Search results for: pth Moment Exponential synchronization

Authors: Weifeng Wang, Xianwei Zeng, Jianping Ding

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The problem of N cracks interaction in an isotropic elastic solid is decomposed into a subproblem of a homogeneous solid without crack and N subproblems with each having a single crack subjected to unknown tractions on the two crack faces. The unknown tractions, namely pseudo tractions on each crack are expanded into polynomials with unknown coefficients, which have to be determined by the consistency condition, i.e. by the equivalence of the original multiple cracks interaction problem and the superposition of the N+1 subproblems. In this paper, Kachanov-s approach of average tractions is extended into the method of moments to approximately impose the consistence condition. Hence Kachanov-s method can be viewed as the zero-order method of moments. Numerical results of the stress intensity factors are presented for interactions of two collinear cracks, three collinear cracks, two parallel cracks, and three parallel cracks. As the order of moment increases, the accuracy of the method of moments improves.

Keywords: Crack interaction, stress intensity factor, multiplecracks, method of moments.

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Authors: K. Shakeri, M. Mohebbi

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In order to consider the effects of the higher modes in the pushover analysis, during the recent years several multi-modal pushover procedures have been presented. In these methods the response of the considered modes are combined by the square-rootof- sum-of-squares (SRSS) rule while application of the elastic modal combination rules in the inelastic phases is no longer valid. In this research the feasibility of defining an efficient alternative combination method is investigated. Two steel moment-frame buildings denoted SAC-9 and SAC-20 under ten earthquake records are considered. The nonlinear responses of the structures are estimated by the directed algebraic combination of the weighted responses of the separate modes. The weight of the each mode is defined so that the resulted response of the combination has a minimum error to the nonlinear time history analysis. The genetic algorithm (GA) is used to minimize the error and optimize the weight factors. The obtained optimal factors for each mode in different cases are compared together to find unique appropriate weight factors for each mode in all cases.

Keywords: Genetic Algorithm, Modal Pushover, Optimalweight.

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Authors: Dharmendra Chourishi “Maitraya”, Sridevi Seshadri

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Bluetooth is a personal wireless communication technology and is being applied in many scenarios. It is an emerging standard for short range, low cost, low power wireless access technology. Current existing MAC (Medium Access Control) scheduling schemes only provide best-effort service for all masterslave connections. It is very challenging to provide QoS (Quality of Service) support for different connections due to the feature of Master Driven TDD (Time Division Duplex). However, there is no solution available to support both delay and bandwidth guarantees required by real time applications. This paper addresses the issue of how to enhance QoS support in a Bluetooth piconet. The Bluetooth specification proposes a Round Robin scheduler as possible solution for scheduling the transmissions in a Bluetooth Piconet. We propose an algorithm which will reduce the bandwidth waste and enhance the efficiency of network. We define token counters to estimate traffic of real-time slaves. To increase bandwidth utilization, a back-off mechanism is then presented for best-effort slaves to decrease the frequency of polling idle slaves. Simulation results demonstrate that our scheme achieves better performance over the Round Robin scheduling.

Keywords: Piconet, Medium Access Control, Polling algorithm, Scheduling, QoS, Time Division Duplex (TDD).

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Authors: Seungsuk Ha, Youngjoon Han, Hernsoo Hahn

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This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.

Keywords: Biped robot, gait pattern, genetic algorithm.

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Authors: Pavlo Selyshchev, Samuel Akintunde

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A theoretical approach to consider formation of chemical compound layer at the interface between initial substances A and B due to the interfacial interaction and diffusion is developed. It is considered situation when speed of interfacial interaction is large enough and diffusion of A-atoms through AB-layer is much more then diffusion of B-atoms. Atoms from A-layer diffuse toward B-atoms and form AB-atoms on the surface of B-layer. B-atoms are assumed to be immobile. The growth kinetics of the AB-layer is described by two differential equations with non-linear coupling, producing a good fit to the experimental data. It is shown that growth of the thickness of the AB-layer determines by dependence of chemical reaction rate on reactants concentration. In special case the thickness of the AB-layer can grow linearly or parabolically depending on that which of processes (interaction or the diffusion) controls the growth. The thickness of AB-layer as function of time is obtained. The moment of time (transition point) at which the linear growth are changed by parabolic is found.

Keywords: Phase formation, Binary systems, Interfacial Reaction, Diffusion, Compound layers, Growth kinetics.

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Authors: Gabriel Jinga, Madalina Dumitru

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The objective of this paper is to present the process of change in management accounting in Romania, a former communist country from Eastern Europe. In order to explain this process, we used the contingency and institutional theories. We focused on the following directions: the presentation of the scientific context and motivation of this research and the case study. We presented the state of the art in the process of change in the management accounting from the international and national perspective. We also described the evolution of management accounting in Romania in the context of economic and political changes. An important moment was the fall of communism in 1989. This represents a starting point for a new economic environment and for new management accounting. Accordingly, we developed a case study which presented this evolution. The conclusion of our research was that the changes in the management accounting system of the company analysed occurred in the same time with the institutionalisation of some elements (e.g. degree of competition, training and competencies in management accounting). The management accounting system was modelled by the contingencies specific to this company (e.g. environment, industry, strategy).

Keywords: Management accounting, change, Romania, contingency and institutional theory.

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Authors: Shahabeddin Sotudian, M. H. Fazel Zarandi, I. B. Turksen

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Hepatitis is one of the most common and dangerous diseases that affects humankind, and exposes millions of people to serious health risks every year. Diagnosis of Hepatitis has always been a challenge for physicians. This paper presents an effective method for diagnosis of hepatitis based on interval Type-II fuzzy. This proposed system includes three steps: pre-processing (feature selection), Type-I and Type-II fuzzy classification, and system evaluation. KNN-FD feature selection is used as the preprocessing step in order to exclude irrelevant features and to improve classification performance and efficiency in generating the classification model. In the fuzzy classification step, an “indirect approach” is used for fuzzy system modeling by implementing the exponential compactness and separation index for determining the number of rules in the fuzzy clustering approach. Therefore, we first proposed a Type-I fuzzy system that had an accuracy of approximately 90.9%. In the proposed system, the process of diagnosis faces vagueness and uncertainty in the final decision. Thus, the imprecise knowledge was managed by using interval Type-II fuzzy logic. The results that were obtained show that interval Type-II fuzzy has the ability to diagnose hepatitis with an average accuracy of 93.94%. The classification accuracy obtained is the highest one reached thus far. The aforementioned rate of accuracy demonstrates that the Type-II fuzzy system has a better performance in comparison to Type-I and indicates a higher capability of Type-II fuzzy system for modeling uncertainty.

Keywords: Hepatitis disease, medical diagnosis, type-I fuzzy logic, type-II fuzzy logic, feature selection.

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Authors: Mahesh Chudasama, Harit Raval

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Conical sections and shells made from metal plates are widely used in various industrial applications. 3-roller conical bending process is preferably used to produce such conical sections and shells. Bending mechanics involved in the process is complex and little work is done in this area. In the present paper an analytical model is developed to predict bending force which will be acting during 3-roller conical bending process. To verify the developed model, conical bending experiments are performed. Analytical results and experimental results were compared. Force predicted by analytical model is in close proximity of the experimental results. The error in the prediction is ±10%. Hence the model gives quite satisfactory results. Present model is also compared with the previously published bending force prediction model and it is found that the present model gives better results. The developed model can be used to estimate the bending force during 3-roller bending process and can be useful to the designers for designing the 3-roller conical bending machine.

Keywords: Bending-force, Experimental-verification, Internal-moment, Roll-bending.

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Authors: M. Pepe, S. Ackermann, L. Fregonese, C. Achille

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3D models obtained with advanced survey techniques such as close-range photogrammetry and laser scanner are nowadays particularly appreciated in Cultural Heritage and Archaeology fields. In order to produce high quality models representing archaeological evidences and anthropological artifacts, the appearance of the model (i.e. color) beyond the geometric accuracy, is not a negligible aspect. The integration of the close-range photogrammetry survey techniques with the laser scanner is still a topic of study and research. By combining point cloud data sets of the same object generated with both technologies, or with the same technology but registered in different moment and/or natural light condition, could construct a final point cloud with accentuated color dissimilarities. In this paper, a methodology to uniform the different data sets, to improve the chromatic quality and to highlight further details by balancing the point color will be presented.

Keywords: Color models, cultural heritage, laser scanner, photogrammetry, point cloud color.

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Authors: Dong-Chul Lee, Byung-Kwan Oh, Se-Woon Choi, Hyo-Sun Park

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The unanticipated brittle fracture of connection of the steel moment resisting frame (SMRF) occurred in 1994 the Northridge earthquake. Since then, the researches for the vulnerability of connection of the existing SMRF and for rehabilitation of those buildings were conducted. This paper suggests performance-based optimal seismic retrofit technique using connection upgrade. For optimal design, a multi-objective genetic algorithm(NSGA-II) is used. One of the two objective functions is to minimize initial cost and another objective function is to minimize lifetime seismic damages cost. The optimal algorithm proposed in this paper is performed satisfying specified performance objective based on FEMA 356. The nonlinear static analysis is performed for structural seismic performance evaluation. A numerical example of SAC benchmark SMRF is provided using the performance-based optimal seismic retrofit technique proposed in this paper

Keywords: connection upgrade, performace-based seismicdesign, seismic retrofit, multi-objective optimization

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Authors: Eva Nedeliakova, Juraj Camaj, Jaroslav Masek

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This contribution is focused on the methodology for identifying levels of quality and improving quality through new logistics model in railway transport. It is oriented on the application of dynamic quality models, which represent an innovative method of evaluation quality services. Through this conception, time factor, expected, and perceived quality in each moment of the transportation process within logistics chain can be taken into account. Various models describe the improvement of the quality which emphases the time factor throughout the whole transportation logistics chain. Quality of services in railway transport can be determined by the existing level of service quality, by detecting the causes of dissatisfaction employees but also customers, to uncover strengths and weaknesses. This new logistics model is able to recognize critical processes in logistic chain. It includes service quality rating that must respect its specific properties, which are unrepeatability, impalpability, their use right at the time they are provided and particularly changeability, which is significant factor in the conditions of rail transport as well. These peculiarities influence the quality of service regarding the constantly increasing requirements and that result in new ways of finding progressive attitudes towards the service quality rating.

Keywords: Logistics model, quality, railway transport.

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Authors: Sudhir Kumar Tiwari

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The paper demonstrates a methodology that can be used at an early design stage of any conventional aircraft. This research activity assesses the feasibility derivation of methodology for aircraft loads estimation during the various phases of design for a transport category aircraft by utilizing potential of using commercial finite element analysis software, which may drive significant time saving. Early Design phase have limited data and quick changing configuration results in handling of large number of load cases. It is useful to idealize the aircraft as a connection of beams, which can be very accurately modelled using finite element analysis (beam elements). This research explores the correct approach towards idealizing an aircraft using beam elements. FEM Techniques like inertia relief were studied for implementation during course of work. The correct boundary condition technique envisaged for generation of shear force, bending moment and torque diagrams for the aircraft. The possible applications of this approach are the aircraft design process, which have been investigated.

Keywords: Multi-disciplinary optimization, aircraft load, finite element analysis, Stick Model.

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Authors: Vivian Guo, Yan Qu

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Online marketplaces are not only digital places where consumers buy and sell merchandise, and they are also destinations for brands to connect with real consumers at the moment when customers are in the shopping mindset. For many marketplaces, brands have been important partners through advertising. There can be, however, a risk of advertising impacting a consumer’s shopping journey if it hurts the use experience or takes the user away from the site. Both could lead to the loss of transaction revenue for the marketplace. In this paper, we present user-based methods for cannibalization control by selectively turning off ads to users who are likely to be cannibalized by ads subject to business objectives. We present ways of measuring cannibalization of advertising in the context of an online marketplace and propose novel ways of measuring cannibalization through purchase propensity and uplift modeling. A/B testing has shown that our methods can significantly improve user purchase and engagement metrics while operating within business objectives. To our knowledge, this is the first paper that addresses cannibalization mitigation at the user-level in the context of advertising.

Keywords: Cannibalization, machine learning, online marketplace, revenue optimization, yield optimization.

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Authors: Mikael Soini, Kari Björn

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Metropolia University of Applied Sciences (MUAS) Information and Communication Technology (ICT) Degree Programme provides full-time Bachelor-level undergraduate studies. ICT Degree Programme has seven different major options; this paper focuses on Health Technology. In Health Technology, a significant curriculum change in 2014 enabled transition from fragmented curriculum including dozens of courses to a new integrated curriculum built around three 30 ECTS themes. This paper focuses especially on the second theme called Customer Oriented Software Applications. From students’ point of view, the goal of this theme is to get familiar with existing health related ICT solutions and systems, understand business around health technology, recognize social and healthcare operating principles and services, and identify customers and users and their special needs and perspectives. This also acts as a background for health related web application development. Built web application is tested, developed and evaluated with real users utilizing versatile user centred development methods. This paper presents experiences obtained from the first implementation of Customer Oriented Software Applications theme. Student feedback was gathered with two questionnaires, one in the middle of the theme and other at the end of the theme. Questionnaires had qualitative and quantitative parts. Similar questionnaire was implemented in the first theme; this paper evaluates how the theme-based integrated curriculum has progressed in Health Technology major by comparing results between theme 1 and 2. In general, students were satisfied for the implementation, timing and synchronization of the courses, and the amount of work. However there is still room for development. Student feedback and teachers’ observations have been and will be used to develop the content and operating principles of the themes and whole curriculum.

Keywords: Engineering education, integrated and theme-based curriculum, learning experience, student centred learning.

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Authors: S.H. Mirtalaie, M. Mohammadi, M.A. Hajabasi, F.Hejripour

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In this paper the Differential Quadrature Method (DQM) is employed to study the coupled lateral-torsional free vibration behavior of the laminated composite beams. In such structures due to the fiber orientations in various layers, the lateral displacement leads to a twisting moment. The coupling of lateral and torsional vibrations is modeled by the bending-twisting material coupling rigidity. In the present study, in addition to the material coupling, the effects of shear deformation and rotary inertia are taken into account in the definition of the potential and kinetic energies of the beam. The governing differential equations of motion which form a system of three coupled PDEs are solved numerically using DQ procedure under different boundary conditions consist of the combinations of simply, clamped, free and other end conditions. The resulting natural frequencies and mode shapes for cantilever beam are compared with similar results in the literature and good agreement is achieved.

Keywords: Differential Quadrature Method, Free vibration, Laminated composite beam, Material coupling.

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Authors: Pramod Goyal, S. K. Saxena

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The convergence of heterogeneous wireless access technologies characterizes the 4G wireless networks. In such converged systems, the seamless and efficient handoff between different access technologies (vertical handoff) is essential and remains a challenging problem. The heterogeneous co-existence of access technologies with largely different characteristics creates a decision problem of determining the “best" available network at “best" time to reduce the unnecessary handoffs. This paper proposes a dynamic decision model to decide the “best" network at “best" time moment to handoffs. The proposed dynamic decision model make the right vertical handoff decisions by determining the “best" network at “best" time among available networks based on, dynamic factors such as “Received Signal Strength(RSS)" of network and “velocity" of mobile station simultaneously with static factors like Usage Expense, Link capacity(offered bandwidth) and power consumption. This model not only meets the individual user needs but also improve the whole system performance by reducing the unnecessary handoffs.

Keywords: Dynamic decision model, Seamless handoff, Vertical handoff, Wireless networks

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Authors: Eileen Chih-Ying Yang, Liang-Han Wu, Chieh-Min Chang

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The design of an active leg orthosis for tumble protection is proposed in this paper. The orthosis would be applied to assist elders or invalids in rebalancing while they fall unexpectedly. We observe the regain balance motion of healthy and youthful people, and find the difference to elders or invalids. First, the physical model of leg would be established, and we consider the leg motions are achieve through four joints (phalanx stem, ankle, knee, and hip joint) and five links (phalanges, talus, tibia, femur, and hip bone). To formulate the dynamic equations, the coordinates which can clearly describe the position in 3D space are first defined accordance with the human movement of leg, and the kinematics and dynamics of the leg movement can be formulated based on the robotics. For the purpose, assisting elders and invalids in avoiding tumble, the posture variation of unbalance and regaining balance motion are recorded by the motion-capture image system, and the trajectory is taken as the desire one. Then we calculate the force and moment of each joint based on the leg motion model through programming MATLAB code. The results would be primary information of the active leg orthosis design for tumble protection.

Keywords: Active leg orthosis, Tumble protection

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Authors: Kurniawan D. Irianto, Demetres D. Kouvatsos

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The growth of wireless devices affects the availability of limited frequencies or spectrum bands as it has been known that spectrum bands are a natural resource that cannot be added. Meanwhile, the licensed frequencies are idle most of the time. Cognitive radio is one of the solutions to solve those problems. Cognitive radio is a promising technology that allows the unlicensed users known as secondary users (SUs) to access licensed bands without making interference to licensed users or primary users (PUs). As cloud computing has become popular in recent years, cognitive radio networks (CRNs) can be integrated with cloud platform. One of the important issues in CRNs is security. It becomes a problem since CRNs use radio frequencies as a medium for transmitting and CRNs share the same issues with wireless communication systems. Another critical issue in CRNs is performance. Security has adverse effect to performance and there are trade-offs between them. The goal of this paper is to investigate the performance related to security trade-off in CRNs with supporting cloud platforms. Furthermore, Queuing Network Models with preemptive resume and preemptive repeat identical priority are applied in this project to measure the impact of security to performance in CRNs with or without cloud platform. The generalized exponential (GE) type distribution is used to reflect the bursty inter-arrival and service times at the servers. The results show that the best performance is obtained when security is disabled and cloud platform is enabled.

Keywords: Cloud Platforms, Cognitive Radio Networks, GEtype Distribution, Performance Vs Security.

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Authors: Yagya Sharma, Basanta K. Rana, Arup K. Das

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Rotary entrainment is a phenomenon in which the interface of two immiscible fluids are subjected to external flux by means of rotation. Present work reports the experimental study on rotary motion of a horizontal cylinder between the interface of air and water to observe the penetration of gas inside the liquid. Experiments have been performed to establish entrainment of air mass in water alongside the cylindrical surface. The movement of tracer and seeded particles has been tracked to calculate the speed and path of the entrained air inside water. Simplified particle image velocimetry technique has been used to trace the movement of particles/tracers at the moment they are injected inside the entrainment zone and suspended beads have been used to replicate the particle movement with respect to time in order to determine the flow dynamics of the fluid along the cylinder. Present paper establishes a thorough experimental analysis of the rotary entrainment phenomenon between air and water keeping in interest the extent to which we can intermix the two and also to study its entrainment trajectories.

Keywords: Entrainment, gas-liquid flow, particle image velocimetry, stratified layer mixing.

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Authors: Jihad S. Daba, J. P. Dubois

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Fading noise degrades the performance of cellular communication, most notably in femto- and pico-cells in 3G and 4G systems. When the wireless channel consists of a small number of scattering paths, the statistics of fading noise is not analytically tractable and poses a serious challenge to developing closed canonical forms that can be analysed and used in the design of efficient and optimal receivers. In this context, noise is multiplicative and is referred to as stochastically local fading. In many analytical investigation of multiplicative noise, the exponential or Gamma statistics are invoked. More recent advances by the author of this paper utilized a Poisson modulated-weighted generalized Laguerre polynomials with controlling parameters and uncorrelated noise assumptions. In this paper, we investigate the statistics of multidiversity stochastically local area fading channel when the channel consists of randomly distributed Rayleigh and Rician scattering centers with a coherent Nakagami-distributed line of sight component and an underlying doubly stochastic Poisson process driven by a lognormal intensity. These combined statistics form a unifying triply stochastic filtered marked Poisson point process model.

Keywords: Cellular communication, femto- and pico-cells, stochastically local area fading channel, triply stochastic filtered marked Poisson point process.

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Authors: A. A. Adekunle, A. M. Omoare, W. O. Oyediran

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This study was carried out to assess rural women’s skill acquisition in the processing of locust bean in Ipokia Local Government Area of Ogun State, Nigeria. Simple random sampling technique was used to select 90 women locust bean processors for this study. Data were analyzed with descriptive statistics and Pearson Product Moment Correlation. The result showed that the mean age of respondents was 40.72 years. Most (70.00%) of the respondents were married. The mean processing experience was 8.63 years. 93.30% of the respondents relied on information from fellow locust beans processors and friends. All (100%) the respondents did not acquire improved processing skill through trainings and workshops. It can be concluded that the rural women’s skill acquisition on modernized processing techniques was generally low. It is hereby recommend that the rural women processors should be trained by extension service providers through series of workshops and seminars on improved processing techniques.

Keywords: Locust bean, processing, skill acquisition, rural women.

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Authors: N.S. Pradhan, S.K. Dubey, A. D.Yadav, Arvind Singh, D.C. Kothari

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Un-doped GaN film of thickness 1.90 mm, grown on sapphire substrate were uniformly implanted with 325 keV Mn+ ions for various fluences varying from 1.75 x 1015 - 2.0 x 1016 ions cm-2 at 3500 C substrate temperature. The structural, morphological and magnetic properties of Mn ion implanted gallium nitride samples were studied using XRD, AFM and SQUID techniques. XRD of the sample implanted with various ion fluences showed the presence of different magnetic phases of Ga3Mn, Ga0.6Mn0.4 and Mn4N. However, the compositions of these phases were found to be depended on the ion fluence. AFM images of non-implanted sample showed micrograph with rms surface roughness 2.17 nm. Whereas samples implanted with the various fluences showed the presence of nano clusters on the surface of GaN. The shape, size and density of the clusters were found to vary with respect to ion fluence. Magnetic moment versus applied field curves of the samples implanted with various fluences exhibit the hysteresis loops. The Curie temperature estimated from zero field cooled and field cooled curves for the samples implanted with the fluence of 1.75 x 1015, 1.5 x 1016 and 2.0 x 1016 ions cm-2 was found to be 309 K, 342 K and 350 K respectively.

Keywords: GaN, Ion implantation, XRD, AFM, SQUID

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Authors: Werner Sandmann, Verena Wolf

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Stochastic models of biological networks are well established in systems biology, where the computational treatment of such models is often focused on the solution of the so-called chemical master equation via stochastic simulation algorithms. In contrast to this, the development of storage-efficient model representations that are directly suitable for computer implementation has received significantly less attention. Instead, a model is usually described in terms of a stochastic process or a "higher-level paradigm" with graphical representation such as e.g. a stochastic Petri net. A serious problem then arises due to the exponential growth of the model-s state space which is in fact a main reason for the popularity of stochastic simulation since simulation suffers less from the state space explosion than non-simulative numerical solution techniques. In this paper we present transition class models for the representation of biological network models, a compact mathematical formalism that circumvents state space explosion. Transition class models can also serve as an interface between different higher level modeling paradigms, stochastic processes and the implementation coded in a programming language. Besides, the compact model representation provides the opportunity to apply non-simulative solution techniques thereby preserving the possible use of stochastic simulation. Illustrative examples of transition class representations are given for an enzyme-catalyzed substrate conversion and a part of the bacteriophage λ lysis/lysogeny pathway.

Keywords: Computational Modeling, Biological Networks, Stochastic Models, Markov Chains, Transition Class Models.

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Authors: Farzan Namvari, Panam Zarfam

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Nowadays use of a new structural bracing system called 'Knee Bracing System' have taken the specialists attention too much. On the other hand nonlinear static analysis procedures in estimate structures performance in earthquake time have taken attention too much. One of these procedure is modal pushover analysis (MPA) procedure. The accuracy of MPA procedure for simple steel moment resisting frame has been verified and considered in Chintanapakdee and Chopra-s article in 2003. Since the accuracy of MPA procedure has not verified for semi-rigid steel frames with knee bracing, we are going to get through with this matter in this study. For this purpose, the selected structures are four frames with different heights, 5 to 20 stories, will be designed according to AISC criteria. Then MPA procedure is used for the same frames with different rigidity percentiles of connections. The results of seismic responses are compared with dynamic nonlinear response history analysis as exact procedure and accuracy of MPA procedure is evaluated. It seems that MPA procedure accuracy will come down by reduction of the rigidity percentiles of semi-rigid connections.

Keywords: Knee Bracing, Modal Pushover Analysis, SeismicBehavior, Semi-Rigid Connections.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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Authors: Lorenzo Casagrande, Antonio Bonati, Ferdinando Auricchio, Antonio Occhiuzzi

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This paper summarizes the results of a survey on smart non-structural element dynamic dissipation when installed in modern high-rise mega-frame prototypes. An innovative glazed curtain wall was designed using Shape Memory Alloy (SMA) joints in order to increase the energy dissipation and enhance the seismic/wind response of the structures. The studied buildings consisted of thirty- and sixty-storey planar frames, extracted from reference three-dimensional steel Moment Resisting Frame (MRF) with outriggers and belt trusses. The internal core was composed of a CBF system, whilst outriggers were placed every fifteen stories to limit second order effects and inter-storey drifts. These structural systems were designed in accordance with European rules and numerical FE models were developed with an open-source code, able to account for geometric and material nonlinearities. With regard to the characterization of non-structural building components, full-scale crescendo tests were performed on aluminium/glass curtain wall units at the laboratory of the Construction Technologies Institute (ITC) of the Italian National Research Council (CNR), deriving force-displacement curves. Three-dimensional brick-based inelastic FE models were calibrated according to experimental results, simulating the fac¸ade response. Since recent seismic events and extreme dynamic wind loads have generated the large occurrence of non-structural components failure, which causes sensitive economic losses and represents a hazard for pedestrians safety, a more dissipative glazed curtain wall was studied. Taking advantage of the mechanical properties of SMA, advanced smart joints were designed with the aim to enhance both the dynamic performance of the single non-structural unit and the global behavior. Thus, three-dimensional brick-based plastic FE models were produced, based on the innovated non-structural system, simulating the evolution of mechanical degradation in aluminium-to-glass and SMA-to-glass connections when high deformations occurred. Consequently, equivalent nonlinear links were calibrated to reproduce the behavior of both tested and smart designed units, and implemented on the thirty- and sixty-storey structural planar frame FE models. Nonlinear time history analyses (NLTHAs) were performed to quantify the potential of the new system, when considered in the lateral resisting frame system (LRFS) of modern high-rise MRFs. Sensitivity to the structure height was explored comparing the responses of the two prototypes. Trends in global and local performance were discussed to show that, if accurately designed, advanced materials in non-structural elements provide new sources of energy dissipation.

Keywords: Advanced technologies, glazed curtain walls, non-structural elements, seismic-action reduction, shape memory alloy.

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Authors: S. Hong, H. Kim, D. Cho, S. Park

Abstract:

Existing underground pipe jacking methods use a reinforcing rod in a steel tube to obtain structural stiffness. However, some problems such as inconvenience of works and expensive materials resulted from limited working space and reinforcing works are existed. To resolve these problems, a new pipe jacking method, namely PST (Prestressed Segment Tunnel) method, was developed which used joint to connect the steel segment and form erection structure. For evaluating the flexural capacity of the PST method structure, a experimental test was conducted. The parameters considered in the test were span-to-depth ratio of segment, diameter of steel tube at the corner, prestressing force, and welding of joint. The flexural behaviours with the effect of load capacity in serviceability state according to different parameters were examined.. The frame with long segments could increase flexural stiffness and the specimen with large diameter of concave corner showed excellent resistance ability to the negative moment. In addition, welding of joints increased the flexural capacity.

Keywords: PST method, Pipe jacking method, Flexural behavior, Prestressed concrete.

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Authors: Patchalaphon Seeladlao, Anocha Kimkong

Abstract:

The aims of this study were to compare the differences of being good membership behavior among faculties and staffs of Suan Sunandha Rajabhat University with different sex, age, income, education, marital status, and working period, and investigate the relationships between organizational commitment and being good membership behavior. The research methodology employed a questionnaire as a quantitative method. The respondents were 305 faculties and staffs of Suan Sunandha Rajabhat University. This research used Percentage, Mean, Standard Deviation, t-test, One-Way ANOVA Analysis of Variance, and Pearson’s Product Moment Correlation Coefficient in data analysis. The results showed that organizational commitment among faculties and staffs of Suan Sunandha Rajabhat University was at a high level. In addition, differences in sex, age, income, education, marital status, and working period revealed differences in being good membership behavior. The results also indicated that organizational commitment was significantly related to being good membership behavior.

Keywords: Being Good membership behavior, Organizational Commitment.

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Authors: Wen-Yuh Jywe, Bor-Jeng Lin, Jing-Chung Shen, Jeng-Dao Lee, Hsueh-Liang Huang, Ming-Chen Cho

Abstract:

The dynamical contouring error is a critical element for the accuracy of machine tools. The contouring error is defined as the difference between the processing actual path and commanded path, which is implemented by following the command curves from feeding driving system in machine tools. The contouring error is resulted from various factors, such as the external loads, friction, inertia moment, feed rate, speed control, servo control, and etc. Thus, the study proposes a 2D compensating system for the contouring accuracy of machine tools. Optical method is adopted by using stable frequency laser diode and the high precision position sensor detector (PSD) to performno-contact measurement. Results show the related accuracy of position sensor detector (PSD) of 2D contouring accuracy compensating system was ±1.5 μm for a calculated range of ±3 mm, and improvement accuracy is over 80% at high-speed feed rate.

Keywords: Position sensor detector, laser diode, contouring accuracy, machine tool.

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Authors: Yang Xiaoliang, Liu Wei, Wang Hongbo, Zhao Yunfei

Abstract:

Numerical investigation of the characteristics of an 80° delta wing in combined force-pitch and free-roll is presented. The implicit, upwind, flux-difference splitting, finite volume scheme and the second-order-accurate finite difference scheme are employed to solve the flow governing equations and Euler rigid-body dynamics equations, respectively. The characteristics of the delta wing in combined free-roll and large amplitude force-pitch is obtained numerically and shows a well agreement with experimental data qualitatively. The motion in combined force-pitch and free-roll significantly reduces the lift force and transverse stabilities of the delta wing, which is closely related to the flying safety. Investigations on sensitive factors indicate that the roll-axis moment of inertia and the structural damping have great influence on the frequency and amplitude, respectively. Moreover, the turbulence model is considered as an influencing factor in the investigation.

Keywords: combined force-pitch and free-roll, numericalsimulation, sensitive factors, slender delta wing, wing rock

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