Search results for: dynamic soil properties
322 Development of Environment Friendly Mimosa Tannin-Cornstarch Based Wood Adhesive
Authors: Salise Oktay, Nilgün Kızılcan, Başak Bengü
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At present, formaldehyde-based adhesives such as urea formaldehyde (UF), melamine formaldehyde (MF), melamine-urea formaldehyde (MUF) etc. are mostly used in wood-based panel industry because of their high reactivity, chemical versatility and economic competitiveness. However, formaldehyde-based wood adhesives are produced from non-renewable resources. Hence, there has been a growing interest in the development of environment friendly, economically competitive, bio-based wood adhesives in order to meet wood-based panel industry requirements. In this study, as formaldehyde free adhesive, tannin and starch-based wood adhesive was synthesized. Citric acid and tartaric acid were used as hardener for the resin system. Solid content, viscosity and gel time analyzes of the prepared adhesive were performed in order to evaluate the adhesive processability. FTIR characterization technique was used to elucidate chemical structures of the cured adhesive samples. In order to evaluate the performance of the prepared bio-based resin formulation, particleboards were produced in laboratory scale and mechanical, physical properties of the boards were investigated. Besides, formaldehyde contents of the boards were determined by using perforator method. The obtained results revealed that the developed bio-based wood adhesive formulation can be a good potential candidate to use in wood-based panel industry with some developments.
Keywords: Wood adhesive, cornstarch, mimosa tannin, particleboard.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 420321 Benzpyrimoxan: An Insecticide for the Control of Rice Plant Hoppers
Authors: E. Satoh, R. Kasahara, T. Aoki, K. Fukatsu, D. Venkata Ramanarao, H. Harayama, T. Murata, A. Suwa
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Rice plant hoppers (Hemiptera: Delphacidae) have been causing extensive economic damage in rice and are considered as serious threat in rice producing countries of Asia. They have developed resistance to major groups of chemical insecticide, and severe outbreaks occur commonly throughout Asia. To control these nuisance pests, Nihon Nohyaku Co., Ltd., recently discovered an insecticide, benzpyrimoxan (proposed ISO name), which is under development as NNI-1501 (development code). Benzpyrimoxan has a unique chemical structure which contains benzyloxy and cyclic acetal groups on pyrimidine moiety (5-(1,3-dioxan-2-yl)-4-[4- (trifluoromethyl)benzyloxy]pyrimidine). In order to clarify the biological properties of benzpyrimoxan, we conducted several experiments and found the following results. Benzpyrimoxan has high activity against nymphal stages of rice plant hoppers without any adulticidal activity. It provides excellent and long lasting control against rice plant hoppers, including populations that have developed resistance to several other chemical groups of insecticide. The study on its mode of action is undergoing. These features highlight the versatility of this insecticide as an effective and valuable tool from the viewpoints of insecticide resistance management and integrated pest management program. With the use of benzpyrimoxan, farmers shall be able to lead the best yield potential by keeping the population density of rice plant hoppers and associated virus diseases under control.
Keywords: Acetal, benzpyrimoxan, insecticide, NNI-1501, pyrimidine, rice plant hoppers.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3589320 Retrieval Augmented Generation against the Machine: Merging Human Cyber Security Expertise with Generative AI
Authors: Brennan Lodge
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Amidst a complex regulatory landscape, Retrieval Augmented Generation (RAG) emerges as a transformative tool for Governance Risk and Compliance (GRC) officers. This paper details the application of RAG in synthesizing Large Language Models (LLMs) with external knowledge bases, offering GRC professionals an advanced means to adapt to rapid changes in compliance requirements. While the development for standalone LLMs is exciting, such models do have their downsides. LLMs cannot easily expand or revise their memory, and they cannot straightforwardly provide insight into their predictions, and may produce “hallucinations.” Leveraging a pre-trained seq2seq transformer and a dense vector index of domain-specific data, this approach integrates real-time data retrieval into the generative process, enabling gap analysis and the dynamic generation of compliance and risk management content. We delve into the mechanics of RAG, focusing on its dual structure that pairs parametric knowledge contained within the transformer model with non-parametric data extracted from an updatable corpus. This hybrid model enhances decision-making through context-rich insights, drawing from the most current and relevant information, thereby enabling GRC officers to maintain a proactive compliance stance. Our methodology aligns with the latest advances in neural network fine-tuning, providing a granular, token-level application of retrieved information to inform and generate compliance narratives. By employing RAG, we exhibit a scalable solution that can adapt to novel regulatory challenges and cybersecurity threats, offering GRC officers a robust, predictive tool that augments their expertise. The granular application of RAG’s dual structure not only improves compliance and risk management protocols but also informs the development of compliance narratives with pinpoint accuracy. It underscores AI’s emerging role in strategic risk mitigation and proactive policy formation, positioning GRC officers to anticipate and navigate the complexities of regulatory evolution confidently.
Keywords: Retrieval Augmented Generation, Governance Risk and Compliance, Cybersecurity, AI-driven Compliance, Risk Management, Generative AI.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 143319 Application Problems of Anchor Dowels in Reinforced Concrete Shear Wall and Frame Connections
Authors: Musa H. Arslan
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Strengthening of the existing seismically deficient reinforced concrete (RC) buildings is an important issue in earthquake prone regions. Addition of RC shear wall as infill or external walls into the structural system has been a commonly preferred strengthening technique since the Big Erzincan Earthquake occurred in Turkey, 1992. The newly added rigid infill walls act primarily as shear walls and relieve the non-ductile existing frames from being subjected to large shear demands providing that new RC inner or external walls are adequately anchored to the existing weak RC frame. The performance of the RC shear walls-RC weak frame connections by steel anchor dowels depends on some parameters such as compressive strength of the existing RC frame concrete, diameter and embedment length of anchored rebar, type of rebar, yielding stress of bar, properties of used chemicals, position of the anchor bars in RC. In this study, application problems of the steel anchor dowels have been checked with some field studies such as tensile test. Two different RC buildings which will be strengthened were selected, and before strengthening, some tests have been performed in the existing RC buildings. According to the field observation and experimental studies, if the concrete compressive strength is lower than 10 MPa, the performance of the anchors is reduced by 70%.Keywords: Anchor dowel, concrete, damage, reinforced concrete, shear wall, frame.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1445318 Upsetting of Tri-Metallic St-Cu-Al and St-Cu60Zn-Al Cylindrical Billets
Authors: Isik Cetintav, Cenk Misirli, Yilmaz Can
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This work investigates upsetting of the tri-metallic cylindrical billets both experimentally and analytically with a reduction ratio 30%. Steel, brass, and copper are used for the outer and outmost rings and aluminum for the inner core. Two different models have been designed to show material flow and the cavity took place over the two interfaces during forming after this reduction ratio. Each model has an outmost ring material as steel. Model 1 has an outer ring between the outmost ring and the solid core material as copper and Model 2 has a material as brass. Solid core is aluminum for each model. Billets were upset in press machine by using parallel flat dies. Upsetting load was recorded and compared for models and single billets. To extend the tests and compare with experimental procedure to a wider range of inner core and outer ring geometries, finite element model was performed. ABAQUS software was used for the simulations. The aim is to show how contact between outmost ring, outer ring and the inner core are carried on throughout the upsetting process. Results have shown that, with changing in height, between outmost ring, outer ring and inner core, the Model 1 and Model 2 had very good interaction, and the contact surfaces of models had various interface behaviour. It is also observed that tri-metallic materials have lower weight but better mechanical properties than single materials. This can give an idea for using and producing these new materials for different purposes.
Keywords: Tri-metallic, upsetting, copper, brass, steel, aluminum.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1141317 Specification Requirements for a Combined Dehumidifier/Cooling Panel: A Global Scale Analysis
Authors: Damien Gondre, Hatem Ben Maad, Abdelkrim Trabelsi, Frédéric Kuznik, Joseph Virgone
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The use of a radiant cooling solution would enable to lower cooling needs which is of great interest when the demand is initially high (hot climate). But, radiant systems are not naturally compatibles with humid climates since a low-temperature surface leads to condensation risks as soon as the surface temperature is close to or lower than the dew point temperature. A radiant cooling system combined to a dehumidification system would enable to remove humidity for the space, thereby lowering the dew point temperature. The humidity removal needs to be especially effective near the cooled surface. This requirement could be fulfilled by a system using a single desiccant fluid for the removal of both excessive heat and moisture. This task aims at providing an estimation of the specification requirements of such system in terms of cooling power and dehumidification rate required to fulfill comfort issues and to prevent any condensation risk on the cool panel surface. The present paper develops a preliminary study on the specification requirements, performances and behavior of a combined dehumidifier/cooling ceiling panel for different operating conditions. This study has been carried using the TRNSYS software which allows nodal calculations of thermal systems. It consists of the dynamic modeling of heat and vapor balances of a 5m x 3m x 2.7m office space. In a first design estimation, this room is equipped with an ideal heating, cooling, humidification and dehumidification system so that the room temperature is always maintained in between 21◦C and 25◦C with a relative humidity in between 40% and 60%. The room is also equipped with a ventilation system that includes a heat recovery heat exchanger and another heat exchanger connected to a heat sink. Main results show that the system should be designed to meet a cooling power of 42W.m−2 and a desiccant rate of 45 gH2O.h−1. In a second time, a parametric study of comfort issues and system performances has been achieved on a more realistic system (that includes a chilled ceiling) under different operating conditions. It enables an estimation of an acceptable range of operating conditions. This preliminary study is intended to provide useful information for the system design.Keywords: Dehumidification, nodal calculation, radiant cooling panel, system sizing.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 736316 Fabrication and Characterization of Al2O3 Based Electrical Insulation Coatings Around SiC Fibers
Authors: S. Palaniyappan, P. K. Chennam, M. Trautmann, H. Ahmad, T. Mehner, T. Lampke, G. Wagner
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In structural-health monitoring of fiber reinforced plastics (FRPs), every single inorganic fiber sensor that are integrated into the bulk material requires an electrical insulation around itself, when the surrounding reinforcing fibers are electrically conductive. This results in a more accurate data acquisition only from the sensor fiber without any electrical interventions. For this purpose, thin nano-films of aluminium oxide (Al2O3)-based electrical-insulation coatings have been fabricated around the Silicon Carbide (SiC) single fiber sensors through reactive DC magnetron sputtering technique. The sputtered coatings were amorphous in nature and the thickness of the coatings increased with an increase in the sputter time. Microstructural characterization of the coated fibers performed using scanning electron microscopy (SEM) confirmed a homogeneous circumferential coating with no detectable defects or cracks on the surface. X-ray diffraction (XRD) analyses of the as-sputtered and 2 hours annealed coatings (825 & 1125 ˚C) revealed the amorphous and crystalline phases of Al2O3 respectively. Raman spectroscopic analyses produced no characteristic bands of Al2O3, as the thickness of the films was in the nanometer (nm) range, which is too small to overcome the actual penetration depth of the laser used. In addition, the influence of the insulation coatings on the mechanical properties of the SiC sensor fibers has been analyzed.
Keywords: Al2O3 insulation coating, reactive sputtering, SiC single fiber sensor, single fiber tensile test.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 915315 The Effects of Various Boundary Conditions on Thermal Buckling of Functionally Graded Beamwith Piezoelectric Layers Based on Third order Shear Deformation Theory
Authors: O. Miraliyari
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This article attempts to analyze functionally graded beam thermal buckling along with piezoelectric layers applying based on the third order shearing deformation theory considering various boundary conditions. The beam properties are assumed to vary continuously from the lower surface to the upper surface of the beam. The equilibrium equations are derived using the total potential energy equations, Euler equations, piezoelectric material constitutive equations and third order shear deformation theory assumptions. In order to fulfill such an aim, at first functionally graded beam with piezoelectric layers applying the third order shearing deformation theory along with clamped -clamped boundary conditions are thoroughly analyzed, and then following making sure of the correctness of all the equations, the very same beam is analyzed with piezoelectric layers through simply-simply and simply-clamped boundary conditions. In this article buckling critical temperature for functionally graded beam is derived in two different ways, without piezoelectric layer and with piezoelectric layer and the results are compared together. Finally, all the conclusions obtained will be compared and contrasted with the same samples in the same and distinguished conditions through tables and charts. It would be noteworthy that in this article, the software MAPLE has been applied in order to do the numeral calculations.
Keywords: Thermal buckling, functionally graded beam, piezoelectric layer, various boundary conditions.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1603314 A Structural Constitutive Model for Viscoelastic Rheological Behavior of Human Saphenous Vein Using Experimental Assays
Authors: Rassoli Aisa, Abrishami Movahhed Arezu, Faturaee Nasser, Seddighi Amir Saeed, Shafigh Mohammad
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Cardiovascular diseases are one of the most common causes of mortality in developed countries. Coronary artery abnormalities and carotid artery stenosis, also known as silent death, are among these diseases. One of the treatment methods for these diseases is to create a deviatory pathway to conduct blood into the heart through a bypass surgery. The saphenous vein is usually used in this surgery to create the deviatory pathway. Unfortunately, a re-surgery will be necessary after some years due to ignoring the disagreement of mechanical properties of graft tissue and/or applied prostheses with those of host tissue. The objective of the present study is to clarify the viscoelastic behavior of human saphenous tissue. The stress relaxation tests in circumferential and longitudinal direction were done in this vein by exerting 20% and 50% strains. Considering the stress relaxation curves obtained from stress relaxation tests and the coefficients of the standard solid model, it was demonstrated that the saphenous vein has a non-linear viscoelastic behavior. Thereafter, the fitting with Fung’s quasilinear viscoelastic (QLV) model was performed based on stress relaxation time curves. Finally, the coefficients of Fung’s QLV model, which models the behavior of saphenous tissue very well, were presented.
Keywords: Fung’s quasilinear viscoelastic (QLV) model, strain rate, stress relaxation test, uniaxial tensile test, viscoelastic behavior.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 791313 Modelling Hydrological Time Series Using Wakeby Distribution
Authors: Ilaria Lucrezia Amerise
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The statistical modelling of precipitation data for a given portion of territory is fundamental for the monitoring of climatic conditions and for Hydrogeological Management Plans (HMP). This modelling is rendered particularly complex by the changes taking place in the frequency and intensity of precipitation, presumably to be attributed to the global climate change. This paper applies the Wakeby distribution (with 5 parameters) as a theoretical reference model. The number and the quality of the parameters indicate that this distribution may be the appropriate choice for the interpolations of the hydrological variables and, moreover, the Wakeby is particularly suitable for describing phenomena producing heavy tails. The proposed estimation methods for determining the value of the Wakeby parameters are the same as those used for density functions with heavy tails. The commonly used procedure is the classic method of moments weighed with probabilities (probability weighted moments, PWM) although this has often shown difficulty of convergence, or rather, convergence to a configuration of inappropriate parameters. In this paper, we analyze the problem of the likelihood estimation of a random variable expressed through its quantile function. The method of maximum likelihood, in this case, is more demanding than in the situations of more usual estimation. The reasons for this lie, in the sampling and asymptotic properties of the estimators of maximum likelihood which improve the estimates obtained with indications of their variability and, therefore, their accuracy and reliability. These features are highly appreciated in contexts where poor decisions, attributable to an inefficient or incomplete information base, can cause serious damages.Keywords: Generalized extreme values (GEV), likelihood estimation, precipitation data, Wakeby distribution.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 678312 Statistical Analysis of Parameters Effects on Maximum Strain and Torsion Angle of FRP Honeycomb Sandwich Panels Subjected to Torsion
Authors: Mehdi Modabberifar, Milad Roodi, Ehsan Souri
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In recent years, honeycomb fiber reinforced plastic (FRP) sandwich panels have been increasingly used in various industries. Low weight, low price and high mechanical strength are the benefits of these structures. However, their mechanical properties and behavior have not been fully explored. The objective of this study is to conduct a combined numerical-statistical investigation of honeycomb FRP sandwich beams subject to torsion load. In this paper, the effect of geometric parameters of sandwich panel on maximum shear strain in both face and core and angle of torsion in a honeycomb FRP sandwich structures in torsion is investigated. The effect of Parameters including core thickness, face skin thickness, cell shape, cell size, and cell thickness on mechanical behavior of the structure were numerically investigated. Main effects of factors were considered in this paper and regression equations were derived. Taguchi method was employed as experimental design and an optimum parameter combination for the maximum structure stiffness has been obtained. The results showed that cell size and face skin thickness have the most significant impacts on torsion angle, maximum shear strain in face and core.Keywords: Finite element, honeycomb FRP sandwich panel, torsion, civil engineering.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2626311 Reduction Conditions of Briquetted Solid Wastes Generated by the Integrated Iron and Steel Plant
Authors: Gökhan Polat, Dicle Kocaoğlu Yılmazer, Muhlis Nezihi Sarıdede
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Iron oxides are the main input to produce iron in integrated iron and steel plants. During production of iron from iron oxides, some wastes with high iron content occur. These main wastes can be classified as basic oxygen furnace (BOF) sludge, flue dust and rolling scale. Recycling of these wastes has a great importance for both environmental effects and reduction of production costs. In this study, recycling experiments were performed on basic oxygen furnace sludge, flue dust and rolling scale which contain 53.8%, 54.3% and 70.2% iron respectively. These wastes were mixed together with coke as reducer and these mixtures are pressed to obtain cylindrical briquettes. These briquettes were pressed under various compacting forces from 1 ton to 6 tons. Also, both stoichiometric and twice the stoichiometric cokes were added to investigate effect of coke amount on reduction properties of the waste mixtures. Then, these briquettes were reduced at 1000°C and 1100°C during 30, 60, 90, 120 and 150 min in a muffle furnace. According to the results of reduction experiments, the effect of compacting force, temperature and time on reduction ratio of the wastes were determined. It is found that 1 ton compacting force, 150 min reduction time and 1100°C are the optimum conditions to obtain reduction ratio higher than 75%.
Keywords: Iron oxide wastes, reduction, coke, recycling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1324310 Action Potential Propagation in Inhomogeneous 2D Mouse Ventricular Tissue Model
Authors: Mouse, cardiac myocytes, computer simulation, action potential.
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Heterogeneous repolarization causes dispersion of the T-wave and has been linked to arrhythmogenesis. Such heterogeneities appear due to differential expression of ionic currents in different regions of the heart, both in healthy and diseased animals and humans. Mice are important animals for the study of heart diseases because of the ability to create transgenic animals. We used our previously reported model of mouse ventricular myocytes to develop 2D mouse ventricular tissue model consisting of 14,000 cells (apical or septal ventricular myocytes) and to study the stability of action potential propagation and Ca2+ dynamics. The 2D tissue model was implemented as a FORTRAN program code for highperformance multiprocessor computers that runs on 36 processors. Our tissue model is able to simulate heterogeneities not only in action potential repolarization, but also heterogeneities in intracellular Ca2+ transients. The multicellular model reproduced experimentally observed velocities of action potential propagation and demonstrated the importance of incorporation of realistic Ca2+ dynamics for action potential propagation. The simulations show that relatively sharp gradients of repolarization are predicted to exist in 2D mouse tissue models, and they are primarily determined by the cellular properties of ventricular myocytes. Abrupt local gradients of channel expression can cause alternans at longer pacing basic cycle lengths than gradual changes, and development of alternans depends on the site of stimulation.
Keywords: Mouse, cardiac myocytes, computer simulation, action potential
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1477309 The Effects and Interactions of Synthesis Parameters on Properties of Mg Substituted Hydroxyapatite
Authors: S. Sharma, U. Batra, S. Kapoor, A. Dua
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In this study, the effects and interactions of reaction time and capping agent assistance during sol-gel synthesis of magnesium substituted hydroxyapatite nanopowder (MgHA) on hydroxyapatite (HA) to β-tricalcium phosphate (β-TCP) ratio, Ca/P ratio and mean crystallite size was examined experimentally as well as through statistical analysis. MgHA nanopowders were synthesized by sol-gel technique at room temperature using aqueous solution of calcium nitrate tetrahydrate, magnesium nitrate hexahydrate and potassium dihydrogen phosphate as starting materials. The reaction time for sol-gel synthesis was varied between 15 to 60 minutes. Two process routes were followed with and without addition of triethanolamine (TEA) in the solutions. The elemental compositions of as-synthesized powders were determined using X-ray fluorescence (XRF) spectroscopy. The functional groups present in the assynthesized MgHA nanopowders were established through Fourier Transform Infrared Spectroscopy (FTIR). The amounts of phases present, Ca/P ratio and mean crystallite sizes of MgHA nanopowders were determined using X-ray diffraction (XRD). The HA content in biphasic mixture of HA and β-TCP and Ca/P ratio in as-synthesized MgHA nanopowders increased effectively with reaction time of sols (p<0.0001, two way ANOVA), however, these were independent of TEA addition (p>0.15, two way ANOVA). The MgHA nanopowders synthesized with TEA assistance exhibited 14 nm lower crystallite size (p<0.018, 2 sample t-test) compared to the powder synthesized without TEA assistance.Keywords: Capping agent, hydroxyapatite, regression analysis, sol-gel, 2- sample t-test, two-way ANOVA.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1621308 Compressive Strength and Workability Characteristics of Low-Calcium Fly ash-based Self-Compacting Geopolymer Concrete
Authors: M. Fareed Ahmed, M. Fadhil Nuruddin, Nasir Shafiq
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Due to growing environmental concerns of the cement industry, alternative cement technologies have become an area of increasing interest. It is now believed that new binders are indispensable for enhanced environmental and durability performance. Self-compacting Geopolymer concrete is an innovative method and improved way of concreting operation that does not require vibration for placing it and is produced by complete elimination of ordinary Portland cement. This paper documents the assessment of the compressive strength and workability characteristics of low-calcium fly ash based selfcompacting geopolymer concrete. The essential workability properties of the freshly prepared Self-compacting Geopolymer concrete such as filling ability, passing ability and segregation resistance were evaluated by using Slump flow, V-funnel, L-box and J-ring test methods. The fundamental requirements of high flowability and segregation resistance as specified by guidelines on Self Compacting Concrete by EFNARC were satisfied. In addition, compressive strength was determined and the test results are included here. This paper also reports the effect of extra water, curing time and curing temperature on the compressive strength of self-compacting geopolymer concrete. The test results show that extra water in the concrete mix plays a significant role. Also, longer curing time and curing the concrete specimens at higher temperatures will result in higher compressive strength.Keywords: Fly ash, Geopolymer Concrete, Self-compactingconcrete, Self-compacting Geopolymer concrete
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4590307 Computer Simulation of Low Volume Roads Made from Recycled Materials
Authors: Aleš Florian, Lenka Ševelová
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Low volume roads are widely used all over the world. To improve their quality the computer simulation of their behavior is proposed. The FEM model enables to determine stress and displacement conditions in the pavement and/or also in the particular material layers. Different variants of pavement layers, material used, humidity as well as loading conditions can be studied. Among others, the input information about material properties of individual layers made from recycled materials is crucial for obtaining results as exact as possible. For this purpose the cyclic-load triaxial test machine testing of cyclic-load performance of materials is a promising test method. The test is able to simulate the real traffic loading on particular materials taking into account the changes in the horizontal stress conditions produced in particular layers by crossings of vehicles. Also the test specimen can be prepared with different amount of water. Thus modulus of elasticity (Young modulus) of different materials including recycled ones can be measured under the different conditions of horizontal and vertical stresses as well as under the different humidity conditions. Using the proposed testing procedure the modulus of elasticity of recycled materials used in the newly built low volume road is obtained under different stress and humidity conditions set to standard, dry and fully saturated level. Obtained values of modulus of elasticity are used in FEA.
Keywords: FEA, FEM, geotechnical materials, low volume roads, pavement, triaxial test, Young modulus.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1631306 Influence of Laser Treatment on the Growth of Sprouts of Different Wheat Varieties
Authors: N. Bakradze, N. Gagelidze, T. Dumbadze, L. Amiranashvili, A. D. L. Batako
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Cereals are considered as a strategic product in human life and their demand is increasing with the growth of world population. Increasing wheat production is important for the country. One of the ways to solve the problem is to develop and implement new, environmentally and economically acceptable technologies. Such technologies include pre-sowing treatment of seed with a laser and associative nitrogen-fixing bacteria - Azospirillum brasilense. In the region there are the wheat varieties - Dika and Lomtagora, which are among the most common in Georgia. Dika is a frost-resistant wheat, with a high ability to adapt to the environment, resistant to falling and it is sown in highlands. Lomtagora 126 differs with its winter and drought resistance, and it has a great ability to germinate. Lomtagora is characterized by a strong root system and a high budding capacity. It is an early variety, fall-resistant, easy to thresh and suitable for mechanized harvesting with large and red grains. This paper presents some preliminary experimental results where a continuous CO2 laser with a power of 25-40 W was used to radiate grains at a flow rate of 10 and 15 cm/sec. The treatment was carried out on grains of the Triticum aestivum L. var. Lutescens (local variety name - Lomtagora 126), and Triticum carthlicum Nevski (local variety name - Dika). Here the grains were treated with A. brasilense isolate (108-109 CFU/ml), which was isolated from the rhizosphere of wheat. It was observed that the germination of the wheat was not significantly influenced by either laser or bacteria treatment. The results of our research show that combined treatment with laser and A. brasilense significantly influenced the germination of wheat. In the case of the Lomtagora 126 variety, grains were exposed to the beam on a speed of 10 cm/sec, only slightly improved the growth for 38-day seedlings, in case of exposition of grains with a speed of 15 cm/sec - by 23%. Treatment of seeds with A. brasilense in both exposed and non-exposed variants led to an improvement in the growth of seedlings, with A. brasilense alone - by 22%, and with combined treatment of grains - by 29%. In the case of the Dika variety, only exposure led to growth by 8-9%, and the combined treatment - by 10-15%, in comparison with the control variant. Superior effect on growth of seedlings of different varieties was achieved with the combinations of laser treatment on grains in a beam of 15 cm/sec (radiation power 30-40 W) and in addition of A. brasilense - nitrogen fixing bacteria. Therefore, this is a promising application of A. brasilense as active agents of bacterial fertilizers due to their ability of molecular nitrogen fixation in cereals in combination with laser irradiation: choosing a proper strain gives a good ability to colonize roots of agricultural crops, providing a high nitrogen-fixing ability and the ability to mobilize soil phosphorus, and laser treatment stimulates natural processes occurring in plant cells, will increase the yield.
Keywords: laser treatment, Azospirillum brasilense, seeds, wheat varieties, Lomtagora, Dika
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 505305 MHD Boundary Layer Flow of a Nanofluid Past a Wedge Shaped Wick in Heat Pipe
Authors: Ziya Uddin
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This paper deals with the theoretical and numerical investigation of magneto hydrodynamic boundary layer flow of a nanofluid past a wedge shaped wick in heat pipe used for the cooling of electronic components and different type of machines. To incorporate the effect of nanoparticle diameter, concentration of nanoparticles in the pure fluid, nanothermal layer formed around the nanoparticle and Brownian motion of nanoparticles etc., appropriate models are used for the effective thermal and physical properties of nanofluids. To model the rotation of nanoparticles inside the base fluid, microfluidics theory is used. In this investigation ethylene glycol (EG) based nanofluids, are taken into account. The non-linear equations governing the flow and heat transfer are solved by using a very effective particle swarm optimization technique along with Runge-Kutta method. The values of heat transfer coefficient are found for different parameters involved in the formulation viz. nanoparticle concentration, nanoparticle size, magnetic field and wedge angle etc. It is found that, the wedge angle, presence of magnetic field, nanoparticle size and nanoparticle concentration etc. have prominent effects on fluid flow and heat transfer characteristics for the considered configuration.
Keywords: Heat transfer, Heat pipe, numerical modeling, nanofluid applications, particle swarm optimization, wedge shaped wick.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2312304 Simulation of Hydrogenated Boron Nitride Nanotube’s Mechanical Properties for Radiation Shielding Applications
Authors: Joseph E. Estevez, Mahdi Ghazizadeh, James G. Ryan, Ajit D. Kelkar
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Radiation shielding is an obstacle in long duration space exploration. Boron Nitride Nanotubes (BNNTs) have attracted attention as an additive to radiation shielding material due to B10’s large neutron capture cross section. The B10 has an effective neutron capture cross section suitable for low energy neutrons ranging from 10-5 to 104 eV and hydrogen is effective at slowing down high energy neutrons. Hydrogenated BNNTs are potentially an ideal nanofiller for radiation shielding composites. We use Molecular Dynamics (MD) Simulation via Material Studios Accelrys 6.0 to model the Young’s Modulus of Hydrogenated BNNTs. An extrapolation technique was employed to determine the Young’s Modulus due to the deformation of the nanostructure at its theoretical density. A linear regression was used to extrapolate the data to the theoretical density of 2.62g/cm3. Simulation data shows that the hydrogenated BNNTs will experience a 11% decrease in the Young’s Modulus for (6,6) BNNTs and 8.5% decrease for (8,8) BNNTs compared to non-hydrogenated BNNT’s. Hydrogenated BNNTs are a viable option as a nanofiller for radiation shielding nanocomposite materials for long range and long duration space exploration.
Keywords: Boron Nitride Nanotube, Radiation Shielding, Young Modulus, Atomistic Modeling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6683303 The Non-Stationary BINARMA(1,1) Process with Poisson Innovations: An Application on Accident Data
Authors: Y. Sunecher, N. Mamode Khan, V. Jowaheer
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This paper considers the modelling of a non-stationary bivariate integer-valued autoregressive moving average of order one (BINARMA(1,1)) with correlated Poisson innovations. The BINARMA(1,1) model is specified using the binomial thinning operator and by assuming that the cross-correlation between the two series is induced by the innovation terms only. Based on these assumptions, the non-stationary marginal and joint moments of the BINARMA(1,1) are derived iteratively by using some initial stationary moments. As regards to the estimation of parameters of the proposed model, the conditional maximum likelihood (CML) estimation method is derived based on thinning and convolution properties. The forecasting equations of the BINARMA(1,1) model are also derived. A simulation study is also proposed where BINARMA(1,1) count data are generated using a multivariate Poisson R code for the innovation terms. The performance of the BINARMA(1,1) model is then assessed through a simulation experiment and the mean estimates of the model parameters obtained are all efficient, based on their standard errors. The proposed model is then used to analyse a real-life accident data on the motorway in Mauritius, based on some covariates: policemen, daily patrol, speed cameras, traffic lights and roundabouts. The BINARMA(1,1) model is applied on the accident data and the CML estimates clearly indicate a significant impact of the covariates on the number of accidents on the motorway in Mauritius. The forecasting equations also provide reliable one-step ahead forecasts.Keywords: Non-stationary, BINARMA(1, 1) model, Poisson Innovations, CML
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 589302 Poli4SDG: An Application for Environmental Crises Management and Gender Support
Authors: Angelica S. Valeriani, Lorenzo Biasiolo
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In recent years, the scale of the impact of climate change and its related side effects has become ever more massive and devastating. Sustainable Development Goals (SDGs), promoted by United Nations, aim to front issues related to climate change, among others. In particular, the project CROWD4SDG focuses on a bunch of SDGs, since it promotes environmental activities and climate-related issues. In this context, we developed a prototype of an application, under advanced development considering web design, that focuses on SDG 13 (SDG on climate action) by providing users with useful instruments to face environmental crises and climate-related disasters. Our prototype is thought and structured for both web and mobile development. The main goal of the application, POLI4SDG, is to help users to get through emergency services. To this extent, an organized overview and classification prove to be very effective and helpful to people in need. A careful analysis of data related to environmental crises prompted us to integrate the user contribution, i.e. exploiting a core principle of Citizen Science, into the realization of a public catalog, available for consulting and organized according to typology and specific features. In addition, gender equality and opportunity features are considered in the prototype, in order to allow women, often the most vulnerable category, to have direct support. The overall description of the application functionalities is detailed. Moreover, implementation features and properties of the prototype are discussed.
Keywords: Crowdsourcing, social media, SDG, climate change, natural disasters, gender equality.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 711301 Semi-Analytic Method in Fast Evaluation of Thermal Management Solution in Energy Storage System
Authors: Ya Lv
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This article presents the application of the semi-analytic method (SAM) in the thermal management solution (TMS) of the energy storage system (ESS). The TMS studied in this work is fluid cooling. In fluid cooling, both effective heat conduction and heat convection are indispensable due to the heat transfer from solid to fluid. Correspondingly, an efficient TMS requires a design investigation of the following parameters: fluid inlet temperature, ESS initial temperature, fluid flow rate, working c rate, continuous working time, and materials properties. Their variation induces a change of thermal performance in the battery module, which is usually evaluated by numerical simulation. Compared to complicated computation resources and long computation time in simulation, the SAM is developed in this article to predict the thermal influence within a few seconds. In SAM, a fast prediction model is reckoned by combining numerical simulation with theoretical/empirical equations. The SAM can explore the thermal effect of boundary parameters in both steady-state and transient heat transfer scenarios within a short time. Therefore, the SAM developed in this work can simplify the design cycle of TMS and inspire more possibilities in TMS design.Keywords: Semi-analytic method, fast prediction model, thermal influence of boundary parameters, energy storage system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 664300 Power Ultrasound Application on Convective Drying of Banana (Musa paradisiaca), Mango (Mangifera indica L.) and Guava (Psidium guajava L.)
Authors: Erika K. Méndez, Carlos E. Orrego, Diana L. Manrique, Juan D. Gonzalez, Doménica Vallejo
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High moisture content in fruits generates post-harvest problems such as mechanical, biochemical, microbial and physical losses. Dehydration, which is based on the reduction of water activity of the fruit, is a common option for overcoming such losses. However, regular hot air drying could affect negatively the quality properties of the fruit due to the long residence time at high temperature. Power ultrasound (US) application during the convective drying has been used as a novel method able to enhance drying rate and, consequently, to decrease drying time. In the present study, a new approach was tested to evaluate the effect of US on the drying time, the final antioxidant activity (AA) and the total polyphenol content (TPC) of banana slices (BS), mango slices (MS) and guava slices (GS). There were also studied the drying kinetics with nine different models from which water effective diffusivities (Deff) (with or without shrinkage corrections) were calculated. Compared with the corresponding control tests, US assisted drying for fruit slices showed reductions in drying time between 16.23 and 30.19%, 11.34 and 32.73%, and 19.25 and 47.51% for the MS, BS and GS respectively. Considering shrinkage effects, Deff calculated values ranged from 1.67*10-10 to 3.18*10-10 m2/s, 3.96*10-10 and 5.57*10-10 m2/s and 4.61*10-10 to 8.16*10-10 m2/s for the BS, MS and GS samples respectively. Reductions of TPC and AA (as DPPH) were observed compared with the original content in fresh fruit data in all kinds of drying assays.Keywords: Banana, drying, effective diffusivity, guava, mango, ultrasound.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2424299 Biogas Yield Potential Research of Tithonia diversifolia in Mesophilic Anaerobic Fermentation in China
Authors: Duan Huanyun, Xu Rui, Li Jianchang, Yuan Yage, Wang Qiuxia, Nomana Intekhab Hadi
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BioEnergy is an archetypal appropriate technology and alternate source of energy in rural areas of China, and can meet the basic need for cooking fuel in rural areas. The paper introduces with an alternate mean of research that can accelerate the biogas energy production. Tithonia diversifolia or the Tree marigold can be hailed as mesophillic anaerobic digestion to increase the production of more Bioenergy. Tithonia diversifolia is very native to Mexico and Central America, which can be served as ornamental plants- green manure and can prevent soil erosion. Tithonia diversifolia is widely grown and known to Asia, Africa, America and Australia as well. Nowadays, Considering China’s geographical condition it is found that Tithonia diversifolia is widely growing plant in the many tropical and subtropical regions of southern Yunnan- which can have great usage in accelerating and increasing the Bioenergy production technology. The paper discussed aiming at proving possibility that Tithonia diversifolia can be applied in biogas fermentation and its biogas production potential, the research carried experiment on Tithonia diversifolia biogas fermentation under the mesophilic condition (35 Celsius Degree). The result revealed that Tithonia diversifolia can be used as biogas fermentative material, and 6% concentration can get the best biogas production, with the TS biogas production rate 656mL/g and VS biogas production rate 801mL/g. It is well addressed that Tithonia diversifolia grows wildly in 53 Counties and 9 cities of Yunnan Province, which mainly grows in form of the road side plants, the edge of the field, countryside, forest edge, open space; of which demersum-natures can form dense monospecific beds -causing serious harm to agricultural production landforms threatening the ecological system as a potentially harmful exotic plant. There are also found the three types of invasive daisy alien plants -Eupatorium adenophorum, Eupatorium Odorata and Tithonia diversifolia in Yunnan Province of China-among them the Tithonia diversifolia is responsible for causing serious harm to agricultural production. In this paper we have designed the experimental explanation of Biogas energy production that requires anaerobic environment and some microbes; Tithonia diversifolia plant has been taken into consideration while carrying experiments and with successful resulting of generating more BioEnergy emphasizing on the practical applications of Tithonia diversifolia. This paper aims at- to find a new mechanism to provide a more scientific basis for the development of this plant herbicides in Biogas energy and to improve the utilization throughout the world as well.
Keywords: Biogas Energy Production, Tithonia diversifolia, Energy Development, Ecological Agriculture, Eupatorium adenophorum, Eupatorium odorata, Anaerobic Fermentation, Biogas Production Potential, Mesopilic Fermentation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2657298 A Mathematical Investigation of the Turkevich Organizer Theory in the Citrate Method for the Synthesis of Gold Nanoparticles
Authors: Emmanuel Agunloye, Asterios Gavriilidis, Luca Mazzei
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Gold nanoparticles are commonly synthesized by reducing chloroauric acid with sodium citrate. This method, referred to as the citrate method, can produce spherical gold nanoparticles (NPs) in the size range 10-150 nm. Gold NPs of this size are useful in many applications. However, the NPs are usually polydisperse and irreproducible. A better understanding of the synthesis mechanisms is thus required. This work thoroughly investigated the only model that describes the synthesis. This model combines mass and population balance equations, describing the NPs synthesis through a sequence of chemical reactions. Chloroauric acid reacts with sodium citrate to form aurous chloride and dicarboxy acetone. The latter organizes aurous chloride in a nucleation step and concurrently degrades into acetone. The unconsumed precursor then grows the formed nuclei. However, depending on the pH, both the precursor and the reducing agent react differently thus affecting the synthesis. In this work, we investigated the model for different conditions of pH, temperature and initial reactant concentrations. To solve the model, we used Parsival, a commercial numerical code, whilst to test it, we considered various conditions studied experimentally by different researchers, for which results are available in the literature. The model poorly predicted the experimental data. We believe that this is because the model does not account for the acid-base properties of both chloroauric acid and sodium citrate.
Keywords: Gold nanoparticles, Citrate method, Turkevich organizer theory, population balance modelling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1006297 Material and Parameter Analysis of the PolyJet Process for Mold Making Using Design of Experiments
Authors: A. Kampker, K. Kreisköther, C. Reinders
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Since additive manufacturing technologies constantly advance, the use of this technology in mold making seems reasonable. Many manufacturers of additive manufacturing machines, however, do not offer any suggestions on how to parameterize the machine to achieve optimal results for mold making. The purpose of this research is to determine the interdependencies of different materials and parameters within the PolyJet process by using design of experiments (DoE), to additively manufacture molds, e.g. for thermoforming and injection molding applications. Therefore, the general requirements of thermoforming molds, such as heat resistance, surface quality and hardness, have been identified. Then, different materials and parameters of the PolyJet process, such as the orientation of the printed part, the layer thickness, the printing mode (matte or glossy), the distance between printed parts and the scaling of parts, have been examined. The multifactorial analysis covers the following properties of the printed samples: Tensile strength, tensile modulus, bending strength, elongation at break, surface quality, heat deflection temperature and surface hardness. The key objective of this research is that by joining the results from the DoE with the requirements of the mold making, optimal and tailored molds can be additively manufactured with the PolyJet process. These additively manufactured molds can then be used in prototyping processes, in process testing and in small to medium batch production.
Keywords: Additive manufacturing, design of experiments, mold making, PolyJet.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1732296 Sediment Wave and Cyclic Steps as Mechanism for Sediment Transport in Submarine Canyons Thalweg
Authors: Taiwo Olusoji Lawrence, Peace Mawo Aaron
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Seismic analysis of bedforms has proven to be one of the best ways to study deepwater sedimentary features. Canyons are known to be sediment transportation conduit. Sediment wave are large-scale depositional bedforms in various parts of the world's oceans formed predominantly by suspended load transport. These undulating objects usually have tens of meters to a few kilometers in wavelength and a height of several meters. Cyclic steps have long long-wave upstream-migrating bedforms confined by internal hydraulic jumps. They usually occur in regions with high gradients and slope breaks. Cyclic steps and migrating sediment waves are the most common bedform on the seafloor. Cyclic steps and related sediment wave bedforms are significant to the morpho-dynamic evolution of deep-water depositional systems architectural elements, especially those located along tectonically active margins with high gradients and slope breaks that can promote internal hydraulic jumps in turbidity currents. This report examined sedimentary activities and sediment transportation in submarine canyons and provided distinctive insight into factors that created a complex seabed canyon system in the Ceara Fortaleza basin Brazilian Equatorial Margin (BEM). The growing importance of cyclic steps made it imperative to understand the parameters leading to their formation, migration, and architecture as well as their controls on sediment transport in canyon thalweg. We extracted the parameters of the observed bedforms and evaluated the aspect ratio and asymmetricity. We developed a relationship between the hydraulic jump magnitude, depth of the hydraulic fall and the length of the cyclic step therein. It was understood that an increase in the height of the cyclic step increases the magnitude of the hydraulic jump and thereby increases the rate of deposition on the preceding stoss side. An increase in the length of the cyclic steps reduces the magnitude of the hydraulic jump and reduces the rate of deposition at the stoss side. Therefore, flat stoss side was noticed at most preceding cyclic step and sediment wave.Keywords: Ceara Fortaleza, sediment wave, cyclic steps, submarine canyons.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 836295 Web-Content Analysis of the Major Spanish Tourist Destinations Evaluation by Russian Tourists
Authors: Natalia Polkanova, Sergey Kazakov
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In the second decade of the XXI century the role of tourism destination attractiveness is becoming increasingly important for destination management. Competition in tourism market moves from ordinary service quality to provision of unforgettable emotional experience for tourists. The main purpose of the present study is to identify the perception of the tourism destinations based on the number of factors related to its tourist attractiveness. The content analysis method was used to analyze the on-line tourist feedback data immensely available in Social Media and in travel related sites. The collected data made it possible to procure the information which is necessary to understand the perceived attractiveness of the destinations and key destination appeal factors that are important for Russian leisure travelers. Results of the present study demonstrate key attractiveness factors or destination ‘properties’ that were unveiled as the most important for Russian leisure tourists. The study targeted five main Spanish tourism destinations that initially were determined by in-depth interview with a number of Russian nationals who had visited Spain at least once. The research results can be useful for Spanish Tourism Organization Representation office in Russia as well as for the other national tourism organizations in order to promote their respective destinations for Russian travelers focusing on main attractiveness factors identified in this study.
Keywords: Tourism destination, destination attractiveness, destination competitiveness, content analysis, unstructured image.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2586294 Discrete Element Modeling of the Effect of Particle Shape on Creep Behavior of Rockfills
Authors: Yunjia Wang, Zhihong Zhao, Erxiang Song
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Rockfills are widely used in civil engineering, such as dams, railways, and airport foundations in mountain areas. A significant long-term post-construction settlement may affect the serviceability or even the safety of rockfill infrastructures. The creep behavior of rockfills is influenced by a number of factors, such as particle size, strength and shape, water condition and stress level. However, the effect of particle shape on rockfill creep still remains poorly understood, which deserves a careful investigation. Particle-based discrete element method (DEM) was used to simulate the creep behavior of rockfills under different boundary conditions. Both angular and rounded particles were considered in this numerical study, in order to investigate the influence of particle shape. The preliminary results showed that angular particles experience more breakages and larger creep strains under one-dimensional compression than rounded particles. On the contrary, larger creep strains were observed in he rounded specimens in the direct shear test. The mechanism responsible for this difference is that the possibility of the existence of key particle in rounded particles is higher than that in angular particles. The above simulations demonstrate that the influence of particle shape on the creep behavior of rockfills can be simulated by DEM properly. The method of DEM simulation may facilitate our understanding of deformation properties of rockfill materials.
Keywords: Rockfills, creep behavior, particle crushing, discrete element method, boundary conditions.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1086293 A Comparison of Inverse Simulation-Based Fault Detection in a Simple Robotic Rover with a Traditional Model-Based Method
Authors: Murray L. Ireland, Kevin J. Worrall, Rebecca Mackenzie, Thaleia Flessa, Euan McGookin, Douglas Thomson
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Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residuals caused by environmental disturbances. While a more complex fault detection method or additional sensors could be used to solve these issues, an alternative is presented here. Using inverse simulation (InvSim), the inputs and outputs of the mathematical model of the rover system are reversed. Thus, for a desired trajectory, the corresponding actuator inputs are obtained. A step fault near the input then manifests itself as a step change in the residual between the system inputs and the input trajectory obtained through inverse simulation. This approach avoids the need for additional hardware on a mass- and power-critical system such as the rover. The InvSim fault detection method is applied to a simple four-wheeled rover in simulation. Additive system faults and an external disturbance force and are applied to the vehicle in turn, such that the dynamic response and sensor output of the rover are impacted. Basic model-based fault detection is then employed to provide output residuals which may be analysed to provide information on the fault/disturbance. InvSim-based fault detection is then employed, similarly providing input residuals which provide further information on the fault/disturbance. The input residuals are shown to provide clearer information on the location and magnitude of an input fault than the output residuals. Additionally, they can allow faults to be more clearly discriminated from environmental disturbances.Keywords: Fault detection, inverse simulation, rover, ground robot.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 950