Search results for: dynamic mathematical model

Authors: Akella Amarendra Babu, Rama Devi Yellasiri, Natukula Sainath

Abstract:

Where human beings can easily learn and adopt pronunciation variations, machines need training before put into use. Also humans keep minimum vocabulary and their pronunciation variations are stored in front-end of their memory for ready reference, while machines keep the entire pronunciation dictionary for ready reference. Supervised methods are used for preparation of pronunciation dictionaries which take large amounts of manual effort, cost, time and are not suitable for real time use. This paper presents an unsupervised adaptation model for building agile and dynamic pronunciation dictionaries online. These methods mimic human approach in learning the new pronunciations in real time. A new algorithm for measuring sound distances called Dynamic Phone Warping is presented and tested. Performance of the system is measured using an adaptation model and the precision metrics is found to be better than 86 percent.

Keywords: Pronunciation variations, dynamic programming, machine learning, natural language processing.

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Authors: E. Tskitishvili, I. Eliava, T. Tskitishvili, N. Bagathuria, L. Zghenti, M. Gigolashvili

Abstract:

There was studied dynamic of the number of nematodes fauna of various ecosystems of Gombori Mountain Ridge that belongs to peak of fauna dynamic. The nature of dynamic is in general similar in all six biotypes and the difference is evident only in total number of nematodes.

Keywords: Nematoda, dynamic, highland, ecosystem

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Authors: Elias K. Maragos, Petros E. Maravelakis

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In Dynamic Data Envelopment Analysis (DDEA), which is a subfield of Data Envelopment Analysis (DEA), the productivity of Decision Making Units (DMUs) is considered in relation to time. In this case, as it is accepted by the most of the researchers, there are outputs, which are produced by a DMU to be used as inputs in a future time. Those outputs are known as intermediates. The common models, in DDEA, do not take into account the shape of the distribution of those inputs, outputs or intermediates data, assuming that the distribution of the virtual value of them does not deviate from linearity. This weakness causes the limitation of the accuracy of the analytical power of the traditional DDEA models. In this paper, the authors, using the concept of piecewise linear inputs and outputs, propose an extended DDEA model. The proposed model increases the flexibility of the traditional DDEA models and improves the measurement of the dynamic performance of DMUs.

Keywords: Data envelopment analysis, Dynamic DEA, Piecewise linear inputs, Piecewise linear outputs.

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Authors: K. Kamalanand, P. Mannar Jawahar

Abstract:

Methods of contemporary mathematical physics such as chaos theory are useful for analyzing and understanding the behavior of complex biological and physiological systems. The three dimensional model of HIV/AIDS is the basis of active research since it provides a complete characterization of disease dynamics and the interaction of HIV-1 with the immune system. In this work, the behavior of the HIV system is analyzed using the three dimensional HIV model and a chaotic measure known as the Hurst exponent. Results demonstrate that Hurst exponents of CD4, CD8 cells and viral load vary nonlinearly with respect to variations in system parameters. Further, it was observed that the three dimensional HIV model can accommodate both persistent (H>0.5) and anti-persistent (H<0.5) dynamics of HIV states. In this paper, the objectives of the study, methodology and significant observations are presented in detail.

Keywords: HIV/AIDS, mathematical model, chaos theory, Hurst exponent

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Authors: Spiros Mazarakis, George Matzavinos, Peter P. Groumpos

Abstract:

Economic models are complex dynamic systems with a lot of uncertainties and fuzzy data. Conventional modeling approaches using well known methods and techniques cannot provide realistic and satisfactory answers to today-s challenging economic problems. Qualitative modeling using fuzzy logic and intelligent system theories can be used to model macroeconomic models. Fuzzy Cognitive maps (FCM) is a new method been used to model the dynamic behavior of complex systems. For the first time FCMs and the Mamdani Model of Intelligent control is used to model macroeconomic models. This new model is referred as the Mamdani Rule-Based Fuzzy Cognitive Map (MBFCM) and provides the academic and research community with a new promising integrated advanced computational model. A new economic model is developed for a qualitative approach to Macroeconomic modeling. Fuzzy Controllers for such models are designed. Simulation results for an economic scenario are provided and extensively discussed

Keywords: Macroeconomic Models, Mamdani Rule Based- FCMs(MBFCMs), Qualitative and Dynamics System, Simulation.

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Authors: Sperisa Distantina, Rieke Ulfha Noviyanti, Sri Sutriyani, Fadilah Fadilah, Mujtahid Kaavessina

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In this research, carrageenan extracted from seaweed Eucheuma cottonii was mixed with polyvinyl alcohol (PVA) and then crosslinked using glutaraldehyde (GA). The obtained hydrogel films were applied to control the drug release rate of paracetamol. The aim of this research was to develop a mathematical model that can be used to describe the mass transfer rate of paracetamol from the hydrogel film into buffer solution. The effect of weight ratio carrageenan-PVA (5: 0, 1: 0.5, 1: 1, 1: 2, 0: 5) on the parameters of the mathematical model was investigated also. Based on the experimental data, the proposed mathematical model could describe the mass transfer rate of paracetamol. The weight ratio of carrageenan-PVA greatly affected the amount of paracetamol absorbed in the hydrogel film and the mass transfer rate of paracetamol.

Keywords: Carrageenan-PVA, crosslinking, hydrogel, glutaraldehyde, paracetamol, mass transfer.

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Authors: Entisar A. Elgmati

Abstract:

Recurrent event data is a special type of multivariate survival data. Dynamic and frailty models are one of the approaches that dealt with this kind of data. A comparison between these two models is studied using the empirical standard deviation of the standardized martingale residual processes as a way of assessing the fit of the two models based on the Aalen additive regression model. Here we found both approaches took heterogeneity into account and produce residual standard deviations close to each other both in the simulation study and in the real data set.

Keywords: Dynamic, frailty, misspecification, recurrent events.

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Authors: Jožef Ritonja

Abstract:

The biochemical industry is one of the most important modern industries. Biochemical reactors are crucial devices of the biochemical industry. The essential bioprocess carried out in bioreactors is the fermentation process. A thorough insight into the fermentation process and the knowledge how to control it are essential for effective use of bioreactors to produce high quality and quantitatively enough products. The development of the control system starts with the determination of a mathematical model that describes the steady state and dynamic properties of the controlled plant satisfactorily, and is suitable for the development of the control system. The paper analyses the fermentation process in bioreactors thoroughly, using existing mathematical models. Most existing mathematical models do not allow the design of a control system for controlling the fermentation process in batch bioreactors. Due to this, a mathematical model was developed and presented that allows the development of a control system for batch bioreactors. Based on the developed mathematical model, a control system was designed to ensure optimal response of the biochemical quantities in the fermentation process. Due to the time-varying and non-linear nature of the controlled plant, the conventional control system with a proportional-integral-differential controller with constant parameters does not provide the desired transient response. The improved adaptive control system was proposed to improve the dynamics of the fermentation. The use of the adaptive control is suggested because the parameters’ variations of the fermentation process are very slow. The developed control system was tested to produce dairy products in the laboratory bioreactor. A carbon dioxide concentration was chosen as the controlled variable. The carbon dioxide concentration correlates well with the other, for the quality of the fermentation process in significant quantities. The level of the carbon dioxide concentration gives important information about the fermentation process. The obtained results showed that the designed control system provides minimum error between reference and actual values of carbon dioxide concentration during a transient response and in a steady state. The recommended control system makes reference signal tracking much more efficient than the currently used conventional control systems which are based on linear control theory. The proposed control system represents a very effective solution for the improvement of the milk fermentation process.

Keywords: Bioprocess engineering, biochemical reactor, fermentation process, modeling, adaptive control.

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Authors: Raksha Sharma, Vishnu Kant Soni, Manoj Kumar Mishra, Prachet Bhuyan, Utpal Chandra Dey

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Grid computing is a group of clusters connected over high-speed networks that involves coordinating and sharing computational power, data storage and network resources operating across dynamic and geographically dispersed locations. Resource management and job scheduling are critical tasks in grid computing. Resource selection becomes challenging due to heterogeneity and dynamic availability of resources. Job scheduling is a NP-complete problem and different heuristics may be used to reach an optimal or near optimal solution. This paper proposes a model for resource and job scheduling in dynamic grid environment. The main focus is to maximize the resource utilization and minimize processing time of jobs. Grid resource selection strategy is based on Max Heap Tree (MHT) that best suits for large scale application and root node of MHT is selected for job submission. Job grouping concept is used to maximize resource utilization for scheduling of jobs in grid computing. Proposed resource selection model and job grouping concept are used to enhance scalability, robustness, efficiency and load balancing ability of the grid.

Keywords: Agent, Grid Computing, Job Grouping, Max Heap Tree (MHT), Resource Scheduling.

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Authors: Mohammed Abdalla Osman Mukhtar, Azween Abdullah, Alan Giffin Downe

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Model mapping and transformation are important processes in high level system abstractions, and form the cornerstone of model-driven architecture (MDA) techniques. Considerable research in this field has devoted attention to static system abstraction, despite the fact that most systems are dynamic with high frequency changes in behavior. In this paper we provide an overview of work that has been done with regard to behavior model mapping and transformation, based on: (1) the completeness of the platform independent model (PIM); (2) semantics of behavioral models; (3) languages supporting behavior model transformation processes; and (4) an evaluation of model composition to effect the best approach to describing large systems with high complexity.

Keywords: MDA; PIM, PSM, QVT, Model Transformation

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Authors: Kamel Hashem, Ibrahim Arman

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Information and Communication Technologies (ICT) in mathematical education is a very active field of research and innovation, where learning is understood to be meaningful and grasping multiple linked representation rather than rote memorization, a great amount of literature offering a wide range of theories, learning approaches, methodologies and interpretations, are generally stressing the potentialities for teaching and learning using ICT. Despite the utilization of new learning approaches with ICT, students experience difficulties in learning concepts relevant to understanding mathematics, much remains unclear about the relationship between the computer environment, the activities it might support, and the knowledge that might emerge from such activities. Many questions that might arise in this regard: to what extent does the use of ICT help students in the process of understanding and solving tasks or problems? Is it possible to identify what aspects or features of students' mathematical learning can be enhanced by the use of technology? This paper will highlight the interest of the integration of information and communication technologies (ICT) into the teaching and learning of mathematics (quadratic functions), it aims to investigate the effect of four instructional methods on students- mathematical understanding and problem solving. Quantitative and qualitative methods are used to report about 43 students in middle school. Results showed that mathematical thinking and problem solving evolves as students engage with ICT activities and learn cooperatively.

Keywords: Dynamic Geometry Software, Information and Communication Technologies, Visualization, Mathematical Education.

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Authors: A. Khelassi, R. Bendib

Abstract:

The paper considers the effect of feed plate location on the interactions in a seven plate binary distillation column. The mathematical model of the distillation column is deduced based on the equations of mass and energy balances for each stage, detailed model for both reboiler and condenser, and heat transfer equations. The Dynamic Relative Magnitude Criterion, DRMC is used to assess the interactions in different feed plate locations for a seven plate (Benzene-Toluene) binary distillation column ( the feed plate is originally at stage 4). The results show that whenever we go far from the optimum feed plate position, the level of interaction augments.

Keywords: Distillation column, assessment of interactions, feedplate location, DRMC.

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Authors: V. S. Klimash, Ye Min Thu

Abstract:

Thyristor rectifiers, inverters grid-tied, and AC voltage regulators are widely used in industry, and on electrified transport, they have a lot in common both in the power circuit and in the control system. They have a common mathematical structure and switching processes. At the same time, the rectifier, but the inverter units and thyristor regulators of alternating voltage are considered separately both theoretically and practically. They are written about in different books as completely different devices. The aim of this work is to combine them into one class based on the unity of the equations describing electromagnetic processes, and then, to show this unity on the mathematical model and experimental setup. Based on research from mathematics to the product, a conclusion is made about the methodology for the rapid conduct of research and experimental design work, preparation for production and serial production of converters with a unified bundle. In recent years, there has been a transition from thyristor circuits and transistor in modular design. Showing the example of thyristor rectifiers and AC voltage regulators, we can conclude that there is a unity of mathematical structures and grid-tied thyristor converters.

Keywords: Direct current, alternating current, rectifier, AC voltage regulator, generalized mathematical model.

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Authors: Abdelhakam A. Noreldien, Sakhr B. Abudarag, Muslim S. Eltoum, Salih O. Osman

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This paper presents an analytical study of Small Unmanned Aerial Vehicle (SUAV) dynamic stability derivatives. Simulating SUAV dynamics and analyzing its behavior at the earliest design stages is too important and more efficient design aspect. The approach suggested in this paper is using the wind tunnel experiment to collect the aerodynamic data and get the dynamic stability derivatives. AutoCAD Software was used to draw the case study (wildlife surveillance SUAV). The SUAV is scaled down to be 0.25% of the real SUAV dimensions and converted to a wind tunnel model. The model was tested in three different speeds for three different attitudes which are; pitch, roll and yaw. The wind tunnel results were then used to determine the case study stability derivative values, and hence it used to calculate the roots of the characteristic equation for both longitudinal and lateral motions. Finally, the characteristic equation roots were found and discussed in all possible cases.

Keywords: Model, simulating, SUAV, wind tunnel.

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Authors: S. H. Yahaya, J. M. Ali, M. R. Arham

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This paper presents the analysis of duct design using static and dynamic approaches. The static approach is used to find out applicability between the design and material applied. The material used in this paper is Thermoplastic Olefins (TPO). For the dynamic approach, the focusing is only on the CFD simulations. The fatigue life in this design and material applied also covered.

Keywords: CFD, structural analysis, fluid analysis, duct design, fatigue life

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Authors: Manisha Chaudhary, Joydip Dhar, Govind Prasad Sahu

Abstract:

A mathematical model is proposed considering the forest biomass density B(t), density of wood based industries W(t) and density of synthetic industries S(t). It is assumed that the forest biomass grows logistically in the absence of wood based industries, but depletion of forestry biomass is due to presence of wood based industries. The growth of wood based industries depends on B(t), while S(t) grows at a constant rate, independent of B(t). Further there is a competition between W(t) and S(t) according to market demand. The proposed model has four ecologically feasible steady states, namely, E1: forest biomass free and wood industries free equilibrium; E2: wood industries free equilibrium and two coexisting equilibria E∗1 , E∗2 . Behavior of the system near all feasible equilibria is analyzed using the stability theory of differential equations. In the proposed model, the natural depletion rate h1 is a crucial parameter and system exhibits Hopf-bifurcation about the non-trivial equilibrium with respect to h1. The analytical results are verified using numerical simulation.

Keywords: A mathematical model, Competition between wood based and synthetic industries, Hopf-bifurcation, Stability analysis.

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Authors: Amin Almasi

Abstract:

Analysis of reciprocating equipment piston rod leads to nonlinear elastic-plastic deformation analysis of rod with initial imperfection under axial dynamic load. In this paper a new and effective model and analytical formulations are presented to evaluate dynamic deformation and elastic-plastic stresses of reciprocating machine piston rod. This new method has capability to account for geometric nonlinearity, elastic-plastic deformation and dynamic effects. Proposed method can be used for evaluation of piston rod performance for various reciprocating machines under different operation situations. Rod load curves and maximum allowable rod load are calculated with presented method for a refinery type reciprocating compressor. Useful recommendations and guidelines for rod load, rod load reversal and rod drop monitoring are also addressed.

Keywords: Deformation, Reciprocating Equipment, Rod.

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Authors: Ahmed Abbas Helmy, M. R. M. Rizk, Mohamed El-Sayed

Abstract:

A model predictive controller based on recursive learning is proposed. In this SISO adaptive controller, a model is automatically updated using simple recursive equations. The identified models are then stored in the memory to be re-used in the future. The decision for model update is taken based on a new control performance index. The new controller allows the use of simple linear model predictive controllers in the control of nonlinear time varying processes.

Keywords: Adaptive control, model predictive control, dynamic matrix control, online model identification

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Authors: N. Philipova

Abstract:

The influence of the geometric parameters of trapezoidal labyrinth channel on the emitter discharge is investigated in this work. The impact of the dentate angle, the dentate spacing, and the dentate height are studied among the geometric parameters of the labyrinth channel. Numerical simulations of the water flow movement are performed according to central cubic composite design using Commercial codes GAMBIT and FLUENT. Inlet pressure of the dripper is set up to be 1 bar. The objective of this paper is to derive a mathematical model of the emitter discharge depending on the dentate angle, the dentate spacing, the dentate height of the labyrinth channel. As a result, the obtained mathematical model is a second-order polynomial reporting 2-way interactions among the geometric parameters. The dentate spacing has the most important and positive influence on the emitter discharge, followed by the simultaneous impact of the dentate spacing and the dentate height. The dentate angle in the observed interval has no significant effect on the emitter discharge. The obtained model can be used as a basis for a future emitter design.

Keywords: Drip irrigation, labyrinth channel hydrodynamics, numerical simulations, Reynolds stress model.

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Authors: Siamak Rasulzadeh

Abstract:

Graph transformation has recently become more and more popular as a general visual modeling language to formally state the dynamic semantics of the designed models. Especially, it is a very natural formalism for languages which basically are graph (e.g. UML). Using this technique, we present a highly understandable yet precise approach to formally model and analyze the behavioral semantics of UML 2.0 Activity diagrams. In our proposal, AGG is used to design Activities, then using our previous approach to model checking graph transformation systems, designers can verify and analyze designed Activity diagrams by checking the interesting properties as combination of graph rules and LTL (Linear Temporal Logic) formulas on the Activities.

Keywords: UML 2.0 Activity, Verification, Model Checking, Graph Transformation, Dynamic Semantics.

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Authors: Yang Zhong, Mei-jie Xu

Abstract:

To study the dynamic mechanics response of asphalt pavement under the temperature load and vehicle loading, asphalt pavement was regarded as multilayered elastic half-space system, and theory analysis was conducted by regarding dynamic modulus of asphalt mixture as the parameter. Firstly, based on the dynamic modulus test of asphalt mixture, function relationship between the dynamic modulus of representative asphalt mixture and temperature was obtained. In addition, the analytical solution for thermal stress in single layer was derived by using Laplace integral transformation and Hankel integral transformation respectively by using thermal equations of equilibrium. The analytical solution of calculation model of thermal stress in asphalt pavement was derived by transfer matrix of thermal stress in multilayer elastic system. Finally, the variation of thermal stress in pavement structure was analyzed. The result shows that there is obvious difference between the thermal stress based on dynamic modulus and the solution based on static modulus. So the dynamic change of parameter in asphalt mixture should be taken into consideration when theoretical analysis is taken out.

Keywords: Asphalt pavement, dynamic modulus, integral transformation, transfer matrix, thermal stress.

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Authors: Rafael Jorge Menezes Santos, Ginalber Luiz de Oliveira Serra, Carlos César Teixeira Ferreira

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This paper proposes a methodology for analysis of the dynamic behavior of a robotic manipulator in continuous time. Initially this system (nonlinear system) will be decomposed into linear submodels and analyzed in the context of the Linear and Parameter Varying (LPV) Systems. The obtained linear submodels, which represent the local dynamic behavior of the robotic manipulator in some operating points were grouped in a Takagi-Sugeno fuzzy structure. The obtained fuzzy model was analyzed and validated through analog simulation, as universal approximator of the robotic manipulator.

Keywords: modeling of nonlinear dynamic systems, Takagi- Sugeno fuzzy model, Linear and Parameter Varying (LPV) System.

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Authors: S. Khosravi, A. Afshar, F. Barazandeh

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In this study we propose a novel monitor hydraulic automatic gauge control (HAGC) system based on fuzzy feedforward controller. This is used in the development of cold rolling mill automation system to improve the quality of cold strip. According to features/ properties of entry steel strip like its average yield stress, width of strip, and desired exit thickness, this controller realizes the compensation for the exit thickness error. The traditional methods of adjusting the roller position, can-t tolerate the variance in the entry steel strip. The proposed method uses a mathematical model of the system together with the expert knowledge to perform this adjustment while minimizing the effect of the stated problem. In order to improve the speed of the controller in rejecting disturbances introduced by entry strip thickness variations, expert knowledge is added as a feed-forward term to the HAGC system. Simulation results for the application of the proposed controller to a real cold mill show that the exit strip quality is highly improved.

Keywords: Fuzzy feed-forward controller, monitor HAGC system, dynamic mathematical model, entry strip thickness deviation compensation

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Authors: P. Ruttanee, K-N. Areerak, K-L. Areerak

Abstract:

Dynamic models of power converters are normally time-varying because of their switching actions. Several approaches are applied to analyze the power converters to achieve the timeinvariant models suitable for system analysis and design via the classical control theory. The paper presents how to derive dynamic models of the power system consisting of a three-phase controlled rectifier feeding an uncontrolled buck converter by using the combination between the well known techniques called the DQ and the generalized state-space averaging methods. The intensive timedomain simulations of the exact topology model are used to support the accuracies of the reported model. The results show that the proposed model can provide good accuracies in both transient and steady-state responses.

Keywords: DQ method, Generalized state-space averaging method, Three-phase controlled rectifier, Uncontrolled buck converter, Averaging model, Modeling, Simulation.

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Authors: C. Ardil

Abstract:

A new mathematical model for calculating the temperature field of the profile part of the cooled blades of gas turbines is developed. The theoretical substantiation of the method is based on the application of the method of potential theory (the method of boundary integral equations). The effectiveness of the implementation of the developed mathematical model is confirmed on the basis of a computational experiment.

Keywords: Modeling of temperature fields, gas turbine blades, integral methods, cooled blades, gas turbines.

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Authors: Karim A. Tahboub

Abstract:

This article discusses the problem of estimating the orientation of inclined ground on which a human subject stands based on information provided by the vestibular system consisting of the otolith and semicircular canals. It is assumed that body segments are not necessarily aligned and thus forming an open kinematic chain. The semicircular canals analogues to a technical gyrometer provide a measure of the angular velocity whereas the otolith analogues to a technical accelerometer provide a measure of the translational acceleration. Two solutions are proposed and discussed. The first is based on a stand-alone Kalman filter that optimally fuses the two measurements based on their dynamic characteristics and their noise properties. In this case, no body dynamic model is needed. In the second solution, a central extended disturbance observer that incorporates a body dynamic model (internal model) is employed. The merits of both solutions are discussed and demonstrated by experimental and simulation results.

Keywords: Kalman filter, orientation estimation, otolith-canalfusion, vestibular system.

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Authors: Yuan L. Lai, Yong R. Chen, Jui P. Hung, Tzuo L. Luo, Hsi H. Hsiao

Abstract:

Chatter vibration has been a troublesome problem for a machine tool toward the high precision and high speed machining. Essentially, the machining performance is determined by the dynamic characteristics of the machine tool structure and dynamics of cutting process. Therefore the dynamic vibration behavior of spindle tool system greatly determines the performance of machine tool. The purpose of this study is to investigate the influences of the machine frame structure on the dynamic frequency of spindle tool unit through finite element modeling approach. To this end, a realistic finite element model of the vertical milling system was created by incorporated the spindle-bearing model into the spindle head stock of the machine frame. Using this model, the dynamic characteristics of the milling machines with different structural designs of spindle head stock and identical spindle tool unit were demonstrated. The results of the finite element modeling reveal that the spindle tool unit behaves more compliant when the excited frequency approaches the natural mode of the spindle tool; while the spindle tool show a higher dynamic stiffness at lower frequency that may be initiated by the structural mode of milling head. Under this condition, it is concluded that the structural configuration of spindle head stock associated with the vertical column of milling machine plays an important role in determining the machining dynamics of the spindle unit.

Keywords: Machine tools, Compliance, Frequency response function, Machine frame structure, Spindle unit

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Authors: Yun-Tao Zhang, Jong-Yeop Bae, Whoi-Yul Kim

Abstract:

Background modeling and subtraction in video analysis has been widely used as an effective method for moving objects detection in many computer vision applications. Recently, a large number of approaches have been developed to tackle different types of challenges in this field. However, the dynamic background and illumination variations are the most frequently occurred problems in the practical situation. This paper presents a favorable two-layer model based on codebook algorithm incorporated with local binary pattern (LBP) texture measure, targeted for handling dynamic background and illumination variation problems. More specifically, the first layer is designed by block-based codebook combining with LBP histogram and mean value of each RGB color channel. Because of the invariance of the LBP features with respect to monotonic gray-scale changes, this layer can produce block wise detection results with considerable tolerance of illumination variations. The pixel-based codebook is employed to reinforce the precision from the output of the first layer which is to eliminate false positives further. As a result, the proposed approach can greatly promote the accuracy under the circumstances of dynamic background and illumination changes. Experimental results on several popular background subtraction datasets demonstrate very competitive performance compared to previous models.

Keywords: Background subtraction, codebook model, local binary pattern, dynamic background, illumination changes.

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Authors: Sushovan Sarkar, Debabrata Mazumder

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Hybrid bioreactor having both suspended-growth and attached-growth bacteria is found a novel and excellent bioreactor system for treating the municipal wastewater containing inhibitory substrates too. In this reactor a fraction of substrate is used by suspended biomass and the remaining by attached biomass resulting in the competition between the two growths for the substrate. The combination of suspended and attached growth provides the system with enhanced biomass concentration and sludge age more than those in ASP. Similar to attached growth system, the hybrid bioreactor ensures considerable efficiency for treating toxic and refractory substances in wastewater. For the process design of hybrid bioreactor a suitable mathematical model is required. Although various mathematical models were developed on hybrid bioreactor in due course of time in earlier research works, none of them was found having a specific simplified solution of the corresponding models and without having any drawback. To overcome this drawback authors already developed a simplified mathematical model for process design of a hybrid bioreactor. The present paper briefly highlights on the various aspects of process design of an aerobic hybrid bioreactor for the treatment of municipal wastewater.

Keywords: Hybrid bioreactor, mathematical model, process design, application, municipal wastewater.

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Authors: Seif Dalilsafaei

Abstract:

Crawling movement as a motive mode seen in nature of some animals such as snakes possesses a specific syntactic and dynamic analysis. Serpentine robot designed by inspiration from nature and snake-s crawling motion, is regarded as a crawling robot. In this paper, a serpentine robot with spiral motion model will be analyzed. The purpose of this analysis is to calculate the vertical and tangential forces along snake-s body and to determine the parameters affecting on these forces. Two types of serpentine robots have been designed in order to examine the achieved relations explained below.

Keywords: Force, Dynamic analyze, Joint and Snake robot.

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