Search results for: Active force control

Authors: Marco Raciti Castelli, Paolo Cioppa, Ernesto Benini

Abstract:

This paper presents a CFD analysis of the flow field around a thin flat plate of infinite span inclined at 90° to a fluid stream of infinite extent. Numerical predictions have been compared to experimental measurements, in order to assess the potential of the finite volume code of determining the aerodynamic forces acting on a bluff body invested by a fluid stream of infinite extent. Several turbulence models and spatial node distributions have been tested. Flow field characteristics in the neighborhood of the flat plate have been investigated, allowing the development of a preliminary procedure to be used as guidance in selecting the appropriate grid configuration and the corresponding turbulence model for the prediction of the flow field over a two-dimensional vertical flat plate.

Keywords: CFD, vertical flat plate, aerodynamic force

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Authors: V. K. Banga, R. Kumar, Y. Singh

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In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimization algorithm is presented and discussed. The result are compared only GA and Fuzzy GA. This paper describes genetic algorithms, which is designed to optimize robot movement and trajectory. Though the model represents is a general model for redundant structures and could represent any n-link structures. The result is a complete trajectory planning with Fuzzy logic and Genetic algorithms demonstrating the flexibility of this technique of artificial intelligence.

Keywords: Inverse kinematics, Genetic algorithms (GAs), Fuzzy logic (FL), Trajectory planning.

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Authors: D. Zare, F. Salmanizade, H. Safiyari

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Physical and mechanical properties of Russian olive fruits were measured at moisture content of 14.43% w.b. The results revealed that the mean length, width and thickness of Russian olive fruits were 20.72, 15.73 and 14.69mm, respectively. Mean mass and volume of Russian olive fruits were measured as 1.45 g and 2.55 cm3, respectively. The sphericity, aspect ratio and surface area were calculated as 0.81, 0.72 and 8.96 cm2, respectively, while arithmetic mean diameter, geometric mean diameter and equivalent diameter of Russian olive fruits were 17.05, 16.83 and 16.84 mm, respectively. Whole fruit density, bulk density and porosity of jujube fruits were measured and found to be 1.01 g/cm3, 0.29 g/cm3 and 69.5%, respectively. The values of static coefficient of friction on three surfaces of glass, galvanized iron and plywood were 0.35, 0.36 and 0.43, respectively. The skin color (L*, a*, b*) varied from 9.92 to 16.08; 2.04 to 3.91 and 1.12 to 3.83, respectively. The values of rupture force, deformation, energy absorbed and hardness were found to be between 12.14-16.85 N, 2.16-4.25 mm, 3.42-6.99 N mm and 17.1-23.85 N/mm.

Keywords: Mechanical and Physical properties, Russian olive fruits, friction coefficient

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Authors: Dandong Ge, Lei Tong

Abstract:

This paper studies the cultural creative industry's characteristics between the eastern and western of Zhejiang Province. Through the Comparative analysis, this paper works out that the cultural creative industry in western Zhejiang Province is mainly promoted by the inside force, and its level of development is obviously much lower than the eastern Zhejiang Province whose cultural creative industry is mainly pulled by outside forces. So this paper worked out some strategies for the development of cultural creative industry in western Zhejiang Province, which are based on the economic foundation and the cultural resource endowments. Finally these strategies will help to improve the whole development level of western Zhejiang Province, and contribute to the balance development between the west and east of Zhejiang Province.

Keywords: Cultural creative industry, underdeveloped, western Zhejiang, strategies.

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Authors: Sanaa Ali Ahmed Alrashid

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The present study aimed to investigate the effect of synchronous music in Gymnastics' motor skill performance among undergraduate female students in physical education college at Basra University. The researcher used experimental design. 20 female students of physical education divided equally into two groups, (10) experimental group with music, (10) control group without music. All participants complete 6 weeks in testing. Data analysis based on T-test shows significant difference at (α = 0.05) in all skills level between experimental and control groups in favor of experimental group. Results of this study contribute to developing the role of synchronous music in improving gymnastic skills performance.

Keywords: Performance, motor skill, music, synchronous.

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Authors: Bu Seog Ju, Woo Young Jung

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The cost of damage to the non-structural systems in critical facilities like nuclear power plants and hospitals can exceed 80% of the total cost of damage during an earthquake. The failure of nonstructural components, especially, piping systems led to leakage of water and subsequent shut-down of hospitals immediately after the event. Consequently, the evaluation of performance of these types of structural configurations has become necessary to mitigate the risk and to achieve reliable designs. This paper focuses on a methodology to evaluate the static and dynamic characteristics of complex actual piping system based on NFPA-13 and SMACNA guidelines. The result of this study revealed that current piping system subjected to design lateral force and design spectrum based on UBC-97 was failed in both cases and mode shapes between piping system and building structure were very different

Keywords: Nonstructural component, piping, hospital, seismic, bracing.

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Authors: P.Megala, T.V.Hymavathi

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Papaya and banana bars were developed incorporating inulin (IN) and fructooligosaccharides (FOS) (Liquid and Powder form) in various proportions. The control bars were standardized using 70% fruit pulp, 30% sugar, 0.3% citric acid while the treated bars were standardized with 70% fruit pulp, 15% sugar, 15% of IN and FOS and 0.3% citric acid. Among the various proportions tested, papaya bars with 90% FOS (Powder) + 10% IN and banana bars with 90% FOS (liquid) + 10% IN were sensorially best accepted. The study revealed that addition of IN and FOS improved the sensory scores. The Physico-chemical and proximatecomposition analysis revealed slight changes in brix°, total sugars, reducing sugars, nonreducing sugars, moisture, protein, fat, vitamin C, ash, iron, zinc, calcium and crude fibre between control and treated fruit bars. Further the glycemic index of papaya bar was reduced from 65 to 54 when treated with FOS and IN.

Keywords: Banana, fructooligosaccharides, functional fruit bars, inulin, papaya

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Authors: Rong-Jong Wai, Chia-Ming Liu

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Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, an adaptive path-planning control scheme is designed without detailed environmental information, large memory size and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations of a differential-driving mobile robot under the possible occurrence of obstacle shapes.

Keywords: Adaptive Path Planning, Mobile Robot ObstacleAvoidance

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Authors: Živa Ravnikar, Alfonso Bahillo Martinez, Barbara Goličnik Marušić

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Climate change mitigation has been formally adopted and announced by countries over the globe, where cities are targeting carbon neutrality through various more or less successful, systematic, and fragmentary actions. The article is based on the fact that environmental conditions affect human comfort and the usage of space. Urban planning can, with its sustainable solutions, not only support climate mitigation in terms of a planet reduction of global warming but as well enabling natural processes that in the immediate vicinity produce environmental conditions that encourage people to walk or cycle. However, the article draws attention to the importance of integrating climate consideration into urban planning, where detailed environmental data play a key role, enabling urban planners to improve or monitor environmental conditions on cycle paths. In a practical aspect, this paper tests a particular ICT tool, a prototype used for environmental data. Data gathering was performed along the cycling lanes in Ljubljana (Slovenia), where the main objective was to assess the tool's data applicable value within the planning of comfortable cycling lanes. The results suggest that such transportable devices for in-situ measurements can help a researcher interpret detailed environmental information, characterized by fine granularity and precise data spatial and temporal resolution. Data can be interpreted within human comfort zones, where graphical representation is in the form of a map, enabling the link of the environmental conditions with a spatial context. The paper also provides preliminary results in terms of the potential of such tools for identifying the correlations between environmental conditions and different spatial settings, which can help urban planners to prioritize interventions in places. The paper contributes to multidisciplinary approaches as it demonstrates the usefulness of such fine-grained data for better consideration of microclimatology in urban planning, which is a prerequisite for creating climate-comfortable cycling lanes promoting active mobility.

Keywords: Information and communication technology tools, urban planning, human comfort, microclimate, cycling lanes.

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Authors: Valery Vodovozov, Zoja Raud, Tõnu Lehtla

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This paper describes the design considerations of an experimental setup for research and exploring the drives of batteryfed electric vehicles. Effective setup composition and its components are discussed. With experimental setup described in this paper, durability and functional tests can be procured to the customers. Multiple experiments are performed in the form of steady-state system exploring, acceleration programs, multi-step tests (speed control, torque control), load collectives or close-to-reality driving tests (driving simulation). Main focus of the functional testing is on the measurements of power and energy efficiency and investigations in driving simulation mode, which are used for application purposes. In order to enable the examination of the drive trains beyond standard modes of operation, different other parameters can be studied also.

Keywords: Electric drive, electric vehicle, propulsion, test bench.

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Authors: Anam Azam, Muhammad Rafiq

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The study identified the socio-economic and demographic factors of both married and unmarried females in third world countries. Almost all the countries have same problems but we have selected Pakistan as a sample country. The main purpose of this study was to examine which factors forced women to participate in labor market. So the best technique of data collection was survey of both married and unmarried females between the ages of 20 to 49. Two models (probit and logit) were used to analyze the factors which effect on FLFP. The result showed that some factors e.g. age; education and marital status have significant effect on FLFP. The findings showed that educated women and those who belong to joint families are more participate because of financial pressure.

Keywords: Education, Financial status, Family pressure Labor Market participation.

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Authors: J.L. Castro, K. Benghazi, M.V. Hurtado, M. Navarro, J.M. Zurita

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Nowadays, quick technological changes force companies to develop innovative products in an increasingly competitive environment. Therefore, how to enhance the time of new product development is very important. This design problem often lacks the exact formula for getting it, and highly depends upon human designers- past experiences. For these reasons, in this work, a Casebased reasoning (CBR) system to assist in new product development is proposed. When a case is recovered from the case base, the system will take into account not only the attribute-s specific value and how important it is. It will also take into account if the attribute has a positive influence over the product development. Hence the manufacturing time will be improved. This information will be introduced as a new concept called “adaptability". An application to this method for hearing instrument new design illustrates the proposed approach.

Keywords: Case based reasoning, Fuzzy logic, New product development, Retrieval stage, Similarity.

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Authors: Moustafa Osman Mohamed

Abstract:

This paper will explore the influence of energy sector in Arab Republic of Egypt which has shared its responsibilities of many environmental challenges as the second largest economy in the Middle East (after Iran). Air and water pollution, desertification, inadequate disposal of solid waste and damage to coral reefs are serious problems that influence environmental management in Egypt. The intensive reliance of high population density and strong industrial growth are wearing Egypt's resources, and the rapidly-growing population has forced Egypt to breakdown agricultural land to residential and relevant use of commercial ingestion. The depletion effects of natural resources impose the government to apply innovation techniques in emission control and focus on sustainability. The cogeneration will be presented to control thermal losses and increase efficiency of energy power system.

Keywords: Cogeneration, energy indicators, power plant, electricity, environmental loads, environmental impact assessment.

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Authors: Malika Yaici, Kamel Hariche, Tim Clarke

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The relationship between eigenstructure (eigenvalues and eigenvectors) and latent structure (latent roots and latent vectors) is established. In control theory eigenstructure is associated with the state space description of a dynamic multi-variable system and a latent structure is associated with its matrix fraction description. Beginning with block controller and block observer state space forms and moving on to any general state space form, we develop the identities that relate eigenvectors and latent vectors in either direction. Numerical examples illustrate this result. A brief discussion of the potential of these identities in linear control system design follows. Additionally, we present a consequent result: a quick and easy method to solve the polynomial eigenvalue problem for regular matrix polynomials.

Keywords: Eigenvalues/Eigenvectors, Latent values/vectors, Matrix fraction description, State space description.

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Authors: Leila Amjad, Mahsa Shafighi

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The role of the pollen grain, with to the reproductive process of higher plants, is to deliver the spermatic cells to the embryo sac for egg fertilization. The aim of this project was study the effect of electromagnetic fields on structure and pollen grains development in Chenopodium album. Anthers of Chenopodium album L. were collected at different stages of development from control (without electromagnetic field) and plants grown at 10m from the field sources. Structure and development of pollen grains were studied and compared. The studying pollen structure by Light and Scanning electron microscopy showed that electromagnetic fields reduction of pollen grains number and male sterility, thus , in some anthers, pollen grains were attached together and deformed compared to control ones. The data presented suggest that prolonged exposures of plants to magnetic field may cause different biological effects at the cellular tissue and organ levels.

Keywords: Electromagnetic fields, pollen, Chenopodium albumL.

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Authors: A. Puras Trueba, J. R. Llata García

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A nonlinear optimal controller with a fuzzy gain scheduler has been designed and applied to a Line-Of-Sight (LOS) stabilization system. Use of Linear Quadratic Regulator (LQR) theory is an optimal and simple manner of solving many control engineering problems. However, this method cannot be utilized directly for multigimbal LOS systems since they are nonlinear in nature. To adapt LQ controllers to nonlinear systems at least a linearization of the model plant is required. When the linearized model is only valid within the vicinity of an operating point a gain scheduler is required. Therefore, a Takagi-Sugeno Fuzzy Inference System gain scheduler has been implemented, which keeps the asymptotic stability performance provided by the optimal feedback gain approach. The simulation results illustrate that the proposed controller is capable of overcoming disturbances and maintaining a satisfactory tracking performance.

Keywords: Fuzzy Gain-Scheduling, Gimbal, Line-Of-SightStabilization, LQR, Optimal Control

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Authors: C. Senanayake, S. Veera Ragavan

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Warehousing is commonly used in factories for the storage of products until delivery of orders. As the amount of products stored increases it becomes tedious to be carried out manually. In recent years, the manual storing has converted into fully or partially computer controlled systems, also known as Automated Storage and Retrieval Systems (AS/RS). This paper discusses an ASRS system, which was designed such that the best storage location for the products is determined by utilizing a fuzzy control system. The design maintains the records of the products to be/already in store and the storage/retrieval times along with the availability status of the storage locations. This paper discusses on the maintenance of the above mentioned records and the utilization of the concept of fuzzy logic in order to determine the optimum storage location for the products. The paper will further discuss on the dynamic splitting and merging of the storage locations depending on the product sizes.

Keywords: ASRS, fuzzy control systems, MySQL database, dynamic splitting and merging.

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Authors: M. I. Mohd Hafizal, Y. Hiroshi, T. Goto

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There-s a lack in understanding the indoor climate of Malaysian residential. The assumption of traditional house could provide the best indoor environment is too good to be true. This research is to understand indoor environment in three types of Malaysian residential and thermo recorder TR72Ui were placed in indoor spaces for measurement. There are huge differences of indoor environment between housing types, and building material helps to control indoor climate. Traditional house indoor climate was similar to the outdoor. Temperature in the bedroom of terrace and town houses were slightly higher than the living room. Indoor temperature was 2oC lower in the rainy season than the hot season. It was hard to control indoor humidity level in traditional house compared with terrace and town house. As for conclusion, town house provides the best thermal environment to the building occupants and can be improved with good roof insulation.

Keywords: Indoor environment, residential, temperature.

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Authors: Y. S. Tai, M. Y. Huang, H. T. Hu

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The commercial finite element program LS-DYNA was employed to evaluate the response and energy absorbing capacity of cylindrical metal tubes that are externally wrapped with composite. The effects of composite wall thickness, loading conditions and fiber ply orientation were examined. The results demonstrate that a wrapped composite can be utilized effectively to enhance the crushing characteristics and energy absorbing capacity of the tubes. Increasing the thickness of the composite increases the mean force and the specific energy absorption under both static and dynamic crushing. The ply pattern affects the energy absorption capacity and the failure mode of the metal tube and the composite material property is also significant in determining energy absorption efficiency.

Keywords: fiber-reinforced metal tubes, energy absorption, axial crushing, impact loading.

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Authors: Jürgen Roßmann, André Kupetz, Roland Wischnewski

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An intuitive user interface for the teleoperation of mobile rescue robots is one key feature for a successful exploration of inaccessible and no-go areas. Therefore, we have developed a novel framework to embed a flexible and modular user interface into a complete 3-D virtual reality simulation system. Our approach is based on a client-server architecture to allow for a collaborative control of the rescue robot together with multiple clients on demand. Further, it is important that the user interface is not restricted to any specific type of mobile robot. Therefore, our flexible approach allows for the operation of different robot types with a consistent concept and user interface. In laboratory tests, we have evaluated the validity and effectiveness of our approach with the help of two different robot platforms and several input devices. As a result, an untrained person can intuitively teleoperate both robots without needing a familiarization time when changing the operating robot.

Keywords: Teleoperation of mobile robots, augmented reality, user interface, virtual reality.

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Authors: Ridha Kechida, Arezki Menacer, Abdelhamid Benakcha

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The numerous qualities of squirrel cage induction machines enhance their use in industry. However, various faults can occur, such as stator short-circuits and rotor failures. In this paper, we use a technique based on the spectral analysis of stator current in order to detect the fault in the machine: broken rotor bars. Thus, the number effect of the breaks has been highlighted. The effect is highlighted by considering the machine controlled by the Direct Torque Control (DTC). The key to fault detection is the development of a simplified dynamic model of a squirrel cage induction motor taking account the broken bars fault and the stator current spectrum analysis (FFT).

Keywords: Rotor faults, diagnosis, induction motor, DTC, statorcurrent spectrum.

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Authors: Thamer Ali Albahkali

Abstract:

The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto- rest maneuvers of the first link about its vertically upright configuration while holding the cart fixed at the origin. The rest-torest maneuvers are designed such that each one results in a net gain in energy of the second link. This results in swing-up of DIPC-s configuration to the region of attraction of the desired equilibrium. A three-step algorithm is provided for swing-up control followed by the stabilization step. Simulation results with a comparison to an experimental work done in the literature are presented to demonstrate the efficacy of the approach.

Keywords: Double Inverted pendulum, Impulse, momentum, underactuated

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Authors: Ismahafezi Ismail, Mohd Shahrizal Sunar

Abstract:

The motion of a realistic 3D humanoid character is very important especially for the industries developing computer animations and games. However, this type of motion is seen with a very complex dimensional data as well as body position, orientation, and joint rotation. Integrated Style Motion Editor (ISME), on the other hand, is a method used to alter the 3D humanoid motion capture data utilised in computer animation and games development. Therefore, this study was carried out with the purpose of demonstrating a method that is able to manipulate and deform different motion styles by integrating Key Pose Deformation Technique and Trajectory Control Technique. This motion editing method allows the user to generate new motions from the original motion capture data using a simple interface control. Unlike the previous method, our method produces a realistic humanoid motion style in real time.

Keywords: Computer animation, humanoid motion, motion capture, motion editing.

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Authors: E. Ceyhan, M. Önder, A. Kahraman, R. Topak, M.K. Ateş, S. Karadas, M.A. Avcı

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This research was conducted to determine responses of chickpeas to drought in different periods (early period, late period, no-irrigation, two times irrigation as control). The trial was made in “Randomized Complete Block Design" with three replications on 2010 and 2011 years in Konya-Turkey. Genotypes were consisted from 7 lines of ICARDA, 2 certified lines and 1 local population. The results showed that; as means of years and genotypes, early period stress showed highest (207.47 kg da-1) seed yield and it was followed by control (202.33 kg da-1), late period (144.64 kg da-1) and normal (106.93 kg da-1) stress applications. The genotypes were affected too much by drought and, the lowest seed was taken from non-irrigated plots. As the means of years and stress applications, the highest (196.01 kg da-1) yield was taken from genotype 22255. The reason of yield variation could be derived from different responses of genotypes to drought.

Keywords: Chickpea, drought, seed yield.

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Authors: Zakir Husain, Neem Sagar, Neeraj Gupta

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Due to the increased penetration of renewable energy resources in the distribution system, the system is no longer passive in nature. In this paper, a steady state analysis of the distribution system has been done with the inclusion of wind generation. The modeling of wind turbine generator system and wind generator has been made to obtain the average active and the reactive power injection into the system. The study has been conducted on a IEEE-33 bus system with two wind generators. The present research work is useful not only to utilities but also to customers.

Keywords: Distributed generation, distribution network, radial network, wind turbine generating system.

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

Abstract:

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

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

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Authors: Pia I. Hautamäki

Abstract:

Selling has changed. Selling has taken on aspects of relationship marketing and sales force play a critical role in developing long-term relationships between buyers and sellers which is seen to serve the company’s targets and create success for a long run. The purpose of this study was to examine what really matters in buyer-seller encounters and determine what expectations business buyers have. We studied 17 business buyers by a qualitative interview. We found that buyers appreciate encounters where the salesperson face the buyer as a way he or she is as a person, map the real needs to improve buyers’ business and build up cooperation for long-term relationship. This study show that personality matters are a key elements when satisfying business buyers’ expectations.

Keywords: Business-to-Business, Business buyer-seller encounters, Business buyer, Expectations, Perceived similarity, Personal selling, Personality types.

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Authors: K. Prachumrak, T. Kanchanapornchai

Abstract:

This research simulates one of the natural phenomena, the ocean wave. Our goal is to be able to simulate the ocean wave at real-time rate with the water surface interacting with objects. The wave in this research is calm and smooth caused by the force of the wind above the ocean surface. In order to make the simulation of the wave real-time, the implementation of the GPU and the multithreading techniques are used here. Based on the fact that the new generation CPUs, for personal computers, have multi cores, they are useful for the multithread. This technique utilizes more than one core at a time. This simulation is programmed by C language with OpenGL. To make the simulation of the wave look more realistic, we applied an OpenGL technique called cube mapping (environmental mapping) to make water surface reflective and more realistic.

Keywords: Interactive wave, ocean wave, wind effect, multithread

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Authors: A. Ameur, B. Mokhtari, N. Essounbouli, L. Mokrani

Abstract:

This paper presents a speed sensorless direct torque control scheme using space vector modulation (DTC-SVM) for permanent magnet synchronous motor (PMSM) drive based a Model Reference Adaptive System (MRAS) algorithm and stator resistance estimator. The MRAS is utilized to estimate speed and stator resistance and compensate the effects of parameter variation on stator resistance, which makes flux and torque estimation more accurate and insensitive to parameter variation. In other hand the use of SVM method reduces the torque ripple while achieving a good dynamic response. Simulation results are presented and show the effectiveness of the proposed method.

Keywords: MRAS, PMSM, SVM, DTC, Speed and Resistance estimation, Sensorless drive

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Authors: Sandesh Achar

Abstract:

Cloud computing security is a broad term that covers a variety of security concerns for organizations that use cloud services. Multi-cloud service providers must consider several factors when addressing security for their customers, including identity and access management, data at rest and in transit, egress and ingress traffic control, vulnerability and threat management, and auditing. This paper explores each of these aspects of cloud security in detail and provides recommendations for best practices for multi-cloud service providers. It also discusses the challenges inherent in securing a multi-cloud environment and offers solutions for overcoming these challenges. By the end of this paper, readers should have a good understanding of the various security concerns associated with multi-cloud environments in the context of today’s modern cyber threats and how to address them.

Keywords: Multi-cloud service, SOC, system organization control, data loss prevention, DLP, identity and access management, IAM.

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