Search results for: Blast Load

Authors: S Kalyani, K Shanti Swarup

Abstract:

Power System Security is a major concern in real time operation. Conventional method of security evaluation consists of performing continuous load flow and transient stability studies by simulation program. This is highly time consuming and infeasible for on-line application. Pattern Recognition (PR) is a promising tool for on-line security evaluation. This paper proposes a Support Vector Machine (SVM) based binary classification for static and transient security evaluation. The proposed SVM based PR approach is implemented on New England 39 Bus and IEEE 57 Bus systems. The simulation results of SVM classifier is compared with the other classifier algorithms like Method of Least Squares (MLS), Multi- Layer Perceptron (MLP) and Linear Discriminant Analysis (LDA) classifiers.

Keywords: Static Security, Transient Security, Pattern Recognition, Classifier, Support Vector Machine.

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Authors: M. E. Abou-Hashem El Dib, M. K. Swailem, M. M. Metwally, A. I. El Awady

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The present work illustrates a parametric study for the effect of stiffeners on the performance of slender built up steel I-columns. To achieve the desired analysis, finite element technique is used to develop nonlinear three-dimensional models representing the investigated columns. The finite element program (ANSYS 13.0) is used as a calculation tool for the necessary nonlinear analysis. A validation of the obtained numerical results is achieved. The considered parameters in the study are the column slenderness ratio and the horizontal stiffener's dimensions as well as the number of stiffeners. The dimensions of the stiffeners considered in the analysis are the stiffener width and the stiffener thickness. Numerical results signify a considerable effect of stiffeners on the performance and failure load of slender built up steel I-columns.

Keywords: Steel I-columns, local buckling, slender, stiffener, thin walled section.

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Authors: Jeong-Hwan Choi, Hyo-Sang Park, Tae-Hyung Lee

Abstract:

The transmission tower is one of the crucial lifeline structures in a modern society, and it needs to be protected against extreme loading conditions. However, the transmission tower is a very complex structure and, therefore, it is very difficult to simulate the actual damage and the collapse behavior of the tower structure. In this study, the actual collapse behavior of the transmission tower due to lateral loading conditions such as wind load is evaluated through the computational simulation. For that, a progressive collapse procedure is applied to the simulation. In this procedure, after running the simulation, if a member of the tower structure fails, the failed member is removed and the simulation run again. The 154kV transmission tower is selected for this study. The simulation is performed by nonlinear static analysis procedure, namely pushover analysis, using OpenSEES, an earthquake simulation platform. Three-dimensional finite element models of those towers are developed.

Keywords: Transmission tower, OpenSEES, pushover analysis, progressive collapse.

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Authors: Sid-Ahmed. Selouani, Tang-Ho Lê, Chadia Moghrabi, Benoit Lanteigne, Jean Roy

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A Web-based learning tool, the Learn IN Context (LINC) system, designed and being used in some institution-s courses in mixed-mode learning, is presented in this paper. This mode combines face-to-face and distance approaches to education. LINC can achieve both collaborative and competitive learning. In order to provide both learners and tutors with a more natural way to interact with e-learning applications, a conversational interface has been included in LINC. Hence, the components and essential features of LINC+, the voice enhanced version of LINC, are described. We report evaluation experiments of LINC/LINC+ in a real use context of a computer programming course taught at the Université de Moncton (Canada). The findings show that when the learning material is delivered in the form of a collaborative and voice-enabled presentation, the majority of learners seem to be satisfied with this new media, and confirm that it does not negatively affect their cognitive load.

Keywords: E-leaning, Knowledge Network, Speech recognition, Speech synthesis.

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Authors: Sangram A. Sathe, Neha A. Madgulkar, Shruti S. Raut, S. P. Wadkar

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Transforaminal lumbar interbody fusion (TLIF) surgeries have nowadays became popular for treatment of degenerated spinal disorders. The interbody fusion technique like TLIF maintains load bearing capacity of the spine and a suitable disc height. Currently many techniques have been introduced to cure Spondylolisthesis. This surgery provides greater rehabilitation of degenerative spines. While performing this TLIF surgery existing methods use guideway, which is a troublesome surgery technique as the use of two separate instruments is required to perform this surgery. This paper presents a concept which eliminates the use of guideway. This concept also eliminates problems that occur like reverting the cage. The concept discussed in this paper also gives high accuracy while performing surgery.

Keywords: Degenerative disc diseases, pedicle screw, spine, spondylolisthesis, transforaminal lumbar interbody fusion.

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Authors: Anna Słupik, Krzysztof Jaworski, Anna Mosiołek, Dariusz Białoszewski

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Background: Maintaining the correct body balance is essential in the prevention of falls in the elderly, which is especially important for women because of postmenopausal osteoporosis and the serious consequences of falls. One of the exercise methods which is very popular among adults, and which may affect body balance in the positive way is the Pilates method. The aim of the study was to evaluate the effect of regular Pilates exercises on the ability to maintain body balance in static conditions in adult healthy women. Material and methods: The study group consisted of 20 healthy women attending Pilates twice a week for at least 1 year. The control group consisted of 20 healthy women physically inactive. Women in the age range from 35 to 50 years old without pain in musculoskeletal system or other pain were only qualified to the groups. Body balance was assessed using MatScan VersaTek platform with Sway Analysis Module based on Matscan Clinical 6.7 software (Tekscan Inc., U.S.A). The balance was evaluated under the following conditions: standing on both feet with eyes open, standing on both feet with eyes closed, one-leg standing (separately on the right and left foot) with eyes open. Each test lasted 30 seconds. The following parameters were calculated: estimated size of the ellipse of 95% confidence, the distance covered by the Center of Gravity (COG), the size of the maximum shift in the sagittal and frontal planes and load distribution between the left and right foot, as well as between rear- and forefoot. Results: It was found that there is significant difference between the groups in favor of the study group in the size of the confidence ellipse and maximum shifts of COG in the sagittal plane during standing on both feet, both with the eyes open and closed (p <0.05). While standing on one leg both on the right and left leg, with eyes opened there was a significant difference in favor of the study group, in terms of the size of confidence ellipse, the size of the maximum shifts in the sagittal and in the frontal plane (p <0.05). There were no differences between the distribution of load between the right and left foot (standing with both feet), nor between fore- and rear foot (in standing with both feet or one-leg). Conclusions: 1. Static balance in women exercising regularly by Pilates method is better than in inactive women, which may in the future prevent falls and their consequences. 2. The observed differences in maintaining balance in frontal plane in one-leg standing may indicate a positive impact of Pilates exercises on the ability to maintain global balance in terms of reduced support surface. 3. Pilates method can be used as a form preventive therapy for all people who are expected to have problems with body balance in the future, for example in chronic neurological disorders or vestibular problems. 4. The results have shown that, further prospective randomized research on a larger and more representative group is needed.

Keywords: Balance exercises, body balance, Pilates, pressure distribution, women.

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Authors: Hyun-Seop Shin, Chin-Hyung Lee, Ki-Tae Park

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In order to apply partially filled steel grid composite deck as the horizontal supporting structure of various kinds of infrastructures, the variation of its flexural strength according to design parameters such as cross and longitudinal bars constituting the steel grid and the type of shear connection is evaluated and compared experimentally. The result shows that the design sensitivity of the deck to the spacing of the cross bars is insignificant in the case of structure with low risk of punching failure or without load distribution problem. By means of shear connection composed by transverse rebar and longitudinal bar without additional shear stud bolts, the complete interaction between steel grid and concrete slab is able to be achieved and the composite deck can develop its bending resistance capacity.

Keywords: bending strength, composite action, shear connection, steel grid composite deck

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Authors: Victor A. Naumenko, Yuriy A. Tyulenev, Alla A. Kushch

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The objective of current issue was to develop a model of testicular herpes simplex virus (HSV) type I infection for assessment of viral effect on fertility. 56 male mice were inoculated intraperitoneally with different concentrations of HSV on 8 day post partum. It was revealed that the optimal dose was 100 plaque forming units per mice as it provided testicular infection in 100% of survivors. HSV proteins were detected both in somatic and germ cells (spermatogonia, spermatocytes, spermatides). Although DNA load in testis was descending from 3 to 28 days post infection only 12.5% of infected males had offspring after mating with uninfected females comparing to 87.5% in control (p=0.012). These results are the first direct evidence for HSV impact in male sterility. Prepuberal mice appeared to be a suitable model for investigation of pathogenesis of virus-associated fertility disorders.

Keywords: Herpes simplex virus type I, male fertility, prepuberal mice, spermatogenesis.

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Authors: Valery Vodovozov, Zoja Raud, Tõnu Lehtla

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This paper describes the design considerations of an experimental setup for research and exploring the drives of batteryfed electric vehicles. Effective setup composition and its components are discussed. With experimental setup described in this paper, durability and functional tests can be procured to the customers. Multiple experiments are performed in the form of steady-state system exploring, acceleration programs, multi-step tests (speed control, torque control), load collectives or close-to-reality driving tests (driving simulation). Main focus of the functional testing is on the measurements of power and energy efficiency and investigations in driving simulation mode, which are used for application purposes. In order to enable the examination of the drive trains beyond standard modes of operation, different other parameters can be studied also.

Keywords: Electric drive, electric vehicle, propulsion, test bench.

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Authors: Hsiang-Wen Tang, Cheng-Ying Lo

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In this study, the static behavior of super elliptical Winkler plate is analyzed by applying the double side approach method. The lack of information about super elliptical Winkler plates is the motivation of this study and we use the double side approach method to solve this problem because of its superior ability on efficiently treating problems with complex boundary shape. The double side approach method has the advantages of high accuracy, easy calculation procedure and less calculation load required. Most important of all, it can give the error bound of the approximate solution. The numerical results not only show that the double side approach method works well on this problem but also provide us the knowledge of static behavior of super elliptical Winkler plate in practical use.

Keywords: Super elliptical Winkler Plate, double side approach method, error bound.

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Authors: Napat Watjanatepin, Wikorn Wong-SatieanNapat Watjanatepin, Wikorn Wong-Satiean

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The objective of this research is to design and construct the PV-Wind hybrid autonomous system for the greenhouse plantation, and analyze the technical performance of the PV-Wind energy system. This design depends on the water consumption in the greenhouse by using 24 of the fogging mist each with the capability of 24 liter/min. The operating time is 4 times per day, each round for 15 min. The fogging system is being driven by water pump with AC motor rating 0.5 hp. The load energy consumed is around 1.125 kWh/d. The designing results of the PV-Wind hybrid energy system is that sufficient energy could be generated by this system. The results of this study can be applied as a technical data reference for other areas in the central part of Thailand.

Keywords: Central part of Thailand, fogging system, greenhouse plantation, PV-Wind hybrid autonomous system.

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Authors: Ali Ghodsbin Jahromi, Ehsan Moradi

Abstract:

In this paper, the numerical study of buried steel pipe in soil is investigated. Buried pipeline under soil weight, after embankment on the pipe leads to ovality of pipe. In this paper also it is considered the percentage of soil compaction, the soil height on the steel pipe and the external load of a mechanical excavator on the steel pipe and finally, the effect of these on the rate of pipe ovality investigated. Furthermore, the effect of the pipes’ thickness on ovality has been investigated. The results show that increasing the percentage of soil compaction has more effect on reducing percentage of ovality, and if the percentage of soil compaction increases, we can use the pipe with less thickness. Finally, ovality rate of the pipe and acceptance criteria of pipe diameter up to yield stress is investigated.

Keywords: Pipe ovality, soil compaction, finite element, pipe thickness.

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Authors: Hussain A. Alkharusi, Said S. Aldhafri, Hilal Z. Alnabhani, Muna Alkalbani

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Analyzing classroom assessments is one of the responsibilities of the teacher. It aims improving teacher’s instruction and assessment as well as student learning. The present study investigated factors that might explain variation in teachers’ practices regarding analysis of classroom assessments. The factors considered in the investigation included gender, in-service assessment training, teaching load, teaching experience, knowledge in assessment, attitude towards quantitative aspects of assessment, and self-perceived competence in analyzing assessments. Participants were 246 in-service teachers in Oman. Results of a stepwise multiple linear regression analysis revealed that self-perceived competence was the only significant factor explaining the variance in teachers’ analysis of assessments. Implications for research and practice are discussed.

 

Keywords: Analysis of assessment, Classroom assessment, In-service teachers, Self-competence.

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Authors: Ivan Balázs, Jindřich Melcher

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Metal thin-walled members have been widely used in building industry. Usually they are utilized as purlins, girts or ceiling beams. Due to slenderness of thin-walled cross-sections these structural members are prone to stability problems (e.g. flexural buckling, lateral torsional buckling). If buckling is not constructionally prevented their resistance is limited by buckling strength. In practice planar members of roof or wall cladding can be attached to thin-walled members. These elements reduce displacement of thin-walled members and therefore increase their buckling strength. If this effect is taken into static assessment more economical sections of thin-walled members might be utilized and certain savings of material might be achieved. This paper focuses on problem of determination of critical load of steel thin-walled beams with lateral continuous restraint which is crucial for lateral torsional buckling assessment.

Keywords: Beam, buckling, numerical analysis, stability, steel.

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Authors: Nidal H. Abu-Zahra, Murtatha M. Jamel, Parisa Khoshnoud, Subhashini Gunashekar

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Two types of glass fibers having different lengths (1/16" and 1/32") were added into rigid PVC foams to enhance the dimensional stability of extruded rigid Polyvinyl Chloride (PVC) foam at different concentrations (0-20 phr) using a single screw profile extruder. PVC foam-glass fiber composites (PVC-GF) were characterized for their dimensional stability, structural, thermal, and mechanical properties. Experimental results show that the dimensional stability, heat resistance, and storage modulus were enhanced without compromising the tensile and flexural strengths of the composites. Overall, foam composites which were prepared with longer glass fibers exhibit better mechanical and thermal properties than those prepared with shorter glass fibers due to higher interlocking between the fibers and the foam cells, which result in better load distribution in the matrix.

Keywords: Polyvinyl Chloride, PVC Foam, PVC Composites, Glass Fiber Composites.

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Authors: J-P. Skön, M. Johansson, M. Raatikainen, K. Leiviskä, M. Kolehmainen

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The use of neural networks is popular in various building applications such as prediction of heating load, ventilation rate and indoor temperature. Significant is, that only few papers deal with indoor carbon dioxide (CO2) prediction which is a very good indicator of indoor air quality (IAQ). In this study, a data-driven modelling method based on multilayer perceptron network for indoor air carbon dioxide in an apartment building is developed. Temperature and humidity measurements are used as input variables to the network. Motivation for this study derives from the following issues. First, measuring carbon dioxide is expensive and sensors power consumptions is high and secondly, this leads to short operating times of battery-powered sensors. The results show that predicting CO2 concentration based on relative humidity and temperature measurements, is difficult. Therefore, more additional information is needed.

Keywords: Indoor air quality, Modelling, Neural networks

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Authors: Ahmed A. Helal, Nahla E. Zakzouk, Yasser G. Desouky

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This paper presents a fuzzy logic controlled shunt active power filter used to compensate for harmonic distortion in three-phase four-wire systems. The shunt active filter employs a simple method for the calculation of the reference compensation current based of Fast Fourier Transform. This presented filter is able to operate in both balanced and unbalanced load conditions. A fuzzy logic based current controller strategy is used to regulate the filter current and hence ensure harmonic free supply current. The validity of the presented approach in harmonic mitigation is verified via simulation results of the proposed test system under different loading conditions.

Keywords: Active power filters, Fuzzy logic controller, Power quality

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Authors: Arup K. George, Wai Pan Chan, Zhi Hui Kong, Minkyu Je

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This paper describes a low-power second-order filter for a continuous-time chopper stabilized capacitive sensor interface, integrated with a fully differential post-CMOS surface-micromachined MEMS pressure sensor. The circuit uses a single-ended folded-cascode operational amplifier and two GM-C filters connected in cascade. The circuit is realized in a 0.18 μm CMOS process and offers differential to single-ended conversion. The novelty of the scheme is the cascade of two GM-C filters to achieve a second-order filter while minimizing power dissipation. The simulated filter cutoff frequency is 1.14 kHz at common-mode voltage 1.65 V, operating from a 3.3 V supply while dissipating 172μW of power. The filter achieves an operating range of 1V for an output load of 1MOhm and 10pF.

Keywords: Chopper Stabilization, MEMS, Pressure Sensors, Low Pass Filter

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Authors: M. Farshbaf, M. R. Feizi-Derakhshi

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Graph partitioning is a NP-hard problem with multiple conflicting objectives. The graph partitioning should minimize the inter-partition relationship while maximizing the intra-partition relationship. Furthermore, the partition load should be evenly distributed over the respective partitions. Therefore this is a multiobjective optimization problem (MOO). One of the approaches to MOO is Pareto optimization which has been used in this paper. The proposed methods of this paper used to improve the performance are injecting best solutions of previous runs into the first generation of next runs and also storing the non-dominated set of previous generations to combine with later generation's non-dominated set. These improvements prevent the GA from getting stuck in the local optima and increase the probability of finding more optimal solutions. Finally, a simulation research is carried out to investigate the effectiveness of the proposed algorithm. The simulation results confirm the effectiveness of the proposed method.

Keywords: Graph partitioning, Genetic algorithm, Multiobjective optimization, Pareto front.

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Authors: Peristera A. Baziana

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The idea of the asynchronous transmission in wavelength division multiplexing (WDM) ring MANs is studied in this paper. Especially, we present an efficient access technique to coordinate the collisions-free transmission of the variable sizes of IP traffic in WDM ring core networks. Each node is equipped with a tunable transmitter and a tunable receiver. In this way, all the wavelengths are exploited for both transmission and reception. In order to evaluate the performance measures of average throughput, queuing delay and packet dropping probability at the buffers, a simulation model that assumes symmetric access rights among the nodes is developed based on Poisson statistics. Extensive numerical results show that the proposed protocol achieves apart from high bandwidth exploitation for a wide range of offered load, fairness of queuing delay and dropping events among the different packets size categories.

Keywords: Asynchronous transmission, collision avoidance, wavelength division multiplexing.

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Authors: Tetsuki Taniguchi, Yoshio Karasawa

Abstract:

This paper describes a subarray based low computational design method of multiuser massive multiple input multiple output (MIMO) system. In our previous works, use of large array is assumed only in transmitter, but this study considers the case both of transmitter and receiver sides are equipped with large array antennas. For this aim, receive arrays are also divided into several subarrays, and the former proposed method is modified for the synthesis of a large array from subarrays in both ends. Through computer simulations, it is verified that the performance of the proposed method is degraded compared with the original approach, but it can achieve the improvement in the aspect of complexity, namely, significant reduction of the computational load to the practical level.

Keywords: Massive multiple input multiple output (MIMO), multiuser, large array, subarray, zero forcing, singular value decomposition.

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Authors: Jirawat Thaenthong, Steven Gordon

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MANEMO is the integration of Network Mobility (NEMO) and Mobile Ad Hoc Network (MANET). A MANEMO node has an interface to both a MANET and NEMO network, and therefore should choose the optimal interface for packet delivery, however such a handover between interfaces will introduce packet loss. We define the steps necessary for a MANEMO handover, using Mobile IP and NEMO to signal the new binding to the relevant Home Agent(s). The handover steps aim to minimize the packet loss by avoiding waiting for Duplicate Address Detection and Neighbour Unreachability Detection. We present expressions for handover delay and packet loss, and then use numerical examples to evaluate a MANEMO handover. The analysis shows how the packet loss depends on level of nesting within NEMO, the delay between Home Agents and the load on the MANET, and hence can be used to developing optimal MANEMO handover algorithms.

Keywords: IP mobility, handover, MANET, network mobility

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Authors: Mohammad Reza Ghasemi, Ali Ehsani

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In this paper, the optimum weight and cost of a laminated composite plate is seeked, while it undergoes the heaviest load prior to a complete failure. Various failure criteria are defined for such structures in the literature. In this work, the Tsai-Hill theory is used as the failure criterion. The theory of analysis was based on the Classical Lamination Theory (CLT). A newly type of Genetic Algorithm (GA) as an optimization technique with a direct use of real variables was employed. Yet, since the optimization via GAs is a long process, and the major time is consumed through the analysis, Radial Basis Function Neural Networks (RBFNN) was employed in predicting the output from the analysis. Thus, the process of optimization will be carried out through a hybrid neuro-GA environment, and the procedure will be carried out until a predicted optimum solution is achieved.

Keywords: Composite Laminates, GA, Multi-objectiveOptimization, Neural Networks, RBFNN.

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Authors: Tianchai Suksri, Satean Tunyasrirut

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This paper presents design and implements the T-DOF PI controller design for a speed control of induction motor. The voltage source inverter type space vector pulse width modulation technique is used the drive system. This scheme leads to be able to adjust the speed of the motor by control the frequency and amplitude of the input voltage. The ratio of input stator voltage to frequency should be kept constant. The T-DOF PI controller design by root locus technique is also introduced to the system for regulates and tracking speed response. The experimental results in testing the 120 watt induction motor from no-load condition to rated condition show the effectiveness of the proposed control scheme.

Keywords: PI controller, root locus technique, space vector pulse width modulation, induction motor.

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Authors: Moch. Agus Choiron, Yoshihiro Kurata, Shigeyuki Haruyama, Ken Kaminishi

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The contact width is important design parameter for optimizing the design of new metal gasket for asbestos substitution gasket. The contact width is found have relationship with the helium leak quantity. In the increasing of axial load value, the helium leak quantity is decreasing and the contact width is increasing. This study provides validity method using simulation analysis and the result is compared to experimental using pressure sensitive paper. The results denote similar trend data between simulation and experimental result. Final evaluation is determined by helium leak quantity to check leakage performance of gasket design. Considering the phenomena of position change on the convex contact, it can be developed the optimization of gasket design by increasing contact width.

Keywords: contact width, simulation, pressure sensitive paper.

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Authors: Gowrishankar Kasilingam

Abstract:

This paper proposes a swarm intelligence method that yields optimal Proportional-Integral-Derivative (PID) Controller parameters of a power system stabilizer (PSS) in a single machine infinite bus system. The proposed method utilizes the Particle Swarm Optimization (PSO) algorithm approach to generate the optimal tuning parameters. The paper is modeled in the MATLAB Simulink Environment to analyze the performance of a synchronous machine under several load conditions. At the same operating point, the PID-PSS parameters are also tuned by Ziegler-Nichols method. The dynamic performance of proposed controller is compared with the conventional Ziegler-Nichols method of PID tuning controller to demonstrate its advantage. The analysis reveals the effectiveness of the proposed PSO based PID controller.

Keywords: Particle Swarm Optimization, PID Controller, Power System Stabilizer.

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Authors: Zhengyong Liu, Huiqing Ying

Abstract:

GFRG(Glass Fiber Reinforced Gypsum) wall is a green product which can erect a building fast in prefabricated method, but its application to high-rise residential buildings is limited for its poor lateral stiffness. This paper has proposed a modification to GFRG walls structure to increase its lateral stiffness, which aiming to erect small high-rise residential buildings as load-bearing walls. The elastic finite element analysis to it has shown the lateral deformation feature and the distributions of the axial force and the shear force. The analysis results show that the new GFRG reinforced concrete wall can be used for small high-rise residential buildings.

Keywords: GFRG wall, lateral features, elastic analysis, residential building.

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Authors: M. Nayeripour, T. Niknam

Abstract:

Nonlinear and unbalance loads in three phase networks create harmonics and losses. Active and passive filters are used for elimination or reduction of these effects. Passive filters have some limitations. For example, they are designed only for a specific frequency and they may cause to resonance in the network at the point of common coupling. The other drawback of a passive filter is that the sizes of required elements are normally large. The active filter can improve some of limitations of passive filter for example; they can eliminate more than one harmonic and don't cause resonance in the network. In this paper inverter analysis have been done simultaneously in three phase and the RL impedance of the line have been considered. A sliding mode control based on energy feedback of capacitors is employed in the design with this method, the dynamic speed of the filter is improved effectively and harmonics and load unbalance is compensating quickly.

Keywords: Shunt active filter, harmonic, inverter, sliding mode control, energy feedback.

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Authors: Seung-Kyung Kye, Young-Hyo Son, Jin-Woong Choi, Dooyong Cho, Sun-Kyu Park

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Recently in the field of bridges that are newly built or repaired, fast construction is required more than ever. For these reasons, precast prefabricated bridge that enables rapid construction is actively discussed and studied today. In South Korea, it is called modular bridge. Cross beam is an integral component of modular bridge. It functions for load distribution, reduction of bending moment, resistance of horizontal strength on lateral upper structure. In this study, the structural characteristics of domestic and foreign cross beam types were compared. Based on this, alternative cross beam connection types suitable for modular bridge were selected. And bulb-T girder specimens were fabricated with each type of connection. The behavior of each specimen was analyzed under static loading, and cross beam connection type which is expected to be best suited to modular bridge proposed.

Keywords: Bulb-T girder, Cross beam, Modular bridge.

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Authors: M. M. Islam, Rajib K. Saha, Abdullah A. Amin, M. Z. Haq

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The autonomous mobile robot was designed and implemented which was capable of navigating in the industrial environments and did a job of picking objects from variable height and delivering it to another location following a predefined trajectory. In developing country like Bangladesh industrial robotics is not very prevalent yet, due to the high installation cost. The objective of this project was to develop an autonomous mobile robot for industrial application using the available resources in the local market at lower manufacturing cost. The mechanical system of the robot was comprised of locomotion, gripping and elevation system. Grippers were designed to grip objects of a predefined shape. Cartesian elevation system was designed for vertical movement of the gripper. PIC18F452 microcontroller was the brain of the control system. The prototype autonomous robot was fabricated for relatively lower load than the industry and the performance was tested in a virtual industrial environment created within the laboratory to realize the effectiveness.

Keywords: Industrial application, autonomous mobile robot, appropriate technology.

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