Search results for: nonlinear aerostatic stability.

Authors: M. Soltan Rezaee, M. R. Ghazavi, A. Najafi, W.-H. Liao

Abstract:

Generally, different rods in shaft systems can be misaligned based on the mechanical system usages. These rods can be linked together via U-coupling easily. The system is self-stimulated and may cause instabilities due to the inherent behavior of the coupling. In this study, each rod includes an elastic shaft with an angular stiffness and structural damping. Moreover, the mass of shafts is considered via attached solid disks. The impact of the system architecture and shaft mass on the instability of such mechanism are studied. Stability charts are plotted via a method based on Floquet theory. Eventually, the unstable points have been found and analyzed in detail. The results show that stabilizing the driveline is feasible by changing the system characteristics which include shaft mass and architecture.

Keywords: Coupling, mechanical systems, oscillations, rotating shafts.

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Authors: Sidhartha Panda, N. P. Padhy

Abstract:

This paper investigates the application of Particle Swarm Optimization (PSO) technique for coordinated design of a Power System Stabilizer (PSS) and a Thyristor Controlled Series Compensator (TCSC)-based controller to enhance the power system stability. The design problem of PSS and TCSC-based controllers is formulated as a time domain based optimization problem. PSO algorithm is employed to search for optimal controller parameters. By minimizing the time-domain based objective function, in which the deviation in the oscillatory rotor speed of the generator is involved; stability performance of the system is improved. To compare the capability of PSS and TCSC-based controller, both are designed independently first and then in a coordinated manner for individual and coordinated application. The proposed controllers are tested on a weakly connected power system. The eigenvalue analysis and non-linear simulation results are presented to show the effectiveness of the coordinated design approach over individual design. The simulation results show that the proposed controllers are effective in damping low frequency oscillations resulting from various small disturbances like change in mechanical power input and reference voltage setting.

Keywords: Particle swarm optimization, Phillips-Heffron model, power system stability, PSS, TCSC.

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Authors: Kourosh Parand, Zahra Delafkar, Fatemeh Baharifard

Abstract:

The problem of natural convection about a cone embedded in a porous medium at local Rayleigh numbers based on the boundary layer approximation and the Darcy-s law have been studied before. Similarity solutions for a full cone with the prescribed wall temperature or surface heat flux boundary conditions which is the power function of distance from the vertex of the inverted cone give us a third-order nonlinear differential equation. In this paper, an approximate method for solving higher-order ordinary differential equations is proposed. The approach is based on a rational Chebyshev Tau (RCT) method. The operational matrices of the derivative and product of rational Chebyshev (RC) functions are presented. These matrices together with the Tau method are utilized to reduce the solution of the higher-order ordinary differential equations to the solution of a system of algebraic equations. We also present the comparison of this work with others and show that the present method is applicable.

Keywords: Tau method, semi-infinite, nonlinear ODE, rational Chebyshev, porous media.

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Authors: Randhir Singh Baghel, Govind Shay Sharma

Abstract:

In this paper, we explore an ecosystem that contains a three-species food chain. The first and second species are in competition with one another for resources. However, the third species plays an important role in providing non-linear Crowley-Martin functional support for the first species. Additionally, the third species consumes the second species in a linear fashion, taking advantage of the available resources. This intricate balance ensures the survival of all three species in the ecosystem. A set of non-linear isolated first-order differential equations establish this model. We examine the system's stability at all potential equilibrium locations using the perturbed technique. Furthermore, by spending a lot of time observing the species in their natural habitat, the numerical illustrations at suitable parameter values for the model are shown.

Keywords: Competition, predator, response function, local stability, numerical simulations.

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Authors: Kamalpreet Kaur, Harjit Pal Singh, Vikas Khullar

Abstract:

In Wireless Sensor Network (WSN), the main limitation is generally inimitable energy consumption during processing of the sensor nodes. Cluster head (CH) election is one of the main issues that can reduce the energy consumption. Therefore, discovering energy saving routing protocol is the focused area for research. In this paper, fuzzy-based energy aware routing protocol is presented, which enhances the stability and network lifetime of the network. Fuzzy logic ensures the well-organized selection of CH by taking four linguistic variables that are concentration, energy, centrality, and distance to base station (BS). The results show that the proposed protocol shows better results in requisites of stability and throughput of the network.

Keywords: ERA, fuzzy logic, network model, WSN.

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Authors: Amr Abdel Azim Ali, G. A. Elsheikh, Moutaz Hegazy

Abstract:

This paper presents verification of a modeling and simulation for a Spacecraft (SC) attitude and orbit control system. Detailed formulation of coupled SC orbital and attitude equations of motion is performed in order to achieve accepted accuracy to meet the requirements of multitargets tracking and orbit correction complex modes. Correction of the target parameter based on the estimated state vector during shooting time to enhance pointing accuracy is considered. Time-optimal nonlinear feedback control technique was used in order to take full advantage of the maximum torques that the controller can deliver. This simulation provides options for visualizing SC trajectory and attitude in a 3D environment by including an interface with V-Realm Builder and VR Sink in Simulink/MATLAB. Verification data confirms the simulation results, ensuring that the model and the proposed control law can be used successfully for large and fast tracking and is robust enough to keep the pointing accuracy within the desired limits with considerable uncertainty in inertia and control torque.

Keywords: Attitude and orbit control, time-optimal nonlinear feedback control, modeling and simulation, pointing accuracy, maximum torques.

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Authors: Dongxiao Sun-Waterhouse, Shiji Nair, Reginald Wibisono, Sandhya S. Wadhwa, Carl Massarotto, Duncan I. Hedderley, Jing Zhou, Sara R. Jaeger, Virginia Corrigan

Abstract:

Attempts to add fibre and polyphenols (PPs) into popular beverages present challenges related to the properties of finished products such as smoothies. Consumer acceptability, viscosity and phenolic composition of smoothies containing high levels of fruit fibre (2.5-7.5 g per 300 mL serve) and PPs (250-750 mg per 300 mL serve) were examined. The changes in total extractable PP, vitamin C content, and colour of selected smoothies over a storage stability trial (4°C, 14 days) were compared. A set of acidic aqueous model beverages were prepared to further examine the effect of two different heat treatments on the stability and extractability of PPs. Results show that overall consumer acceptability of high fibre and PP smoothies was low, with average hedonic scores ranging from 3.9 to 6.4 (on a 1-9 scale). Flavour, texture and overall acceptability decreased as fibre and polyphenol contents increased, with fibre content exerting a stronger effect. Higher fibre content resulted in greater viscosity, with an elevated PP content increasing viscosity only slightly. The presence of fibre also aided the stability and extractability of PPs after heating. A reduction of extractable PPs, vitamin C content and colour intensity of smoothies was observed after a 14-day storage period at 4°C. Two heat treatments (75°C for 45 min or 85°C for 1 min) that are normally used for beverage production, did not cause significant reduction of total extracted PPs. It is clear that high levels of added fibre and PPs greatly influence the consumer appeal of smoothies, suggesting the need to develop novel formulation and processing methods if a satisfactory functional beverage is to be developed incorporating these ingredients.

Keywords: Apple fibre, apple and blackcurrant polyphenols, consumer acceptability, functional foods, stability.

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Authors: Q. J. Yang

Abstract:

This paper presents a case study of geotechnical design of bridge foundations and approaches in hilly granite formation in northern New South Wales of Australia. Firstly, the geological formation and existing cut slope conditions which have high risks of rock fall will be described. The bridge has three spans to be constructed using balanced cantilever method with a middle span of 150 m. After concept design option engineering, it was decided to change from pile foundation to pad footing with ground anchor system to optimize the bridge foundation design. The geotechnical design parameters were derived after two staged site investigations. The foundation design was carried out to satisfy both serviceability limit state and ultimate limit state during construction and in operation. It was found that the pad footing design was governed by serviceability limit state design loading cases. The design of bridge foundation also considered presence of weak rock layer intrusion and a layer of “no core” to ensure foundation stability. The precast mass concrete block system was considered for the retaining walls for the bridge approaches to resolve the constructability issue over hilly terrain. The design considered the retaining wall block sliding stability, while the overturning and internal stabilities are satisfied.

Keywords: Pad footing, hilly formation, stability, block works.

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Authors: Xiu Liu, Shouming Zhong, Xiuyong Ding

Abstract:

This paper focuses on the problem of a common linear copositive Lyapunov function(CLCLF) existence for discrete-time switched positive linear systems(SPLSs) with bounded time-varying delays. In particular, applying system matrices, a special class of matrices are constructed in an appropriate manner. Our results reveal that the existence of a common copositive Lyapunov function can be related to the Schur stability of such matrices. A simple example is provided to illustrate the implication of our results.

Keywords: Common linear co-positive Lyapunov functions, positive systems, switched systems, delays.

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Authors: M. S. Gadala, Khaled Ahmed, Elasadig Mahdi

Abstract:

In this paper, we introduced a gradient-based inverse solver to obtain the missing boundary conditions based on the readings of internal thermocouples. The results show that the method is very sensitive to measurement errors, and becomes unstable when small time steps are used. The artificial neural networks are shown to be capable of capturing the whole thermal history on the run-out table, but are not very effective in restoring the detailed behavior of the boundary conditions. Also, they behave poorly in nonlinear cases and where the boundary condition profile is different. GA and PSO are more effective in finding a detailed representation of the time-varying boundary conditions, as well as in nonlinear cases. However, their convergence takes longer. A variation of the basic PSO, called CRPSO, showed the best performance among the three versions. Also, PSO proved to be effective in handling noisy data, especially when its performance parameters were tuned. An increase in the self-confidence parameter was also found to be effective, as it increased the global search capabilities of the algorithm. RPSO was the most effective variation in dealing with noise, closely followed by CRPSO. The latter variation is recommended for inverse heat conduction problems, as it combines the efficiency and effectiveness required by these problems.

Keywords: Inverse Analysis, Function Specification, Neural Net Works, Particle Swarm, Run Out Table.

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Authors: Olusheye Akinfenwa, Samuel Jator, Nianmin Yoa

Abstract:

A block backward differentiation formula of uniform order eight is proposed for solving first order stiff initial value problems (IVPs). The conventional 8-step Backward Differentiation Formula (BDF) and additional methods are obtained from the same continuous scheme and assembled into a block matrix equation which is applied to provide the solutions of IVPs on non-overlapping intervals. The stability analysis of the method indicates that the method is L0-stable. Numerical results obtained using the proposed new block form show that it is attractive for solutions of stiff problems and compares favourably with existing ones.

Keywords: Stiff IVPs, System of ODEs, Backward differentiationformulas, Block methods, Stability.

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Authors: Fariba Shavakhi Zavareh, Hadi Fotoohabadi, Reza Sedaghati

Abstract:

Due to the continuous increment of the load demand, identification of weaker buses, improvement of voltage profile and power losses in the context of the voltage stability problems has become one of the major concerns for the larger, complex, interconnected power systems. The objective of this paper is to review the impact of Flexible AC Transmission System (FACTS) controller in Wind generators connected electrical network for maintaining voltage stability. Wind energy could be the growing renewable energy due to several advantages. The influence of wind generators on power quality is a significant issue; non uniform power production causes variations in system voltage and frequency. Therefore, wind farm requires high reactive power compensation; the advances in high power semiconducting devices have led to the development of FACTS. The FACTS devices such as for example SVC inject reactive power into the system which helps in maintaining a better voltage profile. The performance is evaluated on an IEEE 14 bus system, two wind generators are connected at low voltage buses to meet the increased load demand and SVC devices are integrated at the buses with wind generators to keep voltage stability. Power flows, nodal voltage magnitudes and angles of the power network are obtained by iterative solutions using MIPOWER.

Keywords: Voltage Profile, FACTS Device, SVC, Distributed Generation.

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Authors: D. Kriebel, J. E. Mehner

Abstract:

The paper introduces a method to efficiently simulate nonlinear changing electrostatic fields occurring in micro-electromechanical systems (MEMS). Large deflections of the capacitor electrodes usually introduce nonlinear electromechanical forces on the mechanical system. Traditional finite element methods require a time-consuming remeshing process to capture exact results for this physical domain interaction. In order to accelerate the simulation process and eliminate the remeshing process, a formulation of a strongly coupled electromechanical transducer element will be introduced which uses a combination of finite-element with an advanced mesh morphing technique using radial basis functions (RBF). The RBF allows large geometrical changes of the electric field domain while retain high element quality of the deformed mesh. Coupling effects between mechanical and electrical domains are directly included within the element formulation. Fringing field effects are described accurate by using traditional arbitrary shape functions.

Keywords: electromechanical, electric field, transducer, simulation, modeling, finite-element, mesh morphing, radial basis function

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Authors: Sidhartha Panda, N. P. Padhy

Abstract:

Recently, genetic algorithms (GA) and particle swarm optimization (PSO) technique have attracted considerable attention among various modern heuristic optimization techniques. Since the two approaches are supposed to find a solution to a given objective function but employ different strategies and computational effort, it is appropriate to compare their performance. This paper presents the application and performance comparison of PSO and GA optimization techniques, for Thyristor Controlled Series Compensator (TCSC)-based controller design. The design objective is to enhance the power system stability. The design problem of the FACTS-based controller is formulated as an optimization problem and both the PSO and GA optimization techniques are employed to search for optimal controller parameters. The performance of both optimization techniques in terms of computational time and convergence rate is compared. Further, the optimized controllers are tested on a weakly connected power system subjected to different disturbances, and their performance is compared with the conventional power system stabilizer (CPSS). The eigenvalue analysis and non-linear simulation results are presented and compared to show the effectiveness of both the techniques in designing a TCSC-based controller, to enhance power system stability.

Keywords: Thyristor Controlled Series Compensator, geneticalgorithm; particle swarm optimization; Phillips-Heffron model;power system stability.

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Authors: Changjin Xu

Abstract:

In this paper, applying frequency domain approach, a delayed predator-prey fishery model with prey reserve is investigated. By choosing the delay τ as a bifurcation parameter, It is found that Hopf bifurcation occurs as the bifurcation parameter τ passes a sequence of critical values. That is, a family of periodic solutions bifurcate from the equilibrium when the bifurcation parameter exceeds a critical value. The length of delay which preserves the stability of the positive equilibrium is calculated. Some numerical simulations are included to justify the theoretical analysis results. Finally, main conclusions are given.

Keywords: Predator-prey model, stability, Hopf bifurcation, frequency domain, Nyquist criterion.

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Authors: Lianglin Xiong, Yun Zhao, Tao Jiang

Abstract:

In this paper, we study the stability of n-dimensional linear fractional neutral differential equation with time delays. By using the Laplace transform, we introduce a characteristic equation for the above system with multiple time delays. We discover that if all roots of the characteristic equation have negative parts, then the equilibrium of the above linear system with fractional order is Lyapunov globally asymptotical stable if the equilibrium exist that is almost the same as that of classical differential equations. An example is provided to show the effectiveness of the approach presented in this paper.

Keywords: Fractional neutral differential equation, Laplace transform, characteristic equation.

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Authors: H. Mohammadiun, A. Kianifar, A. Kargar

Abstract:

Nowadays, there is little information, concerning the heat shield systems, and this information is not completely reliable to use in so many cases. for example, the precise calculation cannot be done for various materials. In addition, the real scale test has two disadvantages: high cost and low flexibility, and for each case we must perform a new test. Hence, using numerical modeling program that calculates the surface recession rate and interior temperature distribution is necessary. Also, numerical solution of governing equation for non-charring material ablation is presented in order to anticipate the recession rate and the heat response of non-charring heat shields. the governing equation is nonlinear and the Newton- Rafson method along with TDMA algorithm is used to solve this nonlinear equation system. Using Newton- Rafson method for solving the governing equation is one of the advantages of the solving method because this method is simple and it can be easily generalized to more difficult problems. The obtained results compared with reliable sources in order to examine the accuracy of compiling code.

Keywords: Ablation rate, surface recession, interior temperaturedistribution, non charring material ablation, Newton Rafson method.

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Authors: Bernardo C. P. Albuquerque, Darym J. F. Campos

Abstract:

Increasing our ability to solve complex engineering problems is directly related to the processing capacity of computers. By means of such equipments, one is able to fast and accurately run numerical algorithms. Besides the increasing interest in numerical simulations, probabilistic approaches are also of great importance. This way, statistical tools have shown their relevance to the modelling of practical engineering problems. In general, statistical approaches to such problems consider that the random variables involved follow a normal distribution. This assumption tends to provide incorrect results when skew data is present since normal distributions are symmetric about their means. Thus, in order to visualize and quantify this aspect, 9 statistical distributions (symmetric and skew) have been considered to model a hypothetical slope stability problem. The data modeled is the friction angle of a superficial soil in Brasilia, Brazil. Despite the apparent universality, the normal distribution did not qualify as the best fit. In the present effort, data obtained in consolidated-drained triaxial tests and saturated direct shear tests have been modeled and used to analytically derive the probability density function (PDF) of the safety factor of a hypothetical slope based on Mohr-Coulomb rupture criterion. Therefore, based on this analysis, it is possible to explicitly derive the failure probability considering the friction angle as a random variable. Furthermore, it is possible to compare the stability analysis when the friction angle is modelled as a Dagum distribution (distribution that presented the best fit to the histogram) and as a Normal distribution. This comparison leads to relevant differences when analyzed in light of the risk management.

Keywords: Statistical slope stability analysis, Skew distributions, Probability of failure, Functions of random variables.

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Authors: M. A. Beisenbi, N. M. Kissikova, S. E. Beisembina, S. T. Suleimenova, S. A. Kaliyeva

Abstract:

The paper proposes a method for constructing a self-organizing control system for unstable and deterministic chaotic processes in the class of catastrophe “hyperbolic umbilic” for objects with m-inputs and n-outputs. The self-organizing control system is investigated by the universal gradient-velocity method of Lyapunov vector-functions. The conditions for self-organization of the control system in the class of catastrophes “hyperbolic umbilic” are shown in the form of a system of algebraic inequalities that characterize the aperiodic robust stability in the stationary states of the system.

Keywords: Gradient-velocity method of Lyapunov vector-functions, hyperbolic umbilic, self-organizing control system, stability.

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Authors: Dong Ming, Su Caihong

Abstract:

The scenario of bypass transition is generally described as follows: the low-frequency disturbances in the free-stream may generate long stream-wise streaks in the boundary layer, which later may trigger secondary instability, leading to rapid increase of high-frequency disturbances. Then possibly turbulent spots emerge, and through their merging, lead to fully developed turbulence. This description, however, is insufficient in the sense that it does not provide the inherent mechanism of transition that during the transition, a large number of waves with different frequencies and wave numbers appear almost simultaneously, producing sufficiently large Reynolds stress, so the mean flow profile can change rapidly from laminar to turbulent. In this paper, such a mechanism will be figured out from analyzing DNS data of transition.

Keywords: boundary layer, breakdown, bypass transition, stability, streak.

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Authors: K. Ratanapongleka, J. Phetsom

Abstract:

Extraction of laccase produced by L. polychrous in an aqueous two-phase system, composed of polyethylene glycol and phosphate salt at pH 7.0 and 250C was investigated. The effect of PEG molecular weight, PEG concentration and phosphate concentration was determined. Laccase preferentially partitioned to the top phase. Good extraction of laccase to the top phase was observed with PEG 4000. The optimum system was found in the system containing 12% w/w PEG 4000 and 16% w/w phosphate salt with KE of 88.3, purification factor of 3.0-fold and 99.1% yield. Some properties of the enzyme such as thermal stability, effect of heavy metal ions and kinetic constants were also presented in this work. The thermal stability decreased sharply with high temperature above 60 0C. The enzyme was inhibited by Cd2+, Pb2+, Zn2+ and Cu2+. The Vmax and Km values of the enzyme were 74.70 μmol/min/ml and 9.066 mM respectively.

Keywords: Aqueous Two Phase System, Laccase, Lentinuspolychrous,

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Authors: M. Jahanandish, M. B. Zeydabadinejad

Abstract:

In this paper, von Mises and Drucker-Prager yield criteria, as typical ones that consider the effect of intermediate principal stress σ2, have been selected and employed for investigating the influence of σ2 on the solution of a typical stability problem. The bearing capacity factors have been calculated under plane strain condition (strip footing) and axisymmetric condition (circular footing) using the method of stress characteristics together with the criteria mentioned. Different levels of σ2 relative to the other two principal stresses have been considered. While a higher σ2 entry in yield criterion gives a higher bearing capacity; its entry in equilibrium equations (axisymmetric) causes substantial reduction.

Keywords: Intermediate principal stress, plane strain, axisymmetric, yield criteria.

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Authors: Haowei Chen, Kaiqi Xiong

Abstract:

We have developed a better model for understanding the dynamics of malware spread in WMNs in this paper. The suggested model provides an insight into how viral propagation with energy exhaustion and various dispersed node densities might function. Based on a theoretical examination of the suggested model, we conclude that the threshold parameter could be used to identify the dynamics of viral spread globally. When the threshold is less than 1, the virus may be contained, but if it is greater than 1, a pandemic may result. Lastly, we discuss the various viral propagation strategies in relation to the distributed node densities and communication radii in WMNs. The aforementioned numerical simulation findings could serve as a guarantee of the theoretical analyses’ correctness.

Keywords: Bluetooth Security, Malware Propagation, Wireless Mesh Networks, Stability Analysis.

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Authors: S. I. Durowaye, O. P. Gbenebor, B. O. Bolasodun, I. O. Rufai, V. O. Durowaye

Abstract:

Particles are the most common and cheapest reinforcement producing discontinuous reinforced composites with isotropic properties. Conventional fabrication methods can be used to produce a wide range of product forms, making them relatively inexpensive. Optimising composite development must include consideration of all the fundamental aspect of particles including their size, shape, volume fraction, distribution and mechanical properties. Research has shown that the challenges of low fracture toughness, poor crack growth resistance and low thermal stability can be overcome by reinforcement with particles. The unique properties exhibited by micro particles reinforced ceramic composites have made them to be highly attractive in a vast array of applications.

Keywords: Ceramic composites, Mechanical properties, Microparticles, Thermal stability.

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Authors: Sachin Kumar, Vivek Tiwari, Goutam Dutta

Abstract:

The paper investigates parallel channel instabilities of natural circulation boiling water reactor. A thermal-hydraulic model is developed to simulate two-phase flow behavior in the natural circulation boiling water reactor (NCBWR) with the incorporation of ex-core components and recirculation loop such as steam separator, down-comer, lower-horizontal section and upper-horizontal section and then, numerical analysis is carried out for parallel channel instabilities of the reactor undergoing both in-phase and out-of-phase modes of oscillations. To analyze the relative effect on stability of the reactor due to inclusion of various ex-core components and recirculation loop, marginal stable point is obtained at a particular inlet enthalpy of the reactor core without the inclusion of ex-core components and recirculation loop and then with the inclusion of the same. Numerical simulations are also conducted to determine the relative dominance between two modes of oscillations i.e. in-phase and out-of-phase. Simulations are also carried out when the channels are subjected to asymmetric power distribution keeping the inlet enthalpy same.

Keywords: Asymmetric power distribution, Density wave oscillations, In-phase and out-of-phase modes of instabilities, Natural circulation boiling water reactor

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Authors: Siddharth Gadkari, Rochish Thaokar

Abstract:

The effect of viscosity ratio (λ, defined as viscosity of surrounding medium/viscosity of fluid jet) on stability of axisymmetric (m=0) and asymmetric (m=1) modes of perturbation on a liquid-liquid jet in presence of radial electric field (E0 ), is studied using linear stability analysis. The viscosity ratio is shown to have a damping effect on both the modes of perturbation. However the effect was found more pronounced for the m=1 mode as compared to m=1 mode. Investigating the effect of both E0 and λ simultaneously, an operating diagram is generated, which clearly shows the regions of dominance of the two modes for a range of electric field and viscosity ratio values.

Keywords: liquid-liquid jet, axisymmetric perturbation, asymmetric perturbation, radial electric field

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Authors: H. Bonakdari, I. Ebtehaj

Abstract:

The prediction of scour depth around bridge piers is frequently considered in river engineering. One of the key aspects in efficient and optimum bridge structure design is considered to be scour depth estimation around bridge piers. In this study, scour depth around bridge piers is estimated using two methods, namely the Adaptive Neuro-Fuzzy Inference System (ANFIS) and Artificial Neural Network (ANN). Therefore, the effective parameters in scour depth prediction are determined using the ANN and ANFIS methods via dimensional analysis, and subsequently, the parameters are predicted. In the current study, the methods’ performances are compared with the nonlinear regression (NLR) method. The results show that both methods presented in this study outperform existing methods. Moreover, using the ratio of pier length to flow depth, ratio of median diameter of particles to flow depth, ratio of pier width to flow depth, the Froude number and standard deviation of bed grain size parameters leads to optimal performance in scour depth estimation.

Keywords: Adaptive neuro-fuzzy inference system, ANFIS, artificial neural network, ANN, bridge pier, scour depth, nonlinear regression, NLR.

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Authors: Emre Akyürek, Anthony Huynh, Tatiana Kalganova

Abstract:

The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.

Keywords: Ambidextrous hand, intelligent algorithms, nonlinear actuators, pneumatic muscles, robotics, sliding control.

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Authors: Masayoshi Matsui, Akiko Nakahara, Akiko Takatsu, Kenji Kato, Naoki Matsuda

Abstract:

The state and stability of hemoglobin adsorbed on the glass surface was investigated using slab optical waveguide (SOWG) spectroscopy. The peak position of the absorption band of hemoglobin adsorbed on the glass surface was same as that of the hemoglobin in solution. This result suggests that no significant denaturation occurred by adsorption. The adsorption of hemoglobin is relatively strong that the hemoglobin molecules even remained adsorbed after rinsing the cell with buffer solution. The peak shift caused by the reduction of adsorbed hemoglobin was also observed.

Keywords: hemoglobin, reduction, slab optical waveguide spectroscopy, solid/liquid interface.

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Authors: Julian B. García, Virginie Q. R. Pinto, André P. Assis

Abstract:

This paper presents numerical flow and slope stability simulations in three typical sections of earth dams built in tropical regions, two homogeneous with different slope inclinations, and the other one heterogeneous with impermeable core. The geotechnical material parameters used in this work were obtained from a lab testing of physical characterization, compaction, consolidation, variable load permeability and saturated triaxial type CD for compacted soil samples with standard proctor energy at optimum moisture content (23%), optimum moisture content + 2% and optimum moisture content +5%. The objective is to analyze the general behavior of earth dams built in rainy regions where optimum moisture is exceeded. The factor of safety is satisfactory for the three sections compacted in all moisture content during the stages of operation and end of construction. On The other hand, the rapid drawdown condition is the critical phase for homogeneus dams configuration, the factor of safety obtained were unsatisfactory. In general, the heterogeneous dam behavior is more efficient due to the fact that the slopes are made up of gravel, which favors the dissipation of pore pressures during the rapid drawdown. For the critical phase, the slopes should have lower inclinations of the upstream and downstream slopes to guarantee stability, although it increases the costs.

Keywords: Earth dams, flow, moisture content, slope stability.

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