Search results for: Rotor dynamic analysis
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 10040

Search results for: Rotor dynamic analysis

8240 Sediment Patterns from Fluid-Bed Interactions: A Direct Numerical Simulations Study on Fluvial Turbulent Flows

Authors: Nadim Zgheib, Sivaramakrishnan Balachandar

Abstract:

We present results on the initial formation of ripples from an initially flattened erodible bed. We use direct numerical simulations (DNS) of turbulent open channel flow over a fixed sinusoidal bed coupled with hydrodynamic stability analysis. We use the direct forcing immersed boundary method to account for the presence of the sediment bed. The resolved flow provides the bed shear stress and consequently the sediment transport rate, which is needed in the stability analysis of the Exner equation. The approach is different from traditional linear stability analysis in the sense that the phase lag between the bed topology, and the sediment flux is obtained from the DNS. We ran 11 simulations at a fixed shear Reynolds number of 180, but for different sediment bed wavelengths. The analysis allows us to sweep a large range of physical and modelling parameters to predict their effects on linear growth. The Froude number appears to be the critical controlling parameter in the early linear development of ripples, in contrast with the dominant role of particle Reynolds number during the equilibrium stage.

Keywords: Direct numerical simulation, immersed boundary method, sediment-bed interactions, turbulent multiphase flow, linear stability analysis.

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8239 Stability Verification for Bilateral Teleoperation System with Variable Time Delay

Authors: M. Sallam, A. Ramadan, M. Fanni, M. Abdellatif

Abstract:

Time delay in bilateral teleoperation system was introduced as a sufficient reason to make the system unstable or certainly degrade the system performance. In this paper, simulations and experimental results of implementing p-like control scheme, under different ranges of variable time delay, will be presented to verify a certain criteria, which guarantee the system stability and position tracking. The system consists of two Phantom premium 1.5A devices. One of them acts as a master and the other acts as a slave. The study includes deriving the Phantom kinematic and dynamic model, establishing the link between the two Phantoms over Simulink in Matlab, and verifying the stability criteria with simulations and real experiments.

Keywords: bilateral teleoperation, Phantom premium 1.5, varying time delay

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8238 Modeling of the Internet Film Piracy - Preliminary Report

Authors: Pavel Janak

Abstract:

This paper covers various aspects of film piracy over the Internet. In order to successfully deal with this matter, it is needed to recognize motivational factors related to film piracy. Thus, this study discusses group factors that could motivate individuals to engage in pirate activities. Furthermore, the paper discusses the theoretical effect on box office revenues and explains it on a proposed scheme of solutions for decreasing revenues. The article also maps the scheme of incentive motivational anti-piracy campaigns. Moreover, the paper proposes the preliminary scheme for system dynamic modeling of the Internet film piracy. Scheme is developed as a model of behaviors, influences and relations among the elements pertaining to the Internet film piracy.

Keywords: Box office, Cinema, Film, Internet piracy, Uploading

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8237 Distributed Denial of Service Attacks in Mobile Adhoc Networks

Authors: Gurjinder Kaur, Yogesh Chaba, V. K. Jain

Abstract:

The aim of this paper is to explore the security issues that significantly affect the performance of Mobile Adhoc Networks (MANET)and limit the services provided to their intended users. The MANETs are more vulnerable to Distributed Denial of Service attacks (DDoS) because of their properties like shared medium, dynamic topologies etc. A DDoS attack is a coordinated attempt made by malicious users to flood the victim network with the large amount of data such that the resources of the victim network are exhausted resulting in the deterioration of the network performance. This paper highlights the effects of different types of DDoS attacks in MANETs and categorizes them according to their behavior.

Keywords: Distributed Denial, Mobile Adhoc Networks

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8236 Bearing Condition Monitoring with Acoustic Emission Techniques

Authors: Faisal AlShammari, Abdulmajid Addali

Abstract:

Monitoring the conditions of rotating machinery, such as bearings, is important in order to improve the stability of work. Acoustic Emission (AE) and vibration analysis are some of the most accomplished techniques used for this purpose. Acoustic emission has the ability to detect the initial phase of component degradation. Moreover, it has been observed that vibration analysis is not as successful at low rotational speeds (below 100 rpm). This because the energy generated within this speed region is not detectable using conventional vibration. From this perspective, this paper has presented a brief review of using acoustic emission techniques for monitoring bearing conditions.

Keywords: Condition monitoring, stress wave analysis, low-speed bearings, bearing defect diagnosis.

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8235 Analysis and Performance Evaluation of Noise-Reduction Transformer

Authors: Toshiaki Yanada, Kazumi Ishikawa

Abstract:

The present paper deals with the analysis and development of noise-reduction transformer that has a filter function for conductive noise transmission. Two types of prototype noise-reduction transformers with two different output voltages are proposed. To determine an optimum design for the noise-reduction transformer, noise attenuation characteristics are discussed based on the experiments and the equivalent circuit analysis. The analysis gives a relation between the circuit parameters and the noise attenuation. High performance step-down noise-reduction transformer for direct power supply to electronics equipment is developed. The input voltage of the transformer is 100 V and the output voltage is 5 V. Frequency characteristics of noise attenuation are discussed, and prevention of pulse noise transmission is demonstrated. Normal mode noise attenuation of this transformer is –80 dB, and common mode exceeds –90 dB. The step-down noise-reduction transformer eliminates pulse noise efficiently.

Keywords: conductive noise, EMC, EMI, noise attenuation, transformer.

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8234 A Simplified Model for Mechanical Loads under Angular Misalignment and Unbalance

Authors: Úrsula B. Ferraz, Paulo F. Seixas, Webber E. Aguiar

Abstract:

This paper presents a dynamic model for mechanical loads of an electric drive, including angular misalignment and including load unbalance. The misalignment model represents the effects of the universal joint between the motor and the mechanical load. Simulation results are presented for an induction motor driving a mechanical load with angular misalignment for both flexible and rigid coupling. The models presented are very useful in the study of mechanical fault detection in induction motors, using mechanical and electrical signals already available in a drive system, such as speed, torque and stator currents.

Keywords: Angular misalignment, fault modeling, unbalance, universal joint.

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8233 Nonlinear Analysis of Shear Wall Using Finite Element Model

Authors: M. A. Ghorbani, M. Pasbani Khiavi, F. Rezaie Moghaddam

Abstract:

In the analysis of structures, the nonlinear effects due to large displacement, large rotation and materially-nonlinear are very important and must be considered for the reliable analysis. The non-linear fmite element analysis has potential as usable and reliable means for analyzing of civil structures with the availability of computer technology. In this research the large displacements and materially nonlinear behavior of shear wall is presented with developing of fmite element code using the standard Galerkin weighted residual formulation. Two-dimensional plane stress model was carried out to present the shear wall response. Total Lagangian formulation, which is computationally more effective, is used in the formulation of stiffness matrices and the Newton-Raphson method is applied for the solution of nonlinear transient equations. The details of the program formulation are highlighted and the results of the analyses are presented, along with a comparison of the response of the structure with Ansys software results. The presented model in this paper can be developed for nonlinear analysis of civil engineering structures with different material behavior and complicated geometry.

Keywords: Finite element, large displacements, materially nonlinear, shear wall.

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8232 Visual Construction of Youth in Czechoslovak Press Photographs: 1959-1989

Authors: Jana Teplá

Abstract:

This text focuses on the visual construction of youth in press photographs in socialist Czechoslovakia. It deals with photographs in a magazine for young readers, Mladý svět, published by the Socialist Union of Youth of Czechoslovakia. The aim of this study was to develop a methodological tool for uncovering the values and the ideological messages in the strategies used in the visual construction of reality in the socialist press. Two methods of visual analysis were applied to the photographs, a quantitative content analysis and a social semiotic analysis. The social semiotic analysis focused on images representing youth in their free time. The study shows that the meaning of a socialist press photograph is a result of a struggle for ideological power between formal and informal ideologies. This struggle takes place within the process of production of the photograph and also within the process of interpretation of the photograph.

Keywords: Ideology, press photography, socialist regime, social semiotics, youth.

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8231 Treatment of Inorganic Filler Surface by Silane-Coupling Agent: Investigation of Treatment Condition and Analysis of Bonding State of Reacted Agent

Authors: Hiroshi Hirano, Joji Kadota, Toshiyuki Yamashita, Yasuyuki Agari

Abstract:

It is well known that enhancing interfacial adhesion between inorganic filler and matrix resin in a composite lead to favorable properties such as excellent mechanical properties, high thermal resistance, prominent electric insulation, low expansion coefficient, and so on. But it should be avoided that much excess of coupling agent is reacted due to a negative impact of their final composite-s properties. There is no report to achieve classification of the bonding state excepting investigation of coating layer thickness. Therefore, the analysis of the bonding state of the coupling agent reacted with the filler surface such as BN particles with less functional group and silica particles having much functional group was performed by thermal gravimetric analysis and pyrolysis GC/MS. The reacted number of functional groups on the silane-coupling agent was classified as a result of the analysis. Thus, we succeeded in classifying the reacted number of the functional groups as a result of this study.

Keywords: Inorganic filler, boron nitride, surface treatment, coupling agent, analysis of bonding state

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8230 Assessment of the Effect of Feed Plate Location on Interactions for a Binary Distillation Column

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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8229 Excitation Experiments of a Cone Loudspeaker and Vibration-Acoustic Analysis Using FEM

Authors: Y. Hu, X. Zhao, T. Yamaguchi, M. Sasajima, Y. Koike

Abstract:

To focus on the vibration mode of a cone loudspeaker, which acts as an electroacoustic transducer, excitation experiments were performed using two types of loudspeaker units: one employing an impulse hammer and the other a sweep signal. The on-axis sound pressure frequency properties of the loudspeaker were evaluated, and the characteristic properties of the loudspeakers were successfully determined in both excitation experiments. Moreover, under conditions identical to the experiment conditions, a coupled analysis of the vibration-acoustics of the cone loudspeaker was performed using an acoustic analysis software program that considers the impact of damping caused by air viscosity. The result of sound pressure frequency properties with the numerical analysis are the most closely match that measured in the excitation experiments over a wide range of frequency bands.

Keywords: Anechoic room, finite element method, impulse hammer, loudspeaker, reverberation room, sweep signal.

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8228 Comparative Analysis of Concentration in Insurance Markets in New EU Member States

Authors: T. Pavic Kramaric, M. Kitic

Abstract:

The purpose of this article is to analyze the market structure as well as the degree of concentration in insurance markets in new EU member states. The analysis was conducted using several most commonly used concentration indicators such as concentration ratio, Herfindahl-Hirschman index and entropy index. These indicators were calculated for the 2000-2010 period on the basis of total gross written premium as the most relevant indicator of market power in insurance markets. The results of the analysis showed that in all observed countries the level of concentration decreased, though with significantly different intensity. Yet, in some countries, the level of concentration remains very high.

Keywords: insurance market, concentration, new EU member states

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8227 Distinguishing Innocent Murmurs from Murmurs caused by Aortic Stenosis by Recurrence Quantification Analysis

Authors: Christer Ahlstrom, Katja Höglund, Peter Hult, Jens Häggström, Clarence Kvart, Per Ask

Abstract:

It is sometimes difficult to differentiate between innocent murmurs and pathological murmurs during auscultation. In these difficult cases, an intelligent stethoscope with decision support abilities would be of great value. In this study, using a dog model, phonocardiographic recordings were obtained from 27 boxer dogs with various degrees of aortic stenosis (AS) severity. As a reference for severity assessment, continuous wave Doppler was used. The data were analyzed with recurrence quantification analysis (RQA) with the aim to find features able to distinguish innocent murmurs from murmurs caused by AS. Four out of eight investigated RQA features showed significant differences between innocent murmurs and pathological murmurs. Using a plain linear discriminant analysis classifier, the best pair of features (recurrence rate and entropy) resulted in a sensitivity of 90% and a specificity of 88%. In conclusion, RQA provide valid features which can be used for differentiation between innocent murmurs and murmurs caused by AS.

Keywords: Bioacoustics, murmur, phonocardiographic signal, recurrence quantification analysis.

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8226 Knowledge Management and e-Learning –An Agent-Based Approach

Authors: Teodora Bakardjieva, Galya Gercheva

Abstract:

In this paper an open agent-based modular framework for personalized and adaptive curriculum generation in e-learning environment is proposed. Agent-based approaches offer several potential advantages over alternative approaches. Agent-based systems exhibit high levels of flexibility and robustness in dynamic or unpredictable environments by virtue of their intrinsic autonomy. The presented framework enables integration of different types of expert agents, various kinds of learning objects and user modeling techniques. It creates possibilities for adaptive e-learning process. The KM e-learning system is in a process of implementation in Varna Free University and will be used for supporting the educational process at the University.

Keywords: agents, e-Learning, knowledge management, knowledge sharing, artificial intelligence

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8225 Rethinking the Analysis of Means-End Chain Data in Marketing Research

Authors: P. Puustinen, A. Kanto

Abstract:

This paper proposes a new procedure for analyzing means-end chain data in marketing research. Most commonly the collected data is summarized in the Hierarchical Value Map (HVM) illustrating the main attribute-consequence-value linkages. This paper argues that traditionally constructed HVM may give an erroneous impression of the results of a means-end study. To justify the arguments, an alternative procedure to (1) determine the dominant attribute-consequence-value linkages and (2) construct HVM in a precise manner is presented. The current approach makes a contribution to means-end analysis, allowing marketers to address a set of marketing problems, such as advertising strategy.

Keywords: Means-end chain analysis, Laddering, Hierarchical Value Map.

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8224 Trust Enhanced Dynamic Source Routing Protocol for Adhoc Networks

Authors: N. Bhalaji, A. R. Sivaramkrishnan, Sinchan Banerjee, V. Sundar, A. Shanmugam

Abstract:

Nodes in mobile Ad Hoc Network (MANET) do not rely on a central infrastructure but relay packets originated by other nodes. Mobile ad hoc networks can work properly only if the participating nodes collaborate in routing and forwarding. For individual nodes it might be advantageous not to collaborate, though. In this conceptual paper we propose a new approach based on relationship among the nodes which makes them to cooperate in an Adhoc environment. The trust unit is used to calculate the trust values of each node in the network. The calculated trust values are being used by the relationship estimator to determine the relationship status of nodes. The proposed enhanced protocol was compared with the standard DSR protocol and the results are analyzed using the network simulator-2.

Keywords: Reliable Routing, DSR, Grudger, Adhoc network.

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8223 Comparative Study of Ad Hoc Routing Protocols in Vehicular Ad-Hoc Networks for Smart City

Authors: Khadija Raissi, Bechir Ben Gouissem

Abstract:

In this paper, we perform the investigation of some routing protocols in Vehicular Ad-Hoc Network (VANET) context. Indeed, we study the efficiency of protocols like Dynamic Source Routing (DSR), Ad hoc On-demand Distance Vector Routing (AODV), Destination Sequenced Distance Vector (DSDV), Optimized Link State Routing convention (OLSR) and Vehicular Multi-hop algorithm for Stable Clustering (VMASC) in terms of packet delivery ratio (PDR) and throughput. The performance evaluation and comparison between the studied protocols shows that the VMASC is the best protocols regarding fast data transmission and link stability in VANETs. The validation of all results is done by the NS3 simulator.

Keywords: VANET, smart city, AODV, OLSR, DSR, OLSR, VMASC, routing protocols, NS3.

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8222 Description of Kinetics of Propane Fragmentation with a Support of Ab Initio Simulation

Authors: Amer Al Mahmoud Alsheikh, Jan Žídek, František Krčma

Abstract:

Using ab initio theoretical calculations, we present analysis of fragmentation process. The analysis is performed in two steps. The first step is calculation of fragmentation energies by ab initio calculations. The second step is application of the energies to kinetic description of process. The energies of fragments are presented in this paper. The kinetics of fragmentation process can be described by numerical models. The method for kinetic analysis is described in this paper. The result - composition of fragmentation products - will be calculated in future. The results from model can be compared to the concentrations of fragments from mass spectrum.

Keywords: Ab initio, Density functional theory, Fragmentation energy, Geometry optimization.

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8221 Multivariable System Reduction Using Stability Equation Method and SRAM

Authors: D. Bala Bhaskar

Abstract:

An algorithm is proposed for the order reduction of large scale linear dynamic multi variable systems where the reduced order model denominator is obtained by using Stability equation method and numerator coefficients are obtained by using SRAM. The proposed algorithm produces a lower order model for an original stable high order multivariable system. The reduction procedure is easy to understand, efficient and computer oriented. To highlight the advantages of the approach, the algorithm is illustrated with the help of a numerical example and the results are compared with the other existing techniques in literature.

Keywords: Multi variable systems, order reduction, stability equation method, SRAM, time domain characteristics, ISE.

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8220 Real Time Adaptive Obstacle Avoidance in Dynamic Environments with Different D-S

Authors: Mohammad Javad Mollakazemi, Farhad Asadi

Abstract:

In this paper a real-time obstacle avoidance approach for both autonomous and non-autonomous dynamical systems (DS) is presented. In this approach the original dynamics of the controller which allow us to determine safety margin can be modulated. Different common types of DS increase the robot’s reactiveness in the face of uncertainty in the localization of the obstacle especially when robot moves very fast in changeable complex environments. The method is validated by simulation and influence of different autonomous and non-autonomous DS such as important characteristics of limit cycles and unstable DS. Furthermore, the position of different obstacles in complex environment is explained. Finally, the verification of avoidance trajectories is described through different parameters such as safety factor.

Keywords: Limit cycles, Nonlinear dynamical system, Real time obstacle avoidance.

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8219 Parallel Image Compression and Analysis with Wavelets

Authors: M. Kutila, J. Viitanen

Abstract:

This paper presents image compression with wavelet based method. The wavelet transformation divides image to low- and high pass filtered parts. The traditional JPEG compression technique requires lower computation power with feasible losses, when only compression is needed. However, there is obvious need for wavelet based methods in certain circumstances. The methods are intended to the applications in which the image analyzing is done parallel with compression. Furthermore, high frequency bands can be used to detect changes or edges. Wavelets enable hierarchical analysis for low pass filtered sub-images. The first analysis can be done for a small image, and only if any interesting is found, the whole image is processed or reconstructed.

Keywords: image compression, jpeg, wavelet, vlc

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8218 A Flexible and Scalable Agent Platform for Multi-Agent Systems

Authors: Ae Hee Park, So Hyun Park, Hee Yong Youn

Abstract:

Multi-agent system is composed by several agents capable of reaching the goal cooperatively. The system needs an agent platform for efficient and stable interaction between intelligent agents. In this paper we propose a flexible and scalable agent platform by composing the containers with multiple hierarchical agent groups. It also allows efficient implementation of multiple domain presentations of the agents unlike JADE. The proposed platform provides both group management and individual management of agents for efficiency. The platform has been implemented and tested, and it can be used as a flexible foundation of the dynamic multi-agent system targeting seamless delivery of ubiquitous services.

Keywords: Agent platform, container, multi-agent system, services, ubiquitous computing

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8217 Anisotropic Constitutive Model and its Application in Simulation of Thermal Shock Wave Propagation for Cylinder Shell Composite

Authors: Xia Huang, Wenhui Tang, Banghai Jiang, Xianwen Ran

Abstract:

In this paper, a plane-strain orthotropic elasto-plastic dynamic constitutive model is established, and with this constitutive model, the thermal shock wave induced by intense pulsed X-ray radiation in cylinder shell composite is simulated by the finite element code, then the properties of thermal shock wave propagation are discussed. The results show that the thermal shock wave exhibit different shapes under the radiation of soft and hard X-ray, and while the composite is radiated along different principal axes, great differences exist in some aspects, such as attenuation of the peak stress value, spallation and so on.

Keywords: anisotropic constitutive model, thermal shock wave, X-ray, cylinder shell composite.

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8216 Polymer Aerostatic Thrust Bearing under Circular Support for High Static Stiffness

Authors: S. W. Lo, C.-H. Yu

Abstract:

A new design of aerostatic thrust bearing is proposed for high static stiffness. The bearing body, which is mead of polymer covered with metallic membrane, is held by a circular ring. Such a support helps form a concave air gap to grasp the air pressure. The polymer body, which can be made rapidly by either injection or molding is able to provide extra damping under dynamic loading. The smooth membrane not only serves as the bearing surface but also protects the polymer body. The restrictor is a capillary inside a silicone tube. It can passively compensate the variation of load by expanding the capillary diameter for more air flux. In the present example, the stiffness soars from 15.85 N/μm of typical bearing to 349.85 N/μm at bearing elevation 9.5 μm; meanwhile the load capacity also enhances from 346.86 N to 704.18 N.

Keywords: Aerostatic, bearing, polymer, static stiffness.

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8215 ANN Models for Microstrip Line Synthesis and Analysis

Authors: Dr.K.Sri Rama Krishna, J.Lakshmi Narayana, Dr.L.Pratap Reddy

Abstract:

Microstrip lines, widely used for good reason, are broadband in frequency and provide circuits that are compact and light in weight. They are generally economical to produce since they are readily adaptable to hybrid and monolithic integrated circuit (IC) fabrication technologies at RF and microwave frequencies. Although, the existing EM simulation models used for the synthesis and analysis of microstrip lines are reasonably accurate, they are computationally intensive and time consuming. Neural networks recently gained attention as fast and flexible vehicles to microwave modeling, simulation and optimization. After learning and abstracting from microwave data, through a process called training, neural network models are used during microwave design to provide instant answers to the task learned.This paper presents simple and accurate ANN models for the synthesis and analysis of Microstrip lines to more accurately compute the characteristic parameters and the physical dimensions respectively for the required design specifications.

Keywords: Neural Models, Algorithms, Microstrip Lines, Analysis, Synthesis

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8214 An Automation of Check Focusing on CRUD for Requirements Analysis Model in UML

Authors: Shinpei Ogata, Yoshitaka Aoki, Hirotaka Okuda, Saeko Matsuura

Abstract:

A key to success of high quality software development is to define valid and feasible requirements specification. We have proposed a method of model-driven requirements analysis using Unified Modeling Language (UML). The main feature of our method is to automatically generate a Web user interface mock-up from UML requirements analysis model so that we can confirm validity of input/output data for each page and page transition on the system by directly operating the mock-up. This paper proposes a support method to check the validity of a data life cycle by using a model checking tool “UPPAAL" focusing on CRUD (Create, Read, Update and Delete). Exhaustive checking improves the quality of requirements analysis model which are validated by the customers through automatically generated mock-up. The effectiveness of our method is discussed by a case study of requirements modeling of two small projects which are a library management system and a supportive sales system for text books in a university.

Keywords: CRUD, Model Checking, Model Driven Development, Requirements Analysis, Unified Modeling Language, UPPAAL.

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8213 An Application for Web Mining Systems with Services Oriented Architecture

Authors: Thiago M. R. Dias, Gray F. Moita, Paulo E. M. Almeida

Abstract:

Although the World Wide Web is considered the largest source of information there exists nowadays, due to its inherent dynamic characteristics, the task of finding useful and qualified information can become a very frustrating experience. This study presents a research on the information mining systems in the Web; and proposes an implementation of these systems by means of components that can be built using the technology of Web services. This implies that they can encompass features offered by a services oriented architecture (SOA) and specific components may be used by other tools, independent of platforms or programming languages. Hence, the main objective of this work is to provide an architecture to Web mining systems, divided into stages, where each step is a component that will incorporate the characteristics of SOA. The separation of these steps was designed based upon the existing literature. Interesting results were obtained and are shown here.

Keywords: Web Mining, Service Oriented Architecture, WebServices.

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8212 Thermal Analysis of a Sliding Electric Contact System Using Finite Element Method

Authors: Adrian T. Pleșca

Abstract:

In this paper a three dimensional thermal model of a sliding contact system is proposed for both steady-state or transient conditions. The influence of contact force, electric current and ambient temperature on the temperature distribution, has been investigated. A thermal analysis of the different type of the graphite material of fixed electric contact and its influence on contact system temperature rise, has been performed. To validate the three dimensional thermal model, some experimental tests have been done. There is a good correlation between experimental and simulation results.

Keywords: Sliding electric contact, temperature distribution, thermal analysis.

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8211 Modelling of a Direct Drive Industrial Robot

Authors: C. Perez, O. Reinoso, N. Garcia, J. M. Sabater, L. Gracia

Abstract:

For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). This work considers the cartesian robot coupled and non linear (contrary to normal considerations for this type of robots). The mechanical and control architecture proposed in this paper is efficient for industrial and research application in which high speed, well known model and very high accuracy are required.

Keywords: Robot modelling, parameter identification and validation, AC servo-motors.

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