Search results for: vehicle's door.

Authors: Nikhil Ramaswamy, S.N.Omkar, Kashyap.H.Nathwani, Anil.M.Vanjare

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In this present work, the development of an avionics system for flight data collection of a Raptor 30 V2 is carried out. For the data acquisition both onground and onboard avionics systems are developed for testing of a small-scale Unmanned Aerial Vehicle (UAV) helicopter. The onboard avionics record the helicopter state outputs namely accelerations, angular rates and Euler angles, in real time, and the on ground avionics system record the inputs given to the radio controlled helicopter through a transmitter, in real time. The avionic systems are designed and developed taking into consideration low weight, small size, anti-vibration, low power consumption, and easy interfacing. To mitigate the medium frequency vibrations embedded on the UAV helicopter during flight, a damper is designed and its performance is evaluated. A number of flight tests are carried out and the data obtained is then analyzed for accuracy and repeatability and conclusions are inferred.

Keywords: Data collection, Flight Testing, Onground and Onboard Avionics, UAV helicopter

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Authors: H. Iranmanesh, S. Nazari Shirkouhi, M. R. Skandari

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Information Technology (IT) projects are always accompanied by various risks and because of high rate of failure in such projects, managing risks in order to neutralize or at least decrease their effects on the success of the project is strongly essential. In this paper, fuzzy analytical hierarchy process (FAHP) is exploited as a means of risk evaluation methodology to prioritize and organize risk factors faced in IT projects. A real case of IT projects, a project of design and implementation of an integrated information system in a vehicle producing company in Iran is studied. Related risk factors are identified and then expert qualitative judgments about these factors are acquired. Translating these judgments to fuzzy numbers and using them as an input to FAHP, risk factors are then ranked and prioritized by FAHP in order to make project managers aware of more important risks and enable them to adopt suitable measures to deal with these highly devastative risks.

Keywords: Information technology projects, Risk evaluation, Analytic hierarchal process, fuzzy logic.

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Authors: Muammer Ozkan, Orkun Ozener, Irfan Yavasliol

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The fuel cost of the motor vehicle operating on its common route is an important part of the operating cost. Therefore, the importance of the fuel saving is increasing day by day. One of the parameters which improve fuel saving is the regulation of driving characteristics. The number and duration of stop is increased by the heavy traffic load. It is possible to improve the fuel saving with regulation of traffic flow and driving characteristics. The researches show that the regulation of the traffic flow decreases fuel consumption, but it is not enough to improve fuel saving without the regulation of driving characteristics. This study analyses the fuel consumption of two trips of city bus operating on its common route and determines the effect of traffic density and driving characteristics on fuel consumption. Finally it offers some suggestions about regulation of driving characteristics to improve the fuel saving. Fuel saving is determined according to the results obtained from simulation program. When experimental and simulation results are compared, it has been found that the fuel saving was reached up the to 40 percent ratios.

Keywords: Fuel Consumption, Fuel Economy, Driving Characteristics, Optimization

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Authors: Y. Egercioglu, S. Yalciner

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With the development of technology, the growing trend of fast and safe passenger transport, air pollution, traffic congestion, increase in problems such as the increasing population and the high cost of private vehicle usage made many cities around the world with a population of more or less, start to build rail systems as a means of urban transport in order to ensure the economic and environmental sustainability and more efficient use of land in the city. The implementation phase of rail systems costs much more than other public transport systems. However, social and economic returns in the long term made these systems the most popular investment tool for planned and developing cities. In our country, the purpose, goals and policies of transportation plans are away from integrity, and the problems are not clearly detected. Also, not defined and incomplete assessment of transportation systems and insufficient financial analysis are the most important cause of failure. Rail systems and other transportation systems to be addressed as a whole is seen as the main factor in increasing efficiency in applications that are not integrated yet in our country to come to this point has led to the problem.

Keywords: Urban Transportation Projects, Urban Light Rail Systems, Urbanization, Izmir.

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Authors: Robert F. Kenny, Glenda A. Gunter

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Current technological advances pale in comparison to the changes in social behaviors and 'sense of place' that is being empowered since the Internet made it on the scene. Today-s students view the Internet as both a source of entertainment and an educational tool. The development of virtual environments is a conceptual framework that needs to be addressed by educators and it is important that they become familiar with who these virtual learners are and how they are motivated to learn. Massively multiplayer online role playing games (MMORPGs), if well designed, could become the vehicle of choice to deliver learning content. We suggest that these games, in order to accomplish these goals, must begin with well-established instructional design principles that are co-aligned with established principles of video game design. And have the opportunity to provide an instructional model of significant prescriptive power. The authors believe that game designers need to take advantage of the natural motivation player-learners have for playing games by developing them in such a way so as to promote, intrinsic motivation, content learning, transfer of knowledge, and naturalization.

Keywords: serious games, endogenous fantasy, intrinsic motivation, online learning.

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Authors: Pedro Pablo Ramírez Sánchez, Alassane Ballé Ndiaye, Roberto Rendeiro Martín-Cejas

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The aim of this paper is to analyse the different environmental policies adopted in Europe for car emissions, to comment on some of the possible perverse effects generated and point out these policies which are considered more efficient under the environmental perspective. This paper is focused on passenger cars as this category is the most significant in road transport. The utility of this research lies in this being the first step or basis to improve and optimise actual policies. The methodology applied in this paper refers to a comparative analysis from a practical and theoretical point of view of European environmental policies in road transport. This work describes an overview of the road transport industry in Europe pointing out some relevant aspects such as the contribution of road transport to total emissions and the vehicle fleet in Europe. Additionally, we propose a brief practice guide with the combined policies in order to optimise their aim.

Keywords: Air quality, climate change, emission, environment, perverse effect, road transport, tax policy.

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Authors: J. Mehena, M. C. Adhikary

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In this paper, a spatial multiple-kernel fuzzy C-means (SMKFCM) algorithm is introduced for segmentation problem. A linear combination of multiples kernels with spatial information is used in the kernel FCM (KFCM) and the updating rules for the linear coefficients of the composite kernels are derived as well. Fuzzy cmeans (FCM) based techniques have been widely used in medical image segmentation problem due to their simplicity and fast convergence. The proposed SMKFCM algorithm provides us a new flexible vehicle to fuse different pixel information in medical image segmentation and detection of MR images. To evaluate the robustness of the proposed segmentation algorithm in noisy environment, we add noise in medical brain tumor MR images and calculated the success rate and segmentation accuracy. From the experimental results it is clear that the proposed algorithm has better performance than those of other FCM based techniques for noisy medical MR images.

Keywords: Clustering, fuzzy C-means, image segmentation, MR images, multiple kernels.

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Authors: A. Jerves, H. Ling, J. Gabaldon, M. Usoltceva, C. Coust´e, A. Agarwal, R. Hurley, J. Andrade

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This work introduces a simple device designed to perform in-situ direct shear and sinkage tests on granular materials as sand, clays, or regolith. It consists of a box nested within a larger box. Both have open bottoms, allowing them to be lowered into the material. Afterwards, two rotating plates on opposite sides of the outer box will rotate outwards in order to clear regolith on either side, providing room for the inner box to move relative to the plates and perform a shear test without the resistance of the surrounding soil. From this test, Coulomb parameters, including cohesion and internal friction angle, as well as, Bekker parameters can be inferred. This device has been designed for a laboratory setting, but with few modifications, could be put on the underside of a rover for use in a remote location. The goal behind this work is to ultimately create a compact, but accurate measuring tool to put onto a rover or any kind of exploratory vehicle to test for regolith properties of celestial bodies.

Keywords: Simple shear, friction angle, Bekker parameters, device, regolith.

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Authors: Bongsoo Jeon, Jayoung Kim, Jihong Lee

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Methods for measuring or estimating ground shape by a laser range finder and a vision sensor (Exteroceptive sensors) have critical weaknesses in terms that these methods need a prior database built to distinguish acquired data as unique surface conditions for driving. Also, ground information by Exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Therefore, this paper proposes a method of recognizing exact and precise ground shape using an Inertial Measurement Unit (IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes the attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

Keywords: Inertial Measurement Unit, Laser Range Finder, Real-time recognition of the ground shape.

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Authors: Roman Kalvin, Anam Nadeem, Shahab Khushnood

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Differential is an integral part of four wheeled vehicle, and its main function is to transmit power from drive shaft to wheels. Differential assembly allows both rear wheels to turn at different speed along curved paths. It consists of four gears which are assembled together namely pinion, ring, spider and bevel gears. This research focused on the spider gear and its static structural analysis using ANSYS. The main aim was to evaluate the distribution of stresses on the teeth of the spider gear. This study also analyzed total deformation that may occur during its working along with bevel gear that is meshed with spider gear. Structural steel was chosen for spider gear in this research. Modeling and assembling were done on SolidWorks for both spider and bevel gear. They were assembled exactly same as in a differential assembly. This assembly was then imported to ANSYS. After observing results that maximum amount of stress and deformation was produced in the spider gear, it was concluded that structural steel material for spider gear possesses greater amount of strength to bear maximum stress.

Keywords: Differential, spider gear, ANSYS, structural steel.

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Authors: Morten Stigaard Laursen, Rasmus Nyholm Jørgensen, Mads Dyrmann, Robert Poulsen

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For the past three years, the Danish project, RoboWeedSupport, has sought to bridge the gap between the potential herbicide savings using a decision support system and the required weed inspections. In order to automate the weed inspections it is desired to generate a map of the weed species present within the field, to generate the map images must be captured with samples covering the field. This paper investigates the economical cost of performing this data collection based on a camera system mounted on a all-terain vehicle (ATV) able to drive and collect data at up to 50 km/h while still maintaining a image quality sufficient for identifying newly emerged grass weeds. The economical estimates are based on approximately 100 hectares recorded at three different locations in Denmark. With an average image density of 99 images per hectare the ATV had an capacity of 28 ha per hour, which is estimated to cost 6.6 EUR/ha. Alternatively relying on a boom solution for an existing tracktor it was estimated that a cost of 2.4 EUR/ha is obtainable under equal conditions.

Keywords: Weed mapping, integrated weed management, weed recognition.

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Authors: Hong Yi Huang, Wei Ti Kuo, Yi You Huang

Abstract:

Non-viral gene carriers composed of biodegradable polymers or lipids have been considered as a safer alternative for gene carriers over viral vectors. We have developed multi-functional nano-micelles for both drug and gene delivery application. Polyethyleneimine (PEI) was modified by grafting stearic acid (SA) and formulated to polymeric micelles (PEI-SA) with positive surface charge for gene and drug delivery. Our results showed that PEI-SA micelles provided high siRNA binding efficiency. In addition, siRNA delivered by PEI-SA carriers also demonstrated significantly high cellular uptake even in the presence of serum proteins. The post-transcriptional gene silencing efficiency was greatly improved by the polyplex formulated by 10k PEI-SA/siRNA. The amphiphilic structure of PEI-SA micelles provided advantages for multifunctional tasks; where the hydrophilic shell modified with cationic charges can electrostatically interact with DNA or siRNA, and the hydrophobic core can serve as payloads for hydrophobic drugs, making it a promising multifunctional vehicle for both genetic and chemotherapy application.

Keywords: polyethyleneimine, gene delivery, micelles, siRNA

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Authors: N. Gigauri, V. Kukhalashvili, V. Sesadze, A. Surmava, L. Intskirveli

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Pollution of the Tbilisi atmospheric air with PM2.5 and PM10 in usual and pandemic situations by using the data of 5 stationary observation points is investigated. The values of the statistical characteristic parameters of PM in the atmosphere of Tbilisi are analyzed and trend graphs are constructed. By means of analysis of pollution levels in the quarantine and usual periods the proportion of vehicle traffic in pollution of city is estimated. Experimental measurements of PM2.5, PM10 in the atmosphere have been carried out in different districts of the city and map of the distribution of their concentrations were constructed. It is shown that maximum pollution values are recorded in the city center and along major motorways. It is shown that the average monthly concentrations vary in the range of 0.6-1.6 Maximum Permissible Concentration (MPC). Average daily values of concentration vary at 2-4 days intervals. The distribution of PM10 generated as a result of traffic is numerical modeled. The modeling results are compared with the observation data.

Keywords: Air pollution, numerical modeling, PM2.5, PM10.

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Authors: A. Ghaffari, A. Meghdari, D. Naderi, S. Eslami

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In this paper an algorithm based on the adaptive neuro-fuzzy controller is provided to enhance the tipover stability of mobile manipulators when they are subjected to predefined trajectories for the end-effector and the vehicle. The controller creates proper configurations for the manipulator to prevent the robot from being overturned. The optimal configuration and thus the most favorable control are obtained through soft computing approaches including a combination of genetic algorithm, neural networks, and fuzzy logic. The proposed algorithm, in this paper, is that a look-up table is designed by employing the obtained values from the genetic algorithm in order to minimize the performance index and by using this data base, rule bases are designed for the ANFIS controller and will be exerted on the actuators to enhance the tipover stability of the mobile manipulator. A numerical example is presented to demonstrate the effectiveness of the proposed algorithm.

Keywords: Mobile Manipulator, Tipover Stability Enhancement, Adaptive Neuro-Fuzzy Inference Controller System, Soft Computing.

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Authors: Mahmud Fotuhi-Firuzabad, Ali Abbaspour, Mohsen Mazidi, Mohamamd Rastegar

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To tackle the air pollution issues, Plug-in Hybrid Electric Vehicles (PHEVs) are proposed as an appropriate solution. Charging a large amount of PHEV batteries, if not controlled, would have negative impacts on the distribution system. The control process of charging of these vehicles can be centralized in parking lots that may provide a chance for better coordination than the individual charging in houses. In this paper, an optimization-based approach is proposed to determine the optimum PHEV parking capacities in candidate nodes of the distribution system. In so doing, a profile for charging and discharging of PHEVs is developed in order to flatten the network load profile. Then, this profile is used in solving an optimization problem to minimize the distribution system losses. The outputs of the proposed method are the proper place for PHEV parking lots and optimum capacity for each parking. The application of the proposed method on the IEEE-34 node test feeder verifies the effectiveness of the method.

Keywords: Plug-in Hybrid Electric Vehicle (PHEV), PHEV parking lot, V2G.

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Authors: Khairul Nizam Tahar, Anuar Ahmad

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This paper has introduced a slope photogrammetric mapping using unmanned aerial vehicle. There are two units of UAV has been used in this study; namely; fixed wing and multi-rotor. Both UAVs were used to capture images at the study area. A consumer digital camera was mounted vertically at the bottom of UAV and captured the images at an altitude. The objectives of this study are to obtain three dimensional coordinates of slope area and to determine the accuracy of photogrammetric product produced from both UAVs. Several control points and checkpoints were established Real Time Kinematic Global Positioning System (RTK-GPS) in the study area. All acquired images from both UAVs went through all photogrammetric processes such as interior orientation, exterior orientation, aerial triangulation and bundle adjustment using photogrammetric software. Two primary results were produced in this study; namely; digital elevation model and digital orthophoto. Based on results, UAV system can be used to mapping slope area especially for limited budget and time constraints project.

Keywords: Slope mapping, 3D, DEM, UAV, Photogrammetry, image processing.

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Authors: W. M. Wan Muhamad, E. Sujatmika, M.R. Idris, S.A. Syed Ahmad

Abstract:

A finite element analysis (FEA) computer software HyperWorks is utilized in re-designing an automotive component to reduce its mass. Reduction of components mass contributes towards environmental sustainability by saving world-s valuable metal resources and by reducing carbon emission through improved overall vehicle fuel efficiency. A shape optimization analysis was performed on a rear spindle component. Pre-processing and solving procedures were performed using HyperMesh and RADIOSS respectively. Shape variables were defined using HyperMorph. Then optimization solver OptiStruct was utilized with fatigue life set as a design constraint. Since Stress-Number of Cycle (S-N) theory deals with uni-axial stress, the Signed von Misses stress on the component was used for looking up damage on S-N curve, and Gerber criterion for mean stress corrections. The optimization analysis resulted in mass reduction of 24% of the original mass. The study proved that the adopted approach has high potential use for environmental sustainability.

Keywords: Environmental Sustainability, Shape Optimization, Fatigue, Rear Spindle.

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Authors: Anjaneyulu M.V.L.R., Harikrishna M., Chenchuobulu S.

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Rapid urbanization, industrialization and population growth have led to an increase in number of automobiles that cause air pollution. It is estimated that road traffic contributes 60% of air pollution in urban areas. A case by case assessment is required to predict the air quality in urban situations, so as to evolve certain traffic management measures to maintain the air quality levels with in the tolerable limits. Calicut city in the state of Kerala, India has been chosen as the study area. Carbon Monoxide (CO) concentration was monitored at 15 links in Calicut city and air quality performance was evaluated over each link. The CO pollutant concentration values were compared with the National Ambient Air Quality Standards (NAAQS), and the CO values were predicted by using CALINE4 and IITLS and Linear regression models. The study has revealed that linear regression model performs better than the CALINE4 and IITLS models. The possible association between CO pollutant concentration and traffic parameters like traffic flow, type of vehicle, and traffic stream speed was also evaluated.

Keywords: CO pollution, Modelling, Traffic stream parameters.

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Authors: Devendra Kumar Pandey, Debabrata Chakraborty

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The advancement in various concrete ingredients like plasticizers, additives and fibers, etc. has enabled concrete technologists to develop many viable varieties of special concretes in recent decades. Such various varieties of concrete have significant enhancement in green as well as hardened properties of concrete. A prudent selection of appropriate type of concrete can resolve many design and application issues in construction projects. This paper focuses on usage of self-compacting concrete, high early strength concrete, structural lightweight concrete, fiber reinforced concrete, high performance concrete and ultra-high strength concrete in the structures. The modified properties of strength at various ages, flowability, porosity, equilibrium density, flexural strength, elasticity, permeability etc. need to be carefully studied and incorporated into the design of the structures. The paper demonstrates various mixture combinations and the concrete properties that can be leveraged. The selection of such products based on the end use of structures has been proposed in order to efficiently utilize the modified characteristics of these concrete varieties. The study involves mapping the characteristics with benefits and savings for the structure from design perspective. Self-compacting concrete in the structure is characterized by high shuttering loads, better finish, and feasibility of closer reinforcement spacing. The structural design procedures can be modified to specify higher formwork strength, height of vertical members, cover reduction and increased ductility. The transverse reinforcement can be spaced at closer intervals compared to regular structural concrete. It allows structural lightweight concrete structures to be designed for reduced dead load, increased insulation properties. Member dimensions and steel requirement can be reduced proportionate to about 25 to 35 percent reduction in the dead load due to self-weight of concrete. Steel fiber reinforced concrete can be used to design grade slabs without primary reinforcement because of 70 to 100 percent higher tensile strength. The design procedures incorporate reduction in thickness and joint spacing. High performance concrete employs increase in the life of the structures by improvement in paste characteristics and durability by incorporating supplementary cementitious materials. Often, these are also designed for slower heat generation in the initial phase of hydration. The structural designer can incorporate the slow development of strength in the design and specify 56 or 90 days strength requirement. For designing high rise building structures, creep and elasticity properties of such concrete also need to be considered. Lastly, certain structures require a performance under loading conditions much earlier than final maturity of concrete. High early strength concrete has been designed to cater to a variety of usages at various ages as early as 8 to 12 hours. Therefore, an understanding of concrete performance specifications for special concrete is a definite door towards a superior structural design approach.

Keywords: High performance concrete, special concrete, structural design, structural lightweight concrete.

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Authors: S. Kittipongvises, A. Dubsok

Abstract:

The mineral and mining industry is necessary for countries to have an adequate and reliable supply of materials to meet their socio-economic development. Despite its importance, the environmental impacts from mineral exploration are hugely significant. This study aimed to investigate and quantify the amount of GHGs emissions emitted from both electricity and diesel vehicle fuel consumption in basalt mining in Thailand. Plant A, located in the northeastern region of Thailand, was selected as a case study. Results indicated that total GHGs emissions from basalt mining and operation (Plant A) were approximately 2,501,086 kgCO₂e and 1,997,412 kgCO₂e in 2014 and 2015, respectively. The estimated carbon intensity ranged between 1.824 kgCO₂e to 2.284 kgCO₂e per ton of rock product. Scope 1 (direct emissions) was the dominant driver of its total GHGs compared to scope 2 (indirect emissions). As such, transport related combustion of diesel fuels generated the highest GHGs emission (65%) compared to emissions from purchased electricity (35%). Some of the potential implications for mining entities were also presented.

Keywords: Basalt mining, diesel fuel, electricity, GHGs emissions, Thailand.

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Authors: F. Titouna, S. Benferhat, K. Aksa, C. Titouna

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A traffic light gives security from traffic congestion,reducing the traffic jam, and organizing the traffic flow. Furthermore,increasing congestion level in public road networks is a growingproblem in many countries. Using Intelligent Transportation Systemsto provide emergency vehicles a green light at intersections canreduce driver confusion, reduce conflicts, and improve emergencyresponse times. Nowadays, the technology of wireless sensornetworks can solve many problems and can offer a good managementof the crossroad. In this paper, we develop a new approach based onthe technique of clustering and the graphical possibilistic fusionmodeling. So, the proposed model is elaborated in three phases. Thefirst one consists to decompose the environment into clusters,following by the fusion intra and inter clusters processes. Finally, wewill show some experimental results by simulation that proves theefficiency of our proposed approach.KeywordsTraffic light, Wireless sensor network, Controller,Possibilistic network/Bayesain network.

Keywords: Traffic light, Wireless sensor network, Controller, Possibilistic network/Bayesain network.

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Authors: M. Y. Misro, A. Ramli, J. M. Ali

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Bezier curves have useful properties for path generation problem, for instance, it can generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bezier curve segment smoothly to generate the path. Some of the useful properties of Bezier are curvature. In mathematics, curvature is the amount by which a geometric object deviates from being flat, or straight in the case of a line. Another extrinsic example of curvature is a circle, where the curvature is equal to the reciprocal of its radius at any point on the circle. The smaller the radius, the higher the curvature thus the vehicle needs to bend sharply. In this study, we use Bezier curve to fit highway-like curve. We use different approach to find the best approximation for the curve so that it will resembles highway-like curve. We compute curvature value by analytical differentiation of the Bezier Curve. We will then compute the maximum speed for driving using the curvature information obtained. Our research works on some assumptions; first, the Bezier curve estimates the real shape of the curve which can be verified visually. Even though, fitting process of Bezier curve does not interpolate exactly on the curve of interest, we believe that the estimation of speed are acceptable. We verified our result with the manual calculation of the curvature from the map.

Keywords: Speed estimation, path constraints, reference trajectory, Bezier curve.

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Authors: M. Barański

Abstract:

This paper presents a several diagnostic methods designed to electrical machinesespecially for permanent magnets (PM) machines. Those machines are commonly used in small wind and water systems and vehicles drives.Thosemethodsare preferred by the author in periodic diagnostic of electrical machines. The special attentionshould be paid to diagnostic method of turn-to-turn insulation and vibrations. Both of those methodswere createdinInstitute of Electrical Drives and MachinesKomel. The vibration diagnostic method is the main thesis of author’s doctoral dissertation. This is method of determination the technical condition of PM electrical machine basing on its own signals is the subject of patent application No P.405669. Specific structural properties of machines excited by permanent magnets are used in this method - electromotive force (EMF) generated due to vibrations. There was analysed number of publications which describe vibration diagnostic methods and tests of electrical machines with permanent magnets and there was no method found to determine the technical condition of such machine basing on their own signals.

Keywords: Electrical vehicle, generator, main insulation, permanent magnet, thermography, turn-to- traction drive, turn insulation, vibrations.

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Authors: Mohammed Qasim, Kyoung-Dae Kim

Abstract:

In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: Artificial potential function, autonomy, collision avoidance, teleoperation, quadrotor, UAV.

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Authors: Aswin Kumar Krishnan, Yat Choy Wong, Reiza Mukhlis, Zipeng Zhang, Arul Arulrajah

Abstract:

The continuous increase in vehicle uptake escalates the number of rubber tyres waste which need to be managed to avoid landfilling and stockpiling. The present research focused on the sustainable use of crumb rubber in clay roof tiles. The properties of roof tiles composed of clay, crumb rubber, NaOH, and Na2SiO3 with 10 wt.% alkaline activator were studied. Tile samples were fabricated by heating the compacted mixtures at 50 °C for 72 hours, followed by a higher heating temperature of 200 °C for 24 hours. The effect of crumb rubber aggregates as a substitution for the raw clay materials were investigated by varying their concentration from 0 wt.% to 2.5 wt.%. X-ray diffraction (XRD) and scanning electron microscopy (SEM) analyses have been conducted to study the phases and microstructures of the samples. It was found that the optimum rubber crumbs concentration was at 0.5 wt.% and 1 wt.%, while cracks and larger porosity were found at higher crumbs concentration. Water absorption, and compressive strength test results demonstrated that rubber crumbs and clay satisfied the standard requirement for the roof tiles.

Keywords: Crumb rubber, clay, roof tiles, alkaline activators.

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Authors: Masood Roohi, Amir Taghavipour

Abstract:

This paper describes a strategy to develop an energy management system (EMS) for a charge-sustaining power-split hybrid electric vehicle. This kind of hybrid electric vehicles (HEVs) benefit from the advantages of both parallel and series architecture. However, it gets relatively more complicated to manage power flow between the battery and the engine optimally. The applied strategy in this paper is based on nonlinear model predictive control approach. First of all, an appropriate control-oriented model which was accurate enough and simple was derived. Towards utilization of this controller in real-time, the problem was solved off-line for a vast area of reference signals and initial conditions and stored the computed manipulated variables inside look-up tables. Look-up tables take a little amount of memory. Also, the computational load dramatically decreased, because to find required manipulated variables the controller just needed a simple interpolation between tables.

Keywords: Hybrid electric vehicles, energy management system, nonlinear model predictive control, real-time.

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Authors: Z. Khan, O. Moselhi, T. Zayed

Abstract:

Development of levels of service in municipal context is a flexible vehicle to assist in performing quality-cost trade-off analysis for municipal services. This trade-off depends on the willingness of a community to pay as well as on the condition of the assets. Community perspective of the performance of an asset from service point of view may be quite different from the municipality perspective of the performance of the same asset from condition point of view. This paper presents a three phased level of service based methodology for water mains that consists of :1)development of an Analytical Hierarchy model of level of service 2) development of Fuzzy Weighted Sum model of water main condition index and 3) deriving a Fuzzy logic based function that maps level of service to asset condition index. This mapping will assist asset managers in quantifying condition improvement requirement to meet service goals and to make more informed decisions on interventions and relayed priorities.

Keywords: Asset Management, Level of Service, Condition Index, Analytical Hierarchy, Fuzzy Logic.

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Authors: Tugrul Oktay, Mehmet Konar, Mohamed Abdallah Mohamed, Murat Aydin, Firat Sal, Murat Onay, Mustafa Soylak

Abstract:

In this paper, it is aimed to improve autonomous flight performance of a load-carrying (payload: 3 kg and total: 6kg) unmanned aerial vehicle (UAV) through active wing and horizontal tail active morphing and also integrated autopilot system parameters (i.e. P, I, D gains) and UAV parameters (i.e. extension ratios of wing and horizontal tail during flight) design. For this purpose, a loadcarrying UAV (i.e. ZANKA-II) is manufactured in Erciyes University, College of Aviation, Model Aircraft Laboratory is benefited. Optimum values of UAV parameters and autopilot parameters are obtained using a stochastic optimization method. Using this approach autonomous flight performance of UAV is substantially improved and also in some adverse weather conditions an opportunity for safe flight is satisfied. Active morphing and integrated design approach gives confidence, high performance and easy-utility request of UAV users.

Keywords: Unmanned aerial vehicles, morphing, autopilots, autonomous performance.

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Authors: C. Rajan, B. Megala, A. Nandhini, C. Rasi Priya

Abstract:

Robotics brings together several very different engineering areas and skills. There are various types of robot such as humanoid robot, mobile robots, remotely operated vehicles, modern autonomous robots etc. This survey paper advocates the operation of a robotic car (remotely operated vehicle) that is controlled by a mobile phone (communicate on a large scale over a large distance even from different cities). The person makes a call to the mobile phone placed in the car. In the case of a call, if any one of the button is pressed, a tone equivalent to the button pressed is heard at the other end of the call. This tone is known as DTMF (Dual Tone Multiple Frequency). The car recognizes this DTMF tone with the help of the phone stacked in the car. The received tone is processed by the Arduino microcontroller. The microcontroller is programmed to acquire a decision for any given input and outputs its decision to motor drivers in order to drive the motors in the forward direction or backward direction or left or right direction. The mobile phone that makes a call to cell phone stacked in the car act as a remote.

Keywords: Arduino Micro-controller, Arduino UNO, DTMF, Mobile phone, Robotic car.

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Authors: V. Golubeva, A. Korableva, O. Anischenko, A. Nemova, N. Yegorushina, L. Kustov, G. Kapustin, U.S.Rohatgi

Abstract:

The implementation of Super-Ultra Low Emission Vehicle standards requires more efficient exhaust gas purification. To increase the efficiency of exhaust gas purification, an the adsorbent capable of holding hydrocarbons up to 250-300 ОС should be developed. The possibility to design such adsorbents by modification of zeolites of mordenite type, ZSM-5 and NaY, using different metals cations has been studied. It has been shown that introducing Cr, Cs, Zn, Ni, Co, Li, Mn in zeolites results in modification of the toluene TPD and toluene sorption capacity. 5%LiZSM-5 zeolite exhibits the most attractive TPD curve, with toluene desorption temperature ranging from 250 to 350ОС. The sorption capacity of 5%Li-ZSM-5 is 0.4 mmol/g. NaY zeolite has the highest sorption capacity, up to 2 mmol/g, and holds toluene up to 350ОС, but at 120ОС toluene desorption starts, which is not desirable, since the adsorbent of cold start hydrocarbons should retain them until 250-300ОС. Therefore 5%LiZSM-5 zeolite was found to be the most promising to control the cold-start hydrocarbon emissions among the samples studied.

Keywords: Hydrocarbon emission control, adsorbents, zeolites, temperature-programmed desorption.

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