tracking, and motion trajectory analysis. The adaptive background subtraction and image processing techniques were used to detect and track moving human objects. To solve the occlusion problem during the interaction, the Kalman filter was used to retain a complete trajectory for each human object. Finally, the motion trajectory analysis was developed to distinguish between the interaction and non-interaction events based on derivatives of trajectories related to the speed of the moving objects. Using a database of 60 video sequences, our system could achieve the classification accuracy of 80% in interaction events and 95% in non-interaction events, respectively. In summary, we have explored the idea to investigate a system for the automatic classification of events for interaction and non-interaction events using surveillance cameras. Ultimately, this system could be incorporated in an intelligent surveillance system for the detection and/or classification of abnormal or criminal events (e.g., theft, snatch, fighting, etc.).

Keywords: motion detection, motion tracking, trajectory analysis, video surveillance

Procedia PDF Downloads 510
28181 Deliberation of Daily Evapotranspiration and Evaporative Fraction Based on Remote Sensing Data

Authors: J. Bahrawi, M. Elhag

Abstract:

Estimation of evapotranspiration is always a major component in water resources management. Traditional techniques of calculating daily evapotranspiration based on field measurements are valid only for local scales. Earth observation satellite sensors are thus used to overcome difficulties in obtaining daily evapotranspiration measurements on regional scale. The Surface Energy Balance System (SEBS) model was adopted to estimate daily evapotranspiration and relative evaporation along with other land surface energy fluxes. The model requires agro-climatic data that improve the model outputs. Advance Along Track Scanning Radiometer (AATSR) and Medium Spectral Resolution Imaging Spectrometer (MERIS) imageries were used to estimate the daily evapotranspiration and relative evaporation over the entire Nile Delta region in Egypt supported by meteorological data collected from six different weather stations located within the study area. Daily evapotranspiration maps derived from SEBS model show a strong agreement with actual ground-truth data taken from 92 points uniformly distributed all over the study area. Moreover, daily evapotranspiration and relative evaporation are strongly correlated. The reliable estimation of daily evapotranspiration supports the decision makers to review the current land use practices in terms of water management, while enabling them to propose proper land use changes.

Keywords: daily evapotranspiration, relative evaporation, SEBS, AATSR, MERIS, Nile Delta

Procedia PDF Downloads 229
28180 The Structure and Function Investigation and Analysis of the Automatic Spin Regulator (ASR) in the Powertrain System of Construction and Mining Machines with the Focus on Dump Trucks

Authors: Amir Mirzaei

Abstract:

The powertrain system is one of the most basic and essential components in a machine. The occurrence of motion is practically impossible without the presence of this system. When power is generated by the engine, it is transmitted by the powertrain system to the wheels, which are the last parts of the system. Powertrain system has different components according to the type of use and design. When the force generated by the engine reaches to the wheels, the amount of frictional force between the tire and the ground determines the amount of traction and non-slip or the amount of slip. At various levels, such as icy, muddy, and snow-covered ground, the amount of friction coefficient between the tire and the ground decreases dramatically and considerably, which in turn increases the amount of force loss and the vehicle traction decreases drastically. This condition is caused by the phenomenon of slipping, which, in addition to the waste of energy produced, causes the premature wear of driving tires. It also causes the temperature of the transmission oil to rise too much, as a result, causes a reduction in the quality and become dirty to oil and also reduces the useful life of the clutches disk and plates inside the transmission. this issue is much more important in road construction and mining machinery than passenger vehicles and is always one of the most important and significant issues in the design discussion, in order to overcome. One of these methods is the automatic spin regulator system which is abbreviated as ASR. The importance of this method and its structure and function have solved one of the biggest challenges of the powertrain system in the field of construction and mining machinery. That this research is examined.

Keywords: automatic spin regulator, ASR, methods of reducing slipping, methods of preventing the reduction of the useful life of clutches disk and plate, methods of preventing the premature dirtiness of transmission oil, method of preventing the reduction of the useful life of tires

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28179 Damage-Based Seismic Design and Evaluation of Reinforced Concrete Bridges

Authors: Ping-Hsiung Wang, Kuo-Chun Chang

Abstract:

There has been a common trend worldwide in the seismic design and evaluation of bridges towards the performance-based method where the lateral displacement or the displacement ductility of bridge column is regarded as an important indicator for performance assessment. However, the seismic response of a bridge to an earthquake is a combined result of cyclic displacements and accumulated energy dissipation, causing damage to the bridge, and hence the lateral displacement (ductility) alone is insufficient to tell its actual seismic performance. This study aims to propose a damage-based seismic design and evaluation method for reinforced concrete bridges on the basis of the newly developed capacity-based inelastic displacement spectra. The capacity-based inelastic displacement spectra that comprise an inelastic displacement ratio spectrum and a corresponding damage state spectrum was constructed by using a series of nonlinear time history analyses and a versatile, smooth hysteresis model. The smooth model could take into account the effects of various design parameters of RC bridge columns and correlates the column’s strength deterioration with the Park and Ang’s damage index. It was proved that the damage index not only can be used to accurately predict the onset of strength deterioration, but also can be a good indicator for assessing the actual visible damage condition of column regardless of its loading history (i.e., similar damage index corresponds to similar actual damage condition for the same designed columns subjected to very different cyclic loading protocols as well as earthquake loading), providing a better insight into the seismic performance of bridges. Besides, the computed spectra show that the inelastic displacement ratio for far-field ground motions approximately conforms to the equal displacement rule when structural period is larger than around 0.8 s, but that for near-fault ground motions departs from the rule in the whole considered spectral regions. Furthermore, the near-fault ground motions would lead to significantly greater inelastic displacement ratio and damage index than far-field ground motions and most of the practical design scenarios cannot survive the considered near-fault ground motion when the strength reduction factor of bridge is not less than 5.0. Finally, the spectrum formula is presented as a function of structural period, strength reduction factor, and various column design parameters for far-field and near-fault ground motions by means of the regression analysis of the computed spectra. And based on the developed spectrum formula, a design example of a bridge is presented to illustrate the proposed damage-based seismic design and evaluation method where the damage state of the bridge is used as the performance objective.

Keywords: damage index, far-field, near-fault, reinforced concrete bridge, seismic design and evaluation

Procedia PDF Downloads 106
28178 1-g Shake Table Tests to Study the Impact of PGA on Foundation Settlement in Liquefiable Soil

Authors: Md. Kausar Alam, Mohammad Yazdi, Peiman Zogh, Ramin Motamed

Abstract:

The liquefaction-induced ground settlement has caused severe damage to structures in the past decades. However, the amount of building settlement caused by liquefaction is directly proportional to the intensity of the ground shaking. To reduce this soil liquefaction effect, it is essential to examine the influence of peak ground acceleration (PGA). Unfortunately, limited studies have been carried out on this issue. In this study, a series of moderate scale 1g shake table experiments were conducted at the University of Nevada Reno to evaluate the influence of PGA with the same duration in liquefiable soil layers. The model is prepared based on a large-scale shake table with a scaling factor of N = 5, which has been conducted at the University of California, San Diego. The model ground has three soil layers with relative densities of 50% for crust, 30% for liquefiable, and 90% for dense layer, respectively. In addition, a shallow foundation is seated over an unsaturated crust layer. After preparing the model, the input motions having various peak ground accelerations (i.e., 0.16g, 0.25g, and 0.37g) for the same duration (10 sec) were applied. Based on the experimental results, when the PGA increased from 0.16g to 0.37g, the foundation increased from 20 mm to 100 mm. In addition, the expected foundation settlement based on the scaling factor was 25 mm, while the actual settlement for PGA 0.25g for 10 seconds was 50 mm.

Keywords: foundation settlement, liquefaction, peak ground acceleration, shake table test

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28177 Efficient Subsurface Mapping: Automatic Integration of Ground Penetrating Radar with Geographic Information Systems

Authors: Rauf R. Hussein, Devon M. Ramey

Abstract:

Integrating Ground Penetrating Radar (GPR) with Geographic Information Systems (GIS) can provide valuable insights for various applications, such as archaeology, transportation, and utility locating. Although there has been progress toward automating the integration of GPR data with GIS, fully automatic integration has not been achieved yet. Additionally, manually integrating GPR data with GIS can be a time-consuming and error-prone process. In this study, actual, real-world GPR applications are presented, and a software named GPR-GIS 10 is created to interactively extract subsurface targets from GPR radargrams and automatically integrate them into GIS. With this software, it is possible to quickly and reliably integrate the two techniques to create informative subsurface maps. The results indicated that automatic integration of GPR with GIS can be an efficient tool to map and view any subsurface targets in their appropriate location in a 3D space with the needed precision. The findings of this study could help GPR-GIS integrators save time and reduce errors in many GPR-GIS applications.

Keywords: GPR, GIS, GPR-GIS 10, drone technology, automation

Procedia PDF Downloads 55
28176 Pyramidal Lucas-Kanade Optical Flow Based Moving Object Detection in Dynamic Scenes

Authors: Hyojin Lim, Cuong Nguyen Khac, Yeongyu Choi, Ho-Youl Jung

Abstract:

In this paper, we propose a simple moving object detection, which is based on motion vectors obtained from pyramidal Lucas-Kanade optical flow. The proposed method detects moving objects such as pedestrians, the other vehicles and some obstacles at the front-side of the host vehicle, and it can provide the warning to the driver. Motion vectors are obtained by using pyramidal Lucas-Kanade optical flow, and some outliers are eliminated by comparing the amplitude of each vector with the pre-defined threshold value. The background model is obtained by calculating the mean and the variance of the amplitude of recent motion vectors in the rectangular shaped local region called the cell. The model is applied as the reference to classify motion vectors of moving objects and those of background. Motion vectors are clustered to rectangular regions by using the unsupervised clustering K-means algorithm. Labeling method is applied to label groups which is close to each other, using by distance between each center points of rectangular. Through the simulations tested on four kinds of scenarios such as approaching motorbike, vehicle, and pedestrians to host vehicle, we prove that the proposed is simple but efficient for moving object detection in parking lots.

Keywords: moving object detection, dynamic scene, optical flow, pyramidal optical flow

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28175 On Unification of the Electromagnetic, Strong and Weak Interactions

Authors: Hassan Youssef Mohamed

Abstract:

In this paper, we show new wave equations, and by using the equations, we concluded that the strong force and the weak force are not fundamental, but they are quantum effects for electromagnetism. This result is different from the current scientific understanding about strong and weak interactions at all. So, we introduce three evidences for our theory. First, we prove the asymptotic freedom phenomenon in the strong force by using our model. Second, we derive the nuclear shell model as an approximation of our model. Third, we prove that the leptons do not participate in the strong interactions, and we prove the short ranges of weak and strong interactions. So, our model is consistent with the current understanding of physics. Finally, we introduce the electron-positron model as the basic ingredients for protons, neutrons, and all matters, so we can study all particles interactions and nuclear interaction as many-body problems of electrons and positrons. Also, we prove the violation of parity conservation in weak interaction as evidence of our theory in the weak interaction. Also, we calculate the average of the binding energy per nucleon.

Keywords: new wave equations, the strong force, the grand unification theory, hydrogen atom, weak force, the nuclear shell model, the asymptotic freedom, electron-positron model, the violation of parity conservation, the binding energy

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28174 The Utilization of Rain Water to Ground Water with Tube in the Area of Tourism in Yogyakarta

Authors: Kurniawan Agung Pambudi, Alfian Deo Pradipta

Abstract:

Yogyakarta is the famous tourism city in Indonesia. The Tugu Jogja is a tourism center located in Jetis. To support the tourism activities required facilities such as tourist hotel and guest house. The existence of tourism also has an impact on the environment. The surface of the land is covered by cement and a local company dealing in ceramics, then an infiltration process is not running. The existence of the building in layers resulting in the amount of water resource in Jetis decreases. The purpose of this research is to know the impact of the construction of the building in layers in Jetis. To obtain the data done by observation, measurements and taking the land profile, along with the interview to people in Jetis. The results of the study showed that the number of water sources in Jetis, Yogyakarta start decreases as a result of the construction of the building on stilts as a result, the height of the surface of the groundwater decreases and digging a pit must be in to get the source of the waters. Based on the results of research it can be concluded that the height of the surface of the groundwater decreases. To resolve the issue required a method to rainwater can seep into the ground for maximum. The rain that fell upon the precarious houses or other buildings is channeled toward the ground through the tubes with the depth of 1-2 meters. Rainwater will be absorbed into the land and increase the amount of ground water.

Keywords: rain water, tube, water resource, groundwater

Procedia PDF Downloads 195
28173 A Small-Scale Study of Fire Whirls and Investigation of the Effects of Near-Ground Height on the Behavior of Fire Whirls

Authors: M. Arabghahestani, A. Darwish Ahmad, N. K. Akafuah

Abstract:

In this work, small-scale experiments of fire whirl were conducted to study the spinning fire phenomenon and to gain comprehensive understandings of fire tornadoes and the factors that affect their behavior. High speed imaging was used to track the flames at both temporal and spatial scales. This allowed us to better understand the role of the near-ground height in creating a boundary layer flow profile that, in turn contributes to formation of vortices around the fire, and consequent fire whirls. Based on the results obtained from these observations, we were able to spot the differences in the fuel burning rate of the fire itself as a function of a newly defined specific non-dimensional near-ground height. Based on our observations, there is a cutoff non-dimensional height, beyond which a normal fire can be turned into a fire whirl. Additionally, the results showed that the fire burning rate decreases by moving the fire to a height higher than the ground level. These effects were justified by the interactions between vortices formed by, the back pressure and the boundary layer velocity profile, and the vortices generated by the fire itself.

Keywords: boundary layer profile, fire whirls, near-ground height, vortex interactions

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28172 Theoretical and Numerical Investigation of a Tri-Stable Nonlinear Energy Harvesting System in Rotational Motion for Low Frequency Environment

Authors: Mei Xutao, Nakano Kimihiko

Abstract:

In order to enhance the energy harvesting efficiency, this paper presents a novel tri-stable energy harvesting system (TEHS), which is realized by the effect of magnetic force, in rotational motion to scavenge vibration energy. The device is meant to provide the power supply for wireless autonomous systems in low-frequency environment. The nonlinear TEHS is composed of the cantilever beam which is mounted on a rotating hub and partially covered by piezoelectric patch, a tip mass magnet in the end and two fixed magnets. A theoretical investigation using the Lagrangian formulation is derived to describe the motion of the energy harvesting system and the output voltage. Additionally, several numerical simulations were carried out to characterize the system under different external excitations and to validate its performance. The results demonstrated that TEHS owns a wide range of frequency of snap-through and high output voltage compared with the bi-stable energy harvesting system (BEHS). Moreover, some sets of experimental validations will be performed in the future work because the experimental setup is in the configuration now.

Keywords: piezoelectric beam, rotational motion, snap-through, tri-stable energy harvester

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28171 Analysis of Impact of Air Pollution over Megacity Delhi Due to Agricultural Biomass Burning in the Neighbouring States

Authors: Ankur P. Sati, Manju Mohan

Abstract:

The hazardous combination of smoke and pollutant gases, smog, is harmful for health. There are strong evidences that the Agricultural waste burning (AWB) in the Northern India leads to adverse air quality in Delhi and its surrounding regions. A severe smog episode was observed over Delhi, India during November 2012 which resulted in very low visibility and various respiratory problems. Very high values of pollutants (PM10 as high as 989 µg m-3, PM2.5 as high as 585 µg m-3 an NO2 as high as 540 µg m-3) were measured all over Delhi during the smog episode. Ultra Violet Aerosol Index (UVAI) from Aura satellite and Aerosol Optical Depth (AOD) are used in the present study along with the output trajectories from HYSPLIT model and the in-situ data. Satellite data also reveal that AOD, UVAI are always at its highest during the farmfires duration in Punjab region of India and the extent of these farmfires may be increasing. It is observed that during the smog episode all the AOD, UVAI, PM2.5 and PM10 values surpassed those of the Diwali period (one of the most polluted events in the city) by a considerable amount at all stations across Delhi. The parameters used from the remote sensing data and the ground based observations at various stations across Delhi are very well in agreement about the intensity of Smog episode. The analysis clearly shows that regional pollution can have greater contributions in deteriorating the air quality than the local under adverse meteorological conditions.

Keywords: smog, farmfires, AOD, remote sensing

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28170 Modeling Flow and Deposition Characteristics of Solid CO2 during Choked Flow of CO2 Pipeline in CCS

Authors: Teng lin, Li Yuxing, Han Hui, Zhao Pengfei, Zhang Datong

Abstract:

With the development of carbon capture and storage (CCS), the flow assurance of CO2 transportation becomes more important, particularly for supercritical CO2 pipelines. The relieving system using the choke valve is applied to control the pressure in CO2 pipeline. However, the temperature of fluid would drop rapidly because of Joule-Thomson cooling (JTC), which may cause solid CO2 form and block the pipe. In this paper, a Computational Fluid Dynamic (CFD) model, using the modified Lagrangian method, Reynold's Stress Transport model (RSM) for turbulence and stochastic tracking model (STM) for particle trajectory, was developed to predict the deposition characteristic of solid carbon dioxide. The model predictions were in good agreement with the experiment data published in the literature. It can be observed that the particle distribution affected the deposition behavior. In the region of the sudden expansion, the smaller particles accumulated tightly on the wall were dominant for pipe blockage. On the contrary, the size of solid CO2 particles deposited near the outlet usually was bigger and the stacked structure was looser. According to the calculation results, the movement of the particles can be regarded as the main four types: turbulent motion close to the sudden expansion structure, balanced motion at sudden expansion-middle region, inertial motion near the outlet and the escape. Furthermore the particle deposits accumulated primarily in the sudden expansion region, reattachment region and outlet region because of the four type of motion. Also the Stokes number had an effect on the deposition ratio and it is recommended for Stokes number to avoid 3-8St.

Keywords: carbon capture and storage, carbon dioxide pipeline, gas-particle flow, deposition

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28169 Trajectory Planning Algorithms for Autonomous Agricultural Vehicles

Authors: Caner Koc, Dilara Gerdan Koc, Mustafa Vatandas

Abstract:

The fundamental components of autonomous agricultural robot design, such as having a working understanding of coordinates, correctly constructing the desired route, and sensing environmental elements, are the most important. A variety of sensors, hardware, and software are employed by agricultural robots to find these systems.These enable the fully automated driving system of an autonomous vehicle to simulate how a human-driven vehicle would respond to changing environmental conditions. To calculate the vehicle's motion trajectory using data from the sensors, this automation system typically consists of a sophisticated software architecture based on object detection and driving decisions. In this study, the software architecture of an autonomous agricultural vehicle is compared to the trajectory planning techniques.

Keywords: agriculture 5.0, computational intelligence, motion planning, trajectory planning

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28168 Human Behavior Modeling in Video Surveillance of Conference Halls

Authors: Nour Charara, Hussein Charara, Omar Abou Khaled, Hani Abdallah, Elena Mugellini

Abstract:

In this paper, we present a human behavior modeling approach in videos scenes. This approach is used to model the normal behaviors in the conference halls. We exploited the Probabilistic Latent Semantic Analysis technique (PLSA), using the 'Bag-of-Terms' paradigm, as a tool for exploring video data to learn the model by grouping similar activities. Our term vocabulary consists of 3D spatio-temporal patch groups assigned by the direction of motion. Our video representation ensures the spatial information, the object trajectory, and the motion. The main importance of this approach is that it can be adapted to detect abnormal behaviors in order to ensure and enhance human security.

Keywords: activity modeling, clustering, PLSA, video representation

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28167 A Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-Redundant Manipulator

Authors: Abolfazl Zaraki, Yoshikatsu Hayashi, Harry Thorpe, Vincent Strong, Gisle-Andre Larsen, William Holderbaum

Abstract:

Thanks to the high maneuverability of the cable-driven hyper-redundant manipulators (HRMs), this class of robots has shown a superior capability in highly confined and unstructured space applications. Although the large number of degrees of freedom (DOF) of HRMs enhances the motion flexibility and the robot’s reachability range, it highly increases the complexity of the kinematic configuration which makes the kinematic control problem very challenging or even impossible to solve. This paper presents our current progress achieved on the development of a kinematic-based leader-follower control system which is designed to control not only the robot’s body posture but also to control the trajectory of the robot’s movement in a semi-autonomous manner (the human operator is retained in the robot’s control loop). To obtain the forward kinematic model, the coordinate frames are established by the classical Denavit–Hartenburg (D-H) convention for a hyper-redundant serial manipulator which has a controlled cables-driven mechanism. To solve the inverse kinematics of the robot, unlike the conventional methods, a leader-follower mechanism, based on the sequential inverse kinematic, is followed. Using this mechanism, the inverse kinematic problem is solved for all sequential joints starting from the head joint to the base joint of the robot. To verify the kinematic design and simulate the robot motion, the MATLAB robotic toolbox is used. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and trajectory in our confined space application.

Keywords: hyper-redundant robots, kinematic analysis, semi-autonomous control, serial manipulators

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28166 Analysis of Translational Ship Oscillations in a Realistic Environment

Authors: Chen Zhang, Bernhard Schwarz-Röhr, Alexander Härting

Abstract:

To acquire accurate ship motions at the center of gravity, a single low-cost inertial sensor is utilized and applied on board to measure ship oscillating motions. As observations, the three axes accelerations and three axes rotational rates provided by the sensor are used. The mathematical model of processing the observation data includes determination of the distance vector between the sensor and the center of gravity in x, y, and z directions. After setting up the transfer matrix from sensor’s own coordinate system to the ship’s body frame, an extended Kalman filter is applied to deal with nonlinearities between the ship motion in the body frame and the observation information in the sensor’s frame. As a side effect, the method eliminates sensor noise and other unwanted errors. Results are not only roll and pitch, but also linear motions, in particular heave and surge at the center of gravity. For testing, we resort to measurements recorded on a small vessel in a well-defined sea state. With response amplitude operators computed numerically by a commercial software (Seaway), motion characteristics are estimated. These agree well with the measurements after processing with the suggested method.

Keywords: extended Kalman filter, nonlinear estimation, sea trial, ship motion estimation

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28165 Gait Analysis in Total Knee Arthroplasty

Authors: Neeraj Vij, Christian Leber, Kenneth Schmidt

Abstract:

Introduction: Total knee arthroplasty is a common procedure. It is well known that the biomechanics of the knee do not fully return to their normal state. Motion analysis has been used to study the biomechanics of the knee after total knee arthroplasty. The purpose of this scoping review is to summarize the current use of gait analysis in total knee arthroplasty and to identify the preoperative motion analysis parameters for which a systematic review aimed at determining the reliability and validity may be warranted. Materials and Methods: This IRB-exempt scoping review followed the Preferred Reporting Items for Systematic Reviews and Meta-Analyses extension for Scoping Reviews (PRISMA-ScR) checklist strictly. Five search engines were searched for a total of 279 articles. Articles underwent a title and abstract screening process followed by full-text screening. Included articles were placed in the following sections: the role of gait analysis as a research tool for operative decisions, other research applications for motion analysis in total knee arthroplasty, gait analysis as a tool in predicting radiologic outcomes, gait analysis as a tool in predicting clinical outcomes. Results: Eleven articles studied gait analysis as a research tool in studying operative decisions. Motion analysis is currently used to study surgical approaches, surgical techniques, and implant choice. Five articles studied other research applications for motion analysis in total knee arthroplasty. Other research applications for motion analysis currently include studying the role of the unicompartmental knee arthroplasty and novel physical therapy protocols aimed at optimizing post-operative care. Two articles studied motion analysis as a tool for predicting radiographic outcomes. Preoperative gait analysis has identified parameters than can predict postoperative tibial component migration. 15 articles studied motion analysis in conjunction with clinical scores. Conclusions: There is a broad range of applications within the research domain of total knee arthroplasty. The potential application is likely larger. However, the current literature is limited by vague definitions of ‘gait analysis’ or ‘motion analysis’ and a limited number of articles with preoperative and postoperative functional and clinical measures. Knee adduction moment, knee adduction impulse, total knee range of motion, varus angle, cadence, stride length, and velocity have the potential for integration into composite clinical scores. A systematic review aimed at determining the validity, reliability, sensitivities, and specificities of these variables is warranted.

Keywords: motion analysis, joint replacement, patient-reported outcomes, knee surgery

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28164 Evaluation of Site Laboratory Conditions Effect on Seismic Design Characteristics in Ramhormoz

Authors: Sayyed Yaghoub Zolfegharifar, Khairul Anuar Kassim, Hossein Khoramrooz, Khodayar Farhadiasl, Sadegh Jahan

Abstract:

Iran is one of the world's seismically active countries so that it experiences many small to medium earthquakes annually and a large earthquake every ten years. Due to seism tectonic conditions and special geographical and climatic position, Iran has the potential to create numerous severe earthquakes. Therefore, seismicity studies and seismic zonation of seismic zones of the country are necessary. In this article, the effect of local site conditions on the characteristics of seismic design in Rahmormoz will be examined. After analyzing the seismic hazard for Rahmormoz through deterministic and statistical methods and preparing the necessary geotechnical models based on available data, the ground response will be analyzed for different parts of the city based on four inputs and acceleration level estimated for bedrock through the equivalent linear method and by means of Deep Soil program. Finally, through the analysis of the obtained results, the seismic profiles of the ground surface for different parts of the city will be presented.

Keywords: seismic microzonation, ground response, resonance spectrum, period, site conditions

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28163 Comparative Investigation of Miniaturized Antennas Based on Chiral Slotted Ground Plane

Authors: Oussema Tabbabi, Mondher Laabidi, Fethi Choubani, J. David

Abstract:

This study presents a miniaturized antenna based on chiral metamaterials slotted ground plane. To decrease resonant frequency while keeping the antennas physical dimensions the same, we propose a two novel patch antennas with double Z and cross slots on the ground plane. The length of the each type of slot are also altered to investigate the effect on miniaturization performance. Resonance frequency reduction has been achieved nearly to 30% and 23% as well as size reduction of almost 28% and 22% for the double Z and the cross shape respectively.

Keywords: chiral metamaterials, miniaturized antenna, miniaturization, resonance frequency

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28162 A Decadal Flood Assessment Using Time-Series Satellite Data in Cambodia

Authors: Nguyen-Thanh Son

Abstract:

Flood is among the most frequent and costliest natural hazards. The flood disasters especially affect the poor people in rural areas, who are heavily dependent on agriculture and have lower incomes. Cambodia is identified as one of the most climate-vulnerable countries in the world, ranked 13th out of 181 countries most affected by the impacts of climate change. Flood monitoring is thus a strategic priority at national and regional levels because policymakers need reliable spatial and temporal information on flood-prone areas to form successful monitoring programs to reduce possible impacts on the country’s economy and people’s likelihood. This study aims to develop methods for flood mapping and assessment from MODIS data in Cambodia. We processed the data for the period from 2000 to 2017, following three main steps: (1) data pre-processing to construct smooth time-series vegetation and water surface indices, (2) delineation of flood-prone areas, and (3) accuracy assessment. The results of flood mapping were verified with the ground reference data, indicating the overall accuracy of 88.7% and a Kappa coefficient of 0.77, respectively. These results were reaffirmed by close agreement between the flood-mapping area and ground reference data, with the correlation coefficient of determination (R²) of 0.94. The seasonally flooded areas observed for 2010, 2015, and 2016 were remarkably smaller than other years, mainly attributed to the El Niño weather phenomenon exacerbated by impacts of climate change. Eventually, although several sources potentially lowered the mapping accuracy of flood-prone areas, including image cloud contamination, mixed-pixel issues, and low-resolution bias between the mapping results and ground reference data, our methods indicated the satisfactory results for delineating spatiotemporal evolutions of floods. The results in the form of quantitative information on spatiotemporal flood distributions could be beneficial to policymakers in evaluating their management strategies for mitigating the negative effects of floods on agriculture and people’s likelihood in the country.

Keywords: MODIS, flood, mapping, Cambodia

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28161 Worldwide GIS Based Earthquake Information System/Alarming System for Microzonation/Liquefaction and It’s Application for Infrastructure Development

Authors: Rajinder Kumar Gupta, Rajni Kant Agrawal, Jaganniwas

Abstract:

One of the most frightening phenomena of nature is the occurrence of earthquake as it has terrible and disastrous effects. Many earthquakes occur every day worldwide. There is need to have knowledge regarding the trends in earthquake occurrence worldwide. The recoding and interpretation of data obtained from the establishment of the worldwide system of seismological stations made this possible. From the analysis of recorded earthquake data, the earthquake parameters and source parameters can be computed and the earthquake catalogues can be prepared. These catalogues provide information on origin, time, epicenter locations (in term of latitude and longitudes) focal depths, magnitude and other related details of the recorded earthquakes. Theses catalogues are used for seismic hazard estimation. Manual interpretation and analysis of these data is tedious and time consuming. A geographical information system is a computer based system designed to store, analyzes and display geographic information. The implementation of integrated GIS technology provides an approach which permits rapid evaluation of complex inventor database under a variety of earthquake scenario and allows the user to interactively view results almost immediately. GIS technology provides a powerful tool for displaying outputs and permit to users to see graphical distribution of impacts of different earthquake scenarios and assumptions. An endeavor has been made in present study to compile the earthquake data for the whole world in visual Basic on ARC GIS Plate form so that it can be used easily for further analysis to be carried out by earthquake engineers. The basic data on time of occurrence, location and size of earthquake has been compiled for further querying based on various parameters. A preliminary analysis tool is also provided in the user interface to interpret the earthquake recurrence in region. The user interface also includes the seismic hazard information already worked out under GHSAP program. The seismic hazard in terms of probability of exceedance in definite return periods is provided for the world. The seismic zones of the Indian region are included in the user interface from IS 1893-2002 code on earthquake resistant design of buildings. The City wise satellite images has been inserted in Map and based on actual data the following information could be extracted in real time: • Analysis of soil parameters and its effect • Microzonation information • Seismic hazard and strong ground motion • Soil liquefaction and its effect in surrounding area • Impacts of liquefaction on buildings and infrastructure • Occurrence of earthquake in future and effect on existing soil • Propagation of earth vibration due of occurrence of Earthquake GIS based earthquake information system has been prepared for whole world in Visual Basic on ARC GIS Plate form and further extended micro level based on actual soil parameters. Individual tools has been developed for liquefaction, earthquake frequency etc. All information could be used for development of infrastructure i.e. multi story structure, Irrigation Dam & Its components, Hydro-power etc in real time for present and future.

Keywords: GIS based earthquake information system, microzonation, analysis and real time information about liquefaction, infrastructure development

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28160 Potential Field Functions for Motion Planning and Posture of the Standard 3-Trailer System

Authors: K. Raghuwaiya, S. Singh, B. Sharma, J. Vanualailai

Abstract:

This paper presents a set of artificial potential field functions that improves upon; in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of 3-trailer systems in a priori known environment. We basically design and inject two new concepts; ghost walls and the Distance Optimization Technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. The effectiveness of the proposed control laws were demonstrated via simulations of two traffic scenarios.

Keywords: artificial potential fields, 3-trailer systems, motion planning, posture, parking and collision, free trajectories

Procedia PDF Downloads 357
28159 Evaluation of Dual Polarization Rainfall Estimation Algorithm Applicability in Korea: A Case Study on Biseulsan Radar

Authors: Chulsang Yoo, Gildo Kim

Abstract:

Dual polarization radar provides comprehensive information about rainfall by measuring multiple parameters. In Korea, for the rainfall estimation, JPOLE and CSU-HIDRO algorithms are generally used. This study evaluated the local applicability of JPOLE and CSU-HIDRO algorithms in Korea by using the observed rainfall data collected on August, 2014 by the Biseulsan dual polarization radar data and KMA AWS. A total of 11,372 pairs of radar-ground rain rate data were classified according to thresholds of synthetic algorithms into suitable and unsuitable data. Then, evaluation criteria were derived by comparing radar rain rate and ground rain rate, respectively, for entire, suitable, unsuitable data. The results are as follows: (1) The radar rain rate equation including KDP, was found better in the rainfall estimation than the other equations for both JPOLE and CSU-HIDRO algorithms. The thresholds were found to be adequately applied for both algorithms including specific differential phase. (2) The radar rain rate equation including horizontal reflectivity and differential reflectivity were found poor compared to the others. The result was not improved even when only the suitable data were applied. Acknowledgments: This work was supported by the Basic Science Research Program through the National Research Foundation of Korea, funded by the Ministry of Education (NRF-2013R1A1A2011012).

Keywords: CSU-HIDRO algorithm, dual polarization radar, JPOLE algorithm, radar rainfall estimation algorithm

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28158 Shield Tunnel Excavation Simulation of a Case Study Using a So-Called 'Stress Relaxation' Method

Authors: Shengwei Zhu, Alireza Afshani, Hirokazu Akagi

Abstract:

Ground surface settlement induced by shield tunneling is addressing increasing attention as shield tunneling becomes a popular construction technique for tunnels in urban areas. This paper discusses a 2D longitudinal FEM simulation of a tunneling case study in Japan (Tokyo Metro Yurakucho Line). Tunneling-induced field data was already collected and is used here for comparison and evaluating purposes. In this model, earth pressure, face pressure, backfilling grouting, elastic tunnel lining, and Mohr-Coulomb failure criterion for soil elements are considered. A method called ‘stress relaxation’ is also exploited to simulate the gradual tunneling excavation. Ground surface settlements obtained from numerical results using the introduced method are then compared with the measurement data.

Keywords: 2D longitudinal FEM model, tunneling case study, stress relaxation, shield tunneling excavation

Procedia PDF Downloads 307