Search results for: Atomic layer deposition

Authors: Seiya Teshima, Kazushige Magatani

Abstract:

Currently, many types of no-reversible compressed sound source, represented by MP3 (MPEG Audio Layer-3) are popular in the world and they are widely used to make the music file size smaller. The sound data created in this way has less information as compared to pre-compressed data. The objective of this study is by analyzing EEG to determine if people can recognize such difference as differences in sound. A measurement system that can measure and analyze EEG when a subject listens to music were experimentally developed. And ten subjects were studied with this system. In this experiment, a WAVE formatted music data and a MP3 compressed music data that is made from the WAVE formatted data were prepared. Each subject was made to hear these music sources at the same volume. From the results of this experiment, clear differences were confirmed between two wound sources.

Keywords: EEG, Biological signal , Sound , MP3

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Authors: M. Karami Khorramabadi, A. R. Nezamabadi

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Stability of functionally graded beams with piezoelectric layers subjected to axial compressive load that is simply supported at both ends is studied in this paper. The displacement field of beam is assumed based on first order shear deformation beam theory. Applying the Hamilton's principle, the governing equation is established. The influences of applied voltage, dimensionless geometrical parameter, functionally graded index and piezoelectric thickness on the critical buckling load of beam are presented. To investigate the accuracy of the present analysis, a compression study is carried out with a known data.

Keywords: Stability, Functionally graded beam, First order shear deformation theory, Piezoelectric layer.

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Authors: Ishak Suleiman, Ahmad Kamsani Samingan, Yeoh Chun Yeow, Abdul Aziz Bin Abdul Rahman

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In this paper, we evaluate the benefits of distributed 4x4 MIMO LTE downlink systems compared to that of the co-located 4x4 MIMO LTE downlink system. The performance evaluation was carried out experimentally by using Wireless Open-Access Research Platform (WARP), where the comparison between the 4x4 MIMO LTE transmission downlink system in distributed and co-located techniques was examined. The measured Error Vector Magnitude (EVM) results showed that the distributed technique achieved better system performance compared to the co-located arrangement.

Keywords: Multiple-input-multiple-output, MIMO, distributed MIMO, co-located MIMO, LTE.

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Authors: Wajdi Bellil, Chokri Ben Amar, Adel M. Alimi

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An application of Beta wavelet networks to synthesize pass-high and pass-low wavelet filters is investigated in this work. A Beta wavelet network is constructed using a parametric function called Beta function in order to resolve some nonlinear approximation problem. We combine the filter design theory with wavelet network approximation to synthesize perfect filter reconstruction. The order filter is given by the number of neurons in the hidden layer of the neural network. In this paper we use only the first derivative of Beta function to illustrate the proposed design procedures and exhibit its performance.

Keywords: Beta wavelets, Wavenet, multiresolution analysis, perfect filter reconstruction, salient point detect, repeatability.

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Authors: I-Huan Chiu, Kazuhiko Ninomiya, Shin’ichiro Takeda, Meito Kajino, Miho Katsuragawa, Shunsaku Nagasawa, Atsushi Shinohara, Tadayuki Takahashi, Ryota Tomaru, Shin Watanabe, Goro Yabu

Abstract:

In recent years, a nondestructive elemental analysis method based on muonic X-ray measurements has been developed and applied for various samples. Muonic X-rays are emitted after the formation of a muonic atom, which occurs when a negatively charged muon is captured in a muon atomic orbit around the nucleus. Because muonic X-rays have a higher energy than electronic X-rays due to the muon mass, they can be measured without being absorbed by a material. Thus, estimating the two-dimensional (2D) elemental distribution of a sample became possible using an X-ray imaging detector. In this work, we report a non-destructive imaging experiment using muonic X-rays at Japan Proton Accelerator Research Complex. The irradiated target consisted of a polypropylene material, and a double-sided silicon strip detector, which was developed as an imaging detector for astronomical obervation, was employed. A peak corresponding to muonic X-rays from the carbon atoms in the target was clearly observed in the energy spectrum at an energy of 14 keV, and 2D visualizations were successfully reconstructed to reveal the projection image from the target. This result demonstrates the potential of the nondestructive elemental imaging method that is based on muonic X-ray measurement. To obtain a higher position resolution for imaging a smaller target, a new detector system will be developed to improve the statistical analysis in further research.

Keywords: DSSD, muon, muonic X-ray, imaging, non-destructive analysis

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Authors: M. Gómez-Gómez, M. E. Sánchez-Vergara

Abstract:

Many sustainable approaches to generate electric energy have emerged in the last few decades; one of them is through solar cells. Yet, this also has the disadvantage of highly polluting inorganic semiconductor manufacturing processes. Therefore, the use of molecular semiconductors must be considered. In this work, allene compounds C24H26O4 and C24H26O5 were used as dopants to manufacture semiconductor films based on PbPc by high-vacuum evaporation technique. IR spectroscopy was carried out to determine the phase and any significant chemical changes which may occur during the thermal evaporation. According to UV-visible spectroscopy and Tauc’s model, the deposition process generated thin films with an activation energy range of 1.47 eV to 1.55 eV for direct transitions and 1.29 eV to 1.33 eV for indirect transitions. These values place the manufactured films within the range of low bandgap semiconductors. The flexible devices were manufactured: polyethylene terephthalate (PET), Indium tin oxide (ITO)/organic semiconductor/Cubic Close Packed (CCP). The characterization of the devices was carried out by evaluating electrical conductivity using the four-probe collinear method. I-V curves were obtained under different lighting conditions at room temperature. OS1 (PbPc/C24H26O4) showed an Ohmic behavior, while OS2 (PbPc/C24H26O5) reached higher current values at lower voltages. The results obtained show that the semiconductor devices doped with allene compounds can be used in the manufacture of optoelectronic devices.

Keywords: Electrical properties, optical gap, phthalocyanine, thin film.

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Authors: Abdelghafour Galadi

Abstract:

In this paper, accurate power MOSFET models including quasi-saturation effect are presented. These models have no internal node voltages determined by the circuit simulator and use one JFET or one depletion mode MOSFET transistors controlled by an “effective” gate voltage taking into account the quasi-saturation effect. The proposed models achieve accurate simulation results with an average error percentage less than 9%, which is an improvement of 21 percentage points compared to the commonly used standard power MOSFET model. In addition, the models can be integrated in any available commercial circuit simulators by using their analytical equations. A description of the models will be provided along with the parameter extraction procedure.

Keywords: Power MOSFET, drift layer, quasi-saturation effect, SPICE model, circuit simulation.

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Authors: R. Alipour, F.Najarian

Abstract:

Explosive welding is a process which uses explosive detonation to move the flyer plate material into the base material to produce a solid state joint. Experimental tests have been carried out by other researchers; have been considered to explosively welded aluminium 7039 and steel 4340 tubes in one step. The tests have been done using various stand-off distances and explosive ratios. Various interface geometries have been obtained from these experiments. In this paper, all the experiments carried out were simulated using the finite element method. The flyer plate and collision velocities obtained from the analysis were validated by the pin-measurement experiments. The numerical results showed that very high localized plastic deformation produced at the bond interface. The Ls_dyna_971 FEM has been used for all simulation process.

Keywords: Explosive Welding, Johnson-Cook Equation, Finite Element, JWL Equation.

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Authors: H. Yazdani, K. Ghorbanian

Abstract:

This paper deals with modeling and simulation of the plasma actuator with OpenFOAM. Plasma actuator is one of the newest devices in flow control techniques which can delay separation by inducing external momentum to the boundary layer of the flow. The effects of the plasma actuators on the external flow are incorporated into Navier-Stokes computations as a body force vector which is obtained as a product of the net charge density and the electric field. In order to compute this body force vector, the model solves two equations: One for the electric field due to the applied AC voltage at the electrodes and the other for the charge density representing the ionized air. The simulation result is compared to the experimental and typical values which confirms the validity of the modeling.

Keywords: Active flow control, flow field, OpenFOAM, plasma actuator.

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Authors: Frederick Wedzerai Nyakudya

Abstract:

In this paper, we examine the relationship between human capital, personal wealth and social capital to explain the differences in start-up rates between female and male entrepreneurs. Since our dependent variable is dichotomous, we examine the determinants of these using a maximum likelihood logit estimator. We used the Global Entrepreneurship Monitor database covering the period 2006 to 2009 with 421 usable cases drawn from the Lower Layer Super Output Areas in East Midlands in the United Kingdom. We found evidence indicating that a female positively moderates the positive relationships between indicators of human capital and personal wealth with start-up activity. The findings have implications for programs, policies, and practices to encourage more females to engage in start-up activity.

Keywords: Entrepreneurship, Global Entrepreneurship Monitor, gender gap, women's entrepreneurship.

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Authors: A. M. Tahsini

Abstract:

Solid fuel transient burning behavior under oxidizer gas flow is numerically investigated. It is done using analysis of the regression rate responses to the imposed sudden and oscillatory variation at inflow properties. The conjugate problem is considered by simultaneous solution of flow and solid phase governing equations to compute the fuel regression rate. The advection upstream splitting method is used as flow computational scheme in finite volume method. The ignition phase is completely simulated to obtain the exact initial condition for response analysis. The results show that the transient burning effects which lead to the combustion instabilities and intermittent extinctions could be observed in solid fuels as the solid propellants.

Keywords: Extinction, Oscillation, Regression rate, Response, Transient burning.

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Authors: Nor Fadzillah Mohd Mokhtar, Norihan Md Arifin, Roslinda Nazar, Fudziah Ismail, MohamedSuleiman

Abstract:

The stability analysis of Marangoni convection in porous media with a deformable upper free surface is investigated. The linear stability theory and the normal mode analysis are applied and the resulting eigenvalue problem is solved exactly. The Darcy law and the Brinkman model are used to describe the flow in the porous medium heated from below. The effect of the Crispation number, Bond number and the Biot number are analyzed for the stability of the system. It is found that a decrease in the Crispation number and an increase in the Bond number delay the onset of convection in porous media. In addition, the system becomes more stable when the Biot number is increases and the Daeff number is decreases.

Keywords: Deformable, Marangoni, Porous, Stability.

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Authors: V. Precupas, A. Ivan, M. Ivan

Abstract:

The dome with ribs and rings, which covers the ROMEXPO pavilion from Bucharest, was designed after the collapse of the single layer reticulated dome. In this paper, it was made the checking of the structure, under the dynamic loads with three recorded accelerograms calibrated according to Romanian seismic design code P100-1/2006. Under the action the dynamic loadings, it was made a time-history analysis to determine the zones where the plastic hinges appear, at what accelerations and their position on the structure. The studied dome is formed by 32 spatial semi arches and three rings: one circular ring located at the top of the dome and another two rings, design as trusses, the first near the supports and the second as an intermediate rings above the skylights. Above the skylights up to the top, the dome is tight together with purlins and bracings.

Keywords: dome, dynamic analysis, plastic hinges, time-history

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Authors: Izzati K. Khalid, Nor Fadzillah M. Mokhtar, Norihan Md. Arifin

Abstract:

The effect of internal heat generation is applied to the Rayleigh-Benard convection in a horizontal micropolar fluid layer. The bounding surfaces of the liquids are considered to be rigid-free, rigid-rigid and free-free with the combination of isothermal on the spin-vanishing boundaries. A linear stability analysis is used and the Galerkin method is employed to find the critical stability parameters numerically. It is shown that the critical Rayleigh number decreases as the value of internal heat generation increase and hence destabilize the system.

Keywords: Internal heat generation, micropolar fluid, rayleighbenard convection.

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Authors: Prariyada Theptat, Sumaeth Chavadej, John F. Scamehorn

Abstract:

One of the most challenges for hard surface cleaning product is to get rid of soap scum, a filmy sticky layer in the bathroom. The deposits of soap scum can be removed by using a proper surfactant solution with chelating agent. Unfortunately, the conventional chelating agent, ethylenediamine tetraacetic acid (EDTA), has low biodegradability, which can be tolerance in water resources and harmful to aquatic animal and microorganism. In this study, two biodegradable chelating agents, ethylenediamine disuccinic acid (EDDS) and glutamic acid diacetic acid (GLDA) were introduced as a replacement of EDTA. The result shows that using GLDA with amphoteric surfactant gave the highest equilibrium solubility of soap scum.

Keywords: Biodegradable chelating agent, EDDS, GLDA, Soap scum.

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Authors: Motahar Reza, Anadi Sankar Gupta

Abstract:

An analysis is made of the flow of an incompressible viscoelastic fluid (of small memory) over a porous plate subject to suction or blowing. It is found that velocity at a point increases with increase in the elasticity in the fluid. It is also shown that wall shear stress depends only on suction and is also independent of the material of fluids. No steady solution for velocity distribution exists when there is blowing at the plate. Temperature distribution in the boundary layer is determined and it is found that temperature at a point decreases with increase in the elasticity in the fluid.

Keywords: Viscoelastic fluid, Flow past a porous plate, Heat transfer

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Authors: B. Siva Kumar Reddy, B. Lakshmi

Abstract:

This paper addresses the reduction of peak to average power ratio (PAPR) for the OFDM in Mobile-WiMAX physical layer (PHY) standard. In the process, the best achievable PAPR of 0 dB is found for the OFDM spectrum using phase modulation technique which avoids the nonlinear distortion. The performance of the WiMAX PHY standard is handled by the software defined radio (SDR) prototype in which GNU Radio and USRP N210 employed as software and hardware platforms respectively. It is also found that BER performance is shown for different coding and different modulation schemes. To empathize wireless propagation in specific environments, a sliding correlator wireless channel sounding system is designed by using SDR testbed.

Keywords: BER, Channel sounding, GNU Radio, OFDM/OFDMA, USRP N210.

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Authors: H. Aminfar, M. Mohammadpourfard, K. Khajeh

Abstract:

This paper has focused on the most important parameters in the LSC uptake; inlet Re number and Sc number in the presence of non-uniform magnetic field. The magnetic field is arising from the thin wire with electric current placed vertically to the arterial blood vessel. According to the results of this study, applying magnetic field can be a treatment for atherosclerosis by reducing LSC along the vessel wall. Homogeneous porous layer as a arterial wall has been regarded. Blood flow has been considered laminar and incompressible containing Ferro fluid (blood and 4 % vol. Fe₃O₄) under steady state conditions. Numerical solution of governing equations was obtained by using the single-phase model and control volume technique for flow field.

Keywords: LDL Surface Concentration (LSC), Magnetic field, Computational fluid dynamics, Porous wall.

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Authors: R. E. Masto, L. C. Ram, S. K. Verma, V. A. Selvi, J. George, R. C. Tripathi, N. K. Srivastava, D. Mohanty, S. K.Jha, A. K. Sinha, A. Sinha

Abstract:

There are many sources trough which the soil get enriched and contaminated with REEs. The determination of REEs in environmental samples has been limited because of the lack of sensitive analytical techniques. Soil samples were collected from four sites including open cast coal mine, natural coal burning, coal washery and control in the coal field located in Dhanbad, India. Total concentrations of rare earth elements (REEs) were determined using the inductively coupled plasma atomic absorption spectrometry in order to assess enrichment status in the coal field. Results showed that the mean concentrations of La, Pr, Eu, Tb, Ho, and Tm in open cast mine and natural coal burning sites were elevated compared to the reference concentrations, while Ce, Nd, Sm, and Gd were elevated in coal washery site. When compared to reference soil, heavy REEs (HREEs) were enriched in open cast mines and natural coal burning affected soils, however, the HREEs were depleted in the coal washery sites. But, the Chondrite-normalization diagram showed significant enrichment for light REEs (LREEs) in all the soils. High concentration of Pr, Eu, Tb, Ho, Tm, and Lu in coal mining and coal burning sites may pose human health risks. Factor analysis showed that distribution and relative abundance of REEs of the coal washery site is comparable with the control. Eventually washing or cleaning of coal could significantly decrease the emission of REEs from coal into the environment.

Keywords: Rare earth elements, coal, soil, factor analysis

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Authors: M. Sedighizadeh, A. Rezazadeh

Abstract:

In this paper a PID control strategy using neural network adaptive RASP1 wavelet for WECS-s control is proposed. It is based on single layer feedforward neural networks with hidden nodes of adaptive RASP1 wavelet functions controller and an infinite impulse response (IIR) recurrent structure. The IIR is combined by cascading to the network to provide double local structure resulting in improving speed of learning. This particular neuro PID controller assumes a certain model structure to approximately identify the system dynamics of the unknown plant (WECS-s) and generate the control signal. The results are applied to a typical turbine/generator pair, showing the feasibility of the proposed solution.

Keywords: Adaptive PID Control, RASP1 Wavelets, WindEnergy Conversion Systems.

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Authors: Cheng-Hsuan Huang, Eric Lee

Abstract:

Electrophoretic motion of a liquid droplet within an uncharged cylindrical pore is investigated theoretically in this study. It is found that the boundary effect in terms of the reduction of droplet mobility (droplet velocity per unit strength of the applied electric field) is very significant when the double layer surrounding the droplet is thick, and diminishes as it gets very thin. Moreover, the viscosity ratio of the ambient fluid to the internal one, σ, is a crucial factor in determining its electrophoretic behavior. The boundary effect is less significant as the viscosity ratio gets high. Up to 70% mobility reduction is observed when this ratio is low (σ = 0.01), whereas only 40% reduction when it is high (σ = 100). The results of this study can be utilized in various fields of biotechnology, such as a biosensor or a lab-on-a-chip device.

Keywords: Cylindrical pore, Electrophoresis, Lab-on-a-chip, Liquid droplet

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Authors: G. Toker, V. Bulatov, T. Kovalchuk, I. Schechter

Abstract:

Dynamics of laser radiation – metal target interaction in water at 1064 nm by applying Mach-Zehnder interference technique was studied. The mechanism of generating the well developed regime of evaporation of a metal surface and a spherical shock wave in water is proposed. Critical intensities of the NIR for the well developed evaporation of silver and gold targets were determined. Dynamics of shock waves was investigated for earlier (dozens) and later (hundreds) nanoseconds of time. Transparent expanding plasma-vapor-compressed water object was visualized and measured. The thickness of compressed layer of water and pressures behind the front of a shock wave for later time delays were obtained from the optical treatment of interferograms.

Keywords: laser, shock wave, metal target, underwater

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Authors: Nikoleta Kallajxhiu, Gëzim Kapidani, Peçi Naqellari, Blerina Pupuleku

Abstract:

This study shows palynomorphological description of pollen grains of Lamium garganicum, species of the family Labiatae. Fresh material of this plant is taken in Mount Llogara, in Albania. By comparison made between palinomorphological characteristics of pollen grains of Lamium garganicum with those of Lamium maculatum and Lamium purpureum, showed that granules have similarities in the number of furrows. The pollen grains of Lamium garganicum were larger in length and width than those of Lamium maculatum and almost equal with those of Lamium purpureum. Furrows are longer than those of pollen grains in Lamium maculatum and shorter than those of Lamium purpureum. The layer of exine of Lamium garganicum was thinner than that of two others. The sculpture of exine was fine reticulate, where reticulas were uniform whereas in Lamium purpureum was verrucate, with small verrucae; in Lamium maculatum was reticulate.

Keywords: Lamium garganicum, pollen grains, Llogara, Albania.

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Authors: B. Noruziaan, A. Shvarzman, R. Leahy

Abstract:

An innovative flooring underlayment was produced and tested. The composite system is made of common OSB boards and a layer of eco-friendly non-cement gypsum based material (GeoGypTM). It was found that the shear bond between the two materials is sufficient to secure the composite interaction between the two. The very high compressive strength and relatively high tensile strength of the non-cement based component together with its high modulus of elasticity provides enough strength and stiffness for the composite product to cover wider spacing between the joists. The initial findings of this study indicate that with joist spacing as wide as 800 mm, the flooring system provides enough strength without compromising the serviceability requirements of the building codes.

Keywords: Composite, floor deck, gypsum based, lumber joist, non-cement, oriented strandboard, shear bond.

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Authors: Hossein Tavallali, Mohammad Ali Karimi, Gohar Deilamy-Rad

Abstract:

The proposed method for speciation, preconcentration and determination of Fe(II) and Fe(III) in pharmaceutical products was developed using of alumina-coated magnetite nanoparticles (Fe₃O₄/Al₂O₃ NPs) as solid phase extraction (SPE) sorbent in magnetic mixed hemimicell solid phase extraction (MMHSPE) technique followed by flame atomic absorption spectrometry analysis. The procedure is based on complexation of Fe(II) with 1, 10-phenanthroline (OP) as complexing reagent for Fe(II) that immobilized on the modified Fe₃O₄/Al₂O₃ NPs. The extraction and concentration process for pharmaceutical sample was carried out in a single step by mixing the extraction solvent, magnetic adsorbents under ultrasonic action. Then, the adsorbents were isolated from the complicated matrix easily with an external magnetic field. Fe(III) ions determined after facility reduced to Fe(II) by added a proper reduction agent to sample solutions. Compared with traditional methods, the MMHSPE method simplified the operation procedure and reduced the analysis time. Various influencing parameters on the speciation and preconcentration of trace iron, such as pH, sample volume, amount of sorbent, type and concentration of eluent, were studied. Under the optimized operating conditions, the preconcentration factor of the modified nano magnetite for Fe(II) 167 sample was obtained. The detection limits and linear range of this method for iron were 1.0 and 9.0 - 175 ng.mL⁻¹, respectively. Also the relative standard deviation for five replicate determinations of 30.00 ng.mL^-1 Fe²⁺ was 2.3%.

Keywords: Alumina-coated magnetite nanoparticles, magnetic mixed hemimicell solid-phase extraction, Fe(ΙΙ) and Fe(ΙΙΙ), pharmaceutical sample.

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Authors: HyunSu Seo, HoYoung Son, Sungjin Kim, WooYoung Jung

Abstract:

In order to understand the seismic behavior of steel frame structure with infill FRP composite panel, simple models for simulation on the steel frame with the panel systems were developed in this study. To achieve the simple design method of the steel framed structure with the damping panel system, 2-D finite element analysis with the springs and dashpots models was conducted in ABAQUS. Under various applied spring stiffness and dashpot coefficient, the expected hysteretic energy responses of the steel frame with damping panel systems we investigated. Using the proposed simple design method which decides the stiffness and the damping, it is possible to decide the FRP and damping materials on a steel frame system.

Keywords: Interface damping layer, steel frame, seismic, FRP.

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Authors: F. Kharchi, M. Benhadji, O. Bouksani

Abstract:

The objective of this work is to study the influence of the properties of the substrate on the retrofit (thin repair) of damaged concrete elements, with the SCC. Fluidity, principal characteristic of the SCC, would enable it to cover and adhere to the concrete to be repaired. Two aspects of repair are considered, the bond (Adhesion) and the tensile strength and the cracking. The investigation is experimental; It was conducted over test specimens made up of ordinary concrete prepared and hardened in advance (the material to be repaired) over which a self compacting concrete layer is cast. Three alternatives of SC concrete and one ordinary concrete (comparison) were tested. It appears that the self-compacting concrete constitutes a good material for repairing. It follows perfectly the surfaces- forms to be repaired and allows a perfect bond. Fracture tests made on specimens of self-compacting concrete show a brittle behaviour. However when a small percentage of fibres is added, the resistance to cracking is very much improve.

Keywords: Adhesion, concrete, experimental, repair, self-compacting.

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Authors: Mohammed Farag, Mina Attari, S. Andrew Gadsden, Saeid R. Habibi

Abstract:

Battery state of charge (SOC) estimation is an important parameter as it measures the total amount of electrical energy stored at a current time. The SOC percentage acts as a fuel gauge if it is compared with a conventional vehicle. Estimating the SOC is, therefore, essential for monitoring the amount of useful life remaining in the battery system. This paper looks at the implementation of three nonlinear estimation strategies for Li-Ion battery SOC estimation. One of the most common behavioral battery models is the one state hysteresis (OSH) model. The extended Kalman filter (EKF), the smooth variable structure filter (SVSF), and the time-varying smoothing boundary layer SVSF are applied on this model, and the results are compared.

Keywords: State of charge estimation, battery modeling, one-state hysteresis, filtering and estimation.

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Authors: O. Alizadeh Sahraei, A. Khodadadi, Y. Mortazavi, M. Vesali Naseh, S. Mosadegh

Abstract:

A composite made of plasma functionalized multiwall carbon nanotubes (MWNTs) coated with SnO2 was synthesized by sonochemical precipitation method. Thick layer of this nanocomposite material was used as ethanol sensor at low temperatures. The composite sensitivity for ethanol has increased by a factor of 2 at room temperature and by a factor of 13 at 250°C in comparison to that of pure SnO2. SEM image of nanocomposite material showed MWNTs were embedded in SnO2 matrix and also a higher surface area was observed in the presence of functionalized MWNTs. Greatly improved sensitivity of the composite material to ethanol can be attributed to new gas accessing passes through MWNTs and higher specific surface area.

Keywords: Carbon nanotube, Functionalized, Gas sensor, Low temperature, Nanocomposite, Tin oxide.

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Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

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In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

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