Search results for: dynamic shear

Authors: Woei-Shyan Lee, Hao-Chien Kao

Abstract:

The impact deformation and fracture behaviour of cobalt-based Haynes 188 superalloy are investigated by means of a split Hopkinson pressure bar. Impact tests are performed at strain rates ranging from 1×103 s-1 to 5×103 s-1 and temperatures between 25°C and 800°C. The experimental results indicate that the flow response and fracture characteristics of cobalt-based Haynes 188 superalloy are significantly dependent on the strain rate and temperature. The flow stress, work hardening rate and strain rate sensitivity all increase with increasing strain rate or decreasing temperature. It is shown that the impact response of the Haynes 188 specimens is adequately described by the Zerilli-Armstrong fcc model. The fracture analysis results indicate that the Haynes 188 specimens fail predominantly as the result of intensive localised shearing. Furthermore, it is shown that the flow localisation effect leads to the formation of adiabatic shear bands. The fracture surfaces of the deformed Haynes 188 specimens are characterised by dimple- and / or cleavage-like structure with knobby features. The knobby features are thought to be the result of a rise in the local temperature to a value greater than the melting point.

Keywords: Haynes 188 alloy, impact, strain rate and temperature effect, adiabatic shearing.

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Authors: T. F. Jin, X. C. Yin, P. B. Qian

Abstract:

The present investigation is concerned with sub-impacts taken placed when a rigid hemispherical-head block transversely impacts against a beam at different locations. Dynamic substructure technique for elastic-plastic impact is applied to solve numerically this problem. The time history of impact force and energy exchange between block and beam are obtained. The process of sub-impacts is analyzed from the energy exchange point of view. The results verify the influences of the impact location on impact duration, the first sub-impact and energy exchange between the beam and the block.

Keywords: Beam, sub-impact, substructure, elastic-plasticity.

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Authors: MM.Kaykha, A. Kamarei, M. Safari, V. Arbabi

Abstract:

Semisolid metal processing uses solid–liquid slurries containing fine and globular solid particles uniformly distributed in a liquid matrix, which can be handled as a solid and flow like a liquid. In the recent years, many methods have been introduced for the production of semisolid slurries since it is scientifically sound and industrially viable with such preferred microstructures called thixotropic microstructures as feedstock materials. One such process that needs very low equipment investment and running costs is the cooling slope. In this research by using a mechanical stirrer slurry maker constructed by the authors, the effects of mechanical stirring parameters such as: stirring time, stirring temperature and stirring Speed on micro-structure and mechanical properties of A360 aluminum alloy in semi-solid forming, are investigated. It is determined that mold temperature and holding time of part in temperature of 580ºC have a great effect on micro-structure and mechanical properties(stirring temperature of 585ºC, stirring time of 20 minutes and stirring speed of 425 RPM). By optimizing the forming parameters, dendrite microstructure changes to globular and mechanical properties improves. This is because of breaking and globularzing dendrites of primary α-AL.

Keywords: Semi-Solid Forming, Mechanical properties, Shear Rate.

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Authors: J. Ritonja

Abstract:

Available commercial applications of power system stabilizers assure optimal damping of synchronous generator’s oscillations only in a small part of operating range. Parameters of the power system stabilizer are usually tuned for the selected operating point. Extensive variations of the synchronous generator’s operation result in changed dynamic characteristics. This is the reason that the power system stabilizer tuned for the nominal operating point does not satisfy preferred damping in the overall operation area. The small-signal stability and the transient stability of the synchronous generators have represented an attractive problem for testing different concepts of the modern control theory. Of all the methods, the adaptive control has proved to be the most suitable for the design of the power system stabilizers. The adaptive control has been used in order to assure the optimal damping through the entire synchronous generator’s operating range. The use of the adaptive control is possible because the loading variations and consequently the variations of the synchronous generator’s dynamic characteristics are, in most cases, essentially slower than the adaptation mechanism. The paper shows the development and the application of the self-tuning power system stabilizer based on recursive least square identification method and linear quadratic regulator. Identification method is used to calculate the parameters of the Heffron-Phillips model of the synchronous generator. On the basis of the calculated parameters of the synchronous generator’s mathematical model, the synthesis of the linear quadratic regulator is carried-out. The identification and the synthesis are implemented on-line. In this way, the self-tuning power system stabilizer adapts to the different operating conditions. A purpose of this paper is to contribute to development of the more effective power system stabilizers, which would replace currently used linear stabilizers. The presented self-tuning power system stabilizer makes the tuning of the controller parameters easier and assures damping improvement in the complete operating range. The results of simulations and experiments show essential improvement of the synchronous generator’s damping and power system stability.

Keywords: Adaptive control, linear quadratic regulator, power system stabilizer, recursive least square identification.

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Authors: Markus Reichhartinger, Martin Horn

Abstract:

In this paper, the position control of an electronic throttle actuator is outlined. The dynamic behavior of the actuator is described with the help of an uncertain plant model. This motivates the controller design based on the ideas of higher-order slidingmodes. As a consequence anti-chattering techniques can be omitted. It is shown that the same concept is applicable to estimate unmeasureable signals. The control law and the observer are implemented on an electronic control unit. Results achieved by numerical simulations and real world experiments are presented and discussed.

Keywords: higher order sliding-mode, throttle actuator, electromechanicalsystem, robust and nonlinear control.

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Authors: S. Anbu, N. Jaya

Abstract:

Nonlinearity is the inherent characteristics of all the industrial processes. The Classical control approach used for a generation often fails to show better results particularly for non-linear systems and in the systems, whose parameters changes over a period of time for a variety of reasons. Alternatively, adaptive control strategies provide very good performance. The Model Reference Adaptive Control based on Lyapunov stability analysis and classical PI control strategies are designed and evaluated for Continuous Stirred Tank Reactor, which shows appreciable dynamic nonlinear characteristics.

Keywords: Adaptive Control, CSTR, Lyapunov stability, MRAS, PID.

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Authors: Gopal Chandra Saha, Sumanta Daw

Abstract:

Warm-up is an essential component for optimizing performance in various sports before a physical fitness training session. This study investigated the immediate comparative effect of Self-Myofascial Release through vibration rolling (VR), non-vibration rolling (NVR), and static stretching as a part of a warm-up treatment on the functional fitness of young adults. Functional fitness is a classification of training that prepares the body for real-life movements and activities. For the present study 20male physical education students were selected as subjects. The age of the subjects was ranged from 20-25 years. The functional fitness variables undertaken in the present study were flexibility, muscle strength, agility, static and dynamic balance of the lower extremity. Each of the three warm-up protocol was administered on consecutive days, i.e. 24 hr time gap and all tests were administered in the morning. The mean and SD were used as descriptive statistics. The significance of statistical differences among the groups was measured by applying ‘F’-test, and to find out the exact location of difference, Post Hoc Test (Least Significant Difference) was applied. It was found from the study that only flexibility showed significant difference among three types of warm-up exercise. The observed result depicted that VR has more impact on myofascial release in flexibility in comparison with NVR and stretching as a part of warm-up exercise as ‘p’ value was less than 0.05. In the present study, within the three means of warm-up exercises, vibration roller showed better mean difference in terms of NVR, and static stretching exercise on functional fitness of young physical education practitioners, although the results were found insignificant in case of muscle strength, agility, static and dynamic balance of the lower extremity. These findings suggest that sports professionals and coaches may take VR into account for designing more efficient and effective pre-performance routine for long term to improve exercise performances. VR has high potential to interpret into an on-field practical application means.

Keywords: Self-myofascial release, functional fitness, foam roller, physical education.

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Authors: Sérgio F. Sousa, Nuno M. F. S. A. Cerqueira, Marta A. S. Perez, Irina S. Moreira, António J. M.Ribeiro, Ana R. A. P. Neves, Maria J. Ramos, Pedro A. Fernandes

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In this work we report the recent progresses that have been achieved by our group in the last half decade on the field of computational proteomics. Specifically, we discuss the application of Molecular Dynamics Simulations and Electronic Structure Calculations in drug design, in the clarification of the structural and dynamic properties of proteins and enzymes and in the understanding of the catalytic and inhibition mechanism of cancer-related enzymes. A set of examples illustrate the concepts and help to introduce the reader into this important and fast moving field.

Keywords: Enzyme, Molecular Dynamics, Protein, Quantum Mechanics.

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Authors: C.B. Vishwakarma

Abstract:

The authors present a mixed method for reducing the order of the large-scale dynamic systems. In this method, the denominator polynomial of the reduced order model is obtained by using the modified pole clustering technique while the coefficients of the numerator are obtained by Pade approximations. This method is conceptually simple and always generates stable reduced models if the original high-order system is stable. The proposed method is illustrated with the help of the numerical examples taken from the literature.

Keywords: Modified pole clustering, order reduction, padeapproximation, stability, transfer function.

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Authors: S. O. Adeosun, L. O. Osoba, O. O. Taiwo

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Aluminum hybrid reinforcement technology is a response to the dynamic ever increasing service requirements of such industries as transportation, aerospace, automobile, marine, etc. It is unique in that it offers a platform of almost unending combinations of materials to produce various hybrid composites. This article reviews the studies carried out on various combinations of aluminum hybrid composite and the effects on mechanical, physical and chemical properties. It is observed that the extent of enhancement of these properties of hybrid composites is strongly dependent on the nature of the reinforcement, its hardness, particle size, volume fraction, uniformity of dispersion within the matrix and the method of hybrid production.

Keywords: Aluminum alloy, hybrid composites, properties, reinforcements.

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Authors: N. Patten, T. M. Young, P. Griffin

Abstract:

Preliminary results for a new flat plate test facility are presented here in the form of Computational Fluid Dynamics (CFD), flow visualisation, pressure measurements and thermal anemometry. The results from the CFD and flow visualisation show the effectiveness of the plate design, with the trailing edge flap anchoring the stagnation point on the working surface and reducing the extent of the leading edge separation. The flow visualization technique demonstrates the two-dimensionality of the flow in the location where the thermal anemometry measurements are obtained. Measurements of the boundary layer mean velocity profiles compare favourably with the Blasius solution, thereby allowing for comparison of future measurements with the wealth of data available on zero pressure gradient Blasius flows. Results for the skin friction, boundary layer thickness, frictional velocity and wall shear stress are shown to agree well with the Blasius theory, with a maximum experimental deviation from theory of 5%. Two turbulence generating grids have been designed and characterized and it is shown that the turbulence decay downstream of both grids agrees with established correlations. It is also demonstrated that there is little dependence of turbulence on the freestream velocity.

Keywords: CFD, Flow Visualisation, Thermal Anemometry, Turbulence Grids.

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Authors: Zaynab Elkhattabi, Youness Tabii, Abdelhamid Benkaddour

Abstract:

Nowadays, huge amount of multimedia repositories make the browsing, retrieval and delivery of video contents very slow and even difficult tasks. Video summarization has been proposed to improve faster browsing of large video collections and more efficient content indexing and access. In this paper, we focus on approaches to video summarization. The video summaries can be generated in many different forms. However, two fundamentals ways to generate summaries are static and dynamic. We present different techniques for each mode in the literature and describe some features used for generating video summaries. We conclude with perspective for further research.

Keywords: Semantic features, static summarization, video skimming, Video summarization.

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Authors: Fahim Kahlouche, Alaoua Bouaicha, Sihem Chaîbeddra, Sid-Ali Rafa, Abdelhamid Benouali

Abstract:

A designing of a structure requires its realization on rough or sloping ground. Besides the problem of the stability of the landslide, the behavior of the foundations that are bearing the structure is influenced by the destabilizing effect of the ground’s slope. This article focuses on the analysis of the slope stability exposed to loading by introducing the different factors influencing the slope’s behavior on the one hand, and on the influence of this slope on the foundation’s behavior on the other hand. This study is about the elastoplastic modelization using FLAC 2D. This software is based on the finite difference method, which is one of the older methods of numeric resolution of differential equations system with initial and boundary conditions. It was developed for the geotechnical simulation calculation. The aim of this simulation is to demonstrate the notable effect of shear modulus « G », cohesion « C », inclination angle (edge) « β », and distance between the foundation and the head of the slope on the stability of the slope as well as the stability of the foundation. In our simulation, the slope is constituted by homogenous ground. The foundation is considered as rigid/hard; therefore, the loading is made by the application of the vertical strengths on the nodes which represent the contact between the foundation and the ground. 

Keywords: Slope, shallow foundation, numeric method, FLAC 2D.

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Authors: Mohsin T. Mohammed, Zahid A. Khan, Arshad N. Siddiquee

Abstract:

The field of biomedical materials plays an imperative requisite and a critical role in manufacturing a variety of biological artificial replacements in a modern world. Recently, titanium (Ti) materials are being used as biomaterials because of their superior corrosion resistance and tremendous specific strength, free- allergic problems and the greatest biocompatibility compared to other competing biomaterials such as stainless steel, Co-Cr alloys, ceramics, polymers, and composite materials. However, regardless of these excellent performance properties, Implantable Ti materials have poor shear strength and wear resistance which limited their applications as biomaterials. Even though the wear properties of Ti alloys has revealed some improvements, the crucial effectiveness of biomedical Ti alloys as wear components requires a comprehensive deep understanding of the wear reasons, mechanisms, and techniques that can be used to improve wear behavior. This review examines current information on the effect of thermal and thermomechanical processing of implantable Ti materials on the long-term prosthetic requirement which related with wear behavior. This paper focuses mainly on the evolution, evaluation and development of effective microstructural features that can improve wear properties of bio grade Ti materials using thermal and thermomechanical treatments.

Keywords: Wear Resistance, Heat Treatment, Thermomechanical Processing, Biomedical Titanium Materials.

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Authors: Kwa-Sur Tam

Abstract:

This paper reviews various approaches that have been used for the modeling and simulation of large-scale engineering systems and determines their appropriateness in the development of a RICS modeling and simulation tool. Bond graphs, linear graphs, block diagrams, differential and difference equations, modeling languages, cellular automata and agents are reviewed. This tool should be based on linear graph representation and supports symbolic programming, functional programming, the development of noncausal models and the incorporation of decentralized approaches.

Keywords: Interdisciplinary, dynamic, functional programming, object-oriented.

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Authors: Davod Zaravi, Habib Rostami, Alireza Malahzaheh, S. S. Mortazavi

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In this paper a new robust and efficient algorithm to automatic text extraction from colored book and journal cover sheets is proposed. First, we perform wavelet transform. Next for edge detecting from detail wavelet coefficient, we use dynamic threshold. By blurring approximate coefficients with alternative heuristic thresholding, achieve effective edge,. Afterward, with ROI technique get binary image. Finally text boxes would be extracted with new projection profile.

Keywords: Text extraction, colored cover sheet, wavelet threshold, region of interest.

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Authors: Ola Elfmark, Lars M. Bardal, Luca Oggiano, H˚avard Myklebust

Abstract:

Team pursuit is a relatively new event in international long track speed skating. For a single speed skater the aerodynamic drag will account for up to 80% of the braking force, thus reducing the drag can greatly improve the performance. In a team pursuit the interactions between athletes in near proximity will also be essential, but is not well studied. In this study, systematic measurements of the aerodynamic drag, body posture and relative positioning of speed skaters have been performed in the low speed wind tunnel at the Norwegian University of Science and Technology, in order to investigate the aerodynamic interaction between two speed skaters. Drag measurements of static speed skaters drafting, leading, side-by-side, and dynamic drag measurements in a synchronized and unsynchronized movement at different distances, were performed. The projected frontal area was measured for all postures and movements and a blockage correction was performed, as the blockage ratio ranged from 5-15% in the different setups. The static drag measurements where performed on two test subjects in two different postures, a low posture and a high posture, and two different distances between the test subjects 1.5T and 3T where T being the length of the torso (T=0.63m). A drag reduction was observed for all distances and configurations, from 39% to 11.4%, for the drafting test subject. The drag of the leading test subject was only influenced at -1.5T, with the biggest drag reduction of 5.6%. An increase in drag was seen for all side-by-side measurements, the biggest increase was observed to be 25.7%, at the closest distance between the test subjects, and the lowest at 2.7% with ∼ 0.7 m between the test subjects. A clear aerodynamic interaction between the test subjects and their postures was observed for most measurements during static measurements, with results corresponding well to recent studies. For the dynamic measurements, the leading test subject had a drag reduction of 3% even at -3T. The drafting showed a drag reduction of 15% when being in a synchronized (sync) motion with the leading test subject at 4.5T. The maximal drag reduction for both the leading and the drafting test subject were observed when being as close as possible in sync, with a drag reduction of 8.5% and 25.7% respectively. This study emphasize the importance of keeping a synchronized movement by showing that the maximal gain for the leading and drafting dropped to 3.2% and 3.3% respectively when the skaters are in opposite phase. Individual differences in technique also appear to influence the drag of the other test subject.

Keywords: Aerodynamic interaction, drag cycle, drag force, frontal area, speed skating.

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Authors: Tawiwat V., Tosapolporn P., Kedit J.

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This research proposes the state of art on how to control or find the trajectory paths of the RRP robot when the prismatic joint is malfunction. According to this situation, the minimum energy of the dynamic optimization is applied. The RRP robot or similar systems have been used in many areas such as fire fighter truck, laboratory equipment and military truck for example a rocket launcher. In order to keep on task that assigned, the trajectory paths must be computed. Here, the open loop control is applied and the result of an example show the reasonable solution which can be applied to the controllable system.

Keywords: RRP robot, Optimal Control, Minimum Energy and Under Actuator.

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Authors: Hyun Ah Yoon, Ji Yeon Kang, Hee Sun Kim, Yeong Soo Shin

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Reinforced concrete (RC) shear wall system of residential buildings is popular in South Korea. RC walls are subjected to axial forces in common and the effect of axial forces on the strength loss of the fire damaged walls has not been investigated. This paper aims at investigating temperature distribution on fire damaged concrete walls having different axial loads. In the experiments, a variable of specimens is axial force ratio. RC walls are fabricated with 150mm of wall thicknesses, 750mm of lengths and 1,300mm of heights having concrete strength of 24MPa. After curing, specimens are heated on one surface with ISO-834 standard time-temperature curve for 2 hours and temperature distributions during the test are measured using thermocouples inside the walls. The experimental results show that the temperature of the RC walls exposed to fire increases as axial force ratio increases. To verify the experiments, finite element (FE) models are generated for coupled temperature-structure analyses. The analytical results of thermal behaviors are in good agreement with the experimental results. The predicted displacement of the walls decreases when the axial force increases. 

Keywords: Axial force ratio, coupled analysis, fire, reinforced concrete wall, temperature distribution.

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Authors: Ali Osman Güney, Bahattin Kanber

Abstract:

In this work, the effect of material type, diameter, orientation and closeness of fibers on the general performance of reinforced vulcanized rubbers are investigated using finite element method with experimental verification. Various fiber materials such as hemp, nylon, polyester are used for different fiber diameters, orientations and closeness. 3D finite element models are developed by considering bonded contact elements between fiber and rubber sheet interfaces. The fibers are assumed as linear elastic, while vulcanized rubber is considered as hyper-elastic. After an experimental verification of finite element results, the developed models are analyzed under prescribed displacement that causes tension. The normal stresses in fibers and shear stresses between fibers and rubber sheet are investigated in all models. Large deformation of reinforced rubber sheet also represented with various fiber conditions under incremental loading. A general assessment is achieved about best fiber properties of reinforced rubber sheets for tension-load conditions.

Keywords: Fiber properties, finite element method, tension-load condition, reinforced vulcanized rubbers.

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Authors: Wen-Tzu Chen, Wen-Bin Kao

Abstract:

This paper provides a scheme to improve the read efficiency of anti-collision algorithm in EPCglobal UHF Class-1 Generation-2 RFID standard. In this standard, dynamic frame slotted ALOHA is specified to solve the anti-collision problem. Also, the Q-algorithm with a key parameter C is adopted to dynamically adjust the frame sizes. In the paper, we split the C parameter into two parameters to increase the read speed and derive the optimal values of the two parameters through simulations. The results indicate our method outperforms the original Q-algorithm.

Keywords: RFID, anti-collision, Q algorithm, ALOHA

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Authors: Athanasios T. Alexiou, Maria M. Psiha, John A. Rekkas, Panayiotis M. Vlamos

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Mitochondria are dynamic organelles, capable to interact with each other. While the number of mitochondria in a cell varies, their quality and functionality depends on the operation of fusion, fission, motility and mitophagy. Nowadays, several researches declare as an important factor in neurogenerative diseases the disruptions in the regulation of mitochondrial dynamics. In this paper a stochastic model in BioAmbients calculus is presented, concerning mitochondrial fusion and its distribution in the renewal of mitochondrial population in a cell. This model describes the successive and dependent stages of protein synthesis, protein-s activation and merging of two independent mitochondria.

Keywords: Mitochondrial Dynamics, P-Calculus, StochasticModeling.

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Authors: C. Recommandé, J.C. Blind, A. Clavel, R. Gourichon, V. Le Gal

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Simulations are developed in this paper with usual DSGE model equations. The model is based on simplified version of Smets-Wouters equations in use at European Central Bank which implies 10 macro-economic variables: consumption, investment, wages, inflation, capital stock, interest rates, production, capital accumulation, labour and credit rate, and allows take into consideration the banking system. Throughout the simulations, this model will be used to evaluate the impact of rate shocks recounting the actions of the European Central Bank during 2008.

Keywords: CC-LM, Central Bank, DSGE, Liquidity Shock, Non-standard Intervention.

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Authors: Nashrawan N. Taha, Andrew M. Cox

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In a multi-cultural learning context, where ties are weak and dynamic, combining qualitative with quantitative research methods may be more effective. Such a combination may also allow us to answer different types of question, such as about people’s perception of the network. In this study the use of observation, interviews and photos were explored as ways of enhancing data from social network questionnaires. Integrating all of these methods was found to enhance the quality of data collected and its accuracy, also providing a richer story of the network dynamics and the factors that shaped these changes over time.

Keywords: Mixed Methods, Social Network Analysis, multi-cultural learning, Social Network Dynamics.

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Authors: Rama Debbarma, Debanjan Das

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The performance of multiple tuned mass dampers to mitigate the seismic vibration of structures considering real time history data is investigated in this paper. Three different real earthquake time history data like Kobe, Imperial Valley and Mammoth Lake are taken in the present study. The multiple tuned mass dampers (MTMD) are distributed at each storey. For comparative study, single tuned mass damper (STMD) is installed at top of the similar structure. This study is conducted for a fixed mass ratio (5%) and fixed damping ratio (5%) of structures. Numerical study is performed to evaluate the effectiveness of MTMDs and overall system performance. The displacement, acceleration, base shear and storey drift are obtained for both combined system (structure with MTMD and structure with STMD) for all earthquakes. The same responses are also obtained for structure without damper system. From obtained results, it is investigated that the MTMD configuration is more effective for controlling the seismic response of the primary system with compare to STMD configuration.

Keywords: Earthquake, multiple tuned mass dampers, single tuned mass damper, time history.

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Authors: F. Tajarrod, G. Latif-Shabgahi

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Fault tree analysis is a well-known method for reliability and safety assessment of engineering systems. In the last 3 decades, a number of methods have been introduced, in the literature, for automatic construction of fault trees. The main difference between these methods is the starting model from which the tree is constructed. This paper presents a new methodology for the construction of static and dynamic fault trees from a system Simulink model. The method is introduced and explained in detail, and its correctness and completeness is experimentally validated by using an example, taken from literature. Advantages of the method are also mentioned.

Keywords: Fault tree, Simulink, Standby Sparing and Redundancy

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Authors: G. Bhushan, S. S. Rattan, N. P. Mehta

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A four-lobe pressure dam bearing which is produced by cutting two pressure dams on the upper two lobes and two relief-tracks on the lower two lobes of an ordinary four-lobe bearing is found to be more stable than a conventional four-lobe bearing. In this paper a four-lobe pressure dam bearing supporting rigid and flexible rotors is analytically investigated to determine its performance when L/D ratio is varied in the range 0.75 to 1.5. The static and dynamic characteristics are studied at various L/D ratios. The results show that the stability of a four-lobe pressure dam bearing increases with decrease in L/D ratios both for rigid as well as flexible rotors.

Keywords: Four-lobe pressure dam bearing, finite-elementmethod, L/D ratio.

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Authors: Chen Wang, Amir Anvar

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This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing glider design. It may be also used to validate a robot glider design.

Keywords: AUV, underwater glider, robot, modeling, simulation.

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Authors: Hataitep Wongsuwarn, Djitt Laowattana

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This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

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Authors: V. Narasimha Raghavan, T. Peer Meera Labbai, N. Bhalaji, Suvitha Kesavan

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In this paper, a new approach based on the extent of friendship between the nodes is proposed which makes the nodes to co-operate in an ad hoc environment. The extended DSR protocol is tested under different scenarios by varying the number of malicious nodes and node moving speed. It is also tested varying the number of nodes in simulation used. The result indicates the achieved throughput by extended DSR is greater than the standard DSR and indicates the percentage of malicious drops over total drops are less in the case of extended DSR than the standard DSR.

Keywords: Mobile Adhoc Networks, DSR, Grudger protocol, Nodes.

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