Search results for: Computer Numerical Control (CNC) milling operation

Authors: Nader Ghareeb, R¨udiger Schmidt

Abstract:

Minimizing the weight in flexible structures means reducing material and costs as well. However, these structures could become prone to vibrations. Attenuating these vibrations has become a pivotal engineering problem that shifted the focus of many research endeavors. One technique to do that is to design and implement an active control system. This system is mainly composed of a vibrating structure, a sensor to perceive the vibrations, an actuator to counteract the influence of disturbances, and finally a controller to generate the appropriate control signals. In this work, two different techniques are explored to create two different mathematical models of an active control system. The first model is a finite element model with a reduced number of nodes and it is called a super-element. The second model is in the form of state-space representation, i.e. a set of partial differential equations. The damping coefficients are calculated and incorporated into both models. The effectiveness of these models is demonstrated when the system is excited by its first natural frequency and an active control strategy is developed and implemented to attenuate the resulting vibrations. Results from both modeling techniques are presented and compared.

Keywords: Finite element analysis, super-element, state-space model.

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Authors: E. Kaygan, A. Gatto

Abstract:

An investigation of adaptable winglets for morphing aircraft control and performance is described in this paper. The concepts investigated consist of various winglet configurations fundamentally centred on a baseline swept wing. The impetus for the work was to identify and optimize winglets to enhance controllability and the aerodynamic efficiency of a small unmanned aerial vehicle. All computations were performed with Athena Vortex Lattice modelling with varying degrees of twist, swept, and dihedral angle considered. The results from this work indicate that if adaptable winglets were employed on small scale UAV’s improvements in both aircraft control and performance could be achieved.

Keywords: Aircraft, rolling, wing, winglet.

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Authors: Yingyi Zhou, Tohru Kawabe

Abstract:

With the spread of EVs (electric Vehicles), the ride comfort has been gaining a lot of attention. The influence of the lateral acceleration is important for the improvement of ride comfort of EVs as well as the longitudinal acceleration, especially upon turning of the vehicle. Therefore, this paper proposes a practical optimal speed control method to greatly improve the ride comfort in the vehicle turning situation. For consturcting this method, effective criteria that can appropriately evaluate deterioration of ride comfort is derived. The method can reduce the influence of both the longitudinal and the lateral speed changes for providing a confortable ride. From several simulation results, we can see the fact that the method can prevent aggravation of the ride comfort by suppressing the influence of longitudinal speed change in the turning situation. Hence, the effectiveness of the method is recognized.

Keywords: Electric vehicle, speed control, ride comfort, optimal control theory, driving support system.

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Authors: Peyman Sindareh Esfahani, Jeffery Kurt Pieper

Abstract:

In this paper, the problem of robust model predictive control (MPC) for discrete-time linear systems in linear fractional transformation form with structured uncertainty and norm-bounded disturbance is investigated. The problem of minimization of the cost function for MPC design is converted to minimization of the worst case of the cost function. Then, this problem is reduced to minimization of an upper bound of the cost function subject to a terminal inequality satisfying the l₂-norm of the closed loop system. The characteristic of the linear fractional transformation system is taken into account, and by using some mathematical tools, the robust predictive controller design problem is turned into a linear matrix inequality minimization problem. Afterwards, a formulation which includes an integrator to improve the performance of the proposed robust model predictive controller in steady state condition is studied. The validity of the approaches is illustrated through a robust control benchmark problem.

Keywords: Linear fractional transformation, linear matrix inequality, robust model predictive control, state feedback control.

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Authors: Abbas Ali Mahmood Karwi

Abstract:

Accurate timing alignment and stability is important to maximize the true counts and minimize the random counts in positron emission tomography So signals output from detectors must be centering with the two isotopes to pre-operation and fed signals into four units of pulse-processing units, each unit can accept up to eight inputs. The dual source computed tomography consist two units on the left for 15 detector signals of Cs-137 isotope and two units on the right are for 15 detectors signals of Co-60 isotope. The gamma spectrum consisting of either single or multiple photo peaks. This allows for the use of energy discrimination electronic hardware associated with the data acquisition system to acquire photon counts data with a specific energy, even if poor energy resolution detectors are used. This also helps to avoid counting of the Compton scatter counts especially if a single discrete gamma photo peak is emitted by the source as in the case of Cs-137. In this study the polyenergetic version of the alternating minimization algorithm is applied to the dual energy gamma computed tomography problem.

Keywords: Alignment, Spectrum, Laser, Detectors, Image

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Authors: M. Ndaw, G. Mendy, S. Ouya

Abstract:

Risk management in banking sector is a key issue linked to financial system stability and its importance has been elevated by technological developments and emergence of new financial instruments. In this paper, we improve the model previously defined for quantifying internal control impact on banking risks by automatizing the residual criticality estimation step of FMECA. For this, we defined three equations and a maturity coefficient to obtain a mathematical model which is tested on all banking processes and type of risks. The new model allows an optimal assessment of residual criticality and improves the correlation rate that has become 98%.

Keywords: Risk, Control, Banking, FMECA.

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Authors: Mohamed M. Saleh, Khalid S. Al-Hagla

Abstract:

By taking advantage of computer-s processing power, an unlimited number of variations and parameters in both spatial and environmental can be provided while following the same set of rules and constraints. This paper focuses on using the tools of parametric urbanism towards a more responsive environmental and sustainable urban morphology. It presents an understanding to Parametric Urban Comfort Envelope (PUCE) as an interactive computational assessment urban model. In addition, it investigates the applicability potentials of this model to generate an optimized urban form to Borg El Arab city (a new Egyptian Community) concerning the human comfort values specially wind and solar envelopes. Finally, this paper utilizes its application outcomes -both visual and numerical- to extend the designer-s limitations by decrease the concern of controlling and manipulation of geometry, and increase the designer-s awareness about the various potentials of using the parametric tools to create relationships that generate multiple geometric alternatives.

Keywords: Assessment model, human comfort, parametric urbanism, sustainable urban morphology.

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Authors: S. J. Arif

Abstract:

In the presented technique, a simple method is given for accurate measurement and control of power frequency deviation. The sinusoidal signal for which the frequency deviation measurement is required is transformed to a low voltage level and passed through a zero crossing detector to convert it into a pulse train. Another stable square wave signal of 10 KHz is obtained using a crystal oscillator and decade dividing assemblies (DDA). These signals are combined digitally and then passed through decade counters to give a unique combination of pulses or levels, which are further encoded to make them equally suitable for both control applications and display units. The developed circuit using discrete components has a resolution of 0.5 Hz and completes measurement within 20 ms. The realized circuit is simulated and synthesized using Verilog HDL and subsequently implemented on FPGA. The results of measurement on FPGA are observed on a very high resolution logic analyzer. These results accurately match the simulation results as well as the results of same circuit implemented with discrete components. The proposed system is suitable for accurate measurement and control of power frequency deviation.

Keywords: Digital encoder for frequency measurement, frequency deviation measurement, measurement and control systems, power systems.

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Authors: Shuenn-Yih Chang, Chiu-Li Huang

Abstract:

Three structure-dependent integration methods have been developed for solving equations of motion, which are second-order ordinary differential equations, for structural dynamics and earthquake engineering applications. Although they generally have the same numerical properties, such as explicit formulation, unconditional stability and second-order accuracy, a different performance is found in solving the free vibration response to either linear elastic or nonlinear systems with high frequency modes. The root cause of this different performance in the free vibration responses is analytically explored herein. As a result, it is verified that a weak instability is responsible for the different performance of the integration methods. In general, a weak instability will result in an inaccurate solution or even numerical instability in the free vibration responses of high frequency modes. As a result, a weak instability must be prohibited for time integration methods.

Keywords: Dynamic analysis, high frequency, integration method, overshoot, weak instability.

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Authors: Zerarka Hizia, Akchiche Mustapha, Prunier Florent

Abstract:

The landslide of Ain El Hammam (AEH) is characterized by a complex geology and a high hydrogeology hazard. AEH's perpetual reactivation compels us to look closely at its triggers and to better understand the mechanisms of its evolution in mass and in depth. This study builds a numerical model to simulate the influencing factors such as precipitation, non-saturation, and pore pressure fluctuations, using Plaxis software. For a finer analysis of instabilities, we use Hill's criterion, based on the sign of the second order work, which is the most appropriate material stability criterion for non-associated elastoplastic materials. The results of this type of calculation allow us, in theory, to predict the shape and position of the slip surface(s) which are liable to ground movements of the slope, before reaching the rupture given by the plastic limit of Mohr Coulomb. To validate the numerical model, an analysis of inclinometer measures is performed to confirm the direction of movement and kinematic of the sliding mechanism of AEH’s slope.

Keywords: Landslide, second order work, precipitation, inclinometers.

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Authors: C. Adam, G. Henri, T. Levent, J.-B. Mauro, A. -L. Mayet

Abstract:

This paper is concerning the application of a deterministic decisional pattern to a multi-agent system which would provide intelligence to a distributed energy smart grid at local consumer level. Development of multi-agent application involves agent specifications, analysis, design and realization. It can be implemented by following several decisional patterns. The purpose of present article is to suggest a new approach to control the smart grid system in a decentralized competitive approach. The proposed algorithmic solution results from a deterministic dichotomous approach based on environment observation. It uses an iterative process to solve automatic learning problems. Through memory of collected past tries, the algorithm monotonically converges to very steep system operation point in attraction basin resulting from weak system nonlinearity. In this sense, system is given by (local) constitutive elementary rules the intelligence of its global existence so that it can self-organize toward optimal operating sequence.

Keywords: Decentralized Competitive System, Distributed Smart Grid, Multi-Agent System

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Authors: M. Yoneda

Abstract:

In this paper, a lateral walking design force per person is proposed and compared with Imperial College test results. Numerical simulations considering the proposed walking design force which is incorporated into the neural-oscillator model are carried out placing much emphasis on the synchronization (the lock-in phenomenon) for a pedestrian bridge model with the span length of 50 m. Numerical analyses are also conducted for an existing pedestrian suspension bridge. As compared with full scale measurements for this suspension bridge, it is confirmed that the analytical method based on the neural-oscillator model might be one of the useful ways to explain the synchronization (the lock-in phenomenon) of pedestrians being on the bridge.

Keywords: Pedestrian bridge, human-induced lateral vibration, neural-oscillator, full scale measurement, dynamic response analysis.

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Authors: R. Ziaie Moayed , S. Tamassoki , E. Izadi

Abstract:

Investigation of sandy clay behavior is important since urban development demands mean that sandy clay areas are increasingly encountered, especially for transportation infrastructures. This paper presents the results of the finite element analysis of the direct shear test (under three vertical loading 44, 96 and 192 kPa) and discusses the effects of different parameters such as cohesion, friction angle and Young's modulus on the shear strength of sandy clay. The numerical model was calibrated against the experimental results of large-scale direct shear tests. The results have shown that the shear strength was increased with increase in friction angle and cohesion. However, the shear strength was not influenced by raising the friction angle at normal stress of 44 kPa. Also, the effect of different young's modulus factors on stress-strain curve was investigated.

Keywords: Shear strength, Finite element analysis, Large direct shear test, Sandy clay.

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Authors: Deepak Chhabra, Gian Bhushan, Pankaj Chandna

Abstract:

The present work deals with the optimal placement of piezoelectric actuators on a thin plate using Modified Control Matrix and Singular Value Decomposition (MCSVD) approach. The problem has been formulated using the finite element method using ten piezoelectric actuators on simply supported plate to suppress first six modes. The sizes of ten actuators are combined to outline one actuator by adding the ten columns of control matrix to form a column matrix. The singular value of column control matrix is considered as the fitness function and optimal positions of the actuators are obtained by maximizing it with GA. Vibration suppression has been studied for simply supported plate with piezoelectric patches in optimal positions using Linear Quadratic regulator) scheme. It is observed that MCSVD approach has given the position of patches adjacent to each-other, symmetric to the centre axis and given greater vibration suppression than other previously published results on SVD. 

Keywords: Closed loop Average dB gain, Genetic Algorithm (GA), LQR Controller, MCSVD, Optimal positions, Singular Value Decomposition (SVD) Approaches.

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Authors: Tianchai Suksri, Satean Tunyasrirut

Abstract:

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

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

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Authors: Pinfa Boonrong, Boonserm Kaewkamnerdpong

Abstract:

As nanotechnology advances, the use of nanotechnology for medical purposes in the field of nanomedicine seems more promising; the rise of nanorobots for medical diagnostics and treatments could be arriving in the near future. This study proposes a swarm intelligence based control mechanism for swarm nanorobots that operate as artificial platelets to search for wounds. The canonical particle swarm optimization algorithm is employed in this study. A simulation in the circulatory system is constructed and used for demonstrating the movement of nanorobots with essential characteristics to examine the performance of proposed control mechanism. The effects of three nanorobot capabilities including their perception range, maximum velocity and respond time are investigated. The results show that canonical particle swarm optimization can be used to control the early version nanorobots with simple behaviors and actions.

Keywords: Artificial platelets, canonical particle swarm optimization, nanomedicine, nanorobot, swarm intelligence.

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Authors: Haode Huo, Jingjing He, Rui Kang, Xuefei Guan

Abstract:

This paper presents a study of Lamb wave damage diagnosis of composite delamination using instantaneous phase data. Numerical experiments are performed using the finite element method. Different sizes of delamination damages are modeled using finite element package ABAQUS. Lamb wave excitation and responses data are obtained using a pitch-catch configuration. Empirical mode decomposition is employed to extract the intrinsic mode functions (IMF). Hilbert–Huang Transform is applied to each of the resulting IMFs to obtain the instantaneous phase information. The baseline data for healthy plates are also generated using the same procedure. The size of delamination is correlated with the instantaneous phase change for damage diagnosis. It is observed that the unwrapped instantaneous phase of shows a consistent behavior with the increasing delamination size.

Keywords: Delamination, lamb wave, finite element method, EMD, instantaneous phase.

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Authors: M. Ouassaid, M. Cherkaoui, A. Nejmi, M. Maaroufi

Abstract:

This study presents a novel means of designing a simple and effective torque controller for Permanent Magnet Synchronous Motor (PMSM). The overall stability of the system is shown using Lyapunov technique. The Lyapunov functions used contain a term penalizing the integral of the tracking error, enhancing the stability. The tracking error is shown to be globally uniformly bounded. Simulation results are presented to show the effectiveness of the approach.

Keywords: Integral action, Lyapunov Technique, Non Linear Control, Permanent Magnet Synchronous Motors, Torque Control, Stability.

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Authors: Hongfang Ma, Mingchuan Zhou, Haitao Zhang, Weiyong Ying

Abstract:

One dimensional pseudo-homogenous modeling has been performed for methanol steam reforming reactor. The results show that the models can well predict the industrial data. The reactor had minimum temperature along axial because of endothermic reaction. Hydrogen productions and temperature profiles along axial were investigated regarding operation conditions such as inlet mass flow rate and mass fraction of methanol, inlet temperature of external thermal oil. Low inlet mass flow rate of methanol, low inlet temperature, and high mass fraction of methanol decreased minimum temperature along axial. Low inlet mass flow rate of methanol, high mass fraction of methanol, and high inlet temperature of thermal oil made cold point forward. Low mass fraction, high mass flow rate, and high inlet temperature of thermal oil increased hydrogen production. One dimensional models can be a guide for industrial operation.

Keywords: Reactor, modeling, methanol, steam reforming.

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Authors: F. Sarhaddi, S. Farahat, M .A. Alavi, F. Sobhnamayan

Abstract:

In this paper, an attempt has been made to obtain nonsensitive solutions in the multi-objective optimization of a photovoltaic/thermal (PV/T) air collector. The selected objective functions are overall energy efficiency and exergy efficiency. Improved thermal, electrical and exergy models are used to calculate the thermal and electrical parameters, overall energy efficiency, exergy components and exergy efficiency of a typical PV/T air collector. A computer simulation program is also developed. The results of numerical simulation are in good agreement with the experimental measurements noted in the previous literature. Finally, multi-objective optimization has been carried out under given climatic, operating and design parameters. The optimized ranges of inlet air velocity, duct depth and the objective functions in optimal Pareto front have been obtained. Furthermore, non-sensitive solutions from energy or exergy point of view in the results of multi-objective optimization have been shown.

Keywords: Solar photovoltaic thermal (PV/T) air collector, Overall energy efficiency, Exergy efficiency, Multi-objectiveoptimization, Sensitivity analysis.

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Authors: Indar Chaerah Gunadin, Adi Soeprijanto, Ontoseno Penangsang

Abstract:

This paper will discuss about an active power generator scheduling method in order to increase the limit level of steady state systems. Some power generator optimization methods such as Langrange, PLN (Indonesian electricity company) Operation, and the proposed Z-Thevenin-based method will be studied and compared in respect of their steady state aspects. A method proposed in this paper is built upon the thevenin equivalent impedance values between each load respected to each generator. The steady state stability index obtained with the REI DIMO method. This research will review the 500kV-Jawa-Bali interconnection system. The simulation results show that the proposed method has the highest limit level of steady state stability compared to other optimization techniques such as Lagrange, and PLN operation. Thus, the proposed method can be used to create the steady state stability limit of the system especially in the peak load condition.

Keywords: generation scheduling, steady-state stability limit, REI Dimo, margin stability

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Authors: Iwona Nowak, Jacek Smolka, Andrzej J. Nowak

Abstract:

The paper discusses a 3D numerical solution of the inverse boundary problem for a continuous casting process of alloy. The main goal of the analysis presented within the paper was to estimate heat fluxes along the external surface of the ingot. The verified information on these fluxes was crucial for a good design of a mould, effective cooling system and generally the whole caster. In the study an enthalpy-porosity technique implemented in Fluent package was used for modeling the solidification process. In this method, the phase change interface was determined on the basis of the liquid fraction approach. In inverse procedure the sensitivity analysis was applied for retrieving boundary conditions. A comparison of the measured and retrieved values showed a high accuracy of the computations. Additionally, the influence of the accuracy of measurements on the estimated heat fluxes was also investigated.

Keywords: Boundary inverse problem, sensitivity analysis, continuous casting, numerical simulation.

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Authors: Dilip Kumar S.M, Vijaya Kumar B.P.

Abstract:

The decisions made by admission control algorithms are based on the availability of network resources viz. bandwidth, energy, memory buffers, etc., without degrading the Quality-of-Service (QoS) requirement of applications that are admitted. In this paper, we present an energy-aware admission control (EAAC) scheme which provides admission control for flows in an ad hoc network based on the knowledge of the present and future residual energy of the intermediate nodes along the routing path. The aim of EAAC is to quantify the energy that the new flow will consume so that it can be decided whether the future residual energy of the nodes along the routing path can satisfy the energy requirement. In other words, this energy-aware routing admits a new flow iff any node in the routing path does not run out of its energy during the transmission of packets. The future residual energy of a node is predicted using the Multi-layer Neural Network (MNN) model. Simulation results shows that the proposed scheme increases the network lifetime. Also the performance of the MNN model is presented.

Keywords: Ad hoc networks, admission control, energy-aware routing, Quality-of-Service, future residual energy, neural network.

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Authors: G. F. Guimarães, A. R. de Faria, R. R. Rego, A. L. R. D’Oliveira

Abstract:

One of the most relevant phenomena in manufacturing is the residual stress state development through the manufacturing chain. In most cases, the residual stresses have their origin in the heterogenous plastification produced by the processes. Although a few manufacturing processes have been successfully approached by numerical modeling, there is still lack of understanding on how these processes' interactions will affect the final stress state. The objective of this work is to analyze the effect of the grinding procedure on the residual stress state generated by a quasi-static indentation. The model consists in a simplified approach of shot peening, modeling four cases with variations in indenter size and force. This model was validated through topography, measured by optical 3D focus-variation. The indentation model configured with two loads was then exposed to two grinding procedures and the result was analyzed. It was observed that the grinding procedure will have a significant effect on the stress state.

Keywords: plasticity, residual stress, finite element method, manufacturing

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Authors: M. Ramezani, S. Ghaderifard, HR. Monsef-Esfahani, S. Nasri

Abstract:

The aim of this study is evaluating the antinociceptive and anti-inflamatory activity of Geum kokanicum. After determination total extract LD50, different doses of extract were chosen for intrapritoneal injections. In inflammation test, male NMRI mice were divided into 6 groups: control (normal saline), positive control (Dexamethasone 15mg/kg), and total extract (0.025, 0.05, 0.1, and 0.2 gr/kg). The inflammation was produced by xyleneinduced edema. In order to evaluate the antinociceptive effect of total extract, formalin test was used. Mice were divided into 6 groups: control, positive control (morphine 10mg/kg), and 4 groups which received total extract. Then they received Formalin. The animals were observed for the reaction to pain. Data were analyzed using One-way ANOVA followed by Tukey-Kramer multiple comparison test. LD50 was 1 gr/kg. Data indicated that 0.5,0.1 and 0.2 gr/kg doses of total extract have particular antinociceptive and antiinflammatory effects in a comparison with control (P<0.001). The most effective dose was 0.2 gr/kg which did not show any significant difference in a comparison with positive control. Results indicated that total extract can inhibit nociception in the first and second phase. The antinociceptive effects in high doses are the same as morphine as a strong analgesic substance. TLC chromatography indicated presence of steroids and triterpenoids in this plant. The effects of extract may be related to presence of these compounds.

Keywords: Anti-inflammatory, Antinociceptive, Geum kokanicum, Mice.

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Authors: B. S. Sindu, Saptarshi Sasmal, Smitha Gopinath

Abstract:

Cement, the most widely used construction material is very brittle and characterized by low tensile strength and strain capacity. Macro to nano fibers are added to cement to provide tensile strength and ductility to it. Carbon Nanotube (CNT), one of the nanofibers, has proven to be a promising reinforcing material in the cement composites because of its outstanding mechanical properties and its ability to close cracks at the nano level. The experimental investigations for CNT reinforced cement is costly, time consuming and involves huge number of trials. Mathematical modeling of CNT reinforced cement can be done effectively and efficiently to arrive at the mechanical properties and to reduce the number of trials in the experiments. Hence, an attempt is made to numerically study the effective mechanical properties of CNT reinforced cement numerically using Representative Volume Element (RVE) method. The enhancement in its mechanical properties for different percentage of CNTs is studied in detail.

Keywords: Carbon Nanotubes, Cement composites, Representative Volume Element, Numerical simulation

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Authors: Guray Arslan, Riza S. O. Keskin

Abstract:

Numerical investigations were conducted to study the influence of flexural reinforcement ratio on the diagonal cracking strength and ultimate shear strength of reinforced concrete (RC) beams without stirrups. Three-dimensional nonlinear finite element analyses (FEAs) of the beams with flexural reinforcement ratios ranging from 0.58% to 2.20% subjected to a mid-span concentrated load were carried out. It is observed that the load-deflection and loadstrain curves obtained from the numerical analyses agree with those obtained from the experiments. It is concluded that flexural reinforcement ratio has a significant effect on the shear strength and deflection capacity of RC beams without stirrups. The predictions of diagonal cracking strength and ultimate shear strength of beams obtained by using the equations defined by a number of codes and researchers are compared with each other and with the experimental values.

Keywords: Finite element, flexural reinforcement, reinforced concrete beam, shear strength.

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Authors: Xizhi Li

Abstract:

Both software applications and their development environment are becoming more and more distributed. This trend impacts not only the way software computes, but also how it looks. This article proposes a Human Computer Interface (HCI) template from three representative applications we have developed. These applications include a Multi-Agent System based software, a 3D Internet computer game with distributed game world logic, and a programming language environment used in constructing distributed neural network and its visualizations. HCI concepts that are common to these applications are described in abstract terms in the template. These include off-line presentation of global entities, entities inside a hierarchical namespace, communication and languages, reconfiguration of entity references in a graph, impersonation and access right, etc. We believe the metaphor that underlies an HCI concept as well as the relationships between a bunch of HCI concepts are crucial to the design of software systems and vice versa.

Keywords: HCI, MAS, computer game, programming language

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Authors: Nebojsa B. Raicevic, Slavoljub R. Aleksic, Sasa S. Ilic

Abstract:

A power cable is widely used for power supply in power distributing networks and power transmission lines. Due to limitations in the production, delivery and setting up power cables, they are produced and delivered in several separate lengths. Cable itself, consists of two cable terminations and arbitrary number of cable joints, depending on the cable route length. Electrical stress control is needed to prevent a dielectric breakdown at the end of the insulation shield in both the air and cable insulation. Reliability of cable joint depends on its materials, design, installation and operating environment. The paper describes design and performance results for new modeled cable joints. Design concepts, based on numerical calculations, must be correct. An Equivalent Electrodes Method/Boundary Elements Method-hybrid approach that allows electromagnetic field calculations in multilayer dielectric media, including inhomogeneous regions, is presented.

Keywords: Cable joints, deflector's cones, equivalent electrodemethod, electric field distribution

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Authors: V. K. Banga

Abstract:

Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.

Keywords: Artificial intelligence, kinematics, robotic arm, neural networks, fuzzy logic.

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