Search results for: furnace design

Authors: Silvia Tamayo-Moreno, Diana Pérez-Marín

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In this paper, the possibility of children studying by using an interactive learning technology called Pedagogic Conversational Agent is presented. The main benefit is that the agent is able to adapt the dialogue to each student and to provide automatic feedback. Moreover, according to Math teachers, in many cases students are unable to solve the problems even knowing the procedure to solve them, because they do not understand what they have to do. The hypothesis is that if students are helped to understand what they have to solve, they will be able to do it. Taken that into account, we have started the development of Dr. Roland, an agent to help students understand Math problems following a User-Centered Design methodology. The use of this methodology is proposed, for the first time, to design pedagogic agents to teach any subject from Secondary down to Pre-Primary education. The reason behind proposing a methodology is that while working on this project, we noticed the lack of literature to design and evaluate agents. To cover this gap, we describe how User-Centered Design can be applied, and which usability techniques can be applied to evaluate the agent.

Keywords: Pedagogic conversational agent, human-computer interaction, user-centered design, natural language interface.

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Authors: Karel Frydrýšek

Abstract:

This paper focuses on the probabilistic numerical solution of the problems in biomechanics and mining. Applications of Simulation-Based Reliability Assessment (SBRA) Method are presented in the solution of designing of the external fixators applied in traumatology and orthopaedics (these fixators can be applied for the treatment of open and unstable fractures etc.) and in the solution of a hard rock (ore) disintegration process (i.e. the bit moves into the ore and subsequently disintegrates it, the results are compared with experiments, new design of excavation tool is proposed.

Keywords: probabilistic approach, engineering design, traumatology, rock mechanics

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Authors: Pejman Hosseiniun, Rose Shayeghi, Iman Rahbari, Mohamad Reza Kalhor

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CNFET has emerged as an alternative material to silicon for high performance, high stability and low power SRAM design in recent years. SRAM functions as cache memory in computers and many portable devices. In this paper, a new SRAM cell design based on CNFET technology is proposed. The proposed SRAM cell design for CNFET is compared with SRAM cell designs implemented with the conventional CMOS and FinFET in terms of speed, power consumption, stability, and leakage current. The HSPICE simulation and analysis show that the dynamic power consumption of the proposed 8T CNFET SRAM cell’s is reduced about 48% and the SNM is widened up to 56% compared to the conventional CMOS SRAM structure at the expense of 2% leakage power and 3% write delay increase.

Keywords: SRAM cell, CNFET, low power, HSPICE.

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Authors: Qasim Idrees, Gao Liangtian, Liu Bo, Miao Yiran

Abstract:

In order to improve the efficiency and accuracy of the pressure hull structure, optimization of underwater vehicle based on response surface methodology, a method for optimizing the design of pressure hull structure was studied. To determine the pressure shell of five dimensions as a design variable, the application of thin shell theory and the Chinese Classification Society (CCS) specification was carried on the preliminary design. In order to optimize variables of the feasible region, different methods were studied and implemented such as Opt LHD method (to determine the design test sample points in the feasible domain space), parametric ABAQUS solution for each sample point response, and the two-order polynomial response for the surface model of the limit load of structures. Based on the ultimate load of the structure and the quality of the shell, the two-generation genetic algorithm was used to solve the response surface, and the Pareto optimal solution set was obtained. The final optimization result was 41.68% higher than that of the initial design, and the shell quality was reduced by about 27.26%. The parametric method can ensure the accuracy of the test and improve the efficiency of optimization.

Keywords: Parameterization, response surface, structure optimization, pressure hull.

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Authors: Yu-Sheng Lu, Chung-Hsin Cheng, Shuen-Shing Jan

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This paper presents the design and implementation of a sliding-mod controller for tracking servo of optical disk drives. The tracking servo is majorly subject to two disturbance sources: radial run-out and shock. The lateral run-out disturbance is mostly repeatable, and a model of such disturbance is incorporated into the controller design to effectively compensate for it. Meanwhile, as a shock disturbance is usually non-repeatable and unpredictable, the sliding-mode controller is employed for its robustness to abrupt perturbations. As a result, a sliding-mode controller design based on the internal model principle is tailored for tracking servo of optical disk drives in order to deal with these two major disturbances. Experimental comparative studies are conducted to investigate the effectiveness of the specially designed controller.

Keywords: Mechatronics, optical disk drive, sliding-mode control, servo systems.

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Authors: Md. Armin Islam, Les Dallin, Mark Boland, W. J. Zhang

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This paper reports a study on the optimal magnetic design of a compact quadrupole electromagnet for the Canadian Light Source (CLS 2.0). The nature of the design is to determine a quadrupole with low relative higher order harmonics and better field quality. The design problem was formulated as an optimization model, in which the objective function is the higher order harmonics (multipole errors) and the variable to be optimized is the material distribution on the pole. The higher order harmonics arose in the quadrupole due to truncating the ideal hyperbola at a certain point to make the pole. In this project, the arisen harmonics have been optimized both transversely and longitudinally by adjusting material on the poles in a controlled way. For optimization, finite element analysis (FEA) has been conducted. A better higher order harmonics amplitudes and field quality have been achieved through the optimization. On the basis of the optimized magnetic design, electrical and cooling calculation has been performed for the magnet.

Keywords: Drift, electrical, and cooling calculation, integrated field, higher order harmonics (multipole errors), magnetic field gradient, quadrupole.

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Authors: Mohd Fahmi Mohamad Amran, Riza Sulaiman, Saliyah Kahar, Suziyanti Marjudi, Muhammad FairuzAbd Rauf

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The extensive number of engineering drawing will be referred for planning process and the changes will produce a good engineering design to meet the demand in producing a new model. The advantage in reuse of engineering designs is to allow continuous product development to further improve the quality of product development, thus reduce the development costs. However, to retrieve the existing engineering drawing, it is time consuming, a complex process and are expose to errors. Engineering drawing file searching system will be proposed to solve this problem. It is essential for engineer and designer to have some sort of medium to enable them to search for drawing in the most effective way. This paper lays out the proposed research project under the area of information extraction in engineering drawing.

Keywords: Computer aided design, information extraction, engineering drawing, reuse design.

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Authors: O. M. Omar, A. M. Heniegal, G. D. Abd Elhameed, H. A. Mohamadien

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Local steel slag is produced as a by-product during the oxidation of steel pellets in an electric arc furnace. Using local steel slag waste as a hundred substitutes of crashed stone in construction materials would resolve the environmental problems caused by the large-scale depletion of the natural sources of crashed stone. This paper reports the experimental study to investigate the influence of a hundred replacement of crashed stone as a coarse aggregate with local steel slag, on the fresh and hardened geopolymer concrete properties. The investigation includes traditional testing of hardening concrete, for selected mixes of cement and geopolymer concrete. It was found that local steel slag as a coarse aggregate enhanced the slump test of the fresh state of cement and geopolymer concretes. Nevertheless, the unit weight of concretes was affected. Meanwhile, the good performance was observed when fly ash used as geopolymer concrete based.

Keywords: Geopolymer, molarity, steel slag, sodium hydroxide, sodium silicate.

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Authors: T. Thompson, E. F. Zegeye

Abstract:

Bacterial Cellulose (BC) is a structural organic compound produced in the anaerobic process. This material can be a useful eco-friendly substitute for commercial textiles that are used in industries today. BC is easily and sustainably produced and has the capabilities to be used as a replacement in textiles. However, BC is extremely fragile when it completely dries. This research was conducted to improve the mechanical properties of the BC by reinforcing with an organic polymer and exfoliated graphite (EG). The BC films were grown over a period of weeks in a green tea and kombucha solution at 30 °C, then cleaned and added to an enhancing solution. The enhancing solutions were a mixture of 2.5 wt% polymer and 2.5 wt% latex solution, a 5 wt% polymer solution, a 0.20 wt% graphite solution and were each allowed to sit in a furnace for 48 h at 50 °C. Tensile test samples were prepared and tested until fracture at a strain rate of 8 mm/min. From the research with the addition of a 5 wt% polymer solution, the flexibility of the BC has significantly improved with the maximum strain significantly larger than that of the base sample. The addition of EG has also increased the modulus of elasticity of the BC by about 25%.

Keywords: Bacterial cellulose, exfoliated graphite, kombucha scoby, tensile test.

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Authors: Pavel Y. Tabakov

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An accurate optimal design of laminated composite structures may present considerable difficulties due to the complexity and multi-modality of the functional design space. The Big Bang – Big Crunch (BB-BC) optimization method is a relatively new technique and has already proved to be a valuable tool for structural optimization. In the present study the exceptional efficiency of the method is demonstrated by an example of the lay-up optimization of multilayered anisotropic cylinders based on a three-dimensional elasticity solution. It is shown that, due to its simplicity and speed, the BB-BC is much more efficient for this class of problems when compared to the genetic algorithms.

Keywords: Big Bang – Big Crunch method, optimization, composite laminates, pressure vessel.

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Authors: M. A. Amer, J. A. Chávez, M. J. García-Hernández, J. Salazar, A. Turó

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In this paper, the design of a QCM sensor for liquid media measurements in vertical position is described. A rugged and low-cost proof holder has been designed, the cost of which is significantly lower than those of traditional commercial holders. The crystal is not replaceable but it can be easily cleaned. Its small volume permits to be used by dipping it in the liquid with the desired location and orientation. The developed design has been experimentally validated by measuring changes in the resonance frequency and resistance of the QCM sensor immersed vertically in different calibrated aqueous glycerol solutions. The obtained results show a great agreement with the Kanazawa theoretical expression. Consequently, the designed QCM sensor would be appropriate for sensing applications in liquids, and might take part of a future on-line multichannel low-cost QCM-based measurement system.

Keywords: Holder design, liquid-media measurements, multi-channel measurements, QCM.

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Authors: A. Chidley, F. Roger, A. Traidia

Abstract:

A method is presented for using thermo-mechanical fatigue analysis as a tool in the design of automotive heat exchangers. Use of infra-red thermography to measure the real thermal history in the heat exchanger reduces the time necessary for calculating design parameters and improves prediction accuracy. Thermal shocks are the primary cause of heat exchanger damage. Thermo-mechanical simulation is based on the mean behavior of the aluminum tubes used in the heat exchanger. An energetic fatigue criterion is used to detect critical zones.

Keywords: Heat exchanger, Fatigue, Thermal shocks. I.

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Authors: Sh. Derakhshan, A. Mostafavi

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Nowadays, the challenge in hydraulic turbine design is the multi-objective design of turbine runner to reach higher efficiency. The hydraulic performance of a turbine is strictly depends on runner blades shape. The present paper focuses on the application of the multi-objective optimization algorithm to the design of a small Francis turbine runner. The optimization exercise focuses on the efficiency improvement at the best efficiency operating point (BEP) of the GAMM Francis turbine. A global optimization method based on artificial neural networks (ANN) and genetic algorithms (GA) coupled by 3D Navier-Stokes flow solver has been used to improve the performance of an initial geometry of a Francis runner. The results show the good ability of optimization algorithm and the final geometry has better efficiency with initial geometry. The goal was to optimize the geometry of the blades of GAMM turbine runner which leads to maximum total efficiency by changing the design parameters of camber line in at least 5 sections of a blade. The efficiency of the optimized geometry is improved from 90.7% to 92.5%. Finally, design parameters and the way of selection have been considered and discussed.

Keywords: Francis Turbine, Runner, Optimization, CFD

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Authors: Wenzhe Li, Xiaoyu Ying, Grace Ding

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Architecture plane form is an important consideration in the design of green buildings due to its significant impact on energy performance. The most effective method to consider energy performance in the early design stages is parametric modelling. This paper presents a methodology to program plane forms using MATLAB language, generating 16 kinds of plane forms by changing four designed parameters. DesignBuilder (an energy consumption simulation software) was proposed to simulate the energy consumption of the generated planes. A regression mathematical model was established to study the relationship between the plane forms and their energy consumption. The main finding of the study suggested that there was a cubic function relationship between the depth-ratio of U-shaped buildings and energy consumption, and there is also a cubic function relationship between the width-ratio and energy consumption. In the design, the depth-ratio of U-shaped buildings should not be less than 2.5, and the width-ratio should not be less than 2.

Keywords: Graphic parameterization, green building design, mathematical model, U-shaped buildings.

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Authors: Raluca Ionela Maxim

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Designing a gender responsive Science, Technology, Engineering and Mathematics (STEM) mobile game based learning solution (mGBL) is a challenge in terms of content, gamification level and equal engagement of girls and boys. The goal of this case study was to research and create a high-fidelity prototype design of a mobile game that contains role-models as avatars that guide and expose girls and boys to STEM learning content. For this research purpose it was applied the methodology of design sprint with five-phase process that combines design thinking principles. The technique of this methodology comprises smart interviews with STEM experts, mind-map creation, sketching, prototyping and usability testing of the interactive prototype of the gender responsive STEM mGBL. The results have shown that the effect of the avatar/role model had a positive impact. Therefore, by exposing students (boys and girls) to STEM role models in an mGBL tool is helpful for the decreasing of the gender inequalities in STEM fields.

Keywords: Design thinking, design sprint, gender-responsive STEM education, mobile game based learning, role-models.

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Authors: M. Das, R. K. Saha, B. C. Meikap

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Iron ore and coal are the two major important raw materials being used in Iron making industries. Usually ore fines containing around 5% Alumina are rejected due to higher proportion of alumina. Therefore, a technology or process which may reduce the alumina content by 2% by beneficiation process will be highly attractive . In addition fine coals with ash content is used nearly 12% is directly injected in blast furnace. Fast fluidization is a technology by using dry beneficiation of coal and iron ore can be done. During the fluidization process the iron ore band coal is fluidized at high velocity in the riser of a fast fluidized bed, the heavier and coarse particles is generally settled at the bottom in a dense zone of the riser while the finer and lighter particle are entrained to the top dilute zone and then via a cyclone is fed back to the bottom of the riser column. Most of the alumina and low ash fine size coals being lighter are expected to move up to the riser and by a natural beneficiation of ores is expected to take place in the riser. Therefore in this study an attempt has been made for dry beneficiation of iron ore and coal in a fluidized bed and its hydrodynamic characterization.

Keywords: beneficiation, fluidization, gas-solid fluidization, riser .

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Authors: Kayun Chantarasathaporn, Chonawat Srisa-an

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Design Patterns have gained more and more acceptances since their emerging in software development world last decade and become another de facto standard of essential knowledge for Object-Oriented Programming developers nowadays. Their target usage, from the beginning, was for regular computers, so, minimizing power consumption had never been a concern. However, in this decade, demands of more complicated software for running on mobile devices has grown rapidly as the much higher performance portable gadgets have been supplied to the market continuously. To get along with time to market that is business reason, the section of software development for power conscious, battery, devices has shifted itself from using specific low-level languages to higher level ones. Currently, complicated software running on mobile devices are often developed by high level languages those support OOP concepts. These cause the trend of embracing Design Patterns to mobile world. However, using Design Patterns directly in software development for power conscious systems is not recommended because they were not originally designed for such environment. This paper demonstrates the adapted Design Pattern for power limitation system. Because there are numerous original design patterns, it is not possible to mention the whole at once. So, this paper focuses only in creating Energy Conscious version of existing regular "Builder Pattern" to be appropriated for developing low power consumption software.

Keywords: Design Patterns, Builder Pattern, Low Power Consumption, Object Oriented Programming, Power Conscious System, Software.

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Authors: Zhou Xiong, Kang Shao Bo, Yang Bo

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To date, high-performance structural steel has been widely used for columns in construction practices due to its significant advantages over conventional steel. However, the same design approach with conventional steel columns is still adopted in the design of high-performance steel columns. As a result, its superior properties cannot be fully considered in design. This paper conducts a test and finite element analysis on the overall stability behaviour of welded Q460GJ steel box columns. In the test, four steel columns with different slenderness and width-to-thickness ratio were compressed under an axial compression testing machine. And finite element models were established in which material nonlinearity and residual stress distributions of test columns were included. Then, comparisons were made between test results and finite element result, it showed that finite element analysis results are agree well with the test result. It means that the test and finite element model are reliable. Then, we compared the test result with the design value calculated by current code, the result showed that Q460GJ steel box columns have the higher overall buckling capacity than the design value. It is necessary to update the design curves for Q460GJ steel columns so that the overall stability capacity of Q460GJ box columns can be designed appropriately.

Keywords: Axial compression, Finite element analysis, Overall stability, Q460GJ steel, Welded box columns.

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Authors: Bogdan Il. Bogdanov, Dimitar R.Rusev, Yancho H. Hristov, Irena G. Markovska, Dimitar P.Georgiev

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New design of a grid for preparation of high density granules with enhanced mechanical strength by granulation of dispersed materials is suggested. A method for hydrodynamic dimensioning of the grid depending on granulation conditions, hydrodynamic regime of the operation, dispersity and physicochemical characteristics of the materials to be granulated was suggested. The aim of the grid design is to solve the problems arising by the granulation of disperse materials.

Keywords: fluidized bed reactor, granulation, porous silicatematerials.

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Authors: Hasmayadi Abdul Majid, Rohana Musa

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This paper presents the development of a 38.5 kS/s 10-bit low power SAR ADC which is realized in MIMOS’s 0.35 µm CMOS process. The design uses a resistive DAC, a dynamic comparator with pre-amplifier and SAR digital logic to create 10 effective bits while consuming less than 7.8 mW with a 3.3 V power supply.

Keywords: Successive Approximation Register Analog-to- Digital Converter, SAR ADC, Resistive DAC.

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Authors: Abdalla Mohamed Eblabla

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Due to the high increase in and demand for a wide assortment of applications that require low-cost, high-efficiency, and compact systems, RF power amplifiers are considered the most critical design blocks and power consuming components in wireless communication, TV transmission, radar, and RF heating. Therefore, much research has been carried out in order to improve the performance of power amplifiers. Classes-A, B, C, D, E and F are the main techniques for realizing power amplifiers.

An implementation of high efficiency class-F power amplifier with Gallium Nitride (GaN) High Electron Mobility Transistor (HEMT) was realized in this paper. The simulation and optimization of the class-F power amplifier circuit model was undertaken using Agilent’s Advanced Design system (ADS). The circuit was designed using lumped elements.

Keywords: Power Amplifier (PA), Gallium Nitride (GaN), Agilent’s Advanced Design system (ADS) and lumped elements.

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Authors: Gong Jie, Yu Qianxu, Liu Min, Shan Weiwei

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The design of methods of the 20 K large dimension cold shield used for infrared radiation demarcating in space environment simulation test were introduced in this paper. The cold shield were cooled by five G-M cryocoolers , and the dimension of the cold shield is the largest in our country.Cold shield installation and distribution and compensator for contraction on cooling were introduced detailedly. The temperature distribution and cool-down time of cold shield surface were also calculated and analysed in this paper. The design of cold shield resolves the difficulty of compensator for contraction on cooling successfully. Test results show that the actual technical performance indicators of cold shield met and exceeded the design requirements.

Keywords: cold shield, G-M cryocooler，infrared radiometer demarcating, satellite, space environment simulation equipments

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Authors: Pelin Yildiz

Abstract:

The aim of this study is to emphasize the opportunities in space design under the aspect of HCI as performance areas. HCI is a multidisciplinary approach that could be identified in many different areas. The aesthetical reflections of HCI by virtual reality in space design are the high-tech solutions of the new innovations as computational facilities by artistic features. The method of this paper is to identify the subject in 3 main parts. In the first part a general approach and definition of interactivity on the basis of space design; in the second part the concept of multimedia interactive theater by some chosen samples from the world and interactive design aspects; in the third part the samples from Turkey will be identified by stage designing principles. In the results it could be declared that the multimedia database is the virtual approach of theatre stage designing regarding interactive means by computational facilities according to aesthetical aspects. HCI is mostly identified in theatre stages as computational intelligence under the affect of interactivity.

Keywords: Computational intelligence, interactive space, multimedia theatre, virtual reality.

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Authors: S. Raissi

Abstract:

Response surface methodology (RSM) is a very efficient tool to provide a good practical insight into developing new process and optimizing them. This methodology could help engineers to raise a mathematical model to represent the behavior of system as a convincing function of process parameters. Through this paper the sequential nature of the RSM surveyed for process engineers and its relationship to design of experiments (DOE), regression analysis and robust design reviewed. The proposed four-step procedure in two different phases could help system analyst to resolve the parameter design problem involving responses. In order to check accuracy of the designed model, residual analysis and prediction error sum of squares (PRESS) described. It is believed that the proposed procedure in this study can resolve a complex parameter design problem with one or more responses. It can be applied to those areas where there are large data sets and a number of responses are to be optimized simultaneously. In addition, the proposed procedure is relatively simple and can be implemented easily by using ready-made standard statistical packages.

Keywords: Response Surface Methodology (RSM), Design of Experiments (DOE), Process modeling, Process setting, Process optimization.

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Authors: Mosseri Avraham

Abstract:

Teaching structures and structural design in architectural studies is considered a difficult mission due to complex reasons and circumstances. This article proposes a new conceptual model (HDH) for teaching structures and structural design in architectural studies. Because of its systems-thinking orientation it is also relevant and applicable to other fields and systems. The HDH model was developed in order to encourage the integration of science and art, especially in relation to structures, in architectural studies.

Keywords: Structural Thinking, Conceptual Design, Teaching Structures, Systems Thinking.

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Authors: Costin Pribeanu

Abstract:

The model-based approach to user interface design relies on developing separate models capturing various aspects about users, tasks, application domain, presentation and dialog structures. This paper presents a task modeling approach for user interface design and aims at exploring mappings between task, domain and presentation models. The basic idea of our approach is to identify typical configurations in task and domain models and to investigate how they relate each other. A special emphasis is put on applicationspecific functions and mappings between domain objects and operational task structures. In this respect, we will address two layers in task decomposition: a functional (planning) layer and an operational layer.

Keywords: task modeling, user interface design, unit tasks, basic tasks, operational task model.

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Authors: Orathai Pornsunthorntawee, Wareerom Polrut, Nopphawan Phonthammachai

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In the present work, the effects of additives, including contents of the added antioxidants and type of the selected metallic stearates (either calcium stearate (CaSt) or zinc stearate (ZnSt)), on the thermal stabilities of carbon black (CB)/high density polyethylene (HDPE) compounds were studied. The results showed that the AO contents played a key role in the thermal stabilities of the CB/HDPE compounds — the higher the AO content, the higher the thermal stabilities. Although the CaSt-containing compounds were slightly superior to those with ZnSt in terms of the thermal stabilities, the remaining solid residue of CaSt after heated to the temperature of 600 °C (mainly calcium carbonate (CaCO3) as characterized by the X-ray diffraction (XRD) technique) seemed to catalyze the decomposition of CB in the HDPE-based compounds. Hence, the quantification of CB in the CaSt-containing compounds with a muffle furnace gave an inaccurate CB content — much lower than actual value. However, this phenomenon was negligible in the ZnSt-containing system.

Keywords: Antioxidant, Stearate, Carbon black, Polyethylene.

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Authors: Taehan Lee

Abstract:

We consider a network design problem which has shortest routing restriction based on the values determined by the installed facilities on each arc. In conventional multicommodity network design problem, a commodity can be routed through any possible path when the capacity is available. But, we consider a problem in which the commodity between two nodes must be routed on a path which has shortest metric value and the link metric value is determined by the installed facilities on the link. By this routing restriction, the problem has a distinct characteristic. We present an integer programming formulation containing the primal-dual optimality conditions to the shortest path routing. We give some computational results for the model.

Keywords: Integer programming, multicommodity network design, routing, shortest path.

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Authors: Z. Olczykowski

Abstract:

The paper presents the impact of work on the electric arc furnace. Arc equipment is one of the largest receivers powered by the power system. Electric arc disturbances arising during melting process occurring in these furnaces are the cause of an abrupt change of the passive power of furnaces. Currents drawn by these devices undergo an abrupt change, which in turn cause voltage fluctuations and light flicker. The quantitative evaluation of the voltage fluctuations is now the basic criterion of assessment of an influence of unquiet receiver on the supplying net. The paper presents the method of determination of range of voltage fluctuations and light flicker at parallel operation of arc devices. The results of measurements of voltage fluctuations and light flicker indicators recorded in power supply networks of steelworks were presented, with different number of parallel arc devices. Measurements of energy quality parameters were aimed at verifying the proposed method in practice. It was also analyzed changes in other parameters of electricity: the content of higher harmonics, asymmetry, voltage dips.

Keywords: Power quality, arc furnaces, propagation of voltage fluctuations.

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Authors: D. Karimi, M.J. Nategh

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One of the main concerns about parallel mechanisms is the presence of singular points within their workspaces. In singular positions the mechanism gains or loses one or several degrees of freedom. It is impossible to control the mechanism in singular positions. Therefore, these positions have to be avoided. This is a vital need especially in computer controlled machine tools designed and manufactured on the basis of parallel mechanisms. This need has to be taken into consideration when selecting design parameters. A prerequisite to this is a thorough knowledge about the effect of design parameters and constraints on singularity. In this paper, quality condition index was introduced as a criterion for evaluating singularities of different configurations of a hexapod mechanism obtainable by different design parameters. It was illustrated that this method can effectively be employed to obtain the optimum configuration of hexapod mechanism with the aim of avoiding singularity within the workspace. This method was then employed to design the hexapod table of a CNC milling machine.

Keywords: Hexapod, Machine Tool, Singularity, Workspace.

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