Search results for: Numerical probability modeling
4185 Modeling and Simulation of Motion of an Underwater Robot Glider for Shallow-water Ocean Applications
Authors: Chen Wang, Amir Anvar
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This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing glider design. It may be also used to validate a robot glider design.Keywords: AUV, underwater glider, robot, modeling, simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27964184 Evaluating the Validity of Computational Fluid Dynamics Model of Dispersion in a Complex Urban Geometry Using Two Sets of Experimental Measurements
Authors: Mohammad R. Kavian Nezhad, Carlos F. Lange, Brian A. Fleck
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This research presents the validation study of a computational fluid dynamics (CFD) model developed to simulate the scalar dispersion emitted from rooftop sources around the buildings at the University of Alberta North Campus. The ANSYS CFX code was used to perform the numerical simulation of the wind regime and pollutant dispersion by solving the 3D steady Reynolds-averaged Navier-Stokes (RANS) equations on a building-scale high-resolution grid. The validation study was performed in two steps. First, the CFD model performance in 24 cases (eight wind directions and three wind speeds) was evaluated by comparing the predicted flow fields with the available data from the previous measurement campaign designed at the North Campus, using the standard deviation method (SDM), while the estimated results of the numerical model showed maximum average percent errors of approximately 53% and 37% for wind incidents from the North and Northwest, respectively. Good agreement with the measurements was observed for the other six directions, with an average error of less than 30%. In the second step, the reliability of the implemented turbulence model, numerical algorithm, modeling techniques, and the grid generation scheme was further evaluated using the Mock Urban Setting Test (MUST) dispersion dataset. Different statistical measures, including the fractional bias (FB), the mean geometric bias (MG), and the normalized mean square error (NMSE), were used to assess the accuracy of the predicted dispersion field. Our CFD results are in very good agreement with the field measurements.
Keywords: CFD, plume dispersion, complex urban geometry, validation study, wind flow.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3734183 Educational Robotics Constructivism and Modeling of Robots using Reverse Engineering
Authors: David G. Maxínez, A. Ferreyra Ramírez, Ismael Echenique Álvarez, Francisco Javier Sánchez Rangel, Guillermo Castillo Tapia, Petra Baldivia Noyola, María Antonieta García Galván
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The project describes the modeling of various architectures mechatronics specifically morphologies of robots in an educational environment. Each structure developed by students of pre-school, primary and secondary was created using the concept of reverse engineering in a constructivist environment, to later be integrated in educational software that promotes the teaching of educational Robotics in a virtual and economic environment.Keywords: Modeling, constructivist, engineering, reverse, robotics education, virtual, morphology.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17874182 Energy Absorption and Axial Tearing Behaviour of Metallic Tubes Using Angled Dies: Experimental and Numerical Simulation
Authors: V. K. Bheemineni, B. Käfer, H. Lammer, M. Kotnik, F. O. Riemelmoser
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This paper concerns about the experimental and numerical investigations of energy absorption and axial tearing behaviour of aluminium 6060 circular thin walled tubes under static axial compression. The tubes are received in T66 heat treatment condition with fixed outer diameter of 42mm, thickness of 1.5mm and length of 120mm. The primary variables are the conical die angles (15°, 20° and 25°). Numerical simulations are carried on ANSYS/LS-DYNA software tool, for investigating the effect of friction between the tube and the die.
Keywords: Angled die, ANSYS/LS-DYNA, Axial tearing, Energy absorption.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25604181 Comparison of Wind Fragility for Window System in the Simplified 10 and 15-Story Building Considering Exposure Category
Authors: Viriyavudh Sim, WooYoung Jung
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Window system in high rise building is occasionally subjected to an excessive wind intensity, particularly during typhoon. The failure of window system did not affect overall safety of structural performance; however, it could endanger the safety of the residents. In this paper, comparison of fragility curves for window system of two residential buildings was studied. The probability of failure for individual window was determined with Monte Carlo Simulation method. Then, lognormal cumulative distribution function was used to represent the fragility. The results showed that windows located on the edge of leeward wall were more susceptible to wind load and the probability of failure for each window panel increased at higher floors.Keywords: Wind fragility, window system, high rise building.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12904180 Numerical Study for Structural Design of Composite Rotor with Crack Initiation
Authors: A. Chellil, A. Nour, S. Lecheb, H. Mechakra, A. Bouderba, H. Kebir
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In this paper, a coupled damage effect in the instability of a composite rotor is presented, under dynamic loading response in the harmonic analysis condition. The analysis of the stress which operates the rotor is done. Calculations of different energies and the virtual work of the aerodynamic loads from the rotor blade are developed. The use of the composite material for the rotor offers a good stability. Numerical calculations on the model developed prove that the damage effect has a negative effect on the stability of the rotor. The study of the composite rotor in transient system allowed determining the vibratory responses due to various excitations.
Keywords: Rotor, composite, damage, finite element, numerical.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22504179 Modeling and Control of a Quadrotor UAV with Aerodynamic Concepts
Authors: Wei Dong, Guo-Ying Gu, Xiangyang Zhu, Han Ding
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This paper presents preliminary results on modeling and control of a quadrotor UAV. With aerodynamic concepts, a mathematical model is firstly proposed to describe the dynamics of the quadrotor UAV. Parameters of this model are identified by experiments with Matlab Identify Toolbox. A group of PID controllers are then designed based on the developed model. To verify the developed model and controllers, simulations and experiments for altitude control, position control and trajectory tracking are carried out. The results show that the quadrotor UAV well follows the referenced commands, which clearly demonstrates the effectiveness of the proposed approach.Keywords: Quadrotor UAV, Modeling, Control, Aerodynamics, System Identification.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 71214178 An Approach for Modeling CMOS Gates
Authors: Spyridon Nikolaidis
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A modeling approach for CMOS gates is presented based on the use of the equivalent inverter. A new model for the inverter has been developed using a simplified transistor current model which incorporates the nanoscale effects for the planar technology. Parametric expressions for the output voltage are provided as well as the values of the output and supply current to be compatible with the CCS technology. The model is parametric according the input signal slew, output load, transistor widths, supply voltage, temperature and process. The transistor widths of the equivalent inverter are determined by HSPICE simulations and parametric expressions are developed for that using a fitting procedure. Results for the NAND gate shows that the proposed approach offers sufficient accuracy with an average error in propagation delay about 5%.
Keywords: CMOS gate modeling, Inverter modeling, transistor current model, timing model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20274177 A Formal Approach for Proof Constructions in Cryptography
Authors: Markus Kaiser, Johannes Buchmann
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In this article we explore the application of a formal proof system to verification problems in cryptography. Cryptographic properties concerning correctness or security of some cryptographic algorithms are of great interest. Beside some basic lemmata, we explore an implementation of a complex function that is used in cryptography. More precisely, we describe formal properties of this implementation that we computer prove. We describe formalized probability distributions (σ-algebras, probability spaces and conditional probabilities). These are given in the formal language of the formal proof system Isabelle/HOL. Moreover, we computer prove Bayes- Formula. Besides, we describe an application of the presented formalized probability distributions to cryptography. Furthermore, this article shows that computer proofs of complex cryptographic functions are possible by presenting an implementation of the Miller- Rabin primality test that admits formal verification. Our achievements are a step towards computer verification of cryptographic primitives. They describe a basis for computer verification in cryptography. Computer verification can be applied to further problems in cryptographic research, if the corresponding basic mathematical knowledge is available in a database.Keywords: prime numbers, primality tests, (conditional) probabilitydistributions, formal proof system, higher-order logic, formalverification, Bayes' Formula, Miller-Rabin primality test.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14694176 Onset Velocity Profiles Evolution in Microchannels
Authors: Cătălin Mărculescu, Andrei Avram, Cătălin Pârvulescu, Marioara Avram, Cătălin Mihai Bălan
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The present microfluidic study is emphasizing the flow behavior within a Y shape micro-bifurcation in two similar flow configurations. We report here a numerical and experimental investigation on the velocity profiles evolution and secondary flows, manifested at different Reynolds numbers (Re) and for two different boundary conditions. The experiments are performed using special designed setup based on optical microscopic devices. With this setup, direct visualizations and quantitative measurements of the path-lines are obtained. A Micro-PIV measurement system is used to obtain velocity profiles distributions in a spatial evolution in the main flows domains. The experimental data is compared with numerical simulations performed with commercial computational code FLUENT in a 3D geometry with the same dimensions as the experimental one. The numerical flow patterns are found to be in good agreement with the experimental manifestations.Keywords: Micro-PIV, numerical investigations, secondary flows, velocity profiles.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18654175 Modeling of Crude Oil Blending via Discrete-Time Neural Networks
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Crude oil blending is an important unit operation in petroleum refining industry. A good model for the blending system is beneficial for supervision operation, prediction of the export petroleum quality and realizing model-based optimal control. Since the blending cannot follow the ideal mixing rule in practice, we propose a static neural network to approximate the blending properties. By the dead-zone approach, we propose a new robust learning algorithm and give theoretical analysis. Real data of crude oil blending is applied to illustrate the neuro modeling approach.Keywords: Neural networks, modeling, stability, crude oil.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22634174 Computer Verification in Cryptography
Authors: Markus Kaiser, Johannes Buchmann
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In this paper we explore the application of a formal proof system to verification problems in cryptography. Cryptographic properties concerning correctness or security of some cryptographic algorithms are of great interest. Beside some basic lemmata, we explore an implementation of a complex function that is used in cryptography. More precisely, we describe formal properties of this implementation that we computer prove. We describe formalized probability distributions (o--algebras, probability spaces and condi¬tional probabilities). These are given in the formal language of the formal proof system Isabelle/HOL. Moreover, we computer prove Bayes' Formula. Besides we describe an application of the presented formalized probability distributions to cryptography. Furthermore, this paper shows that computer proofs of complex cryptographic functions are possible by presenting an implementation of the Miller- Rabin primality test that admits formal verification. Our achievements are a step towards computer verification of cryptographic primitives. They describe a basis for computer verification in cryptography. Computer verification can be applied to further problems in crypto-graphic research, if the corresponding basic mathematical knowledge is available in a database.
Keywords: prime numbers, primality tests, (conditional) proba¬bility distributions, formal proof system, higher-order logic, formal verification, Bayes' Formula, Miller-Rabin primality test.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21814173 Flow Modeling and Runner Design Optimization in Turgo Water Turbines
Authors: John S. Anagnostopoulos, Dimitrios E. Papantonis
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The incorporation of computational fluid dynamics in the design of modern hydraulic turbines appears to be necessary in order to improve their efficiency and cost-effectiveness beyond the traditional design practices. A numerical optimization methodology is developed and applied in the present work to a Turgo water turbine. The fluid is simulated by a Lagrangian mesh-free approach that can provide detailed information on the energy transfer and enhance the understanding of the complex, unsteady flow field, at very small computing cost. The runner blades are initially shaped according to hydrodynamics theory, and parameterized using Bezier polynomials and interpolation techniques. The use of a limited number of free design variables allows for various modifications of the standard blade shape, while stochastic optimization using evolutionary algorithms is implemented to find the best blade that maximizes the attainable hydraulic efficiency of the runner. The obtained optimal runner design achieves considerably higher efficiency than the standard one, and its numerically predicted performance is comparable to a real Turgo turbine, verifying the reliability and the prospects of the new methodology.Keywords: Turgo turbine, Lagrangian flow modeling, Surface parameterization, Design optimization, Evolutionary algorithms.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 40574172 Experimental and Numerical Study of A/C Outletsand Its Impact on Room Airflow Characteristics
Authors: Mohammed A. Aziz, Ibrahim A. M. Gad, El Shahat F. A. Mohammed, Ramy H. Mohammed
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This paper investigates experimental and numerical study of the airflow characteristics for vortex, round and square ceiling diffusers and its effect on the thermal comfort in a ventilated room. Three different thermal comfort criteria namely; Mean Age of the Air (MAA), ventilation effectiveness (E), and Effective Draft Temperature (EDT) have been used to predict the thermal comfort zone inside the room. In experimental work, a sub-scale room is set-up to measure the temperature field in the room. In numerical analysis, unstructured grids have been used to discretize the numerical domain. Conservation equations are solved using FLUENT commercial flow solver. The code is validated by comparing the numerical results obtained from three different turbulence models with the available experimental data. The comparison between the various numerical models shows that the standard k-ε turbulence model can be used to simulate these cases successfully. After validation of the code, effect of supply air velocity on the flow and thermal field could be investigated and hence the thermal comfort. The results show that the pressure coefficient created by the square diffuser is 1.5 times greater than that created by the vortex diffuser. The velocity decay coefficient is nearly the same for square and round diffusers and is 2.6 times greater than that for the vortex diffuser.
Keywords: Ceiling diffuser, Thermal Comfort, MAA, EDT, Fluent, Turbulence model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21434171 Modeling and Simulation of Delaminations in FML Using Step Pulsed Active Thermography
Authors: S. Sundaravalli, M. C. Majumder, G. K. Vijayaraghavan
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The study focuses to investigate the thermal response of delaminations and develop mathematical models using numerical results to obtain the optimum heat requirement and time to identify delaminations in GLARE type of Fibre Metal Laminates (FML) in both reflection mode and through-transmission (TT) mode of step pulsed active thermography (SPAT) method in the type of nondestructive testing and evaluation (NDTE) technique. The influence of applied heat flux and time on various sizes and depth of delaminations in FML is analyzed to investigate the thermal response through numerical simulations. A finite element method (FEM) is applied to simulate SPAT through ANSYS software based on 3D transient heat transfer principle with the assumption of reflection mode and TT mode of observation individually.
The results conclude that the numerical approach based on SPAT in reflection mode is more suitable for analysing smaller size of near-surface delaminations located at the thermal stimulator side and TT mode is more suitable for analysing smaller size of deeper delaminations located far from thermal stimulator side or near thermal detector/Infrared camera side. The mathematical models provide the optimum q and T at the required MRTD to identify unidentified delamination 7 with 25015.0022W/m2 at 2.531sec and delamination 8 with 16663.3356 W/m2 at 1.37857sec in reflection mode. In TT mode, the delamination 1 with 34954W/m2 at 13.0399sec, delamination 2 with 20002.67W/m2 at 1.998sec and delamination 7 with 20010.87 W/m2 at 0.6171sec could be identified.
Keywords: Step pulsed active thermography (SPAT), NDTE, FML, Delaminations, Finite element method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25504170 Numerical Simulation of the Aerodynamic Loads acting on top of the SMART Centre for PV Applications
Authors: M. Raciti Castelli, S. Toniato, E. Benini
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The flow filed around a flatted-roof compound has been investigated by means of 2D and 3D numerical simulations. A constant wind velocity profile, based both on the maximum reference wind speed in the building site (peak gust speed worked out for a 50- year return period) and on the local roughness coefficient, has been simulated in order to determine the wind-induced loads on top of the roof. After determining the influence of the incoming wind directions on the induced roof loads, a 2D analysis of the most severe load condition has been performed, achieving a numerical quantification of the expected wind-induced forces on the PV panels on top of the roof.Keywords: CFD, wind-induced loads, flow around buildings, photovoltaic system
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15664169 3D Modeling Approach for Cultural Heritage Structures: The Case of Virgin of Loreto Chapel in Cusco, Peru
Authors: Rony Reátegui, Cesar Chácara, Benjamin Castañeda, Rafael Aguilar
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Nowadays, Heritage Building Information Modeling (HBIM) is considered an efficient tool to represent and manage information of Cultural Heritage (CH). The basis of this tool relies on a 3D model generally obtained from a Cloud-to-BIM procedure. There are different methods to create an HBIM model that goes from manual modeling based on the point cloud to the automatic detection of shapes and the creation of objects. The selection of these methods depends on the desired Level of Development (LOD), Level of Information (LOI), Grade of Generation (GOG) as well as on the availability of commercial software. This paper presents the 3D modeling of a stone masonry chapel using Recap Pro, Revit and Dynamo interface following a three-step methodology. The first step consists of the manual modeling of simple structural (e.g., regular walls, columns, floors, wall openings, etc.) and architectural (e.g., cornices, moldings and other minor details) elements using the point cloud as reference. Then, Dynamo is used for generative modeling of complex structural elements such as vaults, infills and domes. Finally, semantic information (e.g., materials, typology, state of conservation, etc.) and pathologies are added within the HBIM model as text parameters and generic models’ families respectively. The application of this methodology allows the documentation of CH following a relatively simple to apply process that ensures adequate LOD, LOI and GOG levels. In addition, the easy implementation of the method as well as the fact of using only one BIM software with its respective plugin for the scan-to-BIM modeling process means that this methodology can be adopted by a larger number of users with intermediate knowledge and limited resources, since the BIM software used has a free student license.
Keywords: Cloud-to-BIM, cultural heritage, generative modeling, HBIM, parametric modeling, Revit.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9274168 A Novel Fuzzy Technique for Image Noise Reduction
Authors: Hamed Vahdat Nejad, Hameed Reza Pourreza, Hasan Ebrahimi
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A new fuzzy filter is presented for noise reduction of images corrupted with additive noise. The filter consists of two stages. In the first stage, all the pixels of image are processed for determining noisy pixels. For this, a fuzzy rule based system associates a degree to each pixel. The degree of a pixel is a real number in the range [0,1], which denotes a probability that the pixel is not considered as a noisy pixel. In the second stage, another fuzzy rule based system is employed. It uses the output of the previous fuzzy system to perform fuzzy smoothing by weighting the contributions of neighboring pixel values. Experimental results are obtained to show the feasibility of the proposed filter. These results are also compared to other filters by numerical measure and visual inspection.Keywords: Additive noise, Fuzzy logic, Image processing, Noise reduction.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21114167 Modeling of Sensitivity for SPR Biosensors- New Aspects
Authors: Volodymyr Chegel
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The computer modeling is carried out for parameter of sensitivity of optoelectronic chemical and biosensors, using phenomena of surface plasmon resonance (SPR). The physical model of SPR-sensor-s is described with (or without) of modifications of sensitive gold film surface by a dielectric layer. The variants of increasing of sensitivity for SPR-biosensors, constructed on the principle gold – dielectric – biomolecular layer are considered. Two methods of mathematical treatment of SPR-curve are compared – traditional, with estimation of sensor-s response as shift of the SPRcurve minimum and proposed, for system with dielectric layer, using calculating of the derivative in the point of SPR-curve half-width.Keywords: Surface Plasmon Resonance, modeling, sensitivity, biosensor
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20684166 Performance Evaluation of the OCDM/WDM Technique for Optical Packet Switches
Authors: V. Eramo, L. Piazzo, M. Listanti, A. Germoni, A Cianfrani
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The performance of the Optical Code Division Multiplexing/ Wavelength Division Multiplexing (WDM/OCDM) technique for Optical Packet Switch is investigated. The impact on the performance of the impairment due to both Multiple Access Interference and Beat noise is studied. The Packet Loss Probability due to output packet contentions is evaluated as a function of the main switch and traffic parameters when Gold coherent optical codes are adopted. The Packet Loss Probability of the OCDM/WDM switch can reach 10-9 when M=16 wavelengths, Gold code of length L=511 and only 24 wavelength converters are used in the switch.
Keywords: Optical code division multiplexing, bufferless optical packet switch, performance evaluation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14444165 Numerical Investigation of Two-dimensional Boundary Layer Flow Over a Moving Surface
Authors: Mahmoud Zarrini, R.N. Pralhad
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In this chapter, we have studied Variation of velocity in incompressible fluid over a moving surface. The boundary layer equations are on a fixed or continuously moving flat plate in the same or opposite direction to the free stream with suction and injection. The boundary layer equations are transferred from partial differential equations to ordinary differential equations. Numerical solutions are obtained by using Runge-Kutta and Shooting methods. We have found numerical solution to velocity and skin friction coefficient.
Keywords: Boundary layer, continuously moving surface, shooting method, skin friction coefficient.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15764164 Evaluation of Seismic Damage for Gisha Bridge in Tehran by HAZUS Methodology
Authors: Langroudi B., Salehi E., Keshani S., Baghersad M.
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Transportation is of great importance in the current life of human beings. The transportation system plays many roles, from economical development to after-catastrophe aids such as rescue operation in the first hours and days after an earthquake. In after earthquakes response phase, transportation system acts as a basis for ground operations including rescue and relief operation, food providing for victims and etc. It is obvious that partial or complete obstruction of this system results in the stop of these operations. Bridges are one of the most important elements of transportation network. Failure of a bridge, in the most optimistic case, cuts the relation between two regions and in more developed countries, cuts the relation of numerous regions. In this paper, to evaluate the vulnerability and estimate the damage level of Tehran bridges, HAZUS method, developed by Federal Emergency Management Agency (FEMA) with the aid of National Institute of Building Science (NIBS), is used for the first time in Iran. In this method, to evaluate the collapse probability, fragility curves are used. Iran is located on seismic belt and thus, it is vulnerable to earthquakes. Thus, the study of the probability of bridge collapses, as an important part of transportation system, during earthquakes is of great importance. The purpose of this study is to provide fragility curves for Gisha Bridge, one of the longest steel bridges in Tehran, as an important lifeline element. Besides, the damage probability for this bridge during a specific earthquake, introduced as scenario earthquakes, is calculated. The fragility curves show that for the considered scenario, the probability of occurrence of complete collapse for the bridge is 8.6%.Keywords: Bridge, Damage evaluation, Fragility curve, Lifelines, Seismic vulnerability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21424163 A New Algorithm for Enhanced Robustness of Copyright Mark
Authors: Harsh Vikram Singh, S. P. Singh, Anand Mohan
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This paper discusses a new heavy tailed distribution based data hiding into discrete cosine transform (DCT) coefficients of image, which provides statistical security as well as robustness against steganalysis attacks. Unlike other data hiding algorithms, the proposed technique does not introduce much effect in the stegoimage-s DCT coefficient probability plots, thus making the presence of hidden data statistically undetectable. In addition the proposed method does not compromise on hiding capacity. When compared to the generic block DCT based data-hiding scheme, our method found more robust against a variety of image manipulating attacks such as filtering, blurring, JPEG compression etc.
Keywords: Information Security, Robust Steganography, Steganalysis, Pareto Probability Distribution function.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17974162 A New Multi-Target, Multi-Agent Search-and-Rescue Path Planning Approach
Authors: Jean Berger, Nassirou Lo, Martin Noel
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Perfectly suited for natural or man-made emergency and disaster management situations such as flood, earthquakes, tornadoes, or tsunami, multi-target search path planning for a team of rescue agents is known to be computationally hard, and most techniques developed so far come short to successfully estimate optimality gap. A novel mixed-integer linear programming (MIP) formulation is proposed to optimally solve the multi-target multi-agent discrete search and rescue (SAR) path planning problem. Aimed at maximizing cumulative probability of successful target detection, it captures anticipated feedback information associated with possible observation outcomes resulting from projected path execution, while modeling agent discrete actions over all possible moving directions. Problem modeling further takes advantage of network representation to encompass decision variables, expedite compact constraint specification, and lead to substantial problem-solving speed-up. The proposed MIP approach uses CPLEX optimization machinery, efficiently computing near-optimal solutions for practical size problems, while giving a robust upper bound obtained from Lagrangean integrality constraint relaxation. Should eventually a target be positively detected during plan execution, a new problem instance would simply be reformulated from the current state, and then solved over the next decision cycle. A computational experiment shows the feasibility and the value of the proposed approach.
Keywords: Search path planning, search and rescue, multi-agent, mixed-integer linear programming, optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24804161 A Comprehensive Method of Fault Detection and Isolation Based On Testability Modeling Data
Authors: Junyou Shi, Weiwei Cui
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Testability modeling is a commonly used method in testability design and analysis of system. A dependency matrix will be obtained from testability modeling, and we will give a quantitative evaluation about fault detection and isolation. Based on the dependency matrix, we can obtain the diagnosis tree. The tree provides the procedures of the fault detection and isolation. But the dependency matrix usually includes built-in test (BIT) and manual test in fact. BIT runs the test automatically and is not limited by the procedures. The method above cannot give a more efficient diagnosis and use the advantages of the BIT. A Comprehensive method of fault detection and isolation is proposed. This method combines the advantages of the BIT and Manual test by splitting the matrix. The result of the case study shows that the method is effective.
Keywords: BIT, fault detection, fault isolation, testability modeling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16664160 Nonlinear Effects in Stiffness Modeling of Robotic Manipulators
Authors: A. Pashkevich, A. Klimchik, D. Chablat
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The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of manipulator elements by a set of localized six-dimensional springs separated by rigid links and perfect joints. In contrast to the conventional formulation, which is valid for the unloaded mode and small displacements, the proposed approach implicitly assumes that the loading leads to the non-negligible changes of the manipulator posture and corresponding amendment of the Jacobian. The developed numerical technique allows computing the static equilibrium and relevant force/torque reaction of the manipulator for any given displacement of the end-effector. This enables designer detecting essentially nonlinear effects in elastic behavior of manipulator, similar to the buckling of beam elements. It is also proposed the linearization procedure that is based on the inversion of the dedicated matrix composed of the stiffness parameters of the virtual springs and the Jacobians/Hessians of the active and passive joints. The developed technique is illustrated by an application example that deals with the stiffness analysis of a parallel manipulator of the Orthoglide familyKeywords: Robotic manipulators, Stiffness model, Loaded mode, Nonlinear effects, Buckling, Orthoglide manipulator
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14584159 The Performance of Predictive Classification Using Empirical Bayes
Authors: N. Deetae, S. Sukparungsee, Y. Areepong, K. Jampachaisri
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This research is aimed to compare the percentages of correct classification of Empirical Bayes method (EB) to Classical method when data are constructed as near normal, short-tailed and long-tailed symmetric, short-tailed and long-tailed asymmetric. The study is performed using conjugate prior, normal distribution with known mean and unknown variance. The estimated hyper-parameters obtained from EB method are replaced in the posterior predictive probability and used to predict new observations. Data are generated, consisting of training set and test set with the sample sizes 100, 200 and 500 for the binary classification. The results showed that EB method exhibited an improved performance over Classical method in all situations under study.
Keywords: Classification, Empirical Bayes, Posterior predictive probability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15974158 Continuous Text Translation Using Text Modeling in the Thetos System
Authors: Nina Suszczanska, Przemyslaw Szmal, Slawomir Kulikow
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In the paper a method of modeling text for Polish is discussed. The method is aimed at transforming continuous input text into a text consisting of sentences in so called canonical form, whose characteristic is, among others, a complete structure as well as no anaphora or ellipses. The transformation is lossless as to the content of text being transformed. The modeling method has been worked out for the needs of the Thetos system, which translates Polish written texts into the Polish sign language. We believe that the method can be also used in various applications that deal with the natural language, e.g. in a text summary generator for Polish.Keywords: anaphora, machine translation, NLP, sign language, text syntax.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16564157 Flow and Heat Transfer Mechanism Analysis in Outward Convex Asymmetrical Corrugated Tubes
Authors: Huaizhi Han, Bingxi Li, Yurong He, Rushan Bie, Zhao Wu
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The flow and heat transfer mechanism in convex corrugated tubes have been investigated through numerical simulations in this paper. Two kinds of tube types named as symmetric corrugated tube (SCT) and asymmetric corrugated tube (ACT) are modeled and studied numerically based on the RST model. The predictive capability of RST model is examined in the corrugation wall in order to check the reliability of RST model under the corrugation wall condition. We propose a comparison between the RST modelling the corrugation wall with existing direct numerical simulation of Maaß C and Schumann U [14]. The numerical results pressure coefficient at different profiles between RST and DNS are well matched. The influences of large corrugation tough radii to heat transfer and flow characteristic had been considered. Flow and heat transfer comparison between SCT and ACT had been discussed. The numerical results show that ACT exhibits higher overall heat transfer performance than SCT.Keywords: Asymmetric corrugated tube, RST, DNS, flow and heat transfer mechanism.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20004156 Numerical Simulation of Cavitation and Aeration in Discharge Gated Tunnel of a Dam Based on the VOF Method
Authors: Razieh Jalalabadi, Norouz Mohammad Nouri
Abstract:
Cavitation, usually known as a destructive phenomenon, involves turbulent unsteady two-phase flow. Having such features, cavitating flows have been turned to a challenging topic in numerical studies and many researches are being done for better understanding of bubbly flows and proposing solutions to reduce its consequent destructive effects. Aeration may be regarded as an effective protection against cavitation erosion in many hydraulic structures, like gated tunnels. The paper concerns numerical simulation of flow in discharge gated tunnel of a dam using ing RNG k -ε model coupled with the volume of fluid (VOF) method and the zone which is susceptible of cavitation inception in the tunnel is predicted. In the second step, a vent is considered in the mentioned zone for aeration and the numerical simulation is done again to study the effects of aeration. The results show that aeration is an impressively useful method to exclude cavitation in mentioned tunnels.Keywords: Aeration, Cavitation, Two-phase flow, TurbulentFlow, Volume of Fluid (VOF) method.
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