Search results for: rotor speed estimators

Authors: A. Badarudin, C. S. Oon, S. N. Kazi, N. Nik-Ghazali, Y. J. Lee, W. T. Chong

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An experimental and simulation flight test has been carried out to evaluate the longitudinal gliding characteristics of a lifting body with blunted half-cone geometry. The novelty here is the lifting body's pitch control mechanism, which consists of a pair of leading-edge rotating cylinders. Flight simulation uses aerodynamic data from computational fluid dynamics supported by wind-tunnel test. Flight test consists of releasing an aluminum lifting body model from a moving vehicle at the appropriate wind speed while measuring the lifting body's variation of altitude against time of flight. Results show that leading-edge rotating cylinder is able to give small amounts of improvement to the longitudinal stability and pitch control to the lifting body.

Keywords: Lifting body, pitch control, aerodynamic, rotating cylinder.

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Authors: Emine Teke, Soner Kuşlu, Sabri Çolak, Turan Çalban

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The aim of the present study was to investigate the dissolution kinetics of ulexite in sodium dihydrogen phosphate in a mechanical agitation system and also to declare an alternative reactant to produce the boric acid. Reaction temperature, concentration of sodium dihydrogen phosphate, stirring speed, solid-liquid ratio, and ulexite particle size were selected as parameters. The experimental results were successfully correlated by using linear regression and a statistical program. Dissolution curves were evaluated in order to test the shrinking core models for solid-fluid systems. It was observed that increase in the reaction temperature and decrease in the solid/liquid ratio causes an increase in the dissolution rate of ulexite. The activation energy was found to be 36.4 kJ/mol. The leaching of ulexite was controlled by diffusion through the ash (or product) layer.

Keywords: Sodium dihydrogen phosphate, leaching kinetics, ulexite.

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Authors: Abdellatif Kasbi, Abderrafii Rahali

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This paper appraises the performances of two control scenarios, for doubly fed induction generator (DFIG) operating in wind generation system (WGS), which are the direct decoupled control (DDC) and indirect decoupled control (IDC). Both control scenarios studied combines vector control and Maximum Power Point Tracking (MPPT) control theory so as to maximize the captured power through wind turbine. Modeling of DFIG based WGS and details of both control scenarios have been presented, a proportional integral controller is employed in the active and reactive power control loops for both control methods. The performance of the both control scenarios in terms of power reference tracking and robustness against machine parameters inconstancy has been shown, analyzed and compared, which can afford a reference to the operators and engineers of a wind farm. All simulations have been implemented via MATLAB/Simulink.

Keywords: DFIG, WGS, DDC, IDC, vector control, MPPT.

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Authors: S. Levitsky, R. Bergman

Abstract:

Fluid rheology may have essential impact on sound propagation in a liquid-filled pipe, especially, in a low frequency range. Rheological parameters of liquid are temperature-sensitive, which ultimately results in a temperature dependence of the wave speed and attenuation in the waveguide. The study is devoted to modeling of this effect at sound propagation in an elastic pipe with polymeric liquid, described by generalized Maxwell model with non-zero high-frequency viscosity. It is assumed that relaxation spectrum is distributed according to the Spriggs law; temperature impact on the liquid rheology is described on the basis of the temperature-superposition principle and activation theory. The dispersion equation for the waveguide, considered as a thin-walled tube with polymeric solution, is obtained within a quasi-one-dimensional formulation. Results of the study illustrate the influence of temperature on sound propagation in the system.

Keywords: Elastic tube, sound propagation, temperature effect, viscoelastic liquid.

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Authors: Farhan Hussain, M.S.Islam

Abstract:

Analytically the effect of polarization dependent loss on a high speed fiber optic communication link has been investigated. PDL and the signal's incoming state of polarization (SOP) have a significant co-relation between them and their various combinations produces different effects on the system behavior which has been inspected. Pauli's spin operator and PDL parameters are combined together to observe the attenuation effect induced by PDL in a link containing multiple PDL elements. It is found that in the presence of PDL the Q-factor and BER at the receiver undergoes fluctuation causing the system to be unstable and results show that it is mainly due to optical-signal-to-parallel-noise ratio (OSNItpar) that these parameters fluctuate. Generally the Q-factor, BER deteriorates as the value of average PDL in the link increases except for depolarized light for which the system parameters improves when PDL increases.

Keywords: Bit Error Rate (BER), Optical-signal-to-noise ratio (OSNR), Polarization-dependent loss (PDL), State of polarization (SOP).

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Authors: Shahzadah Fahad Qureshi, Jianqing Zhang

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The wisest economic decision of United States in the 20th century was establishing the favorable international monetary system, and capturing the leadership position in it. This decision gave economic hegemony to the US for the next more than 7 decades. The continuation of this hegemony till the next decade seems difficult as the US economy is under continuous streams of recessions since 2007. On the other hand, Chinese economy is progressing with a very fast speed and is estimated to pass the US economy till 2025, in various aspects. Will the US be able to continue its leadership in the IMS? Will China replace US in the international monetary system? The answers to these questions have been explored by comparing the economic competitiveness of US and China, with respect to each other. The paper concludes that the change in global economic environment will compel US to share the leadership of international monetary system with China. This sharing will solve most problems of the current IMS, but will also birth some new problems.

Keywords: Economic competitiveness, Global economic environment (GEE), International monetary fund (IMF), International monetary system (IMS)

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Authors: Mu-Jen Young, Cheng-Yen Wu, Wen-Yuan Hsieh

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Iron oxide nanoparticle was synthesized by reactive-precipitation method followed by high speed centrifuge and phase transfer in order to stabilized nanoparticles in the solvent. Particle size of SPIO was 8.2 nm by SEM, and the hydraulic radius was 17.5 nm by dynamic light scattering method. Coercivity and saturated magnetism were determined by VSM (vibrating sample magnetometer), coercivity of nanoparticle was lower than 10 Hc, and the saturated magnetism was higher than 65 emu/g. Stabilized SPIO was then transferred to aqueous phase by reacted with excess amount of poly (ethylene glycol) (PEG) silane. After filtration and dialysis, the SPIO T2 contrast agent was ready to use. The hydraulic radius of final product was about 70~100 nm, the relaxation rates R2 (1/T2) measured by magnetic resonance imaging (MRI) was larger than 200(sec-1).

Keywords: Contrast Agent, Iron Oxide Nanoparticle, Magnetic Resonance Imaging, Nanoparticle Stabilization

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Authors: Sittichai K., Santirat N., Sompong., P

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The objective of this research was to study influence parameters affecting to mechanical property of austenitic stainless steel grade 304 (AISI 304) with Gas Metal Arc Welding (GMAW). The research was applying factorial design experiment, which have following interested parameters: welding current at 80, 90, and 100 Amps, welding speeds at 250, 300, and 350 mm/min, and shield gas of 75% Ar + 25% CO2, 70% Ar + 25% CO2 + 5% O2 and 69.5% Ar + 25% CO2 + 5% O2 + 0.5% He gas. The study was done in following aspects: ultimate tensile strength and elongation. A research study of ultimate tensile strength found that main factor effect, which had the highest strength to AISI 304 welding was shield gas of 70% Ar + 25% CO2 + 5% O2 at average of 954.81 N/mm2. Result of the highest elongation was showed significantly different at interaction effect between shield gas of 69.5%Ar+25%CO2+5%O2+.5%He and welding speed at 250 mm/min at 47.94%.

Keywords: Austenitic Stainless Steel AISI 304/ Mechanical Property/ Welding Gas Shield/ Gas Shield

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Authors: A. Jalal, S. Kim

Abstract:

Different methods containing biometric algorithms are presented for the representation of eigenfaces detection including face recognition, are identification and verification. Our theme of this research is to manage the critical processing stages (accuracy, speed, security and monitoring) of face activities with the flexibility of searching and edit the secure authorized database. In this paper we implement different techniques such as eigenfaces vector reduction by using texture and shape vector phenomenon for complexity removal, while density matching score with Face Boundary Fixation (FBF) extracted the most likelihood characteristics in this media processing contents. We examine the development and performance efficiency of the database by applying our creative algorithms in both recognition and detection phenomenon. Our results show the performance accuracy and security gain with better achievement than a number of previous approaches in all the above processes in an encouraging mode.

Keywords: Ubiquitous architecture, verification, Identification, recognition

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Authors: P Chockalingam, K Kok, R Vijayaram

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This paper presents a comparative study on dry and wet grinding through experimental investigation in the grinding of CSM glass fibre reinforced polymer laminates using a pink aluminium oxide wheel. Different sets of experiments were performed to study the effects of the independent grinding parameters such as grinding wheel speed, feed and depth of cut on dependent performance criteria such as cutting forces and surface finish. Experimental conditions were laid out using design of experiment central composite design. An effective coolant was sought in this study to minimise cutting forces and surface roughness for GFRP laminates grinding. Test results showed that the use of coolants reduces surface roughness, although not necessarily the cutting forces. These research findings provide useful economic machining solution in terms of optimized grinding conditions for grinding CSM GFRP.

Keywords: Chopped Strand Mat GFRP laminates, Dry and Wet Grinding, Cutting Forces, Surface Finish.

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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: Christopher Reichstein, Ralf-Christian Härting, Martina Häußler

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With a continuously increasing speed of information exchange on the World Wide Web, retailers in the E-Commerce sector are faced with immense possibilities regarding different online purchase processes like dynamic price settings. By use of Dynamic Pricing, retailers are able to set short time price changes in order to optimize producer surplus. The empirical research illustrates the basics of Dynamic Pricing and identifies six influencing factors of Dynamic Pricing. The results of a structural equation modeling approach show five main drivers increasing the potential of dynamic price settings in the E-Commerce. Influencing factors are the knowledge of customers’ individual willingness to pay, rising sales, the possibility of customization, the data volume and the information about competitors’ pricing strategy.

Keywords: E-commerce, empirical research, experts, Dynamic Pricing (DP), influencing factors, potentials.

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Authors: Kyoungjin Kim

Abstract:

Viscous heating becomes significant in the high speed resin coating process of glass fibers for optical fiber manufacturing. This study focuses on the coating resin flows inside the capillary coating die of optical fiber coating applicator and they are numerically simulated to examine the effects of viscous heating and subsequent temperature increase in coating resin. Resin flows are driven by fast moving glass fiber and the pressurization at the coating die inlet, while the temperature dependent viscosity of liquid coating resin plays an important role in the resin flow. It is found that the severe viscous heating near the coating die wall profoundly alters the radial velocity profiles and that the increase of final coating thickness by die pressurization is amplified if viscous heating is present.

Keywords: Optical fiber manufacturing, Optical fiber coating, Capillary flow, Viscous heating, Flow simulation

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Authors: Juan Li, Chunfu Shao, Chunjiao Dong, Dan Zhao, Yinhong Liu

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Mixed-traffic (e.g., pedestrians, bicycles, and vehicles) data at an intersection is one of the essential factors for intersection design and traffic control. However, some data such as pedestrian volume cannot be directly collected by common detectors (e.g. inductive loop, sonar and microwave sensors). In this paper, a video based detection algorithm is proposed for mixed-traffic data collection at intersections using surveillance cameras. The algorithm is derived from Gaussian Mixture Model (GMM), and uses a mergence time adjustment scheme to improve the traditional algorithm. Real-world video data were selected to test the algorithm. The results show that the proposed algorithm has the faster processing speed and more accuracy than the traditional algorithm. This indicates that the improved algorithm can be applied to detect mixed-traffic at signalized intersection, even when conflicts occur.

Keywords: detection, intersection, mixed traffic, moving objects.

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Authors: Dejan Tanikić, Jelena Đoković, Saša Kalinović, Miodrag Manić, Saša Ranđelović

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This paper deals with measuring and modelling of the quality of the machined surface of the metal machining process. The average surface roughness (R_a) which represents the quality of the machined part was measured during the dry turning of the AISI 4140 steel. A large number of factors with the unknown relations among them influences this parameter, and that is why mathematical modelling is extremely complicated. Different values of cutting speed, feed rate, depth of cut (cutting regime) and workpiece hardness causes different surface roughness values. Modelling with soft computing techniques may be very useful in such cases. This paper presents the usage of the fuzzy logic-based system for determining metal machining process parameter in order to find the proper values of cutting regimes.

Keywords: Metal machining, surface roughness, fuzzy logic, process modelling.

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Authors: Mohd. Hasan, Ajmal Kafeel, S. D. Pable

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Ultra-low-power (ULP) circuits have received widespread attention due to the rapid growth of biomedical applications and Battery-less Electronics. Subthreshold region of transistor operation is used in ULP circuits. Major research challenge in the subthreshold operating region is to extract the ULP benefits with minimal degradation in speed and robustness. Process, Voltage and Temperature (PVT) variations significantly affect the performance of subthreshold circuits. Designed performance parameters of ULP circuits may vary largely due to temperature variations. Hence, this paper investigates the effect of temperature variation on device and circuit performance parameters at different biasing voltages in the subthreshold region. Simulation results clearly demonstrate that in deep subthreshold and near threshold voltage regions, performance parameters are significantly affected whereas in moderate subthreshold region, subthreshold circuits are more immune to temperature variations. This establishes that moderate subthreshold region is ideal for temperature immune circuits.

Keywords: Subthreshold, temperature variations, ultralow power.

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Authors: Kumar Manoj, Ramesh Kumar, Kumari Arti

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A wireless Ad-hoc network consists of wireless nodes communicating without the need for a centralized administration, in which all nodes potentially contribute to the routing process.In this paper, we report the simulation results of four different scenarios for wireless ad hoc networks having thirty nodes. The performances of proposed networks are evaluated in terms of number of hops per route, delay and throughput with the help of OPNET simulator. Channel speed 1 Mbps and simulation time 600 sim-seconds were taken for all scenarios. For the above analysis DSR routing protocols has been used. The throughput obtained from the above analysis (four scenario) are compared as shown in Figure 3. The average media access delay at node_20 for two routes and at node_20 for four different scenario are compared as shown in Figures 4 and 5. It is observed that the throughput will degrade when it will follow different hops for same source to destination (i.e. it has dropped from 1.55 Mbps to 1.43 Mbps which is around 9.7%, and then dropped to 0.48Mbps which is around 35%).

Keywords: Throughput, Delay, DSR, OPNET, MANET, DSSS

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Authors: O. Zarrin, M. Ramezan Shirazi

Abstract:

The quality of concrete is usually defined by compressive strength, but flexural strength is the most important characteristic of concrete in a pavement which control the mix design of concrete instead of compressive strength. Therefore, the aggregates which are selected for the pavements are affected by higher flexural strength. Roller Compacting Concrete Pavement (RCCP) is not a new construction method. The other characteristic of this method is no bleeding and less shrinkage due to the lower amount of water. For this purpose, a roller is needed for placing and compacting. The surface of RCCP is not smooth; therefore, the most common use of this pavement is in an industrial zone with slower traffic speed which requires durable and tough pavement. For preparing a smoother surface, it can be achieved by asphalt paver. RCCP decrease the finishing cost because there are no bars, formwork, and the lesser labor need for placing the concrete. In this paper, different aspect of RCCP such as mix design, flexural, compressive strength and focus on the different part of RCCP on detail have been investigated.

Keywords: Flexural Strength, Compressive Strength, Pavement, Asphalt.

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Authors: J. Carlos Frutos Dordelly, M. Coillot, M. El Mankibi, R. Enríquez Miranda, M. José Jimenez, J. Arce Landa

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Natural ventilation systems have increasingly been the subject of research due to rising energetic consumption within the building sector and increased environmental awareness. In the last two decades, the mounting concern of greenhouse gas emissions and the need for an efficient passive ventilation system have driven the development of new alternative passive technologies such as ventilated facades, trombe walls or solar chimneys. The objective of the study is the assessment of PCM panels in an in situ solar chimney for the establishment of a numerical model. The PCM integrated solar chimney shows slight performance improvement in terms of mass flow rate and external temperature and outlet temperature difference. An increase of 11.3659 m³/h can be observed during low wind speed periods. Additionally, the surface temperature across the chimney goes beyond 45 °C and allows the activation of PCM panels.

Keywords: Energy storage, passive ventilation, phase changing materials, solar chimney, solar energy.

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Authors: Farhad Asadi, Gholamhasan Payganeh

Abstract:

High-speed turbomachine can experience significant centrifugal and gas bending loads. As a result, the compressor blades must be able to resist high-frequency oscillations due to surge or stall condition in flow field dynamics. In this paper, vibration characteristics of the 6th stage blade compressor have been examined in detail with, using 3-D finite element (FE) methods. The primary aim of this article is to gain an understanding of nonlinear vibration induced in the blade against different loading conditions. The results indicate the nonlinear behavior of the blade as a result of the amplitude of resonances or material properties. Since one of the leading causes of turbine blade failure is high cycle fatigue, simulations were started by specifying the stress distribution in the blade due to the centrifugal rotation. Next, resonant frequencies and critical speeds of the blade were defined by modal analysis. Finally, the harmonic analysis was simulated on the blades.

Keywords: Nonlinear vibration, modal analysis, resonance, frequency response, compressor blade.

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Authors: Yahya H. Zweiri

Abstract:

The back-propagation algorithm calculates the weight changes of an artificial neural network, and a two-term algorithm with a dynamically optimal learning rate and a momentum factor is commonly used. Recently the addition of an extra term, called a proportional factor (PF), to the two-term BP algorithm was proposed. The third term increases the speed of the BP algorithm. However, the PF term also reduces the convergence of the BP algorithm, and optimization approaches for evaluating the learning parameters are required to facilitate the application of the three terms BP algorithm. This paper considers the optimization of the new back-propagation algorithm by using derivative information. A family of approaches exploiting the derivatives with respect to the learning rate, momentum factor and proportional factor is presented. These autonomously compute the derivatives in the weight space, by using information gathered from the forward and backward procedures. The three-term BP algorithm and the optimization approaches are evaluated using the benchmark XOR problem.

Keywords: Neural Networks, Backpropagation, Optimization.

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Authors: Sarp Erturk, Levent Eyigel, Cihat Celik, Muhammet Sahinoglu, Serdar Ay, Yasin Kaya, Hasan Kaya

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This paper presents a quantitative analysis on the need for automotive calibration methods for digital tachographs. Digital tachographs are mandatory for vehicles used in people and goods transport and they are an important aspect for road safety and inspection. Digital tachographs need to be calibrated for workshops in order for the digital tachograph to display and record speed and odometer values correctly. Calibration of digital tachographs can be performed either manual or automatic. It is shown in this paper that manual calibration of digital tachographs is prone to errors and there can be differences between manual and automatic calibration parameters. Therefore automatic calibration methods are imperative for digital tachograph calibration. The presented experimental results and error analysis clearly support the claims of the paper by evaluating and statistically comparing manual and automatic calibration methods.

Keywords: Digital tachograph, road safety, tachograph calibration, tachograph workshops.

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Authors: Mihai Caramihai, Irina Severin, Ana Aurelia Chirvase, Adrian Onu, Cristina Tanase, Camelia Ungureanu

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An immunomodulator bioproduct is prepared in a batch bioprocess with a modified bacterium Pseudomonas aeruginosa. The bioprocess is performed in 100 L Bioengineering bioreactor with 42 L cultivation medium made of peptone, meat extract and sodium chloride. The optimal bioprocess parameters were determined: temperature – 37 0C, agitation speed - 300 rpm, aeration rate – 40 L/min, pressure – 0.5 bar, Dow Corning Antifoam M-max. 4 % of the medium volume, duration - 6 hours. This kind of bioprocesses are appreciated as difficult to control because their dynamic behavior is highly nonlinear and time varying. The aim of the paper is to present (by comparison) different models based on experimental data. The analysis criteria were modeling error and convergence rate. The estimated values and the modeling analysis were done by using the Table Curve 2D. The preliminary conclusions indicate Andrews-s model with a maximum specific growth rate of the bacterium in the range of 0.8 h-1.

Keywords: bioprocess modeling, Pseudomonas aeruginosa, kinetic models,

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Authors: H. A. Taner, V. Önen

Abstract:

In the thermal power plants established to meet the energy need, lignite with low calorie and high ash content is used. Burning of these coals results in wastes such as fly ash, slag and flue gas. This constitutes a significant economic and environmental problems. However, fly ash can find evaluation opportunities in various sectors. In this study, the effectiveness of fly ash on suspended solid removal from marble processing wastewater containing high concentration of suspended solids was examined. Experiments were carried out for two different suspensions, marble and travertine. In the experiments, FeCl₃, Al₂(SO₄)₃ and anionic polymer A130 were used also to compare with fly ash. Coagulant/flocculant type/dosage, mixing time/speed and pH were the experimental parameters. The performances in the experimental studies were assessed with the change in the interface height during sedimentation resultant and turbidity values of treated water. The highest sedimentation efficiency was achieved with anionic flocculant. However, it was determined that fly ash can be used instead of FeCl₃ and Al₂(SO₄)₃ in the travertine plant as a coagulant.

Keywords: Dewatering, flocculant, fly ash, marble plant waste water.

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Authors: Dana Kristalova, Jan Mazal

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This article deals with geographical conditions in terrain and their effect on the movement of vehicles, their effect on speed and safety of movement of people and vehicles. Finding of the optimal routes outside the communication is studied in the Army environment, but it occur in civilian as well, primarily in crisis situation, or by the provision of assistance when natural disasters such as floods, fires, storms etc., have happened. These movements require the optimization of routes when effects of geographical factors should be included. The most important factor is the surface of a terrain. It is based on several geographical factors as are slopes, soil conditions, micro-relief, a type of surface and meteorological conditions. Their mutual impact has been given by coefficient of deceleration. This coefficient can be used for the commander`s decision. New approaches and methods of terrain testing, mathematical computing, mathematical statistics or cartometric investigation are necessary parts of this evaluation.

Keywords: Movement in a terrain, geographical factors, surface of a field, mathematical evaluation, optimization and searching paths.

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Authors: Sophia Fry, Mahir Irtiza, Alexa Hoffman, Yousef Sardahi

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This study presents an intelligent control algorithm for a flexible robotic arm. Fuzzy control is used to control the motion of the arm to maintain the arm tip at the desired position while reducing vibration and increasing the system speed of response. The Fuzzy controller (FC) is based on adding the tip angular position to the arm deflection angle and using their sum as a feedback signal to the control algorithm. This reduces the complexity of the FC in terms of the input variables, number of membership functions, fuzzy rules, and control structure. Also, the design of the fuzzy controller is model-free and uses only our knowledge about the system. To show the efficacy of the FC, the control algorithm is implemented on the flexible joint manipulator (FJM) developed by Quanser. The results show that the proposed control method is effective in terms of response time, overshoot, and vibration amplitude.

Keywords: Fuzzy logic control, model-free control, flexible joint manipulators, nonlinear control.

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Authors: Natalya G. Filimonova, Mariya G. Ozerova, Irina N. Ermakova

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The long-term strategy of the economic development of Russia up to 2030 is based on the concept of sustainable growth. The determining factor of such development is complex changes in the economic system which may be achieved by making progressive changes in its structure. The structural changes determine the character and the direction of economic development, as well as they include all elements of this system without exception, and their regulated character ensures the most rapid aim achievement. This article has discussed the industrial structure of the agriculture in Russia. With the use of the system of indexes, the article has determined the directions, intensity, and speed of structural shifts. The influence of structural changes on agricultural production development has been found out. It is noticed that the changes in the industrial structure are synchronized with the changes in the organisation and economic structure. Efficiency assessment of structural changes allowed to trace the efficiency of structural changes and elaborate the main directions for agricultural policy improvement.

Keywords: Russian agriculture system, sectoral structure, organizational and economic structure, structural changes.

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Authors: Mehdi Salehi Barough, Saviz Sehat Kashani, A.A. Bidokhti, A.Ranjbar

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The presence of cold air with the convergent topography of the Lut valley over the valley-s sloping terrain can generate Low Level Jets (LLJ). Moreover, the valley-parallel pressure gradients and northerly LLJ are produced as a result of the large-scale processes. In the numerical study the regional MM5 model was run leading to achieve an appropriate dynamical analysis of flows in the region for summer and winter. The results of this study show the presence of summer synoptical systems cause the formation of north-south pressure gradients in the valley which could be led to the blowing of winds with the velocity more than 14 ms-1 and vulnerable dust and wind storms lasting more than 120 days. Whereas the presence of cold air masses in the region in winter, cause the average speed of LLJs decrease. In this time downslope flows are noticeable in creating the night LLJs.

Keywords: Cold advection, Low Level Jet, MM5 Model, Pressure gradient

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

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

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

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Authors: Sri Raman A., A.K.Ghosh

Abstract:

At very high speeds, bubbles form in the underwater vehicles because of sharp trailing edges or of places where the local pressure is lower than the vapor pressure. These bubbles are called cavities and the size of the cavities grows as the velocity increases. A properly designed cavitator can induce the formation of a single big cavity all over the vehicle. Such a vehicle travelling in the vaporous cavity is called a supercavitating vehicle and the present research work mainly focuses on the dynamic modeling of such vehicles. Cavitation of the fins is also accounted and the effect of the same on trajectory is well explained. The entire dynamics has been developed using the state space approach and emphasis is given on the effect of size and angle of attack of the cavitator. Control law has been established for the motion of the vehicle using Non-linear Dynamic Inverse (NDI) with cavitator as the control surface.

Keywords: High speed underwater vehicle, Non-Linear Dynamic Inverse (NDI), six-dof modeling, Supercavitation, Torpedo.

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