Search results for: One degree of freedom vibration

Authors: Shin-Shin Kao, Yuan-Kang Shih, Hsun Su

Abstract:

In this paper, we show that the conjecture of Chv tal, which states that any 1-tough graph is either a Hamiltonian graph or its complement contains a specific graph denoted by F, does not hold in general. More precisely, it is true only for graphs with six or seven vertices, and is false for graphs with eight or more vertices. A theorem is derived as a correction for the conjecture.

Keywords: Complement, degree sum, Hamiltonian, tough.

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Authors: Ayşe Dilek Maden

Abstract:

For a given a simple connected graph, we present some new bounds via a new approach for a special topological index given by the sum of the real number power of the non-zero normalized Laplacian eigenvalues. To use this approach presents an advantage not only to derive old and new bounds on this topic but also gives an idea how some previous results in similar area can be developed.

Keywords: Degree Kirchhoff index, normalized Laplacian eigenvalue, spanning tree.

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Authors: S. K. Fasogbon

Abstract:

Chaotic system may lead to instability, extreme sensitivity and performance reduction in control systems. It is therefore important to understand the causes of such undesirable characteristics in control system especially in the automobile fuel gauges. This is because without accurate fuel gauges in automobile systems, it will be difficult if not impossible to embark on a journey whether during odd hours of the day or where fuel is difficult to obtain. To this end, this work studied the impacts of fuel tank rust and faulty component of fuel gauge system (voltage stabilizer) on the chaotic characteristics of fuel gauges. The results obtained were analyzed using Graph iSOFT package. Over the range of experiments conducted, the results obtained showed that rust effect of the fuel tank would alter the flow density, consequently the fluid pressure and ultimately the flow velocity of the fuel. The responses of the fuel gauge pointer to the faulty voltage stabilizer were erratic causing noticeable instability of gauge measurands indicated. The experiment also showed that the fuel gauge performed optimally by indicating the highest degree of accuracy when combined the effect of rust free tank and non-faulty voltage stabilizer conditions (± 6.75% measurand error) as compared to only the rust free tank situation (± 15% measurand error) and only the non-faulty voltage stabilizer condition (± 40% measurand error). The study concludes that both the fuel tank rust and the faulty voltage stabilizer gauge component have a significant effect on the sensitivity of fuel gauge and its accuracy ultimately. Also, by the reason of literature, our findings can also be said to be valid for all other fluid meters and gauges applicable in plant machineries and most hydraulic systems.

Keywords: Chaotic system, degree of accuracy, measurand, sensitivity of fuel gauge.

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Authors: J. G. Batista, L. J. de Bessa Neto, M. A. F. B. Lima, J. R. Leite, J. I. de Andrade Nunes

Abstract:

The robot manipulator is an equipment that stands out for two reasons: Firstly because of its characteristics of movement and reprogramming, resembling the arm; secondly, by adding several areas of knowledge of science and engineering. The present work shows the development of the prototype of a robotic manipulator driven by a Programmable Logic Controller (PLC), having two degrees of freedom, which allows the movement and displacement of mechanical parts, tools, and objects in general of small size, through an electronic system. The aim is to study direct and inverse kinematics of the robotic manipulator to describe the translation and rotation between two adjacent links of the robot through the Denavit-Hartenberg parameters. Currently, due to the many resources that microcomputer systems offer us, robotics is going through a period of continuous growth that will allow, in a short time, the development of intelligent robots with the capacity to perform operations that require flexibility, speed and precision.

Keywords: Direct and inverse kinematics, Denavit-Hartenberg, microcontrollers, robotic manipulator.

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Authors: R. Alageswaran, S. Selvakumar, P. Neelamegam

Abstract:

Wireless Sensor Networks (WSN) are emerging because of the developments in wireless communication technology and miniaturization of the hardware. WSN consists of a large number of low-cost, low-power, multifunctional sensor nodes to monitor physical conditions, such as temperature, sound, vibration, pressure, motion, etc. The MAC protocol to be used in the sensor networks must be energy efficient and this should aim at conserving the energy during its operation. In this paper, with the focus of analyzing the MAC protocols used in wireless Adhoc networks to WSN, simulation experiments were conducted in Global Mobile Simulator (GloMoSim) software. Number of packets sent by regular nodes, and received by sink node in different deployment strategies, total energy spent, and the network life time have been chosen as the metric for comparison. From the results of simulation, it is evident that the IEEE 802.11 protocol performs better compared to CSMA and MACA protocols.

Keywords: CSMA, DCF, MACA, TelosB

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Authors: Quy Dang Nguyen, Reza Nakhaie Jazar

Abstract:

The paper investigates vibration dynamics of tire-road separation for a quarter-car model; this separation model is developed to be close to the real situation considering the tire is able to separate from the ground plane. A set of piecewise linear mathematical models is developed and matches the in-contact and no-contact states to be considered as mother models for further investigations. The bound dynamics are numerically simulated in the time response and phase portraits. The separation analysis may determine which values of suspension parameters can delay and avoid the no-contact phenomenon, which results in improving ride comfort and eliminating the potentially dangerous oscillation. Finally, model verification is carried out in the MSC-ADAMS environment.

Keywords: Quarter-car vibrations, tire-road separation, separation analysis, separation dynamics, ride comfort, ADAMS validation.

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Authors: Sizhong Zhou, Bingyuan Pu

Abstract:

Let G be a graph of order n, and let a, b and m be positive integers with 1 ≤ a<b. An [a, b]-factor of G is defined as a spanning subgraph F of G such that a ≤ dF (x) ≤ b for each x ∈ V (G). In this paper, it is proved that if n ≥ (a+b−1+√(a+b+1)m−2)2−1 b and δ(G) > n + a + b − 2 √bn+ 1, then for any subgraph H of G with m edges, G has an [a, b]-factor F such that E(H)∩ E(F) = ∅. This result is an extension of thatof Egawa [2].

Keywords: graph, minimum degree, [a, b]-factor.

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Authors: Shinji Oouchi, Hajime Nomura, Kung-Da Wu, Yong-Run Chen, Jui-Pin Hung

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This paper presents the variation of the dynamic characteristics of a spindle with the change of bearing preload. The correlations between the variation of bearing preload and fundamental modal parameters were first examined by conducting vibration tests on physical spindle units. Experimental measurements show that the dynamic compliance and damping ratio associated with the dominating modes were affected to vary with variation of the bearing preload. When the bearing preload was slightly deviated from a standard value, the modal frequency and damping ability also vary to different extent, which further enable the spindle to perform with different compliance. For the spindle used in this study, a standard preload value set on bearings would enable the spindle to behave a higher stiffness as compared with others with a preload variation. This characteristic can be served as a reference to examine the variation of bearing preload of spindle in assemblage or operation.

Keywords: Dynamic compliance, Bearing preload, Modal damping.

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Authors: Nazira Kakulia, Tsotne Zhghenti

Abstract:

The institutional development is one of the actual topics in economics science. New trends and directions of institutional development mostly depend on its structure and framework. Transformation of institutions is an important problem for every economy, especially for developing countries. The first research goal is to determine the importance and interactions between different institutions in Georgia. Using World Governance Indicators and Economic Freedom indexes it can be calculated the size for each institutional group. The second aim of this research is to evaluate Georgian institutional backwardness in comparison to other post-communist economies. We use statistical and econometric methods to evaluate the difference between the levels of institutional development in Georgia and in leading post-communist economies. Within the scope of this research, major findings are coefficients which are an assessment of their deviation (i.e. lag) of institutional indicators between Georgia and leading post-communist country which should be compared. The last part of the article includes analysis around the selected coefficients.

Keywords: Post-communist transition, institutions, economic growth, institutional development.

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Authors: M. N. N. Hisyamudin, S. Yokoyama, M. Umemoto

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In this study, an experimental investigation was carried out to fix CO2 into the electronic arc furnace (EAF) reducing slag from stainless steelmaking process under wet grinding. The slag was ground by the vibrating ball mill with the CO2 and pure water. The reaction behavior was monitored with constant pressure method, and the change of CO2 volume in the experimental system with grinding time was measured. It was found that the CO2 absorption occurred as soon as the grinding started. The CO2 absorption under wet grinding was significantly larger than that under dry grinding. Generally, the amount of CO2 absorption increased as the amount of water, the amount of slag, the diameter of alumina ball and the initial pressure of CO2 increased. However, the initial absorption rate was scarcely influenced by the experimental conditions except for the initial CO2 pressure. According to this research, the CO2 reacted with the CaO inside the slag to form CaCO3.

Keywords: CO2 absorption, EAF reducing slag, vibration ball mill, wet grinding.

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Authors: Pakawhat Khumkhreung, Yottana Khunatorn

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The flow pattern inside rectangular intake air duct of 300 MW lignite coal-fired power plant is investigated in order to analyze and reduce overall inlet system pressure drop. The system consists of the 45-degree inlet elbow, the flow instrument, the 90-degree mitered elbow and fans, respectively. The energy loss in each section can be determined by Bernoulli’s equation and ASHRAE standard table. Hence, computational fluid dynamics (CFD) is used in this study based on Navier-Stroke equation and the standard k-epsilon turbulence modeling. Input boundary condition is 175 kg/s mass flow rate inside the 11-m² cross sectional duct. According to the inlet air flow rate, the Reynolds number of airstream is 2.7x10⁶ (based on the hydraulic duct diameter), thus the flow behavior is turbulence. The numerical results are validated with the real operation data. It is found that the numerical result agrees well with the operating data, and dominant loss occurs at the flow rate measurement device. Normally, the air flow rate is measured by the airfoil and it gets high pressure drop inside the duct. To overcome this problem, the airfoil is planned to be replaced with the other type measuring instrument, such as the average pitot tube which generates low pressure drop of airstream. The numerical result in case of average pitot tube shows that the pressure drop inside the inlet airstream duct is decreased significantly. It should be noted that the energy consumption of inlet air system is reduced too.

Keywords: Airfoil, average pitot tube, combustion air, CFD, pressure drop, rectangular duct.

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Authors: Nina Robson, Kenneth John Faller II, Vishalkumar Ahir, Mustafa Mhawesh, Reza Langari

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This paper describes the development of a model of an impaired human arm performing a reaching motion, which will be used to predict hand path trajectories for people with reduced arm joint mobility. Assuming that the arm was in contact with a surface during the entire movement, the contact conditions at the initial and final task locations were determined and used to generate the entire trajectory. The model was validated by comparing it to experimental data, which simulated an arm joint impairment by physically constraining the joint motion with a brace. Future research will include using the model in the development of physical training protocols that avoid early recruitment of “healthy” Degrees-Of-Freedom (DOF) for reaching motions, thus facilitating an Active Range-Of-Motion Recovery (AROM) for a particular impaired joint.

Keywords: Higher order kinematic specifications, human motor coordination, impaired movement, kinematic synthesis.

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Authors: Zhaksyntay K. Kairbekov, Zhannur K. Myltykbaeva, Nazym T. Smagulova, Dariya K. Kanseitova

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In this paper we studied sono catalytic oxidative desulfurization of oil and diesel fraction from “Zhanazhol” oil deposits. We have established that the combined effect of the ultrasonic field and oxidant (ozone-air mixture) in the presence of the catalyst on the oil is potentially very effective method of desulfurization of oil and oil products. This method allows increasing the degree of desulfurization of oil by 62%.

Keywords: Desulfurization, diesel, oil, oil products, sonication.

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Authors: Jin-Ho Bae, Yong-Tae Kim, S K Deb Nath, Seo-Ik Kang, Sung-Gaun Kim

Abstract:

Reno-pin contact test is a method that is controlled by DC motor used to characterize electronic chips. This method is used in electronic and telecommunication devices. A new electric performance testing system is developed in which the testing method is controlled by using Piezoelectric Transducer (PZT) instead of DC motor which reduces vibration and noise. The vertical displacement of the Reno-pin is very short in the Reno-pin contact testing system. Now using a flexible guide in the new Reno-pin contact system, the vertical movement of the Reno-pin is increased many times of the existing Reno-pin contact testing method using DC motor. Using the present electric performance testing system with a flexible hinge and PZT instead of DC motor, manufacturing of electronic chips are able to characterize chips with low cost and high speed.

Keywords: PZT Actuator, Chip test, Mechanical amplifier

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Authors: Ahmad Salehi

Abstract:

An acyclic coloring of a graph G is a coloring of its vertices such that:(i) no two neighbors in G are assigned the same color and (ii) no bicolored cycle can exist in G. The acyclic chromatic number of G is the least number of colors necessary to acyclically color G. Recently it has been proved that any graph of maximum degree 5 has an acyclic chromatic number at most 8. In this paper we present another proof for this result.

Keywords: Acyclic Coloring, Vertex coloring.

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Authors: Jui-Pin Hung, Qiao-Wen Chang, Kung-Da Wu, Yong-Run Chen

Abstract:

This study was aimed to investigate the machining stability of a spindle tool with different preloaded amount. To this end, the vibration tests were conducted on the spindle unit with different preload to assess the dynamic characteristics and machining stability of the milling machine. Current results demonstrate that the tool tip frequency response characteristics and the machining stabilities in X and Y direction are affected to change due to the different preload of spindle bearings. As found from the results, a high preloaded spindle tool shows higher limited cutting depth at mid position, while a spindle with low preload shows a higher limited depth. This indicates that the machining stability of a milling machine is affected to vary by the spindle unit when it was assembled with different bearing preload.

Keywords: Dynamic compliance, Bearing preload, Machining stability.

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Authors: Waleed Maqableh, Ahmad Al-Hamad, Manjit Sidhu

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Augmented reality (AR) technology has the capability to provide many benefits in the field of education as a modern technology which aided learning and improved the learning experience. This paper evaluates AR based application with multiple markers interaction technique (touch-to-print) which is designed for analyzing the kinematics of 4BL mechanism in mechanical engineering. The application is termed as AR-4BL-MAST and it allows the users to touch the symbols on a paper in natural way of interaction. The evaluation of this application was performed with mechanical engineering students and human–computer interaction (HCI) experts to test its effectiveness as a tangible user interface application where the statistical results show its ability as an interaction technique, and it gives the users more freedom in interaction with the virtual mechanical objects.

Keywords: Augmented reality, engineering, four-bar linkage, Multimedia, user interface, visualization.

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Authors: Méryl Brothier, Dominique Moulinier, Christophe Bertaux

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The gel-supported precipitation (GSP) process can be used to make spherical particles (spherules) of nuclear fuel, particularly for very high temperature reactors (VHTR) and even for implementing the process called SPHEREPAC. In these different cases, the main characteristics are the sphericity of the particles to be manufactured and the control over their grain size. Nonetheless, depending on the specifications defined for these spherical particles, the GSP process has intrinsic limits, particularly when fabricating very small particles. This paper describes the use of secondary fragmentation (water, water/PVA and uranyl nitrate) on solid surfaces under varying temperature and vibration conditions to assess the relevance of using this new technique to manufacture very small spherical particles by means of a modified GSP process. The fragmentation mechanisms are monitored and analysed, before the trends for its subsequent optimised application are described.

Keywords: Microsphere elaboration, nuclear fuel, droplet impact , gel-supported precipitation process.

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Authors: Hamed Ahmadi Moghadam, Omolbanin Arasteh Khoshbin

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Nowadays, the performance required for concrete structures is more complicated and diversified. Self-compacting concrete is a fluid mixture suitable for placing in structures with congested reinforcement without vibration. Self-compacting concrete development must ensure a good balance between deformability and stability. Also, compatibility is affected by the characteristics of materials and the mix proportions; it becomes necessary to evolve a procedure for mix design of SCC. This paper presents an experimental procedure for the design of self-compacting concrete mixes with different water-cement ratios (w/c) and other constant ratios by local materials. The test results for acceptance characteristics of self-compacting concrete such as slump flow, V-funnel and L-Box are presented. Further, compressive strength, tensile strength and modulus of elasticity of specimens were also determined and results are included here

Keywords: Self-Compacting Concrete, Mix Design, Compressive Strength, Tensile Strength, Modulus of Elasticity

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Authors: Siti Waringin Oon, Rashidah Shuib, Siti Hawa Ali, Nik Hazlina Nik Hussain, Juwita Shaaban, Harmy Mohd Yusoff

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This paper explores the knowledge and attitude of women and men in decision making on pap smear screening. This qualitative study recruited 52 respondents with 44 women and 8 men, using the purposive sampling with snowballing technique through indepth interviews. This study demonstrates several key findings: Female respondents have better knowledge compared to male. Most of the women perceived that pap smear screening is beneficial and important, but to proceed with the test is still doubtful. Male respondents were supportive in terms of sending their spouses to the health facilities or give more freedom to their wives to choose and making decision on their own health due to prominent reason that women know best on their own health. It is expected that the results from this study will provide useful guideline for healthcare providers to prepare any action/intervention to provide an extensive education to improve people-s knowledge and attitude towards pap smear.

Keywords: Attitude, decision making, knowledge, pap smearscreening..

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Authors: Veronika Kántor-Forgách

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To comply with the international human right legislation concerning the freedom of movement, transport systems are required to be made accessible in order that all citizens, regardless of their physical condition, have equal possibilities to use them. In Hungary, apparently there is a considerable default in the improvement of accessible public transport. This study is aiming to overview the current Hungarian situation and to reveal the reasons of the deficiency. The result shows that in spite of the relatively favourable juridical background linked to the accessibility needs and to the rights of persons with disabilities there is a strong delay in putting all in practice in the field of public transport. Its main reason is the lack of financial resource and referring to this the lack of creating mandatory regulations. In addition to this the proprietary rights related to public transport are also variable, which also limits the improvement possibilities. Consequently, first of all an accurate and detailed regulatory procedure is expected to change the present unfavourable situation and to create the conditions of the fast realization, which is already behind time.

Keywords: accessibility, legislation, people with reducedmobility, public transport.

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Authors: Surender Kumar Soni

Abstract:

Wireless Sensor Networks (WSNs) are wireless networks consisting of number of tiny, low cost and low power sensor nodes to monitor various physical phenomena like temperature, pressure, vibration, landslide detection, presence of any object, etc. The major limitation in these networks is the use of nonrechargeable battery having limited power supply. The main cause of energy consumption WSN is communication subsystem. This paper presents an efficient grid formation/clustering strategy known as Grid based level Clustering and Aggregation of Data (GCAD). The proposed clustering strategy is simple and scalable that uses low duty cycle approach to keep non-CH nodes into sleep mode thus reducing energy consumption. Simulation results demonstrate that our proposed GCAD protocol performs better in various performance metrics.

Keywords: Ad hoc network, Cluster, Grid base clustering, Wireless sensor network.

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Authors: M.Hosseinjani Zamenjani, A.R.Tahmasebi Birgani, M.R.Isvandzibaei

Abstract:

Vibration of thin cylindrical shells made of a functionally gradient material composed of stainless steel and nickel is presented. The effects of the FGM configuration are studied by studying the frequencies of FG cylindrical shells. In this case FG cylindrical shell has Nickel on its outer surface and stainless steel on its inner surface. The study is carried out based on third order shear deformation shell theory. The objective is to study the natural frequencies, the influence of constituent volume fractions and the effects of configurations of the constituent materials on the frequencies. The properties are graded in the thickness direction according to the volume fraction power-law distribution. Results are presented on the frequency characteristics, the influence of the constituent various volume fractions on the frequencies.

Keywords: Nickel, Stainless Steel, Cylindrical shell.

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Authors: Abdur Rosyid, Mohamed El-Madany, Mohanad Alata

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Due to simplicity and low cost, rotordynamic system is often modeled by using lumped parameters. Recently, finite elements have been used to model rotordynamic system as it offers higher accuracy. However, it involves high degrees of freedom. In some applications such as control design, this requires higher cost. For this reason, various model reduction methods have been proposed. This work demonstrates the quality of model reduction of rotor-bearing-support system through substructuring. The quality of the model reduction is evaluated by comparing some first natural frequencies, modal damping ratio, critical speeds, and response of both the full system and the reduced system. The simulation shows that the substructuring is proven adequate to reduce finite element rotor model in the frequency range of interest as long as the number and the location of master nodes are determined appropriately. However, the reduction is less accurate in an unstable or nearly-unstable system.

Keywords: Finite element model, rotordynamic system, model reduction, substructuring.

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Authors: M. Benachour, N. Benachour, M. Benguediab, A. Hadjoui

Abstract:

The knowledge of the nature of loading is very important in order to hold account on the total behavior such as vibration, shock, fatigue, etc. Fatigue present 90% of failure when loadings fatigues are very complex. In this paper a study of double through crack at hole for plate subjected to fatigue loading is presented. Various modes loading are studied where the applied load is the same one. The fatigue life is given where the effect of stress ratio is highlighted. This work is conducted on aluminum alloy 2024 T351 used for much aerospace and aeronautics applications. The fatigue crack growth behavior with constant amplitude is studied using the AFGROW code when Forman model is applied. The fatigue crack growth rate and fatigue life for different loading modes are compared with variation of others geometrical parameter such as thickness and dimensions of notch hole.

Keywords: Fatigue crack, mode loading, aluminum alloy

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Authors: Yoshitaka Fujiwara, Jun-ichirou Fukushima, Yasunari Maeda

Abstract:

Keys to high-quality face-to-face education are ensuring flexibility in the way lectures are given, and providing care and responsiveness to learners. This paper describes a face-to-face education support system that is designed to raise the satisfaction of learners and reduce the workload on instructors. This system consists of a lecture adaptation assistance part, which assists instructors in adapting teaching content and strategy, and a Q&A assistance part, which provides learners with answers to their questions. The core component of the former part is a “learning achievement map", which is composed of a Bayesian network (BN). From learners- performance in exercises on relevant past lectures, the lecture adaptation assistance part obtains information required to adapt appropriately the presentation of the next lecture. The core component of the Q&A assistance part is a case base, which accumulates cases consisting of questions expected from learners and answers to them. The Q&A assistance part is a case-based search system equipped with a search index which performs probabilistic inference. A prototype face-to-face education support system has been built, which is intended for the teaching of Java programming, and this approach was evaluated using this system. The expected degree of understanding of each learner for a future lecture was derived from his or her performance in exercises on past lectures, and this expected degree of understanding was used to select one of three adaptation levels. A model for determining the adaptation level most suitable for the individual learner has been identified. An experimental case base was built to examine the search performance of the Q&A assistance part, and it was found that the rate of successfully finding an appropriate case was 56%.

Keywords: Bayesian network, face-to-face education, lecture adaptation, Q&A assistance.

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Authors: Faruk Fırat Çalım, Nurullah Karaca, Hakan Tacettin Türker

Abstract:

In this study, out-of-plane free vibrations of a circular rods is investigated theoretically. The governing equations for naturally twisted and curved spatial rods are obtained using Timoshenko beam theory and rewritten for circular rods. Effects of the axial and shear deformations are considered in the formulations. Ordinary differential equations in scalar form are solved analytically by using transfer matrix method. The circular rods of the mass matrix are obtained by using straight rod of consistent mass matrix. Free vibrations frequencies obtained by solving eigenvalue problem. A computer program coded in MATHEMATICA language is prepared. Circular beams are analyzed through various examples for free vibrations analysis. Results are compared with ANSYS results based on finite element method and available in the literature.

Keywords: Circular rod, Out-of-plane free vibration analysis, Transfer Matrix Method.

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Authors: Matta S. N. S. Kiran, Manikantadhar Maheswaram, Akshat Upadhyay, Rohit Mishra, Bhagat Singh

Abstract:

A bearing is a very common and useful component of mechanical systems in order to transfer power from one end to another. Therefore, to ensure the accountability and robustness of the rotating mechanical systems, the bearing part's health condition must be checked at regular intervals, also known as preventive maintenance. This condition may lead to unnecessary higher maintenance costs and later result in higher production costs. These costs can be minimized by diagnosing the faulty bearing in its incipient stage. This paper describes an approach to detect rolling bearing defects based on Empirical Mode Decomposition. The novelty of the proposed methodology is validated experimentally using Case Western Reserve University bearing's data sets. The selected data sets comprise the two vibration signals, i.e., inner race and outer, for healthy and faulty conditions.

Keywords: Ball bearing, denoising, signal processing, statistical indicators.

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Authors: A.F. Haroun, S.M. Megahed

Abstract:

Clearance in the joints of multibody mechanical systems such as linkage mechanisms and robots is a main source of vibration, and noise of the whole system, and wear of the joints themselves. This clearance is an inevitable matter and cannot be eliminated, since it allows the relative motion between joint components and make them assemblage. This paper presents an experimental verification of the obtained simulation results of a slider – crank mechanism of one clearance revolute joint. The simulation results are obtained with the aid of CAD and dynamic simulation softwares, which is an effective method of simulation multibody systems with clearance joints and have many advantages. The comparison between both simulation and experimental results shows that the simulation results are so close to the experimental ones which proves the accuracy and efficiency of this method of modeling and simulation of mechanical systems with clearance joints.

Keywords: CAD and dynamic simulator softwares, Clearance joints, , Experimental results, Slider – crank mechanism.

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Authors: Giovanni Incerti

Abstract:

The motion planning technique described in this paper has been developed to eliminate or reduce the residual vibrations of belt-driven rotary platforms, while maintaining unchanged the motion time and the total angular displacement of the platform. The proposed approach is based on a suitable choice of the motion command given to the servomotor that drives the mechanical device; this command is defined by some numerical coefficients which determine the shape of the displacement, velocity and acceleration profiles. Using a numerical optimization technique, these coefficients can be changed without altering the continuity conditions imposed on the displacement and its time derivatives at the initial and final time instants. The proposed technique can be easily and quickly implemented on an actual device, since it requires only a simple modification of the motion command profile mapped in the memory of the electronic motion controller.

Keywords: Command shaping, residual vibrations, belt transmission, servomechanism.

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