Search results for: freedom of contract.

Authors: R. Karbalaei, A. Ghaffari, R. Kazemi, S. H. Tabatabaei

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An integrated vehicle dynamics control system is developed in this paper by a combination of active front steering (AFS) and direct yaw-moment control (DYC) based on fuzzy logic control. The control system has a hierarchical structure consisting of two layers. A fuzzy logic controller is used in the upper layer (yaw rate controller) to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle correction of the front wheels are the outputs. In the lower layer (fuzzy integrator), a fuzzy logic controller is designed based on the working region of the lateral tire forces. Depending on the directions of the lateral forces at the front wheels, a switching function is activated to adjust the scaling factor of the fuzzy logic controller. Using a nonlinear seven degrees of freedom vehicle model, the simulation results illustrate considerable improvements which are achieved in vehicle handling through the integrated AFS/DYC control system in comparison with the individual AFS or DYC controllers.

Keywords: Intelligent strategy, integrated control, fuzzy logic, AFS/DYC.

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Authors: Seema Chopra, R. Mitra, Vijay Kumar

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In this paper, a neural network tuned fuzzy controller is proposed for controlling Multi-Input Multi-Output (MIMO) systems. For the convenience of analysis, the structure of MIMO fuzzy controller is divided into single input single-output (SISO) controllers for controlling each degree of freedom. Secondly, according to the characteristics of the system-s dynamics coupling, an appropriate coupling fuzzy controller is incorporated to improve the performance. The simulation analysis on a two-level mass–spring MIMO vibration system is carried out and results show the effectiveness of the proposed fuzzy controller. The performance though improved, the computational time and memory used is comparatively higher, because it has four fuzzy reasoning blocks and number may increase in case of other MIMO system. Then a fuzzy neural network is designed from a set of input-output training data to reduce the computing burden during implementation. This control strategy can not only simplify the implementation problem of fuzzy control, but also reduce computational time and consume less memory.

Keywords: Fuzzy Control, Neural Network, MIMO System, Optimization of Membership functions.

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Authors: M. Sadighi, H. Pouriayevali, M. Saadati

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This paper describes analysis of low velocity transverse impact on fully backed sandwich beams with composite faces from Eglass/epoxy and cores from Polyurethane or PVC. Indentation on sandwich beams has been analyzed with the existing theories and modeled with the FE code ABAQUS, also loadings have been done experimentally to verify theoretical results. Impact on fully backed has been modeled in two cases of impactor energy with SDOF model (single-degree-of-freedom) and indentation stiffness: lower energy for elastic indentation of sandwich beams and higher energy for plastic area in indentation. Impacts have been modeled by ABAQUS. Impact results can describe response of beam in terms of core and faces thicknesses, core material, indentor energy and energy absorbed. The foam core is modeled using the crushable foam material model and response of the foam core is experimentally characterized in uniaxial compression with higher velocity loading to define quasi impact behaviour.

Keywords: Low velocity impact, fully backed, indentation, sandwich beams, foams, finite element.

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Authors: Tien-Shun Chan, Yung-Chung Chang, Cheng-Yu Chu, Wen-Hui Chen, Yuan-Lin Chen, Shun-Chong Wang, Chang-Chun Wang

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98% of the energy needed in Taiwan has been imported. The prices of petroleum and electricity have been increasing. In addition, facility capacity, amount of electricity generation, amount of electricity consumption and number of Taiwan Power Company customers have continued to increase. For these reasons energy conservation has become an important topic. In the past linear regression was used to establish the power consumption models for chillers. In this study, grey prediction is used to evaluate the power consumption of a chiller so as to lower the total power consumption at peak-load (so that the relevant power providers do not need to keep on increasing their power generation capacity and facility capacity). In grey prediction, only several numerical values (at least four numerical values) are needed to establish the power consumption models for chillers. If PLR, the temperatures of supply chilled-water and return chilled-water, and the temperatures of supply cooling-water and return cooling-water are taken into consideration, quite accurate results (with the accuracy close to 99% for short-term predictions) may be obtained. Through such methods, we can predict whether the power consumption at peak-load will exceed the contract power capacity signed by the corresponding entity and Taiwan Power Company. If the power consumption at peak-load exceeds the power demand, the temperature of the supply chilled-water may be adjusted so as to reduce the PLR and hence lower the power consumption.

Keywords: Gery system theory, grey prediction, chller.

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Authors: Marine Segui, Simon Bezin, Ruxandra Mihaela Botez

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As part of a ‘Morphing-Wing’ idea, this study consists of measuring how a winglet, which is able to change its shape during the flight, is efficient. Conventionally, winglets are fixed-vertical platforms at the wingtips, optimized for a cruise condition that the airplane should use most of the time. However, during a cruise, an airplane flies through a lot of cruise conditions corresponding to altitudes variations from 30,000 to 45,000 ft. The fixed winglets are not optimized for these variations, and consequently, they are supposed to generate some drag, and thus to deteriorate aircraft fuel consumption. This research assumes that it exists a winglet position that reduces the fuel consumption for each cruise condition. In this way, the methodology aims to find these optimal winglet positions, and to further simulate, and thus estimate the fuel consumption of an aircraft wearing this type of adaptive winglet during several cruise conditions. The adaptive winglet is assumed to have degrees of freedom given by the various changes of following surfaces: the tip chord, the sweep and the dihedral angles. Finally, results obtained during cruise simulations are presented in this paper. These results show that an adaptive winglet can reduce, thus improve up to 2.12% the fuel consumption of an aircraft during a cruise.

Keywords: Aerodynamics, Cessna Citation X, optimization, winglet, adaptive, morphing, wing, aircraft.

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Authors: Jinho Kim, Dongik Shin, Deokwon Yun, Changsoo Han

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Rotating stages in semiconductor, display industry and many other fields require challenging accuracy to perform their functions properly. Especially, Axis of rotation error on rotary system is significant; such as the spindle error motion of the aligner, wire bonder and inspector machine which result in the poor state of manufactured goods. To evaluate and improve the performance of such precision rotary stage, unessential movements on the other 5 degrees of freedom of the rotary stage must be measured and analyzed. In this paper, we have measured the three translations and two tilt motions of a rotating stage with high precision capacitive sensors. To obtain the radial error motion from T.I.R (Total Indicated Reading) of radial direction, we have used Donaldson's reversal technique. And the axial components of the spindle tilt error motion can be obtained accurately from the axial direction outputs of sensors by Estler face motion reversal technique. Further more we have defined and measured the sensitivity of positioning error to the five error motions.

Keywords: Donaldson's reversal methods, Estler face motionreversal method, Error motion, sensitivity, T.I.R (Total IndicatedReading).

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Authors: Shutchapol Chopvitayakun

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Internship program is a compulsory course of many undergraduate programs in Thailand. It gives opportunities to a lot of senior students as interns to practice their working skills in the real organizations and also gives chances for interns to face real-world working problems. Interns also learn how to solve those problems by direct and indirect experiences. This program in many schools is a well-structured course with a contract or agreement made with real business organizations. Moreover, this program also offers opportunities for interns to get jobs after completing it from where the internship program takes place. Interns also learn how to work as a team and how to associate with other colleagues, trainers, and superiors of each organization in term of social hierarchy, self-responsibility, and self-disciplinary. This research focuses on senior students of Suan Sunandha Rajabhat University, Thailand whose studying major is information technology program. They practiced their working skills or took internship programs in the real business sector or real operating organizations in 2015-2016. Interns are categorized in to two types: normal program and special program. For special program, students study in weekday evening from Monday to Friday or Weekend and most of them work full-time or part-time job. For normal program, students study in weekday working hours and most of them do not work. The differences of these characters and the outcomes of internship performance were studied and analyzed in this research. This work applied some statistical analytics to find out whether the internship performance of each intern type has different performances statistically or not.

Keywords: Internship, intern, senior student, information technology program.

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Authors: H. Shayeghi, A. Jalili

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This paper presents a new Hybrid Fuzzy (HF) PID type controller based on Genetic Algorithms (GA-s) for solution of the Automatic generation Control (AGC) problem in a deregulated electricity environment. In order for a fuzzy rule based control system to perform well, the fuzzy sets must be carefully designed. A major problem plaguing the effective use of this method is the difficulty of accurately constructing the membership functions, because it is a computationally expensive combinatorial optimization problem. On the other hand, GAs is a technique that emulates biological evolutionary theories to solve complex optimization problems by using directed random searches to derive a set of optimal solutions. For this reason, the membership functions are tuned automatically using a modified GA-s based on the hill climbing method. The motivation for using the modified GA-s is to reduce fuzzy system effort and take large parametric uncertainties into account. The global optimum value is guaranteed using the proposed method and the speed of the algorithm-s convergence is extremely improved, too. This newly developed control strategy combines the advantage of GA-s and fuzzy system control techniques and leads to a flexible controller with simple stricture that is easy to implement. The proposed GA based HF (GAHF) controller is tested on a threearea deregulated power system under different operating conditions and contract variations. The results of the proposed GAHF controller are compared with those of Multi Stage Fuzzy (MSF) controller, robust mixed H2/H∞ and classical PID controllers through some performance indices to illustrate its robust performance for a wide range of system parameters and load changes.

Keywords: AGC, Hybrid Fuzzy Controller, Deregulated Power System, Power System Control, GAs.

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Authors: Thiang, Handry Khoswanto, Rendy Pangaldus

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Inverse kinematics analysis plays an important role in developing a robot manipulator. But it is not too easy to derive the inverse kinematic equation of a robot manipulator especially robot manipulator which has numerous degree of freedom. This paper describes an application of Artificial Neural Network for modeling the inverse kinematics equation of a robot manipulator. In this case, the robot has three degree of freedoms and the robot was implemented for drilling a printed circuit board. The artificial neural network architecture used for modeling is a multilayer perceptron networks with steepest descent backpropagation training algorithm. The designed artificial neural network has 2 inputs, 2 outputs and varies in number of hidden layer. Experiments were done in variation of number of hidden layer and learning rate. Experimental results show that the best architecture of artificial neural network used for modeling inverse kinematics of is multilayer perceptron with 1 hidden layer and 38 neurons per hidden layer. This network resulted a RMSE value of 0.01474.

Keywords: Artificial neural network, back propagation, inverse kinematics, manipulator, robot.

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Authors: M. A. Okezue, K. L. Clase, S. R. Byrn, P. Shivanand

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Medicines regulatory authorities expect pharmaceutical companies and contract research organizations to seek ways to certify that their laboratory control measurements are reliable. Establishing and maintaining laboratory quality standards are essential in ensuring the accuracy of test results. ‘ISO/IEC 17025:2017’ and ‘WHO Good Practices for Pharmaceutical Quality Control Laboratories (GPPQCL)’ are two quality standards commonly employed in developing laboratory quality systems. A review was conducted on the two standards to elaborate on areas on convergence and divergence. The goal was to understand how differences in each standard's requirements may influence laboratories' choices as to which document is easier to adopt for quality systems. A qualitative review method compared similar items in the two standards while mapping out areas where there were specific differences in the requirements of the two documents. The review also provided a detailed description of the clauses and parts covering management and technical requirements in these laboratory standards. The review showed that both documents share requirements for over ten critical areas covering objectives, infrastructure, management systems, and laboratory processes. There were, however, differences in standard expectations where GPPQCL emphasizes system procedures for planning and future budgets that will ensure continuity. Conversely, ISO 17025 was more focused on the risk management approach to establish laboratory quality systems. Elements in the two documents form common standard requirements to assure the validity of laboratory test results that promote mutual recognition. The ISO standard currently has more global patronage than GPPQCL.

Keywords: ISO/IEC 17025:2017, laboratory standards, quality control, WHO GPPQCL

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Authors: Doo W. Lee, Soo J. Lee, Bye R. Yoon, Jae Y. Jho, Kyehan Rhee

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Hand exoskeletons have been developed in order to assist daily activities for disabled and elder people. A figure exoskeleton was developed using ionic polymer metal composite (IPMC) actuators, and the performance of it was evaluated in this study. In order to study dynamic performance of a finger dummy performing pinching motion, force generating characteristics of an IPMC actuator and pinching motion of a thumb and index finger dummy actuated by IMPC actuators were analyzed. The blocking force of 1.54 N was achieved under 4 V of DC. A thumb and index finger dummy, which has one degree of freedom at the proximal joint of each figure, was manufactured by a three dimensional rapid prototyping. Each figure was actuated by an IPMC actuator, and the maximum fingertip force was 1.18 N. Pinching motion of a dummy was analyzed by two video cameras in vertical top and horizontal left end view planes. A figure dummy powered by IPMC actuators could perform flexion and extension motion of an index figure and a thumb.

Keywords: Finger exoskeleton, ionic polymer metal composite, flexion and extension, motion analysis.

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Authors: Ana Lambelho

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In an economic crisis such as the one that shook (and still shake) Europe, one does not question the importance of the measures that encourage the hiring and integration of young people into the labour market. In the mentioned context, enterprises tend to reduce the cost of labour and to seek flexible contracting instruments. The professional internships allow innovation and creativity at low cost, because, as they are not labour contracts, the enterprises do not have to respect the minimum standards related to wages, working time duration and so on. In Portugal, we observe a widespread existence of training contracts in which the trainee worked several hours without salary or was paid below the legally prescribed for the function and the work period. For this reason, under the tripartite agreement for a new system of regulation of labour relations, employment policies and social protection, between the Government and the social partners, in June 2008, foresaw a prohibition of professional internships unpaid and the legal regulation of the mandatory internships for access to an activity. The first Act about private internship contracts, i.e., internships without public funding was embodied in the Decree-Law N. 66/2011, of 1^st June. This work is dedicated to the study of the legal regime of the internship contract in Portugal, by analysing the problems brought by the new set of rules and especially those which remains unresolved. In fact, we can conclude that the number of situations covered by the Act is much lower than what was expected, because of the exclusion of the mandatory internship for access to a profession when the activity is developed autonomously. Since the majority of the activities can be developed both autonomously or subordinated, it is quite easy to out of the Act requirements and, so, out of the protection that it confers to the intern. In order to complete this study, we considered not only the mentioned legal Act, but also the few doctrine and jurisprudence about the theme.

Keywords: Intern, internship contact, labour law, Portugal.

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Authors: Ejaz Khan, Conor Heneghan

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In this paper we propose a new criterion for solving the problem of channel shortening in multi-carrier systems. In a discrete multitone receiver, a time-domain equalizer (TEQ) reduces intersymbol interference (ISI) by shortening the effective duration of the channel impulse response. Minimum mean square error (MMSE) method for TEQ does not give satisfactory results. In [1] a new criterion for partially equalizing severe ISI channels to reduce the cyclic prefix overhead of the discrete multitone transceiver (DMT), assuming a fixed transmission bandwidth, is introduced. Due to specific constrained (unit morm constraint on the target impulse response (TIR)) in their method, the freedom to choose optimum vector (TIR) is reduced. Better results can be obtained by avoiding the unit norm constraint on the target impulse response (TIR). In this paper we change the cost function proposed in [1] to the cost function of determining the maximum of a determinant subject to linear matrix inequality (LMI) and quadratic constraint and solve the resulting optimization problem. Usefulness of the proposed method is shown with the help of simulations.

Keywords: Equalizer, target impulse response, convex optimization, matrix inequality.

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Authors: M. Tufekci, C. Guven

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In Automotive Industry, sliding door systems that are also used as body closures are safety members. Extreme product tests are realized to prevent failures in design process, but these tests realized experimentally result in high costs. Finite element analysis is an effective tool used for design process. These analyses are used before production of prototype for validation of design according to customer requirement. In result of this, substantial amount of time and cost is saved. Finite element model is created for geometries that are designed in 3D CAD programs. Different element types as bar, shell and solid, can be used for creating mesh model. Cheaper model can be created by selection of element type, but combination of element type that was used in model, number and geometry of element and degrees of freedom affects the analysis result. Sliding door system is a good example which used these methods for this study. Structural analysis was realized for sliding door mechanism by using FE models. As well, physical tests that have same boundary conditions with FE models were realized. Comparison study for these element types, were done regarding test and analyses results then optimum combination was achieved.

Keywords: Finite Element Analysis, Sliding Door Mechanism, Element Type, Structural Analysis.

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Authors: Olimpia Matarazzo, Fabrizio Ferrara

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In two studies we tested the hypothesis that the appropriate linguistic formulation of a deontic rule – i.e. the formulation which clarifies the monadic nature of deontic operators - should produce more correct responses than the conditional formulation in Wason selection task. We tested this assumption by presenting a prescription rule and a prohibition rule in conditional vs. proper deontic formulation. We contrasted this hypothesis with two other hypotheses derived from social contract theory and relevance theory. According to the first theory, a deontic rule expressed in terms of cost-benefit should elicit a cheater detection module, sensible to mental states attributions and thus able to discriminate intentional rule violations from accidental rule violations. We tested this prevision by distinguishing the two types of violations. According to relevance theory, performance in selection task should improve by increasing cognitive effect and decreasing cognitive effort. We tested this prevision by focusing experimental instructions on the rule vs. the action covered by the rule. In study 1, in which 480 undergraduates participated, we tested these predictions through a 2 x 2 x 2 x 2 (type of the rule x rule formulation x type of violation x experimental instructions) between-subjects design. In study 2 – carried out by means of a 2 x 2 (rule formulation x type of violation) between-subjects design - we retested the hypothesis of rule formulation vs. the cheaterdetection hypothesis through a new version of selection task in which intentional vs. accidental rule violations were better discriminated. 240 undergraduates participated in this study. Results corroborate our hypothesis and challenge the contrasting assumptions. However, they show that the conditional formulation of deontic rules produces a lower performance than what is reported in literature.

Keywords: Deontic reasoning; Evolutionary, linguistic, logical, pragmatic factors; Wason selection task

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Authors: Norasmah Othman, Suzana Mohamed, Salpiah Suradi

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Copreneurship is a term used to describe the business pattern of operations run by married couples who share commitment, goals, and responsibilities in handling a business. Research conducted overseas showed that copreneurship business activities grew quickly and played a role in elevating families’ and nations’ socio-economic standards. In Malaysia, copreneurship has long been cultivated by spouses. Thus, this study aimed to explore the factors that motivate married partners to start a copreneurship business, and who is the dominant partner in the management of this business. The study participants are four entrepreneurial couples who are SME business operators selected through purposive sampling. In-depth interviews and direct observation were used as methods of measurement for triangulation of qualitative data in this study. The findings of the interviews were administered using NVivo 8.0 software. The result shows that freedom is a key factor that drives entrepreneurs to set up copreneurship businesses, and that the husband dominates the management aspects of the business. The study gives an overview of the parties involved in entrepreneurship to provide understanding of the copreneurship concept as it is practiced. This study provides academic value by creating understanding of the importance of a harmonious family institution specifically for forming entrepreneurs in the familial environment in Malaysia.

Keywords: Copreneurs, copreneurship, business management, enterprise.

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Authors: M. Mohebbi, K. Shakeri

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Since the actuator capacity is limited, in the real application of active control systems under sever earthquakes it is conceivable that the actuators saturate, hence the actuator saturation should be considered as a constraint in design of optimal controllers. In this paper optimal design of active controllers for nonlinear structures by considering actuator saturation, has been studied. The proposed method for designing optimal controllers is based on defining an optimization problem which the objective has been to minimize the maximum displacement of structure when a limited capacity for actuator has been used. To this end a single degree of freedom (SDF) structure with a bilinear hysteretic behavior has been simulated under a white noise ground acceleration of different amplitudes. Active tendon control mechanism, comprised of prestressed tendons and an actuator, and extended nonlinear Newmark method based instantaneous optimal control algorithm have been used. To achieve the best results, the weights corresponding to displacement, velocity, acceleration and control force in the performance index have been optimized by the Distributed Genetic Algorithm (DGA). Results show the effectiveness of the proposed method in considering actuator saturation. Also based on the numerical simulations it can be concluded that the actuator capacity and the average value of required control force are two important factors in designing nonlinear controllers which consider the actuator saturation.

Keywords: Active control, Actuator Saturation, Distributedgeneticalgorithms, Nonlinear.

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Authors: M. Gregor, J. Polcar, P. Horejsi, M. Simon

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Machine visualization is an area of interest with fast and progressive development. We present a method of machine visualization which will be applicable in real industrial conditions according to current needs and demands. Real factory data were obtained in a newly built research plant. Methods described in this paper were validated on a case study. Input data were processed and the virtual environment was created. The environment contains information about dimensions, structure, disposition, and function. Hardware was enhanced by modular machines, prototypes, and accessories. We added functionalities and machines into the virtual environment. The user is able to interact with objects such as testing and cutting machines, he/she can operate and move them. Proposed design consists of an environment with two degrees of freedom of movement. Users are in touch with items in the virtual world which are embedded into the real surroundings. This paper describes development of the virtual environment. We compared and tested various options of factory layout virtualization and visualization. We analyzed possibilities of using a 3D scanner in the layout obtaining process and we also analyzed various virtual reality hardware visualization methods such as: Stereoscopic (CAVE) projection, Head Mounted Display (HMD) and augmented reality (AR) projection provided by see-through glasses.

Keywords: Augmented reality, spatial scanner, virtual environment, virtual reality.

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Authors: David Downey

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With the introduction of additive manufacturing (3D printing) to produce titanium (Ti6Al4V) components in the medical, aerospace and automotive industries, intricate geometries can be produced with virtually complete design freedom. However, the consideration of microstructural anisotropy resulting from the additive manufacturing process becomes necessary due to this design flexibility and the need to print a geometric shape that can consist of numerous angles, radii, and swept surfaces. A femoral knee implant serves as an example of a 3D-printed near-net-shaped product. The mechanical properties of the printed components, and consequently, their machinability, are affected by microstructural anisotropy. Currently, finish-machining operations performed on titanium printed parts using selective laser melting (SLM) utilize the same cutting tools employed for processing wrought titanium components. Cutting forces for components manufactured through SLM can be up to 70% higher than those for their wrought counterparts made of Ti6Al4V. Moreover, temperatures at the cutting interface of 3D printed material can surpass those of wrought titanium, leading to significant tool wear. Although the criteria for tool wear may be similar for both 3D printed and wrought materials, the rate of wear during the machining process may differ. The impact of these issues on the choice of cutting tool material and tool lifetimes will be discussed.

Keywords: Additive manufacturing, build orientation, microstructural anisotropy, printed titanium Ti6Al4V, tool wear.

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Authors: H. Mansor, S. B. Mohd-Noor, T. S. Gunawan, S. Khan, N. I. Othman, N. Tazali, R. B. Islam

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This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration Derivative (PID) controller with Linear Quadratic Regulator (LQR) for all travel, pitch and yaw angle of the bench-top helicopter. The performance of the PID controller is relatively good; however, its performance could also be improved if the controller is combined with adaptive element. The objective of this research is to design adaptive PID controller and then compare the performances of the adaptive PID with the standard PID. The controller design and test is focused on travel angle control only. Adaptive method used in this project is self-tuning controller, which controller’s parameters are updated online. Two adaptive algorithms those are pole-placement and deadbeat have been chosen as the method to achieve optimal controller’s parameters. Performance comparisons have shown that the adaptive (deadbeat) PID controller has produced more desirable performance compared to standard PID and adaptive (poleplacement). The adaptive (deadbeat) PID controller attained very fast settling time (5 seconds) and very small percentage of overshoot (5% to 7.5%) for 10° to 30° step change of travel angle.

Keywords: Adaptive control, bench-top helicopter, deadbeat, pole-placement, self-tuning control.

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Authors: Elena Ezhova, Vadim Mottl, Olga Krasotkina

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The problem of estimating time-varying regression is inevitably concerned with the necessity to choose the appropriate level of model volatility - ranging from the full stationarity of instant regression models to their absolute independence of each other. In the stationary case the number of regression coefficients to be estimated equals that of regressors, whereas the absence of any smoothness assumptions augments the dimension of the unknown vector by the factor of the time-series length. The Akaike Information Criterion is a commonly adopted means of adjusting a model to the given data set within a succession of nested parametric model classes, but its crucial restriction is that the classes are rigidly defined by the growing integer-valued dimension of the unknown vector. To make the Kullback information maximization principle underlying the classical AIC applicable to the problem of time-varying regression estimation, we extend it onto a wider class of data models in which the dimension of the parameter is fixed, but the freedom of its values is softly constrained by a family of continuously nested a priori probability distributions.

Keywords: Time varying regression, time-volatility of regression coefficients, Akaike Information Criterion (AIC), Kullback information maximization principle.

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Authors: G. V. Novikov, V. S. Sivozhelezov, S. S. Kolesnikov, K. V. Shaitan

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The study reports about the influence of binding of orthosteric ligands as well as point mutations on the conformational dynamics of β-2-adrenoreceptor. Using molecular dynamics simulation we found that there was a little fraction of active states of the receptor in its apo (ligand free) ensemble corresponded to its constitutive activity. Analysis of MD trajectories indicated that such spontaneous activation of the receptor is accompanied by the motion in intracellular part of its alpha-helices. Thus receptor’s constitutive activity directly results from its conformational dynamics. On the other hand the binding of a full agonist resulted in a significant shift of the initial equilibrium towards its active state. Finally, the binding of the inverse agonist stabilized the receptor in its inactive state. It is likely that the binding of inverse agonists might be a universal way of constitutive activity inhibition in vivo. Our results indicate that ligand binding redistribute pre-existing conformational degrees of freedom (in accordance to the Monod-Wyman-Changeux-Model) of the receptor rather than cause induced fit in it. Therefore, the ensemble of biologically relevant receptor conformations is encoded in its spatial structure, and individual conformations from that ensemble might be used by the cell in conformity with the physiological behavior.

Keywords: Seven-transmembrane receptors, constitutive activity, activation, x-ray crystallography, principal component analysis, molecular dynamics simulation.

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Authors: Atilla Bayram

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This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: Computed force control method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss.

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Authors: Liubov A. Magerramova, Mikhail A. Petrov, Vladimir V. Isakov, Liana A. Shcherbinina, Suren G. Gukasyan, Daniil V. Povalyukhin, Olga G. Klimova-Korsmik, Darya V. Volosevich

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Aircraft engines are developing along the path of increasing resource, strength, reliability, and safety. The building of gas turbine engine body parts is a complex design and technological task. Particularly complex in the design and manufacturing are the casings of the input stages of helicopter gearboxes and central drives of aircraft engines. Traditional technologies, such as precision casting or isothermal forging, are characterized by significant limitations in parts production. For parts like housing, additive technologies guarantee spatial freedom and limitless or flexible design. This article presents the results of computational and experimental studies. These investigations justify the applicability of additive technologies (AT) to reduce the weight of aircraft housing gearbox parts by up to 32%. This is possible due to geometrical optimization compared to the classical, less flexible manufacturing methods and as-casted aircraft parts with over-insured values of safety factors. Using an example of the body of the input stage of an aircraft gearbox, visualization of the layer-by-layer manufacturing of a part based on thermal deformation was demonstrated.

Keywords: Additive technologies, gas turbine engines, geometric optimization, weight reduction.

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Authors: Ayad Al-Mahturi, Herman Wahid

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This paper presents an optimal state feedback controller based on Linear Quadratic Regulator (LQR) for a two-rotor aero-dynamical system (TRAS). TRAS is a highly nonlinear multi-input multi-output (MIMO) system with two degrees of freedom and cross coupling. There are two parameters that define the behavior of LQR controller: state weighting matrix and control weighting matrix. The two parameters influence the performance of LQR. Particle Swarm Optimization (PSO) is proposed to optimally tune weighting matrices of LQR. The major concern of using LQR controller is to stabilize the TRAS by making the beam move quickly and accurately for tracking a trajectory or to reach a desired altitude. The simulation results were carried out in MATLAB/Simulink. The system is decoupled into two single-input single-output (SISO) systems. Comparing the performance of the optimized proportional, integral and derivative (PID) controller provided by INTECO, results depict that LQR controller gives a better performance in terms of both transient and steady state responses when PSO is performed.

Keywords: Linear quadratic regulator, LQR controller, optimal control, particle swarm optimization, PSO, two-rotor aero-dynamical system, TRAS.

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Authors: Jahanbakhsh Hamedi, Hassan Zohoor

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This article proposes modeling, simulation and kinematic and workspace analysis of a spatial cable suspended robot as incompletely Restrained Positioning Mechanism (IRPM). These types of robots have six cables equal to the number of degrees of freedom. After modeling, the kinds of workspace are defined then an statically reachable combined workspace for different geometric structures of fixed and moving platform is obtained. This workspace is defined as the situations of reference point of the moving platform (center of mass) which under external forces such as weight and with ignorance of inertial effects, the moving platform should be in static equilibrium under conditions that length of all cables must not be exceeded from the maximum value and all of cables must be at tension (they must have non-negative tension forces). Then the effect of various parameters such as the size of moving platform, the size of fixed platform, geometric configuration of robots, magnitude of applied forces and moments to moving platform on workspace of these robots with different geometric configuration are investigated. Obtained results should be effective in employing these robots under different conditions of applied wrench for increasing the workspace volume.

Keywords: Kinematic modeling, applied wrench, workspace, cable based robot.

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Authors: Anshu Manik, William G. Buttlar, Kasthurirangan Gopalakrishnan

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Over the years, there is a growing trend towards quality-based specifications in highway construction. In many Quality Control/Quality Assurance (QC/QA) specifications, the contractor is primarily responsible for quality control of the process, whereas the highway agency is responsible for testing the acceptance of the product. A cooperative investigation was conducted in Illinois over several years to develop a prototype End-Result Specification (ERS) for asphalt pavement construction. The final characteristics of the product are stipulated in the ERS and the contractor is given considerable freedom in achieving those characteristics. The risk for the contractor or agency depends on how the acceptance limits and processes are specified. Stochastic simulation models are very useful in estimating and analyzing payment risk in ERS systems and these form an integral part of the Illinois-s prototype ERS system. This paper describes the development of an innovative methodology to estimate the variability components in in-situ density, air voids and asphalt content data from ERS projects. The information gained from this would be crucial in simulating these ERS projects for estimation and analysis of payment risks associated with asphalt pavement construction. However, these methods require at least two parties to conduct tests on all the split samples obtained according to the sampling scheme prescribed in present ERS implemented in Illinois.

Keywords: Asphalt Pavement, Risk Analysis, StochasticSimulation, QC/QA.

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Authors: Kevin T. O'Toole, Mark M. McGrath

Abstract:

The psychological and physical trauma associated with the loss of a human limb can severely impact on the quality of life of an amputee rendering even the most basic of tasks very difficult. A prosthetic device can be of great benefit to the amputee in the performance of everyday human tasks. This paper outlines a proposed mechanical design of a 12 degree-of-freedom SMA actuated artificial hand. It is proposed that the SMA wires be embedded intrinsically within the hand structure which will allow for significant flexibility for use either as a prosthetic hand solution, or as part of a complete lower arm prosthetic solution. A modular approach is taken in the design facilitating ease of manufacture and assembly, and more importantly, also allows the end user to easily replace SMA wires in the event of failure. A biomimetric approach has been taken during the design process meaning that the artificial hand should replicate that of a human hand as far as is possible with due regard to functional requirements. The proposed design has been exposed to appropriate loading through the use of finite element analysis (FEA) to ensure that it is structurally sound. Theoretical analysis of the mechanical framework was also carried out to establish the limits of the angular displacement and velocity of the finger tip as well finger tip force generation. A combination of various polymers and Titanium, which are suitably lightweight, are proposed for the manufacture of the design.

Keywords: Hand prosthesis, mechanical design, shape memory alloys, wire bundle actuation.

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Authors: Chintanu K. Sarmah, Sandhya Samarasinghe, Don Kulasiri, Daniel Catchpoole

Abstract:

Gene expression profiling is rapidly evolving into a powerful technique for investigating tumor malignancies. The researchers are overwhelmed with the microarray-based platforms and methods that confer them the freedom to conduct large-scale gene expression profiling measurements. Simultaneously, investigations into cross-platform integration methods have started gaining momentum due to their underlying potential to help comprehend a myriad of broad biological issues in tumor diagnosis, prognosis, and therapy. However, comparing results from different platforms remains to be a challenging task as various inherent technical differences exist between the microarray platforms. In this paper, we explain a simple ratio-transformation method, which can provide some common ground for cDNA and Affymetrix platform towards cross-platform integration. The method is based on the characteristic data attributes of Affymetrix- and cDNA- platform. In the work, we considered seven childhood leukemia patients and their gene expression levels in either platform. With a dataset of 822 differentially expressed genes from both these platforms, we carried out a specific ratio-treatment to Affymetrix data, which subsequently showed an improvement in the relationship with the cDNA data.

Keywords: Gene expression profiling, microarray, cDNA, Affymetrix, childhood leukaemia.

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Authors: Randeep Kaur, Jyoti Ohri

Abstract:

This paper proposes a new technique to design a fixed-structure robust loop shaping controller for the pneumatic servosystem. In this paper, a new method based on a particle swarm optimization (PSO) algorithm for tuning the weighting function parameters to design an H∞ controller is presented. The PSO algorithm is used to minimize the infinity norm of the transfer function of the nominal closed loop system to obtain the optimal parameters of the weighting functions. The optimal stability margin is used as an objective in PSO for selecting the optimal weighting parameters; it is shown that the proposed method can simplify the design procedure of H∞ control to obtain optimal robust controller for pneumatic servosystem. In addition, the order of the proposed controller is much lower than that of the conventional robust loop shaping controller, making it easy to implement in practical works. Also two-degree-of-freedom (2DOF) control design procedure is proposed to improve tracking performance in the face of noise and disturbance. Result of simulations demonstrates the advantages of the proposed controller in terms of simple structure and robustness against plant perturbations and disturbances.

Keywords: Robust control, Pneumatic Servosystem, PSO, H∞ control, 2DOF.

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