Search results for: temperature field.
316 Fully Automated Methods for the Detection and Segmentation of Mitochondria in Microscopy Images
Authors: Blessing Ojeme, Frederick Quinn, Russell Karls, Shannon Quinn
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The detection and segmentation of mitochondria from fluorescence microscopy is crucial for understanding the complex structure of the nervous system. However, the constant fission and fusion of mitochondria and image distortion in the background make the task of detection and segmentation challenging. Although there exists a number of open-source software tools and artificial intelligence (AI) methods designed for analyzing mitochondrial images, the availability of only a few combined expertise in the medical field and AI required to utilize these tools poses a challenge to its full adoption and use in clinical settings. Motivated by the advantages of automated methods in terms of good performance, minimum detection time, ease of implementation, and cross-platform compactibility, this study proposes a fully automated framework for the detection and segmentation of mitochondria using both image shape information and descriptive statistics. Using the low-cost, open-source Python and OpenCV library, the algorithms are implemented in three stages: pre-processing; image binarization; and coarse-to-fine segmentation. The proposed model is validated using the fluorescence mitochondrial dataset. Ground truth labels generated using Labkit were also used to evaluate the performance of our detection and segmentation model using precision, recall and rand index. The study produces good detection and segmentation results and reports the challenges encountered during the image analysis of mitochondrial morphology from the fluorescence mitochondrial dataset. A discussion on the methods and future perspectives of fully automated frameworks concludes the paper.
Keywords: 2D, Binarization, CLAHE, detection, fluorescence microscopy, mitochondria, segmentation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 432315 Comparative Parametric and Emission Characteristics of Single Cylinder Spark Ignition Engine Using Gasoline, Ethanol, and H₂O as Micro Emulsion Fuels
Authors: Ufaith Qadri, M Marouf Wani
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In this paper, the performance and emission characteristics of a Single Cylinder Spark Ignition engine have been investigated. The research is based on micro emulsion application as fuel in a gasoline engine. We have analyzed many micro emulsion compositions in various proportions, for predicting the performance of the Spark Ignition engine. This new technology of fuel modifications is emerging very rapidly as lot of research is going on in the field of micro emulsion fuels in Compression Ignition engines, but the micro emulsion fuel used in a Gasoline engine is very rare. The use of micro emulsion as fuel in a Spark Ignition engine is virtually unexplored. So, our main goal is to see the performance and emission characteristics of micro emulsions as fuel, in Spark Ignition engines, and finding which composition is more efficient. In this research, we have used various micro emulsion fuels whose composition varies for all the three blends, and their performance and emission characteristic were predicted in AVL Boost software. Conventional Gasoline fuel 90%, 80% and 85% were blended with co-surfactant Ethanol in different compositions, and water was used as an additive for making it crystal clear transparent micro emulsion fuel, which is thermodynamically stable. By comparing the performances of engines, the power has shown similarity for micro emulsion fuel and conventional Gasoline fuel. On the other hand, Torque and BMEP shows increase for all the micro emulsion fuels. Micro emulsion fuel shows higher thermal efficiency and lower Specific Fuel Consumption for all the compositions as compared to the Gasoline fuel. Carbon monoxide and Hydro carbon emissions were also measured. The result shows that emissions decrease for all the composition of micro emulsion fuels, and proved to be the most efficient fuel both in terms of performance and emission characteristics.
Keywords: AVL Boost, emissions, micro emulsion, performance, SI engine.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 838314 Computational Investigation of Secondary Flow Losses in Linear Turbine Cascade by Modified Leading Edge Fence
Authors: K. N. Kiran, S. Anish
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It is well known that secondary flow loses account about one third of the total loss in any axial turbine. Modern gas turbine height is smaller and have longer chord length, which might lead to increase in secondary flow. In order to improve the efficiency of the turbine, it is important to understand the behavior of secondary flow and device mechanisms to curtail these losses. The objective of the present work is to understand the effect of a stream wise end-wall fence on the aerodynamics of a linear turbine cascade. The study is carried out computationally by using commercial software ANSYS CFX. The effect of end-wall on the flow field are calculated based on RANS simulation by using SST transition turbulence model. Durham cascade which is similar to high-pressure axial flow turbine for simulation is used. The aim of fencing in blade passage is to get the maximum benefit from flow deviation and destroying the passage vortex in terms of loss reduction. It is observed that, for the present analysis, fence in the blade passage helps reducing the strength of horseshoe vortex and is capable of restraining the flow along the blade passage. Fence in the blade passage helps in reducing the under turning by 70 in comparison with base case. Fence on end-wall is effective in preventing the movement of pressure side leg of horseshoe vortex and helps in breaking the passage vortex. Computations are carried for different fence height whose curvature is different from the blade camber. The optimum fence geometry and location reduces the loss coefficient by 15.6% in comparison with base case.
Keywords: Boundary layer fence, horseshoe vortex, linear cascade, passage vortex, secondary flow.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2021313 Elasticity Model for Easing Peak Hour Demand for Metrorail Transport System
Authors: P. K. Sarkar, Amit Kumar Jain
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The demand for Urban transportation is characterised by a large scale temporal and spatial variations which causes heavy congestion inside metro trains in peak hours near Centre Business District (CBD) of the city. The conventional approach to address peak hour congestion, metro trains has been to increase the supply by way of introduction of more trains, increasing the length of the trains, optimising the time table to increase the capacity of the system. However, there is a limitation of supply side measures determined by the design capacity of the systems beyond which any addition in the capacity requires huge capital investments. The demand side interventions are essentially required to actually spread the demand across the time and space. In this study, an attempt has been made to identify the potential Transport Demand Management tools applicable to Urban Rail Transportation systems with a special focus on differential pricing. A conceptual price elasticity model has been developed to analyse the effect of various combinations of peak and nonpeak hoursfares on demands. The elasticity values for peak hour, nonpeak hour and cross elasticity have been assumed from the relevant literature available in the field. The conceptual price elasticity model so developed is based on assumptions which need to be validated with actual values of elasticities for different segments of passengers. Once validated, the model can be used to determine the peak and nonpeak hour fares with an objective to increase overall ridership, revenue, demand levelling and optimal utilisation of assets.Keywords: Congestion, differential pricing, elasticity, transport demand management, urban transportation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1671312 Study on Optimization of Air Infiltration at Entrance of a Commercial Complex in Zhejiang Province
Authors: Yujie Zhao, Jiantao Weng
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In the past decade, with the rapid development of China's economy, the purchasing power and physical demand of residents have been improved, which results in the vast emergence of public buildings like large shopping malls. However, the architects usually focus on the internal functions and streamlines of these buildings, ignoring the impact of the environment on the subjective feelings of building users. Only in Zhejiang province, the infiltration of cold air in winter frequently occurs at the entrance of sizeable commercial complex buildings that have been in operation, which will affect the environmental comfort of the building lobby and internal public spaces. At present, to reduce these adverse effects, it is usually adopted to add active equipment, such as setting air curtains to block air exchange or adding heating air conditioners. From the perspective of energy consumption, the infiltration of cold air into the entrance will increase the heat consumption of indoor heating equipment, which will indirectly cause considerable economic losses during the whole winter heating stage. Therefore, it is of considerable significance to explore the suitable entrance forms for improving the environmental comfort of commercial buildings and saving energy. In this paper, a commercial complex with apparent cold air infiltration problem in Hangzhou is selected as the research object to establish a model. The environmental parameters of the building entrance, including temperature, wind speed, and infiltration air volume, are obtained by Computational Fluid Dynamics (CFD) simulation, from which the heat consumption caused by the natural air infiltration in the winter and its potential economic loss is estimated as the objective metric. This study finally obtains the optimization direction of the building entrance form of the commercial complex by comparing the simulation results of other local commercial complex projects with different entrance forms. The conclusions will guide the entrance design of the same type of commercial complex in this area.
Keywords: Air infiltration, commercial complex, heat consumption, CFD simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 748311 Identification of Factors Influencing Company's Competitiveness
Authors: D. Ščeulovs, E. Gaile-Sarkane
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Fast development of technologies, economic globalization and many other external circumstances stimulate company’s competitiveness. One of the major trends in today’s business is the shift to the exploitation of the Internet and electronic environment for entrepreneurial needs. Latest researches confirm that e-environment provides a range of possibilities and opportunities for companies, especially for micro-, small- and medium-sized companies, which have limited resources. The usage of e-tools raises the effectiveness and the profitability of an organization, as well as its competitiveness. In the electronic market, as in the classic one, there are factors, such as globalization, development of new technology, price sensitive consumers, Internet, new distribution and communication channels that influence entrepreneurship. As a result of eenvironment development, e-commerce and e-marketing grow as well.
Objective of the paper: To describe and identify factors influencing company’s competitiveness in e-environment.
Research methodology: The authors employ well-established quantitative and qualitative methods of research: grouping, analysis, statistics method, factor analysis in SPSS 20 environment, etc. The theoretical and methodological background of the research is formed by using scientific researches and publications, such as that from mass media and professional literature; statistical information from legal institutions as well as information collected by the authors during the surveying process. Research result: The authors detected and classified factors influencing competitiveness in e-environment.
In this paper, the authors presented their findings based on theoretical, scientific, and field research. Authors have conducted a research on e-environment utilization among Latvian enterprises.
Keywords: Competitiveness, e-environment, factors, factor analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2086310 Work System Design in Productivity for Small and Medium Enterprises: A Systematic Literature Review
Authors: S. Halofaki, D. R. Seenivasagam, P. Bijay, K. Singh, R. Ananthanarayanan
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This comprehensive literature review delves into the effects and applications of work system design on the performance of Small and Medium-sized Enterprises (SMEs). The review process involved three independent reviewers who screened 514 articles through a four-step procedure: removing duplicates, assessing keyword relevance, evaluating abstract content, and thoroughly reviewing full-text articles. Various criteria such as relevance to the research topic, publication type, study type, language, publication date, and methodological quality were employed to exclude certain publications. A portion of articles that met the predefined inclusion criteria were included as a result of this systematic literature review. These selected publications underwent data extraction and analysis to compile insights regarding the influence of work system design on SME performance. Additionally, the quality of the included studies was assessed, and the level of confidence in the body of evidence was established. The findings of this review shed light on how work system design impacts SME performance, emphasizing important implications and applications. Furthermore, the review offers suggestions for further research in this critical area and summarizes the current state of knowledge in the field. Understanding the intricate connections between work system design and SME success can enhance operational efficiency, employee engagement, and overall competitiveness for SMEs. This comprehensive examination of the literature contributes significantly to both academic research and practical decision-making for SMEs.
Keywords: Literature review, productivity, small and medium-sized enterprises, SMEs, work system design.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 74309 Numerical Simulations of Acoustic Imaging in Hydrodynamic Tunnel with Model Adaptation and Boundary Layer Noise Reduction
Authors: Sylvain Amailland, Jean-Hugh Thomas, Charles Pézerat, Romuald Boucheron, Jean-Claude Pascal
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The noise requirements for naval and research vessels have seen an increasing demand for quieter ships in order to fulfil current regulations and to reduce the effects on marine life. Hence, new methods dedicated to the characterization of propeller noise, which is the main source of noise in the far-field, are needed. The study of cavitating propellers in closed-section is interesting for analyzing hydrodynamic performance but could involve significant difficulties for hydroacoustic study, especially due to reverberation and boundary layer noise in the tunnel. The aim of this paper is to present a numerical methodology for the identification of hydroacoustic sources on marine propellers using hydrophone arrays in a large hydrodynamic tunnel. The main difficulties are linked to the reverberation of the tunnel and the boundary layer noise that strongly reduce the signal-to-noise ratio. In this paper it is proposed to estimate the reflection coefficients using an inverse method and some reference transfer functions measured in the tunnel. This approach allows to reduce the uncertainties of the propagation model used in the inverse problem. In order to reduce the boundary layer noise, a cleaning algorithm taking advantage of the low rank and sparse structure of the cross-spectrum matrices of the acoustic and the boundary layer noise is presented. This approach allows to recover the acoustic signal even well under the boundary layer noise. The improvement brought by this method is visible on acoustic maps resulting from beamforming and DAMAS algorithms.Keywords: Acoustic imaging, boundary layer noise denoising, inverse problems, model adaptation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 961308 Effect of Anion and Amino Functional Group on Resin for Lipase Immobilization with Adsorption-Cross Linking Method
Authors: Heri Hermansyah, Annisa Kurnia, A. Vania Anisya, Adi Surjosatyo, Yopi Sunarya, Rita Arbianti, Tania Surya Utami
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Lipase is one of biocatalyst which is applied commercially for the process in industries, such as bioenergy, food, and pharmaceutical industry. Nowadays, biocatalysts are preferred in industries because they work in mild condition, high specificity, and reduce energy consumption (high pressure and temperature). But, the usage of lipase for industry scale is limited by economic reason due to the high price of lipase and difficulty of the separation system. Immobilization of lipase is one of the solutions to maintain the activity of lipase and reduce separation system in the process. Therefore, we conduct a study about lipase immobilization with the adsorption-cross linking method using glutaraldehyde because this method produces high enzyme loading and stability. Lipase is immobilized on different kind of resin with the various functional group. Highest enzyme loading (76.69%) was achieved by lipase immobilized on anion macroporous which have anion functional group (OH‑). However, highest activity (24,69 U/g support) through olive oil emulsion method was achieved by lipase immobilized on anion macroporous-chitosan which have amino (NH2) and anion (OH-) functional group. In addition, it also success to produce biodiesel until reach yield 50,6% through interesterification reaction and after 4 cycles stable 63.9% relative with initial yield. While for Aspergillus, niger lipase immobilized on anion macroporous-kitosan have unit activity 22,84 U/g resin and yield biodiesel higher than commercial lipase (69,1%) and after 4 cycles stable reach 70.6% relative from initial yield. This shows that optimum functional group on support for immobilization with adsorption-cross linking is the support that contains amino (NH2) and anion (OH-) functional group because they can react with glutaraldehyde and binding with enzyme prevent desorption of lipase from support through binding lipase with a functional group on support.
Keywords: Adsorption-Cross linking, lipase, resin, immobilization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 785307 Infrared Lightbox and iPhone App for Improving Detection Limit of Phosphate Detecting Dip Strips
Authors: H. Heidari-Bafroui, B. Ribeiro, A. Charbaji, C. Anagnostopoulos, M. Faghri
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In this paper, we report the development of a portable and inexpensive infrared lightbox for improving the detection limits of paper-based phosphate devices. Commercial paper-based devices utilize the molybdenum blue protocol to detect phosphate in the environment. Although these devices are easy to use and have a long shelf life, their main deficiency is their low sensitivity based on the qualitative results obtained via a color chart. To improve the results, we constructed a compact infrared lightbox that communicates wirelessly with a smartphone. The system measures the absorbance of radiation for the molybdenum blue reaction in the infrared region of the spectrum. It consists of a lightbox illuminated by four infrared light-emitting diodes, an infrared digital camera, a Raspberry Pi microcontroller, a mini-router, and an iPhone to control the microcontroller. An iPhone application was also developed to analyze images captured by the infrared camera in order to quantify phosphate concentrations. Additionally, the app connects to an online data center to present a highly scalable worldwide system for tracking and analyzing field measurements. In this study, the detection limits for two popular commercial devices were improved by a factor of 4 for the Quantofix devices (from 1.3 ppm using visible light to 300 ppb using infrared illumination) and a factor of 6 for the Indigo units (from 9.2 ppm to 1.4 ppm) with repeatability of less than or equal to 1.2% relative standard deviation (RSD). The system also provides more granular concentration information compared to the discrete color chart used by commercial devices and it can be easily adapted for use in other applications.
Keywords: Infrared lightbox, paper-based device, phosphate detection, smartphone colorimetric analyzer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 638306 Autonomous Robots- Visual Perception in Underground Terrains Using Statistical Region Merging
Authors: Omowunmi E. Isafiade, Isaac O. Osunmakinde, Antoine B. Bagula
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Robots- visual perception is a field that is gaining increasing attention from researchers. This is partly due to emerging trends in the commercial availability of 3D scanning systems or devices that produce a high information accuracy level for a variety of applications. In the history of mining, the mortality rate of mine workers has been alarming and robots exhibit a great deal of potentials to tackle safety issues in mines. However, an effective vision system is crucial to safe autonomous navigation in underground terrains. This work investigates robots- perception in underground terrains (mines and tunnels) using statistical region merging (SRM) model. SRM reconstructs the main structural components of an imagery by a simple but effective statistical analysis. An investigation is conducted on different regions of the mine, such as the shaft, stope and gallery, using publicly available mine frames, with a stream of locally captured mine images. An investigation is also conducted on a stream of underground tunnel image frames, using the XBOX Kinect 3D sensors. The Kinect sensors produce streams of red, green and blue (RGB) and depth images of 640 x 480 resolution at 30 frames per second. Integrating the depth information to drivability gives a strong cue to the analysis, which detects 3D results augmenting drivable and non-drivable regions in 2D. The results of the 2D and 3D experiment with different terrains, mines and tunnels, together with the qualitative and quantitative evaluation, reveal that a good drivable region can be detected in dynamic underground terrains.Keywords: Drivable Region Detection, Kinect Sensor, Robots' Perception, SRM, Underground Terrains.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1825305 The Effect of Discontinued Water Spray Cooling on the Heat Transfer Coefficient
Authors: J. Hrabovský, M. Chabičovský, J. Horský
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Water spray cooling is a technique typically used in heat treatment and other metallurgical processes where controlled temperature regimes are required. Water spray cooling is used in static (without movement) or dynamic (with movement of the steel plate) regimes. The static regime is notable for the fixed position of the hot steel plate and fixed spray nozzle. This regime is typical for quenching systems focused on heat treatment of the steel plate. The second application of spray cooling is the dynamic regime. The dynamic regime is notable for its static section cooling system and moving steel plate. This regime is used in rolling and finishing mills. The fixed position of cooling sections with nozzles and the movement of the steel plate produce nonhomogeneous water distribution on the steel plate. The length of cooling sections and placement of water nozzles in combination with the nonhomogeneity of water distribution lead to discontinued or interrupted cooling conditions. The impact of static and dynamic regimes on cooling intensity and the heat transfer coefficient during the cooling process of steel plates is an important issue. Heat treatment of steel is accompanied by oxide scale growth. The oxide scale layers can significantly modify the cooling properties and intensity during the cooling. The combination of static and dynamic (section) regimes with the variable thickness of the oxide scale layer on the steel surface impact the final cooling intensity. The study of the influence of the oxide scale layers with different cooling regimes was carried out using experimental measurements and numerical analysis. The experimental measurements compared both types of cooling regimes and the cooling of scale-free surfaces and oxidized surfaces. A numerical analysis was prepared to simulate the cooling process with different conditions of the section and samples with different oxide scale layers.
Keywords: Heat transfer coefficient, numerical analysis, oxide layer, spray cooling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2965304 Roll of Membership functions in Fuzzy Logic for Prediction of Shoot Length of Mustard Plant Based on Residual Analysis
Authors: Satyendra Nath Mandal, J. Pal Choudhury, Dilip De, S. R. Bhadra Chaudhuri
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The selection for plantation of a particular type of mustard plant depending on its productivity (pod yield) at the stage of maturity. The growth of mustard plant dependent on some parameters of that plant, these are shoot length, number of leaves, number of roots and roots length etc. As the plant is growing, some leaves may be fall down and some new leaves may come, so it can not gives the idea to develop the relationship with the seeds weight at mature stage of that plant. It is not possible to find the number of roots and root length of mustard plant at growing stage that will be harmful of this plant as roots goes deeper to deeper inside the land. Only the value of shoot length which increases in course of time can be measured at different time instances. Weather parameters are maximum and minimum humidity, rain fall, maximum and minimum temperature may effect the growth of the plant. The parameters of pollution, water, soil, distance and crop management may be dominant factors of growth of plant and its productivity. Considering all parameters, the growth of the plant is very uncertain, fuzzy environment can be considered for the prediction of shoot length at maturity of the plant. Fuzzification plays a greater role for fuzzification of data, which is based on certain membership functions. Here an effort has been made to fuzzify the original data based on gaussian function, triangular function, s-function, Trapezoidal and L –function. After that all fuzzified data are defuzzified to get normal form. Finally the error analysis (calculation of forecasting error and average error) indicates the membership function appropriate for fuzzification of data and use to predict the shoot length at maturity. The result is also verified using residual (Absolute Residual, Maximum of Absolute Residual, Mean Absolute Residual, Mean of Mean Absolute Residual, Median of Absolute Residual and Standard Deviation) analysis.Keywords: Fuzzification, defuzzification, gaussian function, triangular function, trapezoidal function, s-function, , membership function, residual analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2312303 Real-Time Land Use and Land Information System in Homagama Divisional Secretariat Division
Authors: Kumara Jayapathma J. H. M. S. S., Dampegama S. D. P. J.
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Lands are valuable & limited resource which constantly changes with the growth of the population. An efficient and good land management system is essential to avoid conflicts associated with lands. This paper aims to design the prototype model of a Mobile GIS Land use and Land Information System in real-time. Homagama Divisional Secretariat Division situated in the western province of Sri Lanka was selected as the study area. The prototype model was developed after reviewing related literature. The methodology was consisted of designing and modeling the prototype model into an application running on a mobile platform. The system architecture mainly consists of a Google mapping app for real-time updates with firebase support tools. Thereby, the method of implementation consists of front-end and back-end components. Software tools used in designing applications are Android Studio with JAVA based on GeoJSON File structure. Android Studio with JAVA in GeoJSON File Synchronize to Firebase was found to be the perfect mobile solution for continuously updating Land use and Land Information System (LIS) in real-time in the present scenario. The mobile-based land use and LIS developed in this study are multiple user applications catering to different hierarchy levels such as basic users, supervisory managers, and database administrators. The benefits of this mobile mapping application will help public sector field officers with non-GIS expertise to overcome the land use planning challenges with land use updated in real-time.
Keywords: Android, Firebase, GeoJSON, GIS, JAVA, JSON, LIS, mobile GIS, real-time, REST API.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 540302 Development of a Smart System for Measuring Strain Levels of Natural Gas and Petroleum Pipelines on Earthquake Fault Lines in Türkiye
Authors: Ahmet Yetik, Seyit Ali Kara, Cevat Özarpa
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Load changes occur on natural gas and oil pipelines due to natural disasters. The displacement of the soil around the natural gas and oil pipes due to situations that may cause erosion, such as earthquakes, landslides, and floods, is the source of this load change. The exposure of natural gas and oil pipes to variable loads causes deformation, cracks, and breaks in these pipes. Such cracks and breaks can cause significant damage to people and the environment, including the risk of explosions. Especially with the examinations made after natural disasters, it can be easily understood which of the pipes has sustained more damage in those quake-affected regions. It has been determined that earthquakes in Türkiye have caused permanent damage to pipelines. This project was initiated in response to the identification of cracks and gas leaks in the insulation gaskets placed in the pipelines, especially at the junction points. In this study, a SCADA (Supervisory Control and Data Acquisition) application has been developed to monitor load changes caused by natural disasters. The developed SCADA application monitors the changes in the x, y, and z axes of the stresses occurring in the pipes with the help of strain gauge sensors placed on the pipes. For the developed SCADA system, test setups in accordance with the standards were created during the fieldwork. The test setups created were integrated into the SCADA system, and the system was followed up. Thanks to the SCADA system developed with the field application, the load changes that will occur on the natural gas and oil pipes are instantly monitored, and the accumulations that may create a load on the pipes and their surroundings are immediately intervened, and new risks that may arise are prevented. It has contributed to energy supply security, asset management, pipeline holistic management, and overall sustainability in the industry.
Keywords: Earthquake, natural gas pipes, oil pipes, voltage measurement, landslide.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 82301 Dislocation Modelling of the 1997-2009 High-Precision Global Positioning System Displacements in Darjiling- Sikkim Himalaya, India
Authors: Kutubuddin Ansari, Malay Mukul, Sridevi Jade
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We used high-precision Global Positioning System (GPS) to geodetically constrain the motion of stations in the Darjiling-Sikkim Himalayan (DSH) wedge and examine the deformation at the Indian-Tibetan plate boundary using IGS (International GPS Service) fiducial stations. High-precision GPS based displacement and velocity field was measured in the DSH between 1997 and 2009. To obtain additional insight north of the Indo-Tibetan border and in the Darjiling-Sikkim-Tibet (DaSiT) wedge, published velocities from four stations J037, XIGA, J029 and YADO were also included in the analysis. India-fixed velocities or the back-slip was computed relative to the pole of rotation of the Indian Plate (Latitude 52.97 ± 0.22º, Longitude - 0.30 ± 3.76º, and Angular Velocity 0.500 ± 0.008º/ Myr) in the DaSiT wedge. Dislocation modelling was carried out with the back-slip to model the best possible solution of a finite rectangular dislocation or the causative fault based on dislocation theory that produced the observed back-slip using a forward modelling approach. To find the best possible solution, three different models were attempted. First, slip along a single thrust fault, then two thrust faults and in finally, three thrust faults were modelled to simulate the back-slip in the DaSiT wedge. The three-fault case bests the measured displacements and is taken as the best possible solution.
Keywords: Global Positioning System, Darjiling-Sikkim Himalaya, Dislocation modelling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2094300 Hypogenic Karstification and Conduit System Controlling by Tectonic Pattern in Foundation Rocks of the Salman Farsi Dam in South-Western Iran
Authors: Mehran Koleini, Jan Louis Van Rooy, Adam Bumby
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The Salman Farsi dam project is constructed on the Ghareh Agahaj River about 140km south of Shiraz city in the Zagros Mountains of southwestern Iran. This tectonic province of south-western Iran is characterized by a simple folded sedimentary sequence. The dam foundation rocks compose of the Asmari Formation of Oligo-miocene and generally comprise of a variety of karstified carbonate rocks varying from strong to weak rocks. Most of the rocks exposed at the dam site show a primary porosity due to incomplete diagenetic recrystallization and compaction. In addition to these primary dispositions to weathering, layering conditions (frequency and orientation of bedding) and the subvertical tectonic discontinuities channeled preferably the infiltrating by deep-sited hydrothermal solutions. Consequently the porosity results to be enlarged by dissolution and the rocks are expected to be karstified and to develop cavities in correspondence of bedding, major joint planes and fault zones. This kind of karsts is named hypogenic karsts which associated to the ascendant warm solutions. Field observations indicate strong karstification and vuggy intercalations especially in the middle part of the Asmari succession. The biggest karst in the dam axis which identified by speleological investigations is Golshany Cave with volume of about 150,000 m3. The tendency of the Asmari limestone for strong dissolution can alert about the seepage from the reservoir and area of the dam locality.
Keywords: Asmari Limestone, Karstification, Salman Farsi Dam, Tectonic Pattern.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2680299 Performance, Emission and Combustion Characteristics of a Variable Compression Ratio Diesel Engine Fueled with Karanj Biodiesel and Its Blends
Authors: Ajay V. Kolhe, R. E. Shelke, S. S. Khandare
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The use of biodiesel in conventional diesel engines results in substantial reduction of unburned hydrocarbon, carbon monoxide and particulate matters. The performance, emission and combustion characteristics of a single cylinder four stroke variable compression ratio engine when fueled with Karanja (Pongamia) methyl ester and its 10-50 % blends with diesel (on a volume basis) are investigated and compared with standard diesel. The suitability of karanja methyl ester as a biofuel has been established in this study. The useful brake power obtained is similar to diesel fuel for all loads. Experiment has been conducted at a fixed engine speed of 1500 rpm, variable load and at compression ratios of 17.5:1 and 18.5:1. The impact of compression ratio on fuel consumption, combustion pressures and exhaust gas emissions has been investigated and presented. Optimum compression ratio which gives best performance has been identified. The results indicate longer ignition delay, maximum rate of pressure rise, lower heat release rate and higher mass fraction burnt at higher compression ratio for pongamia oil methyl ester when compared to that of diesel. The brake thermal efficiency for pongamia oil methyl ester blends and diesel has been calculated and the blend B20 is found to give maximum thermal efficiency. The blends when used as fuel results in reduction of carbon monoxide, hydrocarbon and increase in nitrogen oxides emissions. PME as an oxygenated fuel generated more complete combustion, which means increased torque and power. This is also supported with higher thermal efficiencies of the PME blends. NOx is slightly increased due to the higher combustion temperature and the presence of fuel oxygen with the blend at full load. PME as a new Biodiesel and its blends can be used in diesel engines without any engine modification.
Keywords: Variable compression ratio CI engine, performance, combustion, emissions, biodiesel.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3283298 Application of Design Thinking for Technology Transfer of Remotely Piloted Aircraft Systems for the Creative Industry
Authors: V. Santamarina Campos, M. de Miguel Molina, B. de Miguel Molina, M. Á. Carabal Montagud
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With this contribution, we want to show a successful example of the application of the Design Thinking methodology, in the European project 'Technology transfer of Remotely Piloted Aircraft Systems (RPAS) for the creative industry'. The use of this methodology has allowed us to design and build a drone, based on the real needs of prospective users. It has demonstrated that this is a powerful tool for generating innovative ideas in the field of robotics, by focusing its effectiveness on understanding and solving real user needs. In this way, with the support of an interdisciplinary team, comprised of creatives, engineers and economists, together with the collaboration of prospective users from three European countries, a non-linear work dynamic has been created. This teamwork has generated a sense of appreciation towards the creative industries, through continuously adaptive, inventive, and playful collaboration and communication, which has facilitated the development of prototypes. These have been designed to enable filming and photography in interior spaces, within 13 sectors of European creative industries: Advertising, Architecture, Fashion, Film, Antiques and Museums, Music, Photography, Televison, Performing Arts, Publishing, Arts and Crafts, Design and Software. Furthermore, it has married the real needs of the creative industries, with what is technologically and commercially viable. As a result, a product of great value has been obtained, which offers new business opportunities for small companies across this sector.
Keywords: Design thinking, design for effectiveness, methodology, active toolkit, storyboards, storytelling, PAR, focus group, innovation, RPAS, indoor drone, robotics, TRL, aerial film, creative industries, end-users.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1157297 Sound Instance: Art, Perception and Composition through Soundscapes
Authors: Ricardo Mestre
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The soundscape stands out as an agglomeration of sounds available in the world, associated with different contexts and origins, being a theme studied by various areas of knowledge, seeking to guide their benefits and their consequences, contributing to the welfare of society and other ecosystems. With the objective for a greater recognition of sound reality, through the selection and differentiation of sounds, the soundscape studies focus on the contribution for a better tuning of the world and to the balance and well-being of humanity. Sound environment, produced and created in various ways, can provide various sources of information, contributing to the orientation of the human being, alerting and manipulating him during his daily journey, like small notifications received on a cell phone or other device with these features. In this way, it becomes possible to give sound its due importance in relation to the processes of individual representation, in manners of social, professional and emotional life. Ensuring an individual representation means providing the human being with new tools for the long process of reflection by recognizing his environment, the sounds that represent him, and his perspective on his respective function in it. In order to provide more information about the importance of the sound environment inherent to the individual reality, one introduces the term sound instance, in order to refer to the whole sound field existing in the individual's life, which is divided into four distinct subfields, but essential to the process of individual representation, called sound matrix, sound cycles, sound traces and sound interference. Alongside volunteers we were able to create six representations of sound instances, based on the individual perception of his/her life, focusing on the present, past and future. With this investigation it was possible to determine that sound instance has a tool for self-recognition, considering the statements of opinion about the experience from the volunteers, reflecting about the three time lines, based on memories, thoughts and wishes.
Keywords: Sound instance, soundscape, sound art, self-recognition.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 546296 Creating the Color Panoramic View using Medley of Grayscale and Color Partial Images
Authors: Dr. H. B. Kekre, Sudeep D. Thepade
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Panoramic view generation has always offered novel and distinct challenges in the field of image processing. Panoramic view generation is nothing but construction of bigger view mosaic image from set of partial images of the desired view. The paper presents a solution to one of the problems of image seascape formation where some of the partial images are color and others are grayscale. The simplest solution could be to convert all image parts into grayscale images and fusing them to get grayscale image panorama. But in the multihued world, obtaining the colored seascape will always be preferred. This could be achieved by picking colors from the color parts and squirting them in grayscale parts of the seascape. So firstly the grayscale image parts should be colored with help of color image parts and then these parts should be fused to construct the seascape image. The problem of coloring grayscale images has no exact solution. In the proposed technique of panoramic view generation, the job of transferring color traits from reference color image to grayscale image is done by palette based method. In this technique, the color palette is prepared using pixel windows of some degrees taken from color image parts. Then the grayscale image part is divided into pixel windows with same degrees. For every window of grayscale image part the palette is searched and equivalent color values are found, which could be used to color grayscale window. For palette preparation we have used RGB color space and Kekre-s LUV color space. Kekre-s LUV color space gives better quality of coloring. The searching time through color palette is improved over the exhaustive search using Kekre-s fast search technique. After coloring the grayscale image pieces the next job is fusion of all these pieces to obtain panoramic view. For similarity estimation between partial images correlation coefficient is used.Keywords: Panoramic View, Similarity Estimate, Color Transfer, Color Palette, Kekre's Fast Search, Kekre's LUV
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1741295 Numerical Investigation of Unsteady MHD Flow of Second Order Fluid in a Tube of Elliptical Cross-Section on the Porous Boundary
Authors: S. B. Kulkarni, Hasim A. Chikte, V. Murali Mohan
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Exact solution of an unsteady MHD flow of elasticoviscous fluid through a porous media in a tube of elliptic cross section under the influence of magnetic field and constant pressure gradient has been obtained in this paper. Initially, the flow is generated by a constant pressure gradient. After attaining the steady state, the pressure gradient is suddenly withdrawn and the resulting fluid motion in a tube of elliptical cross section by taking into account of the porosity factor and magnetic parameter of the bounding surface is investigated. The problem is solved in two-stages the first stage is a steady motion in tube under the influence of a constant pressure gradient, the second stage concern with an unsteady motion. The problem is solved employing separation of variables technique. The results are expressed in terms of a non-dimensional porosity parameter, magnetic parameter and elastico-viscosity parameter, which depends on the Non-Newtonian coefficient. The flow parameters are found to be identical with that of Newtonian case as elastic-viscosity parameter, magnetic parameter tends to zero, and porosity tends to infinity. The numerical results were simulated in MATLAB software to analyze the effect of Elastico-viscous parameter, porosity parameter, and magnetic parameter on velocity profile. Boundary conditions were satisfied. It is seen that the effect of elastico-viscosity parameter, porosity parameter and magnetic parameter of the bounding surface has significant effect on the velocity parameter.Keywords: Elastico-viscous fluid, Porous media, Elliptic cross-section, Magnetic parameter, Numerical Simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1809294 Analysis of Pressure Drop in a Concentrated Solar Collector with Direct Steam Production
Authors: Sara Sallam, Mohamed Taqi, Naoual Belouaggadia
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Solar thermal power plants using parabolic trough collectors (PTC) are currently a powerful technology for generating electricity. Most of these solar power plants use thermal oils as heat transfer fluid. The latter is heated in the solar field and transfers the heat absorbed in an oil-water heat exchanger for the production of steam driving the turbines of the power plant. Currently, we are seeking to develop PTCs with direct steam generation (DSG). This process consists of circulating water under pressure in the receiver tube to generate steam directly into the solar loop. This makes it possible to reduce the investment and maintenance costs of the PTCs (the oil-water exchangers are removed) and to avoid the environmental risks associated with the use of thermal oils. The pressure drops in these systems are an important parameter to ensure their proper operation. The determination of these losses is complex because of the presence of the two phases, and most often we limit ourselves to describing them by models using empirical correlations. A comparison of these models with experimental data was performed. Our calculations focused on the evolution of the pressure of the liquid-vapor mixture along the receiver tube of a PTC-DSG for pressure values and inlet flow rates ranging respectively from 3 to 10 MPa, and from 0.4 to 0.6 kg/s. The comparison of the numerical results with experience allows us to demonstrate the validity of some models according to the pressures and the flow rates of entry in the PTC-DSG receiver tube. The analysis of these two parameters’ effects on the evolution of the pressure along the receiving tub, shows that the increase of the inlet pressure and the decrease of the flow rate lead to minimal pressure losses.
Keywords: Direct steam generation, parabolic trough collectors, pressure drop.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 769293 A Coupled Model for Two-Phase Simulation of a Heavy Water Pressure Vessel Reactor
Authors: Damian Ramajo, Santiago Corzo, Norberto Nigro
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A Multi-dimensional computational fluid dynamics (CFD) two-phase model was developed with the aim to simulate the in-core coolant circuit of a pressurized heavy water reactor (PHWR) of a commercial nuclear power plant (NPP). Due to the fact that this PHWR is a Reactor Pressure Vessel type (RPV), three-dimensional (3D) detailed modelling of the large reservoirs of the RPV (the upper and lower plenums and the downcomer) were coupled with an in-house finite volume one-dimensional (1D) code in order to model the 451 coolant channels housing the nuclear fuel. Regarding the 1D code, suitable empirical correlations for taking into account the in-channel distributed (friction losses) and concentrated (spacer grids, inlet and outlet throttles) pressure losses were used. A local power distribution at each one of the coolant channels was also taken into account. The heat transfer between the coolant and the surrounding moderator was accurately calculated using a two-dimensional theoretical model. The implementation of subcooled boiling and condensation models in the 1D code along with the use of functions for representing the thermal and dynamic properties of the coolant and moderator (heavy water) allow to have estimations of the in-core steam generation under nominal flow conditions for a generic fission power distribution. The in-core mass flow distribution results for steady state nominal conditions are in agreement with the expected from design, thus getting a first assessment of the coupled 1/3D model. Results for nominal condition were compared with those obtained with a previous 1/3D single-phase model getting more realistic temperature patterns, also allowing visualize low values of void fraction inside the upper plenum. It must be mentioned that the current results were obtained by imposing prescribed fission power functions from literature. Therefore, results are showed with the aim of point out the potentiality of the developed model.Keywords: CFD, PHWR, Thermo-hydraulic, Two-phase flow.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2699292 Effectual Role of Local Level Partnership Schemes in Affordable Housing Delivery
Authors: Hala S. Mekawy
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Affordable housing delivery for low and lower middle income families is a prominent problem in many developing countries; governments alone are unable to address this challenge due to diverse financial and regulatory constraints, and the private sector's contribution is rare and assists only middle-income households even when institutional and legal reforms are conducted to persuade it to go down market. Also, the market-enabling policy measures advocated by the World Bank since the early nineties have been strongly criticized and proven to be inappropriate to developing country contexts, where it is highly unlikely that the formal private sector can reach low income population. In addition to governments and private developers, affordable housing delivery systems involve an intricate network of relationships between a diverse range of actors. Collaboration between them was proven to be vital, and hence, an approach towards partnership schemes for affordable housing delivery has emerged. The basic premise of this paper is that addressing housing affordability challenges in Egypt demands direct public support, as markets and market actors alone would never succeed in delivering decent affordable housing to low and lower middle income groups. It argues that this support would ideally be through local level partnership schemes, with a leading decentralized local government role, and partners being identified according to specific local conditions. It attempts to identify major attributes that would ensure the fulfillment of the goals of such schemes in the Egyptian context. This is based upon evidence from diversified worldwide experiences, in addition to the main outcomes of a questionnaire that was conducted to specialists and chief actors in the field.
Keywords: Affordable housing, partnership schemes.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2785291 Effects of Reclaimed Agro-Industrial Wastewater for Long-Term Irrigation of Herbaceous Crops on Soil Chemical Properties
Authors: E. Tarantino, G. Disciglio, G. Gatta, L. Frabboni, A. Libutti, A. Tarantino
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Worldwide, about two-thirds of industrial and domestic wastewater effluent is discharged without treatment, which can cause contamination and eutrophication of the water. In particular, for Mediterranean countries, irrigation with treated wastewater would mitigate the water stress and support the agricultural sector. Changing global weather patterns will make the situation worse, due to increased susceptibility to drought, which can cause major environmental, social, and economic problems. The study was carried out in open field in an intensive agricultural area of the Apulian region in Southern Italy where freshwater resources are often scarce. As well as providing a water resource, irrigation with treated wastewater represents a significant source of nutrients for soil–plant systems. However, the use of wastewater might have further effects on soil. This study thus investigated the long-term impact of irrigation with reclaimed agro-industrial wastewater on the chemical characteristics of the soil. Two crops (processing tomato and broccoli) were cultivated in succession in Stornarella (Foggia) over four years from 2012 to 2016 using two types of irrigation water: groundwater and tertiary treated agro-industrial wastewater that had undergone an activated sludge process, sedimentation filtration, and UV radiation. Chemical analyses were performed on the irrigation waters and soil samples. The treated wastewater was characterised by high levels of several chemical parameters including TSS, EC, COD, BOD5, Na+, Ca2+, Mg2+, NH4-N, PO4-P, K+, SAR and CaCO3, as compared with the groundwater. However, despite these higher levels, the mean content of several chemical parameters in the soil did not show relevant differences between the irrigation treatments, in terms of the chemical features of the soil.
Keywords: Agro-industrial wastewater, broccoli, long-term re-use, tomato.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1148290 Comparison of the Music Sound System between Thailand and Vietnam
Authors: Sansanee Jasuwan
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Thai and Vietnamese music had been influenced and inspired by the traditional Chinese music. Whereby the differences of the tuning systems as well as the music modes are obviously known . The research examined the character of musical instruments, songs and culture between Thai and Vietnamese. An analyzing of songs and modes and the study of tone vibration as well as timbre had been done accurately. This qualitative research is based on documentary and songs analysis, field study, interviews and focus group discussion of Thai and Vietnamese masters. The research aims are to examine the musical instruments and songs of both Thai and Vietnamese as well as the comparison of the sounding system between Thailand and Vietnam. The finding of the research has revealed that there are similarities in certain kinds of instruments but differences in the sound systems regarding songs and scale of Thailand and Vietnam. Both cultural musical instruments are diverse and synthetic combining native and foreign inspiring. An integral part of Vietnam has been highly impacted by Chinese musical convention. Korea, Mongolia and Japan music have also play an active and effectively influenced as their geographical related. Whereas Thailand has been influenced by Chinese and Indian traditional music. Both Thai and Vietnamese musical instruments can be divided into four groups: plucked strings, bowed strings, winds and percussion. Songs from both countries have their own characteristics. They are playing a role in touching people heart in ceremonies, social functions and an essential element of the native performing arts. The Vietnamese music melodies have been influenced by Chinese music and taken the same character as Chinese songs. Thai song has specific identity and variety showed in its unique melody. Pentatonic scales have effectively been used in composing Thai and Vietnamese songs, but in different implementing concept.
Keywords: Music sound system, Thailand, Vietnam.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4375289 Dental Ethics versus Malpractice, as Phenomenon with a Growing Trend
Authors: Saimir Heta, Kers Kapaj, Rialda Xhizdari, Ilma Robo
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Dealing with emerging cases of dental malpractice with justifications that stem from the clear rules of dental ethics is a phenomenon with an increasing trend in today's dental practice. Dentists should clearly understand how far the limit of malpractice goes, with or without minimal or major consequences, for the affected patient, which can be justified as a complication of dental treatment, in support of the rules of dental ethics in the dental office. Indeed, malpractice can occur in cases of lack of professionalism, but it can also come as a consequence of anatomical and physiological limitations in the implementation of the dental protocols, predetermined and indicated by the patient in the paragraph of the treatment plan in his personal card. Let this article serve as a short communication between readers and interested parties about the problems that dental malpractice can bring to the community. Malpractice should not be seen only as a professional wrong approach, but also as a phenomenon that can occur during dental practice. The aim of this article is presentation of the latest data published in the literature about malpractice. The combination of keywords is done in such a way with the aim to give the necessary space for collecting the right information in the networks of publications about this field, always first from the point of view of the dentist and not from that of the lawyer or jurist. From the findings included in this article, it was noticed that the diversity of approaches towards the phenomenon depends on the different countries based on the legal basis that these countries have. There is a lack of or a small number of articles that touch on this topic, and these articles are presented with a limited amount of data on the same topic. Dental malpractice should not be hidden under the guise of various dental complications that we justify with the strict rules of ethics for patients treated in the dental chair. The individual experience of dental malpractice must be published with the aim of serving as a source of experience for future generations of dentists.
Keywords: Dental ethics, malpractice, professional protocol, random deviation, dental tourism.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 122288 Analysis of Combustion, Performance and Emission Characteristics of Turbocharged LHR Extended Expansion DI Diesel Engine
Authors: Mohd.F.Shabir, P. Tamilporai, B. Rajendra Prasath
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The fundamental aim of extended expansion concept is to achieve higher work done which in turn leads to higher thermal efficiency. This concept is compatible with the application of turbocharger and LHR engine. The Low Heat Rejection engine was developed by coating the piston crown, cylinder head inside with valves and cylinder liner with partially stabilized zirconia coating of 0.5 mm thickness. Extended expansion in diesel engines is termed as Miller cycle in which the expansion ratio is increased by reducing the compression ratio by modifying the inlet cam for late inlet valve closing. The specific fuel consumption reduces to an appreciable level and the thermal efficiency of the extended expansion turbocharged LHR engine is improved. In this work, a thermodynamic model was formulated and developed to simulate the LHR based extended expansion turbocharged direct injection diesel engine. It includes a gas flow model, a heat transfer model, and a two zone combustion model. Gas exchange model is modified by incorporating the Miller cycle, by delaying inlet valve closing timing which had resulted in considerable improvement in thermal efficiency of turbocharged LHR engines. The heat transfer model, calculates the convective and radiative heat transfer between the gas and wall by taking into account of the combustion chamber surface temperature swings. Using the two-zone combustion model, the combustion parameters and the chemical equilibrium compositions were determined. The chemical equilibrium compositions were used to calculate the Nitric oxide formation rate by assuming a modified Zeldovich mechanism. The accuracy of this model is scrutinized against actual test results from the engine. The factors which affect thermal efficiency and exhaust emissions were deduced and their influences were discussed. In the final analysis it is seen that there is an excellent agreement in all of these evaluations.Keywords: Low Heat Rejection, Miller cycle.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2081287 ZMP Based Reference Generation for Biped Walking Robots
Authors: Kemalettin Erbatur, Özer Koca, Evrim Taşkıran, Metin Yılmaz, Utku Seven
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Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference trajectories possess pre-assigned single and double support phases, which are very useful in experimental tuning work. The ZMP based reference generation strategy is tested via threedimensional full-dynamics simulations of a 12-degrees-of-freedom biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.Keywords: Biped robot, Linear Inverted Pendulum Model, Zero Moment Point, Fourier series approximation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1619