Search results for: Forward kinematics

Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles correspoding to desired cartesian space trajectory. Efficient dynamics and kinematics are modeled on Matlab which takes very less simulation time. Performances of all the tuning methods with and without disturbance are compared in terms of ITSE in joint space and ISE in cartesian space for spiral trajectory tracking. Genetic Algorithm hybridized with Generalized Pattern Search is showing best performance.

Keywords: Controller tuning, Fuzzy Control, Genetic Algorithm, Heuristic search, Robot control.

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Authors: Dong-Woo Lim, Chang-Jae Chun, Hyung-Myung Kim

Abstract:

We consider a two-way relay network where two sources exchange information. A relay helps the two sources exchange information using the decode-and-XOR-forward protocol. We investigate the power minimization problem with minimum rate constraints. The system needs two time slots and in each time slot the required rate pair should be achievable. The power consumption is minimized in each time slot and we obtained the closed form solution. The simulation results confirm that the proposed power allocation scheme consumes lower total power than the conventional schemes.

Keywords: Decode-and-XOR-forward, power minimization, two-way relay

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Authors: D. Koutny, D. Palousek, P. Stoklasek, J. Rosicky, L. Tepla, M. Prochazkova, Z. Svoboda, P. Krejci

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The article deals with biomechanics of cyclist with unilateral transtibial amputation. Transtibial amputation completely removes ankle and part of muscles of a lower leg which are responsible for production of force during pedaling and causes significant geometric and power asymmetry between the limbs during cycling movement. The primary goal of this work is to assess the effects of length adjustment of the crank on the kinematics and muscle activity of cyclist. The paper presents experimental work, which aims to find a suitable ratio of the length of kinematic components to improve overall athletic performance. The study presents the results of the kinematic analysis of the cycling movement with different crank length realized by tracking camera system together with the results of muscle activity measurements captured by electromyography and measurement of forces in the cranks by strain gauges.

Keywords: Amputation, electromyography, kinematics of cycling, leg asymmetry, motion capture, transtibial prosthesis.

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Authors: M. O. Ale, S. I. Manuwa, O. J. Olukunle, T. Ewetumo

Abstract:

Five varying speeds of 1.5, 1.8, 2.1, 2.3 and 2.6 km/h were used at a constant soil depth of 100 mm to determine the effects of forward speed on the draught requirement of a semi-automatic cassava planter under pneumatic wheel and rigid wheel usage on a well-prepared sandy clay loam soil. The soil draught was electronically measured using an on-the-go soil draught measuring instrumentation system developed for the purpose of this research. The results showed an exponential relationship between forward speed and draught in which draught ranging between 24.91 and 744.44 N increased with an increase in forward speed in the rigid wheel experiment. This is contrary to the polynomial relationship observed in the pneumatic wheel experiment in which the draught varied between 96.09 and 343.53 N. It was observed in the experiments that the optimum speed of 1.5 km/h had the least values of draught in both the pneumatic wheel and rigid wheel experiments with higher values in the pneumatic experiment. It was generally noted that the rigid wheel planter with the less value of draught requires less energy requirement for operation. It is therefore concluded that operating the semi-automatic cassava planter with rigid wheels will be more economical for cassava farmers than operating the planter with pneumatic wheels.

Keywords: Cassava planter, planting, forward speed, draught, wheel type.

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Authors: Bao Jinsong, Hu Xiaofeng, Wang Wei, Yu Dili, Jin Ye

Abstract:

The paper researched and presented a virtual simulation system based on a full-digital lunar terrain, integrated with kinematics and dynamics module as well as autonomous navigation simulation module. The system simulation models are established. Enabling technologies such as digital lunar surface module, kinematics and dynamics simulation, Autonomous navigation are investigated. A prototype system for lunar rover locomotion simulation is developed based on these technologies. Autonomous navigation is a key echnology in lunar rover system, but rarely involved in virtual simulation system. An autonomous navigation simulation module have been integrated in this prototype system, which was proved by the simulation results that the synthetic simulation and visualizing analysis system are established in the system, and the system can provide efficient support for research on the autonomous navigation of lunar rover.

Keywords: Lunar rover, virtual simulation, autonomous navigation, full-digital lunar terrain

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Authors: Siddeeq Y. Ameen, Mohammed K. Yousif

Abstract:

Cooperative communication systems are considered to be a promising technology to improve the system capacity, reliability and performances over fading wireless channels. Cooperative relaying system with a single antenna will be able to reach the advantages of multiple antenna communication systems. It is ideally suitable for the distributed communication systems; the relays can cooperate and form virtual MIMO systems. Thus the paper will aim to investigate the possible enhancement of cooperated system using decode and forward protocol. On the decode and forward an attempt to cancel or at least reduce the interference instead of increasing the SNR values is achieved. The latter can be achieved via the use group of relays depending on the channel status from source to relay and relay to destination respectively.

In the proposed system, the transmission time has been divided into two phases to be used by the decode and forward protocol. The first phase has been allocated for the source to transmit its data whereas the relays and destination nodes are in receiving mode. On the other hand, the second phase is allocated for the first and second groups of relay nodes to relay the data to the destination node. Simulations results have shown an improvement in performance is achieved compared to the conventional decode and forward in terms of BER and transmission rate.

Keywords: Cooperative systems, decode and forward, interference cancellation, virtual MIMO.

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Authors: Hai-bo Lu, Wei-qiang Liu

Abstract:

A numerical study on the influence of forward-facing cavity length upon forward-facing cavity and opposing jet combined thermal protection system (TPS) cooling efficiency under hypersonic flow is conducted, by means of which the flow field parameters, heat flux distribution along the outer body surface are obtained. The numerical simulation results are validated by experiments and the cooling effect of the combined TPS with different cavity length is analyzed. The numerical results show that the combined configuration dose well in cooling the nose of the hypersonic vehicle. The deeper the cavity is, the weaker the heat flux is. The recirculation region plays a key role for the reduction of the aerodynamic heating.

Keywords: Thermal protection, hypersonic vehicle, aerodynamic heating, forward-facing cavity, opposing jet

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Authors: R. Usubamatov

Abstract:

The velocity of a moving point in a general path is the vector quantity, which has both magnitude and direction. The magnitude or the direction of the velocity vector can change over time as a result of acceleration that the time rate of velocity changes. Acceleration analysis is important because inertial forces and inertial torques are proportional to rectilinear and angular accelerations accordingly. The loads must be determined in advance to ensure that a machine is adequately designed to handle these dynamic loads. For planar motion, the vector direction of acceleration is commonly separated into two elements: tangential and centripetal or radial components of a point on a rotating body. All textbooks in physics, kinematics and dynamics of machinery consider the magnitude of a radial acceleration at condition when a point rotates with a constant angular velocity and it means without acceleration. The magnitude of the tangential acceleration considered on a basis of acceleration for a rotating point. Such condition of presentation of magnitudes for two components of acceleration logically and mathematically is not correct and may cause further confusion in calculation. This paper presents new analytical expressions of the radial and absolute accelerations of a rotating point with acceleration and covers the gap in theoretical study of acceleration analysis.

Keywords: acceleration analysis, kinematics of mechanisms.

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Authors: Tuqa Abdulrazzaq, Hussein Togun, M. K. A. Ariffin, S. N. Kazi, A. Badarudin, N. M Adam, S. Masuri

Abstract:

Numerical study of heat transfer and fluid flow over vertical double forward facing step were presented. The k-w model with finite volume method was employed to solve continuity, momentum, and energy equations. Different step heights were adopted for range of Reynolds number varied from 10000 to 40000, and range of temperature varied from 310K to 340 K. The straight side of duct is insulated while the side of double forward facing step is heated. The result shows augmentation of heat transfer due to the recirculation region created after and before steps. Effect of step length and Reynolds number observed on increase of local Nusselt number particularly at recirculation regions. Contour of streamline velocity is plotted to show recirculation regions after and before steps. Numerical simulation in this paper done by used ANSYS FLUENT 14.

Keywords: Turbulent flow, Double forward, Heat transfer, Separation flow.

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Authors: Ruiheng Li, Amir Parsa Anvar, Amir M. Anvar, Tien-Fu Lu

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High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work

Keywords: Manipulator System, Robot, AUV, Denavit- Hartenberg method Lagrange theorem, MALTAB, ADAMS, Direct and Inverse Kinematics, Dynamics, PD Control-law, Interlink Force Sensing ResistorTM, intelligent artificial skin system.

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Authors: M. N. Abu Seman, L. M. Kei, M. A. Yusoff

Abstract:

Forward Osmosis (FO) polyamide thin-film composite membranes have been prepared by interfacial polymerization using commercial UF polyethersulfoneas membrane support. Different interfacial polymerization times (10s, 30s and 60s) in the organic solution containing trimesoyl chloride (TMC) at constant m-phenylenediamine (MPD) concentration (2% w/v) were studied. The synthesized polyamide membranes then tested for treatment of natural organic matter (NOM) and compared to commercial Cellulose TriAcetate (CTA) membrane. It was found that membrane prepared with higher reaction time (30s and 60s) exhibited better membrane performance (flux and humic acid removal) over commercial CTA membrane.

Keywords: Cellulose Triacetate, Forward Osmosis, Humic Acid, Polyamide.

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Authors: Yatnanta Padma Devia, Tsuyoshi Imai, Takaya Higuchi, Ariyo Kanno, Koichi Yamamoto, Masahiko Sekine

Abstract:

Advanced treatments such as forward osmosis (FO) can be used to separate or reject nutrients from secondary treated effluents. Forward osmosis uses the chemical potential across the membrane, which is the osmotic pressure gradient, to induce water to flow through the membrane from a feed solution (FS) into a draw solution (DS). The performance of FO is affected by the membrane characteristics, composition of the FS and DS, and operating conditions. The aim of this study was to investigate the optimum velocity and temperature for nutrient rejection and water flux performance in FO treatments. MgCl2 was used as the DS in the FO process. The results showed that higher cross flow velocities yielded higher water fluxes. High rejection of nutrients was achieved by using a moderate cross flow velocity at 0.25 m/s. Nutrient rejection was insensitive to temperature variation, whereas water flux was significantly impacted by it. A temperature of 25°C was found to be good for nutrient rejection.

Keywords: Cross flow velocity, forward osmosis, magnesium chloride, temperature.

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

Robot manipulators are highly coupled nonlinear systems, therefore real system and mathematical model of dynamics used for control system design are not same. Hence, fine-tuning of controller is always needed. For better tuning fast simulation speed is desired. Since, Matlab incorporates LAPACK to increase the speed and complexity of matrix computation, dynamics, forward and inverse kinematics of PUMA 560 is modeled on Matlab/Simulink in such a way that all operations are matrix based which give very less simulation time. This paper compares PID parameter tuning using Genetic Algorithm, Simulated Annealing, Generalized Pattern Search (GPS) and Hybrid Search techniques. Controller performances for all these methods are compared in terms of joint space ITSE and cartesian space ISE for tracking circular and butterfly trajectories. Disturbance signal is added to check robustness of controller. GAGPS hybrid search technique is showing best results for tuning PID controller parameters in terms of ITSE and robustness.

Keywords: Controller Tuning, Genetic Algorithm, Pattern Search, Robotic Controller, Simulated Annealing.

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Authors: Yuan-Jye Tseng, Yi-Shiuan Chen

Abstract:

In this paper, a new concept of closed-loop design for a product is presented. The closed-loop design model is developed by integrating forward design and reverse design. Based on this new concept, a closed-loop design model for sustainable manufacturing by integrated evaluation of forward design, reverse design, and green manufacturing using a fuzzy analytic network process is developed. In the design stage of a product, with a given product requirement and objective, there can be different ways to design the detailed components and specifications. Therefore, there can be different design cases to achieve the same product requirement and objective. Subsequently, in the design evaluation stage, it is required to analyze and evaluate the different design cases. The purpose of this research is to develop a model for evaluating the design cases by integrated evaluating the criteria in forward design, reverse design, and green manufacturing. A fuzzy analytic network process method is presented for integrated evaluation of the criteria in the three models. The comparison matrices for evaluating the criteria in the three groups are established. The total relational values among the three groups represent the total relational effects. In applications, a super matrix model is created and the total relational values can be used to evaluate the design cases for decision-making to select the final design case. An example product is demonstrated in this presentation. It shows that the model is useful for integrated evaluation of forward design, reverse design, and green manufacturing to achieve a closed-loop design for sustainable manufacturing objective.

Keywords: Design evaluation, forward design, reverse design, closed-loop design, supply chain management, closed-loop supply chain, fuzzy analytic network process.

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Authors: S. Hirokawa, M. Fukunaga, M. Mawatari

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Knee joint forces are available by in vivo measurement using an instrumented knee prosthesis for small to moderate knee flexion but not for high flexion yet. We created a 2D mathematical model of the lower limb incorporating several new features such as a patello-femoral mechanism, a thigh-calf contact at high knee flexion and co-contracting muscles' force ratio, then used it to determine knee joint forces arising from high knee flexions in four kneeling conditions: rising with legs in parallel, with one foot forward, with or without arm use. With arms used, the maximum values of knee joint force decreased to about 60% of those with arms not used. When rising with one foot forward, if arms are not used, the forward leg sustains a force as large as that sustained when rising with legs parallel.

Keywords: Knee joint force, kneeling, mathematical model, biomechanics.

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Authors: Suresh Alapati, Sreehari Rao Patri, K. S. R. Krishna Prasad

Abstract:

Anultra-low power capacitor less low-dropout voltage regulator with improved transient response using gain enhanced feed forward path compensation is presented in this paper. It is based on a cascade of a voltage amplifier and a transconductor stage in the feed forward path with regular error amplifier to form a composite gainenhanced feed forward stage. It broadens the gain bandwidth and thus improves the transient response without substantial increase in power consumption. The proposed LDO, designed for a maximum output current of 100 mA in UMC 180 nm, requires a quiescent current of 69 )A. An undershot of 153.79mV for a load current changes from 0mA to 100mA and an overshoot of 196.24mV for current change of 100mA to 0mA. The settling time is approximately 1.1 )s for the output voltage undershooting case. The load regulation is of 2.77 )V/mA at load current of 100mA. Reference voltage is generated by using an accurate band gap reference circuit of 0.8V.The costly features of SOC such as total chip area and power consumption is drastically reduced by the use of only a total compensation capacitance of 6pF while consuming power consumption of 0.096 mW.

Keywords: Capacitor-less LDO, frequency compensation, Transient response, latch, self-biased differential amplifier.

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Authors: Inam Shamsher, Zaheer Ahmad, Jehanzeb Khan Orakzai, Awais Adnan

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This paper deals with an Optical Character Recognition system for printed Urdu, a popular Pakistani/Indian script and is the third largest understandable language in the world, especially in the subcontinent but fewer efforts are made to make it understandable to computers. Lot of work has been done in the field of literature and Islamic studies in Urdu, which has to be computerized. In the proposed system individual characters are recognized using our own proposed method/ algorithms. The feature detection methods are simple and robust. Supervised learning is used to train the feed forward neural network. A prototype of the system has been tested on printed Urdu characters and currently achieves 98.3% character level accuracy on average .Although the system is script/ language independent but we have designed it for Urdu characters only.

Keywords: Algorithm, Feed Forward Neural Networks, Supervised learning, Pattern Matching.

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Authors: Mohamed Hamdaoui, Jean-Baptiste Mouret, Stephane Doncieux, Pierre Sagaut

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The aim of this work is to present a multi-objective optimization method to find maximum efficiency kinematics for a flapping wing unmanned aerial vehicle. We restrained our study to rectangular wings with the same profile along the span and to harmonic dihedral motion. It is assumed that the birdlike aerial vehicle (whose span and surface area were fixed respectively to 1m and 0.15m2) is in horizontal mechanically balanced motion at fixed speed. We used two flight physics models to describe the vehicle aerodynamic performances, namely DeLaurier-s model, which has been used in many studies dealing with flapping wings, and the model proposed by Dae-Kwan et al. Then, a constrained multi-objective optimization of the propulsive efficiency is performed using a recent evolutionary multi-objective algorithm called є-MOEA. Firstly, we show that feasible solutions (i.e. solutions that fulfil the imposed constraints) can be obtained using Dae-Kwan et al.-s model. Secondly, we highlight that a single objective optimization approach (weighted sum method for example) can also give optimal solutions as good as the multi-objective one which nevertheless offers the advantage of directly generating the set of the best trade-offs. Finally, we show that the DeLaurier-s model does not yield feasible solutions.

Keywords: Flight physics, evolutionary algorithm, optimization, Pareto surface.

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Authors: Ahmed Abdolkhalig

Abstract:

This paper examines many mathematical methods for molding the hourly price forward curve (HPFC); the model will be constructed by numerous regression methods, like polynomial regression, radial basic function neural networks & a furrier series. Examination the models goodness of fit will be done by means of statistical & graphical tools. The criteria for choosing the model will depend on minimize the Root Mean Squared Error (RMSE), using the correlation analysis approach for the regression analysis the optimal model will be distinct, which are robust against model misspecification. Learning & supervision technique employed to determine the form of the optimal parameters corresponding to each measure of overall loss. By using all the numerical methods that mentioned previously; the explicit expressions for the optimal model derived and the optimal designs will be implemented.

Keywords: Forward curve, furrier series, regression, radial basic function neural networks.

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Authors: Han-wool Lee, Chin-suk Hong, Weui-bong Jung

Abstract:

In this study, noise characteristics of structure were analyzed in an effort to reduce noise passing through an opening of an enclosure surrounding the structure that generates noise. Enclosures are essential measure to protect noise propagation from operating machinery. Access openings of the enclosures are important path of noise leakage. First, noise characteristics of structure were analyzed and feed-forward noise control was performed using simulation in order to reduce noise passing through the opening of enclosure, which surrounds a structure generating noise. We then implemented a feed-forward controller to actively control the acoustic power through the opening. Finally, we conducted optimization of placement of the reference sensors for several cases of the number of sensors. Good control performances were achieved using the minimum number of microphones arranged an optimal placement.

Keywords: Active Noise Control, Feed-forward Control, Noise Attenuation, Position Optimization.

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Authors: Byounghyun Kim, Youngjoon Han, Hernsoo Hahn

Abstract:

The purpose of this study is to find natural gait of biped robot such as human being by analyzing the COG (Center Of Gravity) trajectory of human being's gait. It is discovered that human beings gait naturally maintain the stability and use the minimum energy. This paper intends to find the natural gait pattern of biped robot using the minimum energy as well as maintaining the stability by analyzing the human's gait pattern that is measured from gait image on the sagittal plane and COG trajectory on the frontal plane. It is not possible to apply the torques of human's articulation to those of biped robot's because they have different degrees of freedom. Nonetheless, human and 5-link biped robots are similar in kinematics. For this, we generate gait pattern of the 5-link biped robot by using the GA algorithm of adaptation gait pattern which utilize the human's ZMP (Zero Moment Point) and torque of all articulation that are measured from human's gait pattern. The algorithm proposed creates biped robot's fluent gait pattern as that of human being's and to minimize energy consumption because the gait pattern of the 5-link biped robot model is modeled after consideration about the torque of human's each articulation on the sagittal plane and ZMP trajectory on the frontal plane. This paper demonstrate that the algorithm proposed is superior by evaluating 2 kinds of the 5-link biped robot applied to each gait patterns generated both in the general way using inverse kinematics and in the special way in which by considering visuality and efficiency.

Keywords: 5-link biped robot, gait pattern, COG (Center OfGravity), ZMP (Zero Moment Point).

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Authors: Amon Tunwannarux, Supanunt Tunwannarux

Abstract:

This paper describes the design concepts and implementation of a 5-Joint mechanical arm for a rescue robot named CEO Mission II. The multi-joint arm is a five degree of freedom mechanical arm with a four bar linkage, which can be stretched to 125 cm. long. It is controlled by a teleoperator via the user-friendly control and monitoring GUI program. With Inverse Kinematics principle, we developed the method to control the servo angles of all arm joints to get the desired tip position. By clicking the determined tip position or dragging the tip of the mechanical arm on the computer screen to the desired target point, the robot will compute and move its multi-joint arm to the pose as seen on the GUI screen. The angles of each joint are calculated and sent to all joint servos simultaneously in order to move the mechanical arm to the desired pose at once. The operator can also use a joystick to control the movement of this mechanical arm and the locomotion of the robot. Many sensors are installed at the tip of this mechanical arm for surveillance from the high level and getting the vital signs of victims easier and faster in the urban search and rescue tasks. It works very effectively and easy to control. This mechanical arm and its software were developed as a part of the CEO Mission II Rescue Robot that won the First Runner Up award and the Best Technique award from the Thailand Rescue Robot Championship 2006. It is a low cost, simple, but functioning 5-Jiont mechanical arm which is built from scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont mechanical arm hardware concept and its software can also be used as the basic mechatronics to many real applications.

Keywords: Multi-joint, mechanical arm, inverse kinematics, rescue robot, GUI control program.

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Authors: Yuan-Jye Tseng, Yi-Shiuan Chen

Abstract:

The paper presented a sustainable design model for integrated evaluation of the design and supply chain of a product for the sustainable objectives. To design a product, there can be alternative ways to assign the detailed specifications to fulfill the same design objectives. In the design alternative cases, different material and manufacturing processes with various supply chain activities may be required for the production. Therefore, it is required to evaluate the different design cases based on the sustainable objectives. In this research, a closed-loop design model is developed by integrating the forward design model and reverse design model. From the supply chain point of view, the decisions in the forward design model are connected with the forward supply chain. The decisions in the reverse design model are connected with the reverse supply chain considering the sustainable objectives. The purpose of this research is to develop a mathematical model for analyzing the design cases by integrated evaluating the criteria in the closed-loop design and the closed-loop supply chain. The decision variables are built to represent the design cases of the forward design and reverse design. The cost parameters in a forward design include the costs of material and manufacturing processes. The cost parameters in a reverse design include the costs of recycling, disassembly, reusing, remanufacturing, and disposing. The mathematical model is formulated to minimize the total cost under the design constraints. In practical applications, the decisions of the mathematical model can be used for selecting a design case for the purpose of sustainable design of a product. An example product is demonstrated in the paper. The test result shows that the sustainable design model is useful for integrated evaluation of the design and the supply chain to achieve the sustainable objectives.

Keywords: Closed-loop design, closed-loop supply chain, design evaluation, mathematical model, supply chain management, sustainable design model.

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Authors: S. A. Mohamed, A. S. Zayed, O. A. Abolaeha

Abstract:

A new Feed-Forward/Feedback Generalized Minimum Variance Pole-placement Controller to incorporate the robustness of classical pole-placement into the flexibility of generalized minimum variance self-tuning controller for Single-Input Single-Output (SISO) has been proposed in this paper. The design, which provides the user with an adaptive mechanism, which ensures that the closed loop poles are, located at their pre-specified positions. In addition, the controller design which has a feed-forward/feedback structure overcomes the certain limitations existing in similar poleplacement control designs whilst retaining the simplicity of adaptation mechanisms used in other designs. It tracks set-point changes with the desired speed of response, penalizes excessive control action, and can be applied to non-minimum phase systems. Besides, at steady state, the controller has the ability to regulate the constant load disturbance to zero. Example simulation results using both simulated and real plant models demonstrate the effectiveness of the proposed controller.

Keywords: Pole-placement, Minimum variance control, self-tuning control and feedforward control.

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Authors: S. M. Rifat, André L. Marchildon, Mark F. Tachie

Abstract:

The effect of upstream surface roughness over a smooth forward facing step in an open channel was investigated using a particle image velocimetry technique. Three different upstream surface topographies consisting of hydraulically smooth wall, sandpaper 36 grit and sand grains were examined. Besides the wall roughness conditions, all other upstream flow characteristics were kept constant. It was also observed that upstream roughness decreased the approach velocity by 2% and 10% but increased the turbulence intensity by 14% and 35% at the wall-normal distance corresponding to the top plane of the step compared to smooth upstream. The results showed that roughness decreased the reattachment lengths by 14% and 30% compared to smooth upstream. Although the magnitudes of maximum positive and negative Reynolds shear stress in separated and reattached region were 0.02Ue for all the cases, the physical size of both the maximum and minimum contour levels were decreased by increasing upstream roughness.

Keywords: Forward facing step, open channel, separated and reattached turbulent flows, wall roughness.

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Authors: Petia Georgieva, Sebastião Feyo de Azevedo

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This paper is focused on issues of nonlinear dynamic process modeling and model-based predictive control of a fed-batch sugar crystallization process applying the concept of artificial neural networks as computational tools. The control objective is to force the operation into following optimal supersaturation trajectory. It is achieved by manipulating the feed flow rate of sugar liquor/syrup, considered as the control input. A feed forward neural network (FFNN) model of the process is first built as part of the controller structure to predict the process response over a specified (prediction) horizon. The predictions are supplied to an optimization procedure to determine the values of the control action over a specified (control) horizon that minimizes a predefined performance index. The control task is rather challenging due to the strong nonlinearity of the process dynamics and variations in the crystallization kinetics. However, the simulation results demonstrated smooth behavior of the control actions and satisfactory reference tracking.

Keywords: Feed forward neural network, process modelling, model predictive control, crystallization process.

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Authors: Jehad Al Dallal

Abstract:

Program slicing is the task of finding all statements in a program that directly or indirectly influence the value of a variable occurrence. The set of statements that can affect the value of a variable at some point in a program is called a program backward slice. In several software engineering applications, such as program debugging and measuring program cohesion and parallelism, several slices are computed at different program points. The existing algorithms for computing program slices are introduced to compute a slice at a program point. In these algorithms, the program, or the model that represents the program, is traversed completely or partially once. To compute more than one slice, the same algorithm is applied for every point of interest in the program. Thus, the same program, or program representation, is traversed several times. In this paper, an algorithm is introduced to compute all forward static slices of a computer program by traversing the program representation graph once. Therefore, the introduced algorithm is useful for software engineering applications that require computing program slices at different points of a program. The program representation graph used in this paper is called Program Dependence Graph (PDG).

Keywords: Program slicing, static slicing, forward slicing, program dependence graph (PDG).

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Authors: Shobha Sharma, Amita Dev

Abstract:

Data driven dynamic logic is the high speed dynamic circuit with low area. The clock of the dynamic circuit is removed and data drives the circuit instead of clock for precharging purpose. This data driven dynamic nand gate is given static forward substrate biasing of Vsupply/2 as well as the substrate bias is connected to the input data, resulting in dynamic substrate bias. The dynamic substrate bias gives the shortest propagation delay with a penalty on the power dissipation. Propagation delay is reduced by 77.8% compared to the normal reverse substrate bias Data driven dynamic nand. Also dynamic substrate biased D3nand’s propagation delay is reduced by 31.26% compared to data driven dynamic nand gate with static forward substrate biasing of Vdd/2. This data driven dynamic nand gate with dynamic body biasing gives us the highest speed with no area penalty and finds its applications where power penalty is acceptable. Also combination of Dynamic and static Forward body bias can be used with reduced propagation delay compared to static forward biased circuit and with comparable increase in an average power. The simulations were done on hspice simulator with 22nm High-k metal gate strained Si technology HP models of Arizona State University, USA.

Keywords: Data driven nand gate, dynamic substrate biasing, nand gate, static substrate biasing.

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Authors: Raju Bhukya, DVLN Somayajulu

Abstract:

Pattern matching is one of the fundamental applications in molecular biology. Searching DNA related data is a common activity for molecular biologists. In this paper we explore the applicability of a new pattern matching technique called Index based Forward Backward Multiple Pattern Matching algorithm(IFBMPM), for DNA Sequences. Our approach avoids unnecessary comparisons in the DNA Sequence due to this; the number of comparisons of the proposed algorithm is very less compared to other existing popular methods. The number of comparisons rapidly decreases and execution time decreases accordingly and shows better performance.

Keywords: Comparisons, DNA Sequence, Index.

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Authors: Alexandros Lioulemes, Michail Theofanidis, Varun Kanal, Konstantinos Tsiakas, Maher Abujelala, Chris Collander, William B. Townsend, Angie Boisselle, Fillia Makedon

Abstract:

This paper presents a home-based robot-rehabilitation instrument, called ”MAGNI Dynamics”, that utilized a vision-based kinematic/dynamic module and an adaptive haptic feedback controller. The system is expected to provide personalized rehabilitation by adjusting its resistive and supportive behavior according to a fuzzy intelligence controller that acts as an inference system, which correlates the user’s performance to different stiffness factors. The vision module uses the Kinect’s skeletal tracking to monitor the user’s effort in an unobtrusive and safe way, by estimating the torque that affects the user’s arm. The system’s torque estimations are justified by capturing electromyographic data from primitive hand motions (Shoulder Abduction and Shoulder Forward Flexion). Moreover, we present and analyze how the Barrett WAM generates a force-field with a haptic controller to support or challenge the users. Experiments show that by shifting the proportional value, that corresponds to different stiffness factors of the haptic path, can potentially help the user to improve his/her motor skills. Finally, potential areas for future research are discussed, that address how a rehabilitation robotic framework may include multisensing data, to improve the user’s recovery process.

Keywords: Human-robot interaction, kinect, kinematics, dynamics, haptic control, rehabilitation robotics, artificial intelligence.

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