Search results for: Mode super position technique.
4298 Combustion Characteristics of Syngas and Natural Gas in Micro-pilot Ignited Dual-fuel Engine
Authors: Ulugbek Azimov, Eiji Tomita, Nobuyuki Kawahara, Sharul Sham Dol
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The objective of this study is to investigate the combustion in a pilot-ignited supercharged dual-fuel engine, fueled with different types of gaseous fuels under various equivalence ratios. It is found that if certain operating conditions are maintained, conventional dual-fuel engine combustion mode can be transformed to the combustion mode with the two-stage heat release. This mode of combustion was called the PREMIER (PREmixed Mixture Ignition in the End-gas Region) combustion. During PREMIER combustion, initially, the combustion progresses as the premixed flame propagation and then, due to the mixture autoignition in the end-gas region, ahead of the propagating flame front, the transition occurs with the rapid increase in the heat release rate.Keywords: Combustion, dual-fuel engine, end-gas autoignition, PREMIER.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 44744297 Collapse of Family System of Japanese Tomb Culture
Authors: Miho Tsukamoto
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This paper examines Japanese life expectancy, and the declining birth rate to investigate the Japanese people’s view of death, and their consciousness of death. To support their perspectives toward death, “Eitai Kuyobo,” and tombs with Japanese animation will be focused as Japanese citizens have created unique tombs designs of their own tombs. With the methodological aspects, Japan’s birth and mortality rates, Japan’s average life expectancy, history of tombs, creation of one’s own tombs and types of marriage will be significant. By examining the Japanese history of tombs, social change and unique tombs, and the increase of mortality rate in Japanese super-aging society, this study contributes the change of people’s view toward tombs, and a view toward life and death. Accordingly, focusing on the change of people’s view toward tombs it is concluded that the change is caused by the increase of mortality rate in Japanese super-aging society.
Keywords: Tombs, History, Change, New Designed Tombs, Family Relationship.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9584296 Schrödinger Equation with Position-Dependent Mass: Staggered Mass Distributions
Authors: J. J. Peña, J. Morales, J. García-Ravelo, L. Arcos-Díaz
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The Point canonical transformation method is applied for solving the Schrödinger equation with position-dependent mass. This class of problem has been solved for continuous mass distributions. In this work, a staggered mass distribution for the case of a free particle in an infinite square well potential has been proposed. The continuity conditions as well as normalization for the wave function are also considered. The proposal can be used for dealing with other kind of staggered mass distributions in the Schrödinger equation with different quantum potentials.
Keywords: Free particle, point canonical transformation method, position-dependent mass, staggered mass distribution.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15714295 A Model-Free Robust Control Approach for Robot Manipulator
Authors: A. Izadbakhsh, M. M. Fateh
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A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.Keywords: Model-free, robust control, position control, PUMA 560.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21184294 Failure Criterion for Mixed Mode Fracture of Cracked Wood Specimens
Authors: Mahdi Fakoor, Seyed Mohammad Navid Ghoreishi
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Investigation of fracture of wood components can prevent from catastrophic failures. Created fracture process zone (FPZ) in crack tip vicinity has important effect on failure of cracked composite materials. In this paper, a failure criterion for fracture investigation of cracked wood specimens under mixed mode I/II loading is presented. This criterion is based on maximum strain energy release rate and material nonlinearity in the vicinity of crack tip due to presence of microcracks. Verification of results with available experimental data proves the coincidence of the proposed criterion with the nature of fracture of wood. To simplify the estimation of nonlinear properties of FPZ, a damage factor is also introduced for engineering and application purposes.
Keywords: Fracture criterion, mixed mode loading, damage zone, microcracks.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15534293 Simulating the Interaction between Groundwater and Brittle Failure in Open Pit Slopes
Authors: Janisse Vivas, Doug Stead, Davide Elmo, Charles Hunt
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This paper presents the results of a study on the influence of varying percentages of rock bridges along a basal surface defining a biplanar failure mode. A pseudo-coupled-hydromechanical brittle fracture analysis is adopted using the state-of-the-art code Slope Model. Model results show that rock bridge failure is strongly influenced by the incorporation of groundwater pressures. The models show that groundwater pressure can promote total failure of a 5% rock bridge along the basal surface. Once the percentage of the rock bridges increases to 10 and 15%, although, the rock bridges are broken, full interconnection of the surface defining the basal surface of the biplanar mode does not occur. Increased damage is caused when the rock bridge is located at the daylighting end of the basal surface in proximity to the blast damage zone. As expected, some cracking damage is experienced in the blast damage zone, where properties representing a good quality controlled damage blast technique were assumed. Model results indicate the potential increase of permeability towards the blast damage zone.Keywords: Slope model, lattice spring, blasting damage zone.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21064292 Mode-Locked Fiber Laser Using Charcoal and Graphene Saturable Absorbers to Generate 20-GHz and 50-GHz Pulse Trains, Respectively
Authors: Ashiq Rahman, Sunil Thapa, Shunyao Fan, Niloy K. Dutta
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A 20-GHz and a 50-GHz pulse train are generated using a fiber ring laser setup that incorporates rational harmonic mode-locking (RHML). Two separate experiments were carried out using charcoal nanoparticles and graphene nanoparticles acting as saturable absorbers to reduce the pulse width generated from RHML. Autocorrelator trace shows that the pulse width is reduced from 5.6 ps to 3.2 ps using charcoal at 20 GHz, and to 2.7 ps using graphene at 50-GHz repetition rates, which agrees with the simulation findings. Numerical simulations have been carried out to study the effect of varying the linear and nonlinear absorbance parameters of both absorbers on output pulse widths. Experiments closely agree with the simulations.
Keywords: Fiber optics, fiber lasers, mode locking, saturable absorbers.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2634291 Slip Suppression Sliding Mode Control with Various Chattering Functions
Authors: Shun Horikoshi, Tohru Kawabe
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This study presents performance analysis results of SMC (Sliding mode control) with changing the chattering functions applied to slip suppression problem of electric vehicles (EVs). In SMC, chattering phenomenon always occurs through high frequency switching of the control inputs. It is undesirable phenomenon and degrade the control performance, since it causes the oscillations of the control inputs. Several studies have been conducted on this problem by introducing some general saturation function. However, study about whether saturation function was really best and the performance analysis when using the other functions, weren’t being done so much. Therefore, in this paper, several candidate functions for SMC are selected and control performance of candidate functions is analyzed. In the analysis, evaluation function based on the trade-off between slip suppression performance and chattering reduction performance is proposed. The analyses are conducted in several numerical simulations of slip suppression problem of EVs. Then, we can see that there is no difference of employed candidate functions in chattering reduction performance. On the other hand, in slip suppression performance, the saturation function is excellent overall. So, we conclude the saturation function is most suitable for slip suppression sliding mode control.Keywords: Sliding mode control, chattering function, electric vehicle, slip suppression, performance analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12564290 In-Plane Responses of Axially Moving Plates Subjected to Arbitrary Edge Excitations
Authors: T. H. Young, Y. S. Ciou
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The free and forced in-plane vibrations of axially moving plates are investigated in this work. The plate possesses an internal damping of which the constitutive relation obeys the Kelvin-Voigt model, and the excitations are arbitrarily distributed on two opposite edges. First, the equations of motion and the boundary conditions of the axially moving plate are derived. Then, the extended Ritz method is used to obtain discretized system equations. Finally, numerical results for the natural frequencies and the mode shapes of the in-plane vibration and the in-plane response of the moving plate subjected to arbitrary edge excitations are presented. It is observed that the symmetry class of the mode shapes of the in-plane vibration disperses gradually as the moving speed gets higher, and the u- and v-components of the mode shapes belong to different symmetry class. In addition, large response amplitudes having shapes similar to the mode shapes of the plate can be excited by the edge excitations at the resonant frequencies and with the same symmetry class of distribution as the u-components.
Keywords: Arbitrary edge excitations, axially moving plates, in-plane vibration, extended Ritz method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17844289 Current-Mode Resistorless SIMO Universal Filter and Four-Phase Quadrature Oscillator
Authors: Jie Jin
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In this paper, a new CMOS current-mode single input and multi-outputs (SIMO) universal filter and quadrature oscillator with a similar circuit are proposed. The circuits only consist of three Current differencing transconductance amplifiers (CDTA) and two grounded capacitors, which are resistorless, and they are suitable for monolithic integration. The universal filter uses minimum CDTAs and passive elements to realize SIMO type low-pass (LP), high-pass (HP), band-pass (BP) band-stop (BS) and all-pass (AP) filter functions simultaneously without any component matching conditions. The angular frequency (ω0) and the quality factor (Q) of the proposed filter can be electronically controlled and tuned orthogonal. By some modifications of the filter, a new current-mode four-phase quadrature oscillator (QO) can be obtained easily. The condition of oscillation (CO) and frequency of oscillation (FO) of the QO can be controlled electronically and independently through the bias current of the CDTAs, and it is suitable for variable frequency oscillator. Moreover, all the passive and active sensitivities of the circuits are low. SPICE simulation results are included to confirm the theory.
Keywords: Universal Filter, Quadrature Oscillator, Current mode, Current differencing transconductance amplifiers.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19514288 Super-ellipsoidal Potential Function for Autonomous Collision Avoidance of a Teleoperated UAV
Authors: Mohammed Qasim, Kyoung-Dae Kim
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In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.Keywords: Artificial potential function, autonomy, collision avoidance, teleoperation, quadrotor, UAV.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19944287 A Cross-Cultural Approach for Communication with Biological and Non-Biological Intelligences
Authors: Thomas Schalow
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This paper posits the need to take a cross-cultural approach to communication with non-human cultures and intelligences in order to meet the following three imminent contingencies: communicating with sentient biological intelligences, communicating with extraterrestrial intelligences, and communicating with artificial super-intelligences. The paper begins with a discussion of how intelligence emerges. It disputes some common assumptions we maintain about consciousness, intention, and language. The paper next explores cross-cultural communication among humans, including non-sapiens species. The next argument made is that we need to become much more serious about communicating with the non-human, intelligent life forms that already exist around us here on Earth. There is an urgent need to broaden our definition of communication and reach out to the other sentient life forms that inhabit our world. The paper next examines the science and philosophy behind CETI (communication with extraterrestrial intelligences) and how it has proven useful, even in the absence of contact with alien life. However, CETI’s assumptions and methodology need to be revised and based on the cross-cultural approach to communication proposed in this paper if we are truly serious about finding and communicating with life beyond Earth. The final theme explored in this paper is communication with non-biological super-intelligences using a cross-cultural communication approach. This will present a serious challenge for humanity, as we have never been truly compelled to converse with other species, and our failure to seriously consider such intercourse has left us largely unprepared to deal with communication in a future that will be mediated and controlled by computer algorithms. Fortunately, our experience dealing with other human cultures can provide us with a framework for this communication. The basic assumptions behind intercultural communication can be applied to the many types of communication envisioned in this paper if we are willing to recognize that we are in fact dealing with other cultures when we interact with other species, alien life, and artificial super-intelligence. The ideas considered in this paper will require a new mindset for humanity, but a new disposition will prepare us to face the challenges posed by a future dominated by artificial intelligence.
Keywords: Artificial intelligence, CETI, communication, culture, language.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9864286 EMD-Based Signal Noise Reduction
Authors: A.O. Boudraa, J.C. Cexus, Z. Saidi
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This paper introduces a new signal denoising based on the Empirical mode decomposition (EMD) framework. The method is a fully data driven approach. Noisy signal is decomposed adaptively into oscillatory components called Intrinsic mode functions (IMFs) by means of a process called sifting. The EMD denoising involves filtering or thresholding each IMF and reconstructs the estimated signal using the processed IMFs. The EMD can be combined with a filtering approach or with nonlinear transformation. In this work the Savitzky-Golay filter and shoftthresholding are investigated. For thresholding, IMF samples are shrinked or scaled below a threshold value. The standard deviation of the noise is estimated for every IMF. The threshold is derived for the Gaussian white noise. The method is tested on simulated and real data and compared with averaging, median and wavelet approaches.
Keywords: Empirical mode decomposition, Signal denoisingnonstationary process.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 40044285 Accurate Position Electromagnetic Sensor Using Data Acquisition System
Authors: Z. Ezzouine, A. Nakheli
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This paper presents a high position electromagnetic sensor system (HPESS) that is applicable for moving object detection. The authors have developed a high-performance position sensor prototype dedicated to students’ laboratory. The challenge was to obtain a highly accurate and real-time sensor that is able to calculate position, length or displacement. An electromagnetic solution based on a two coil induction principal was adopted. The HPESS converts mechanical motion to electric energy with direct contact. The output signal can then be fed to an electronic circuit. The voltage output change from the sensor is captured by data acquisition system using LabVIEW software. The displacement of the moving object is determined. The measured data are transmitted to a PC in real-time via a DAQ (NI USB -6281). This paper also describes the data acquisition analysis and the conditioning card developed specially for sensor signal monitoring. The data is then recorded and viewed using a user interface written using National Instrument LabVIEW software. On-line displays of time and voltage of the sensor signal provide a user-friendly data acquisition interface. The sensor provides an uncomplicated, accurate, reliable, inexpensive transducer for highly sophisticated control systems.
Keywords: Electromagnetic sensor, data acquisition, accurately, position measurement.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9614284 Sensorless Control of Induction Motor: Design and Stability Analysis
Authors: Nadia Bensiali, Erik Etien, Amar Omeiri, Gerard Champenois
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Adaptive observers used in sensorless control of induction motors suffer from instability especally in regenerating mode. In this paper, an optimal feed back gain design is proposed, it can reduce the instability region in the torque speed plane .
Keywords: Induction motor drive, adaptive observer, regenerating mode, stabilizing design.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15484283 Design of a Sliding Controller for Optical Disk Drives
Authors: Yu-Sheng Lu, Chung-Hsin Cheng, Shuen-Shing Jan
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This paper presents the design and implementation of a sliding-mod controller for tracking servo of optical disk drives. The tracking servo is majorly subject to two disturbance sources: radial run-out and shock. The lateral run-out disturbance is mostly repeatable, and a model of such disturbance is incorporated into the controller design to effectively compensate for it. Meanwhile, as a shock disturbance is usually non-repeatable and unpredictable, the sliding-mode controller is employed for its robustness to abrupt perturbations. As a result, a sliding-mode controller design based on the internal model principle is tailored for tracking servo of optical disk drives in order to deal with these two major disturbances. Experimental comparative studies are conducted to investigate the effectiveness of the specially designed controller.
Keywords: Mechatronics, optical disk drive, sliding-mode control, servo systems.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19694282 Comprehensive Nonlinearity Simulation of Different Types and Modes of HEMTs with Respect to Biasing Conditions
Authors: M. M. Karkhanehchi, A. Ammani
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A simple analytical model has been developed to optimize biasing conditions for obtaining maximum linearity among lattice-matched, pseudomorphic and metamorphic HEMT types as well as enhancement and depletion HEMT modes. A nonlinear current-voltage model has been simulated based on extracted data to study and select the most appropriate type and mode of HEMT in terms of a given gate-source biasing voltage within the device so as to employ the circuit for the highest possible output current or voltage linear swing. Simulation results can be used as a basis for the selection of optimum gate-source biasing voltage for a given type and mode of HEMT with regard to a circuit design. The consequences can also be a criterion for choosing the optimum type or mode of HEMT for a predetermined biasing condition.Keywords: Biasing, characteristic, linearity, simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15004281 Experimental Study of Eccentrically Loaded Columns Strengthened Using a Steel Jacketing Technique
Authors: Mohamed K. Elsamny, Adel A. Hussein, Amr M. Nafie, Mohamed K. Abd-Elhamed
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An experimental study of Reinforced Concrete, RC, columns strengthened using a steel jacketing technique was conducted. The jacketing technique consisted of four steel vertical angles installed at the corners of the column joined by horizontal steel straps confining the column externally. The effectiveness of the technique was evaluated by testing the RC column specimens under eccentric monotonic loading until failure occurred. Strain gauges were installed to monitor the strains in the internal reinforcement as well as the external jacketing system. The effectiveness of the jacketing technique was demonstrated, and the parameters affecting the technique were studied.
Keywords: Reinforced Concrete Columns, Steel Jacketing, Strengthening, Eccentric Load.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 38854280 Vehicle Position Estimation for Driver Assistance System
Authors: Hyun-Koo Kim, Sangmoon Lee, Ho-Youl Jung, Ju H. Park
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We present a system that finds road boundaries and constructs the virtual lane based on fusion data from a laser and a monocular sensor, and detects forward vehicle position even in no lane markers or bad environmental conditions. When the road environment is dark or a lot of vehicles are parked on the both sides of the road, it is difficult to detect lane and road boundary. For this reason we use fusion of laser and vision sensor to extract road boundary to acquire three dimensional data. We use parabolic road model to calculate road boundaries which is based on vehicle and sensors state parameters and construct virtual lane. And then we distinguish vehicle position in each lane.Keywords: Vehicle Detection, Adaboost, Haar-like Feature, Road Boundary Detection
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16404279 6D Posture Estimation of Road Vehicles from Color Images
Authors: Yoshimoto Kurihara, Tad Gonsalves
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Currently, in the field of object posture estimation, there is research on estimating the position and angle of an object by storing a 3D model of the object to be estimated in advance in a computer and matching it with the model. However, in this research, we have succeeded in creating a module that is much simpler, smaller in scale, and faster in operation. Our 6D pose estimation model consists of two different networks – a classification network and a regression network. From a single RGB image, the trained model estimates the class of the object in the image, the coordinates of the object, and its rotation angle in 3D space. In addition, we compared the estimation accuracy of each camera position, i.e., the angle from which the object was captured. The highest accuracy was recorded when the camera position was 75°, the accuracy of the classification was about 87.3%, and that of regression was about 98.9%.
Keywords: AlexNet, Deep learning, image recognition, 6D posture estimation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5894278 Empirical Mode Decomposition Based Denoising by Customized Thresholding
Authors: Wahiba Mohguen, Raïs El’hadi Bekka
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This paper presents a denoising method called EMD-Custom that was based on Empirical Mode Decomposition (EMD) and the modified Customized Thresholding Function (Custom) algorithms. EMD was applied to decompose adaptively a noisy signal into intrinsic mode functions (IMFs). Then, all the noisy IMFs got threshold by applying the presented thresholding function to suppress noise and to improve the signal to noise ratio (SNR). The method was tested on simulated data and real ECG signal, and the results were compared to the EMD-Based signal denoising methods using the soft and hard thresholding. The results showed the superior performance of the proposed EMD-Custom denoising over the traditional approach. The performances were evaluated in terms of SNR in dB, and Mean Square Error (MSE).
Keywords: Customized thresholding, ECG signal, EMD, hard thresholding, Soft-thresholding.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10854277 Photon Localization inside a Waveguide Modeled by Uncertainty Principle
Authors: Shilpa N. Kulkarni, Sujata R. Patrikar
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In the present work, an attempt is made to understand electromagnetic field confinement in a subwavelength waveguide structure using concepts of quantum mechanics. Evanescent field in the waveguide is looked as inability of the photon to get confined in the waveguide core and uncertainty of position is assigned to it. The momentum uncertainty is calculated from position uncertainty. Schrödinger wave equation for the photon is written by incorporating position-momentum uncertainty. The equation is solved and field distribution in the waveguide is obtained. The field distribution and power confinement is compared with conventional waveguide theory. They were found in good agreement with each other.Keywords: photon localization in waveguide, photon tunneling, quantum confinement of light, Schrödinger wave equation, uncertainty principle.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29184276 Effects of Multimedia-based Instructional Designs for Arabic Language Learning among Pupils of Different Achievement Levels
Authors: Aldalalah, M. Osamah, Soon Fook Fong & Ababneh, W. Ziad
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The purpose of this study is to investigate the effects of modality principles in instructional software among first grade pupils- achievements in the learning of Arabic Language. Two modes of instructional software were systematically designed and developed, audio with images (AI), and text with images (TI). The quasi-experimental design was used in the study. The sample consisted of 123 male and female pupils from IRBED Education Directorate, Jordan. The pupils were randomly assigned to any one of the two modes. The independent variable comprised the two modes of the instructional software, the students- achievement levels in the Arabic Language class and gender. The dependent variable was the achievements of the pupils in the Arabic Language test. The theoretical framework of this study was based on Mayer-s Cognitive Theory of Multimedia Learning. Four hypotheses were postulated and tested. Analyses of Variance (ANOVA) showed that pupils using the (AI) mode performed significantly better than those using (TI) mode. This study concluded that the audio with images mode was an important aid to learning as compared to text with images mode.Keywords: Cognitive theory of Multimedia Learning, ModalityPrinciple, Multimedia, Arabic Language learning
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22654275 Implicit Force Control of a Position Controlled Robot – A Comparison with Explicit Algorithms
Authors: Alexander Winkler, Jozef Suchý
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This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.Keywords: Damping control, impedance control, robot force control, stability, stiffness control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28694274 Numerical Simulation of Fiber Bragg Grating Spectrum for Mode-І Delamination Detection
Authors: O. Hassoon, M. Tarfoui, A. El Malk
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Fiber Bragg optic sensor is embedded in composite material to detect and monitor the damage that occurs in composite structures. In this paper, we deal with the mode-Ι delamination to determine the material strength to crack propagation, using the coupling mode theory and T-matrix method to simulate the FBGs spectrum for both uniform and non-uniform strain distribution. The double cantilever beam test is modeled in FEM to determine the longitudinal strain. Two models are implemented, the first is the global half model, and the second is the sub-model to represent the FBGs with higher refined mesh. This method can simulate damage in composite structures and converting strain to a wavelength shifting in the FBG spectrum.
Keywords: Fiber Bragg grating, Delamination detection, DCB, FBG spectrum, Structure health monitoring.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 65514273 Analysis of Temperature Change under Global Warming Impact using Empirical Mode Decomposition
Authors: Md. Khademul Islam Molla, Akimasa Sumi, M. Sayedur Rahman
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The empirical mode decomposition (EMD) represents any time series into a finite set of basis functions. The bases are termed as intrinsic mode functions (IMFs) which are mutually orthogonal containing minimum amount of cross-information. The EMD successively extracts the IMFs with the highest local frequencies in a recursive way, which yields effectively a set low-pass filters based entirely on the properties exhibited by the data. In this paper, EMD is applied to explore the properties of the multi-year air temperature and to observe its effects on climate change under global warming. This method decomposes the original time-series into intrinsic time scale. It is capable of analyzing nonlinear, non-stationary climatic time series that cause problems to many linear statistical methods and their users. The analysis results show that the mode of EMD presents seasonal variability. The most of the IMFs have normal distribution and the energy density distribution of the IMFs satisfies Chi-square distribution. The IMFs are more effective in isolating physical processes of various time-scales and also statistically significant. The analysis results also show that the EMD method provides a good job to find many characteristics on inter annual climate. The results suggest that climate fluctuations of every single element such as temperature are the results of variations in the global atmospheric circulation.
Keywords: Empirical mode decomposition, instantaneous frequency, Hilbert spectrum, Chi-square distribution, anthropogenic impact.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21494272 Tailoring the Sharpness of Tungsten Nanotips via Laser Irradiation Enhanced Etching in KOH
Authors: D. D. Wang, J.C. Lam, Z. H. Mai
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Controlled modification of appropriate sharpness for nanotips is of paramount importance to develop novel materials and functional devices at a nanometer resolution. Herein, we present a reliable and unique strategy of laser irradiation enhanced physicochemical etching to manufacture super sharp tungsten tips with reproducible shape and dimension as well as high yields (~80%). The corresponding morphology structure evolution of tungsten tips and laser-tip interaction mechanisms were systematically investigated and discussed using field emission scanning electron microscope (SEM) and physical optics statistics method with different fluences under 532 nm laser irradiation. This work paves the way for exploring more accessible metallic tips applications with tunable apex diameter and aspect ratio, and, furthermore, facilitates the potential sharpening enhancement technique for other materials used in a variety of nanoscale devices.Keywords: Tungsten tip sharpening, Laser irradiation, Physicochemical etching, Light-matter interaction.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19544271 The Performance Improvement of the Target Position Determining System in Laser Tracking Based on 4Q Detector using Neural Network
Authors: A. Salmanpour, Sh. Mohammad Nejad
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One of the methods for detecting the target position error in the laser tracking systems is using Four Quadrant (4Q) detectors. If the coordinates of the target center is yielded through the usual relations of the detector outputs, the results will be nonlinear, dependent on the shape, target size and its position on the detector screen. In this paper we have designed an algorithm with using neural network that coordinates of the target center in laser tracking systems is calculated by using detector outputs obtained from visual modeling. With this method, the results except from the part related to the detector intrinsic limitation, are linear and dependent from the shape and target size.Keywords: four quadrant detector, laser tracking system, rangefinder, tracking sensor
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22074270 Numerical Investigation of Non-Newtonians Fluids Flows between Two Rotating Cylinders Using Lattice Boltzmann Method
Authors: S. Khali, R. Nebbali, K. Bouhadef
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A numerical investigation is performed for non Newtonian fluids flow between two concentric cylinders. The D2Q9 lattice Boltzmann model developed from the Bhatangar-Gross-Krook (LBGK) approximation is used to obtain the flow field for fluids obeying to the power-law model. The inner and outer cylinders rotate in the same and the opposite direction while the end walls are maintained at rest. The combined effects of the Reynolds number (Re) of the inner and outer cylinders, the radius ratio (η) as well as the power-law index (n) on the flow characteristics are analyzed for an annular space of a finite aspect ratio (Γ). Two flow modes are obtained: a primary mode (laminar stable regime) and a secondary mode (laminar unstable regime). The so obtained flow structures are different from one mode to another. The transition critical Reynolds number Rec from the primary to the secondary mode is analyzed for the co-courant and counter-courant flows. This critical value increases as n increases. The prediction of the swirling flow of non Newtonians fluids in axisymmetric geometries is shown in the present work.
Keywords: Taylor-Couette flows, non Newtonian fluid, Lattice Boltzmann method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27304269 Fracture Characterization of Plain Woven Fabric Glass-Epoxy Composites
Authors: Sabita Rani Sahoo, A.Mishra
Abstract:
Delamination between layers in composite materials is a major structural failure. The delamination resistance is quantified by the critical strain energy release rate (SERR). The present investigation deals with the strain energy release rate of two woven fabric composites. Materials used are made of two types of glass fiber (360 gsm and 600 gsm) of plain weave and epoxy as matrix. The fracture behavior is studied using the mode I, double cantilever beam test and the mode II, end notched flexure test, in order to determine the energy required for the initiation and growth of an artificial crack. The delamination energy of these two materials is compared in order to study the effect of weave and reinforcement on mechanical properties. The fracture mechanism is also analyzed by means of scanning electron microscopy (SEM). It is observed that the plain weave fabric composite with lesser strand width has higher inter laminar fracture properties compared to the plain weave fabric composite with more strand width.
Keywords: Glass- epoxy composites, Fracture Tests: mode I (DCB) and mode II (ENF), Delamination, Calculation of strain energy release rate, SEM Analysis
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