Search results for: wide beam-column joints.
849 Sliding Joints and Soil-Structure Interaction
Authors: Radim Cajka, Pavlina Mateckova, Martina Janulikova, Marie Stara
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Use of a sliding joint is an effective method to decrease the stress in foundation structure where there is a horizontal deformation of subsoil (areas afflicted with underground mining) or horizontal deformation of a foundation structure (pre-stressed foundations, creep, shrinkage, temperature deformation). A convenient material for a sliding joint is a bitumen asphalt belt. Experiments for different types of bitumen belts were undertaken at the Faculty of Civil Engineering - VSB Technical University of Ostrava in 2008. This year an extension of the 2008 experiments is in progress and the shear resistance of a slide joint is being tested as a function of temperature in a temperature controlled room. In this paper experimental results of temperature dependant shear resistance are presented. The result of the experiments should be the sliding joint shear resistance as a function of deformation velocity and temperature. This relationship is used for numerical analysis of stress/strain relation between foundation structure and subsoil. Using a rheological slide joint could lead to a decrease of the reinforcement amount, and contribute to higher reliability of foundation structure and thus enable design of more durable and sustainable building structures.Keywords: Pre-stressed foundations, sliding joint, soil-structure interaction, subsoil horizontal deformation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2016848 Accurate Modeling and Nonlinear Finite Element Analysis of a Flexible-Link Manipulator
Authors: M. Pala Prasad Reddy, Jeevamma Jacob
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Accurate dynamic modeling and analysis of flexible link manipulator (FLM) with non linear dynamics is very difficult due to distributed link flexibility and few studies have been conducted based on assumed modes method (AMM) and finite element models. In this paper a nonlinear dynamic model with first two elastic modes is derived using combined Euler/Lagrange and AMM approaches. Significant dynamics associated with the system such as hub inertia, payload, structural damping, friction at joints, combined link and joint flexibility are incorporated to obtain the complete and accurate dynamic model. The response of the FLM to the applied bang-bang torque input is compared against the models derived from LS-DYNA finite element discretization approach and linear finite element models. Dynamic analysis is conducted using LS-DYNA finite element model which uses the explicit time integration scheme to simulate the system. Parametric study is conducted to show the impact payload mass. A numerical result shows that the LS-DYNA model gives the smooth hub-angle profile.
Keywords: Flexible link manipulator, AMM, FEM, LS-DYNA, Bang-bang torque input.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2915847 Studying the Possibility to Weld AA1100 Aluminum Alloy by Friction Stir Spot Welding
Authors: Ahmad K. Jassim, Raheem Kh. Al-Subar
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Friction stir welding is a modern and an environmentally friendly solid state joining process used to joint relatively lighter family of materials. Recently, friction stir spot welding has been used instead of resistance spot welding which has received considerable attention from the automotive industry. It is environmentally friendly process that eliminated heat and pollution. In this research, friction stir spot welding has been used to study the possibility to weld AA1100 aluminum alloy sheet with 3 mm thickness by overlapping the edges of sheet as lap joint. The process was done using a drilling machine instead of milling machine. Different tool rotational speeds of 760, 1065, 1445, and 2000 RPM have been applied with manual and automatic compression to study their effect on the quality of welded joints. Heat generation, pressure applied, and depth of tool penetration have been measured during the welding process. The result shows that there is a possibility to weld AA1100 sheets; however, there is some surface defect that happened due to insufficient condition of welding. Moreover, the relationship between rotational speed, pressure, heat generation and tool depth penetration was created.
Keywords: Friction, spot, stir, environmental, sustainable, AA1100 aluminum alloy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1145846 Analysis and Design of Offshore Triceratops under Ultra-Deep Waters
Authors: Srinivasan Chandrasekaran, R. Nagavinothini
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Offshore platforms for ultra-deep waters are form-dominant by design; hybrid systems with large flexibility in horizontal plane and high rigidity in vertical plane are preferred due to functional complexities. Offshore triceratops is relatively a new-generation offshore platform, whose deck is partially isolated from the supporting buoyant legs by ball joints. They allow transfer of partial displacements of buoyant legs to the deck but restrain transfer of rotational response. Buoyant legs are in turn taut-moored to the sea bed using pre-tension tethers. Present study will discuss detailed dynamic analysis and preliminary design of the chosen geometric, which is necessary as a proof of validation for such design applications. A detailed numeric analysis of triceratops at 2400 m water depth under random waves is presented. Preliminary design confirms member-level design requirements under various modes of failure. Tether configuration, proposed in the study confirms no pull-out of tethers as stress variation is comparatively lesser than the yield value. Presented study shall aid offshore engineers and contractors to understand suitability of triceratops, in terms of design and dynamic response behaviour.
Keywords: Buoyant legs, dynamic analysis, offshore structures, preliminary design, random waves, triceratops.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1067845 Effect of High-Heeled Shoes on Gait: A Micro-Electro-Mechanical-Systems Based Approach
Authors: Harun Sumbul, Orhan Ozyurt
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The accelerations generated by the shoes in the body should be known in order to prevent balance problems, degradation of body shape and to spend less energy. In this study, it is aimed to investigate the effects of the shoe heel height on the human body. The working group has been created as five women (range 27-32 years) with different characteristics and five shoes with different heel heights (1, 3.5, 5, 7 and 9 cm). Individuals in the study group wore shoes and walked along a 20-meter racecourse. The accelerations created by the shoes are measured in three axes (30.270 accelerometric data) and analyzed. Results show us that; while walking with high-heeled shoes, the foot is lifted more; in this case, more effort has been spent. So, more weight has occurred at ankles and joints. Since high-heeled shoes cause greater acceleration, women wearing high-heeled shoes tend to pay more attention when taking a step. As a result, for foot and body health, shoe heel must be designed to absorb the reaction from the ground. High heels disrupt the structure of the foot and it is damaging the body shape. In this respect, this study is considered to be a remarkable method to find of effect of high-heeled shoes on gait by using accelerometer in the literature.
Keywords: Acceleration, sensor, gait analysis, high shoe heel, micro-electro-mechanical-systems.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 974844 Geology, Geomorphology and Genesis of Andarokh Karstic Cave, North-East Iran
Authors: Mojtaba Heydarizad
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Andarokh basin is one of the main karstic regions in Khorasan Razavi province NE Iran. This basin is part of Kopeh-Dagh mega zone extending from Caspian Sea in the east to northern Afghanistan in the west. This basin is covered by Mozdooran Formation, Ngr evaporative formation and quaternary alluvium deposits in descending order of age. Mozdooran carbonate formation is notably karstified. The main surface karstic features in Mozdooran formation are Groove karren, Cleft karren, Rain pit, Rill karren, Tritt karren, Kamintza, Domes, and Table karren. In addition to surface features, deep karstic feature Andarokh Cave also exists in the region. Studying Ca, Mg, Mn, Sr, Fe concentration and Sr/Mn ratio in Mozdooran formation samples with distance to main faults and joints system using PCA analyses demonstrates intense meteoric digenesis role in controlling carbonate rock geochemistry. The karst evaluation in Andarokh basin varies from early stages 'deep seated karst' in Mesozoic to mature karstic system 'Exhumed karst' in quaternary period. Andarokh cave (the main cave in Andarokh basin) is rudimentary branch work consists of three passages of A, B and C and two entrances Andarokh and Sky.
Keywords: Andarokh basin, Andarokh cave, geochemical analyses and karst evaluation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 831843 Solving Differential's Equation of Carrier Load on Semiconductor
Authors: Morteza Amirabadi, Vahid Fayaz , Fereshteh Felegary, Hossien Hossienkhani
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The most suitable Semiconductor detector, Cadmium Zinc Teloraid , has unique properties because of high Atomic number and wide Brand Gap . It has been tried in this project with different processes such as Lead , Diffusion , Produce and Recombination , effect of Trapping and injection carrier of CdZnTe , to get hole and then present a complete answer of it . Then we should investigate the movement of carrier ( Electron – Hole ) by using above answer.Keywords: Semiconcuctor detector, Trapping, Recommbination, Diffusion
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1453842 Experimental Study on the Variation of Young's Modulus of Hollow Clay Brick Obtained from Static and Dynamic Tests
Authors: M. Aboudalle, Le Btth, M. Sari, F. Meftah
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In parallel with the appearance of new materials, brick masonry had and still has an essential part of the construction market today, with new technical challenges in designing bricks to meet additional requirements. Being used in structural applications, predicting the performance of clay brick masonry allows a significant cost reduction, in terms of practical experimentation. The behavior of masonry walls depends on the behavior of their elementary components, such as bricks, joints, and coatings. Therefore, it is necessary to consider it at different scales (from the scale of the intrinsic material to the real scale of the wall) and then to develop appropriate models, using numerical simulations. The work presented in this paper focuses on the mechanical characterization of the terracotta material at ambient temperature. As a result, the static Young’s modulus obtained from the flexural test shows different values in comparison with the compression test, as well as with the dynamic Young’s modulus obtained from the Impulse excitation of vibration test. Moreover, the Young's modulus varies according to the direction in which samples are extracted, where the values in the extrusion direction diverge from the ones in the orthogonal directions. Based on these results, hollow bricks can be considered as transversely isotropic bimodulus material.
Keywords: Bimodulus material, hollow clay brick, impulse excitation of vibration, transversely isotropic material, Young’s modulus.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 455841 Mobile Robot Control by Von Neumann Computer
Authors: E. V. Larkin, T. A. Akimenko, A. V. Bogomolov, A. N. Privalov
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The digital control system of mobile robots (MR) control is considered. It is shown that sequential interpretation of control algorithm operators, unfolding in physical time, suggests the occurrence of time delays between inputting data from sensors and outputting data to actuators. Another destabilizing control factor is presence of backlash in the joints of an actuator with an executive unit. Complex model of control system, which takes into account the dynamics of the MR, the dynamics of the digital controller and backlash in actuators, is worked out. The digital controller model is divided into two parts: the first part describes the control law embedded in the controller in the form of a control program that realizes a polling procedure when organizing transactions to sensors and actuators. The second part of the model describes the time delays that occur in the Von Neumann-type controller when processing data. To estimate time intervals, the algorithm is represented in the form of an ergodic semi-Markov process. For an ergodic semi-Markov process of common form, a method is proposed for estimation a wandering time from one arbitrary state to another arbitrary state. Example shows how the backlash and time delays affect the quality characteristics of the MR control system functioning.
Keywords: Mobile robot, backlash, control algorithm, Von Neumann controller, semi-Markov process, time delay.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 366840 Microstructure Parameters of a Super-Ionic Sample (Csag2i3)
Authors: Samir Osman M., Mohammed Hassan S.
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Sample of CsAg2I3 was prepared by solid state reaction. Then, microstructure parameters of this sample have been determined using wide angle X-ray scattering WAXS method. As well as, Cell parameters of crystal structure have been refined using CHEKCELL program. This analysis states that the lattice intrinsic strainof the sample is so small and the crystal size is on the order of 559Å.
Keywords: WAXS, Microstructure parameters, super-ionic conductor.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1354839 Causes of Delays in Construction Projects: A Case Study for Petrochemical Industry of Iran
Authors: S. Bagher Daryaii
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Delays in construction projects are one of the most common risky problems and regardless of the causes, the delays can occur in all projects and all industries. The impact of delays has a wide range from neglectable ones to losing the project's importance or its economic justification. In this paper, by doing research and interview with managers, executors, consultants and supervisors of construction projects in the petrochemical industry, their opinions about reasons of delays in projects have been gathered.
Keywords: Analysis of delays, causes of delays, delays in petrochemical projects, project delays.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 452838 Rock Slope Stabilization and Protection for Roads and Multi-Storey Structures in Jabal Omar, Saudi Arabia
Authors: Ibrahim Abdel Gadir Malik, Dafalla Siddig Dafalla, Abdelazim Ibrahim
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Jabal Omar is located in the western side of Makkah city in Saudi Arabia. The proposed Jabal Omar Development project includes several multi-storey buildings, roads, bridges and below ground structures founded at various depths. In this study, geological mapping and site inspection which covered pre-selected areas were carried out within the easily accessed parts. Geological features; including rock types, structures, degree of weathering, and geotechnical hazards were observed and analyzed with specified software and also were documented in form of photographs. The presence of joints and fractures in the area made the rock blocks small and weak. The site is full of jointing; it was observed that, the northern side consists of 3 to 4 jointing systems with 2 random fractures associated with dykes. The southern part is affected by 2 to 3 jointing systems with minor fault and shear zones. From the field measurements and observations, it was concluded that, the Jabal Omar intruded by andesitic and basaltic dykes of different thickness and orientation. These dykes made the outcrop weak, highly deformed and made the rock masses sensitive to weathering.
Keywords: Rock, slope, stabilization, protection, Makkah.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1466837 Influence of Concrete Cracking in the Tensile Strength of Cast-in Headed Anchors
Authors: W. Nataniel, B. Lima, J. Manoel, M. P. Filho, H. Marcos, Oliveira Mauricio, P. Ferreira
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Headed reinforcement bars are increasingly used for anchorage in concrete structures. Applications include connections in composite steel-concrete structures, such as beam-column joints, in several strengthening situations as well as in more traditional uses in cast-in-place and precast structural systems. This paper investigates the reduction in the ultimate tensile capacity of embedded cast-in headed anchors due to concrete cracking. A series of nine laboratory tests are carried out to evaluate the influence of cracking on the concrete breakout strength in tension. The experimental results show that cracking affects both the resistance and load-slip response of the headed bar anchors. The strengths measured in these tests are compared to theoretical resistances calculated following the recommendations presented by fib Bulletin no. 58 (2011), ETAG 001 (2010) and ACI 318 (2014). The influences of parameters such as the effective embedment depth (hef), bar diameter (ds), and the concrete compressive strength (fc) are analysed and discussed. The theoretical recommendations are shown to be over-conservative for both embedment depths and were, in general, inaccurate in comparison to the experimental trends. The ACI 318 (2014) was the design code which presented the best performance regarding to the predictions of the ultimate load, with an average of 1.42 for the ratio between the experimental and estimated strengths, standard deviation of 0.36, and coefficient of variation equal to 0.25.
Keywords: Cast-in headed anchors, concrete cone failure, uncracked concrete, cracked concrete.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 669836 Using Data Fusion for Biometric Verification
Authors: Richard A. Wasniowski
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A wide spectrum of systems require reliable personal recognition schemes to either confirm or determine the identity of an individual person. This paper considers multimodal biometric system and their applicability to access control, authentication and security applications. Strategies for feature extraction and sensor fusion are considered and contrasted. Issues related to performance assessment, deployment and standardization are discussed. Finally future directions of biometric systems development are discussed.Keywords: Multimodal, biometric, recognition, fusion.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1769835 Probabilistic Graphical Model for the Web
Authors: M. Nekri, A. Khelladi
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The world wide web network is a network with a complex topology, the main properties of which are the distribution of degrees in power law, A low clustering coefficient and a weak average distance. Modeling the web as a graph allows locating the information in little time and consequently offering a help in the construction of the research engine. Here, we present a model based on the already existing probabilistic graphs with all the aforesaid characteristics. This work will consist in studying the web in order to know its structuring thus it will enable us to modelize it more easily and propose a possible algorithm for its exploration.
Keywords: Clustering coefficient, preferential attachment, small world, Web community.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1604834 Optimization of Process Parameters for Friction Stir Welding of Cast Alloy AA7075 by Taguchi Method
Authors: Dhairya Partap Sing, Vikram Singh, Sudhir Kumar
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This investigation proposes Friction stir welding technique to solve the fusion welding problems. Objectives of this investigation are fabrication of AA7075-10%wt. Silicon carbide (SiC) aluminum metal matrix composite and optimization of optimal process parameters of friction stir welded AA7075-10%wt. SiC Composites. Composites were prepared by the mechanical stir casting process. Experiments were performed with four process parameters such as tool rotational speed, weld speed, axial force and tool geometry considering three levels of each. The quality characteristics considered is joint efficiency (JE). The welding experiments were conducted using L27 orthogonal array. An orthogonal array and design of experiments were used to give best possible welding parameters that give optimal JE. The fabricated welded joints using rotational speed of 1500 rpm, welding speed (1.3 mm/sec), axial force (7 k/n) of and tool geometry (square) give best possible results. Experimental result reveals that the tool rotation speed, welding speed and axial force are the significant process parameters affecting the welding performance. The predicted optimal value of percentage JE is 95.621. The confirmation tests also have been done for verifying the results.
Keywords: Metal matrix composite, axial force, joint efficiency, rotational speed, traverse speed, tool geometry.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 869833 A ±0.5V BiCMOS Class-A Current Conveyor
Authors: Subodh Thankachan, Manisha Pattanaik, S. S. Rajput
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In this paper, a new BiCMOS CCII and CCCII, capable of operate at ±0.5V and having wide dynamic range with achieved bandwidth of 480MHz and 430MHz respectively have been proposed. The structures have been found to be insensitive to the threshold voltage variations. The proposed circuits are suitable for implementation using 0.25μm BiCMOS technology. Pspice simulations confirm the performance of the proposed structures.Keywords: BiCMOS, Current conveyor, Compound current conveyor, Low supply voltage, Threshold voltage variation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1688832 Fatigue Tests of New Assembly Bolt Connections for Perspective Temporary Steel Railway Bridges
Authors: Marcela Karmazínová, Michal Štrba, Milan Pilgr
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The paper deals with the problems of the actual behavior, failure mechanism and load-carrying capacity of the special bolt connection developed and intended for the assembly connections of truss main girders of perspective railway temporary steel bridges. Within the framework of this problem solution, several types of structural details of assembly joints have been considered as the conceptual structural design. Based on the preliminary evaluation of advantages or disadvantages of these ones, in principle two basic structural configurations – so-called “tooth” and “splice-plate” connections have been selected for the subsequent detailed investigation. This investigation is mainly based on the experimental verification of the actual behavior, strain and failure mechanism and corresponding strength of the connection, and on its numerical modeling using FEM. This paper is focused only on the cyclic loading (fatigue) tests results of “splice-plate” connections and their evaluation, which have already been finished. Simultaneously with the fatigue tests, the static loading tests have been realized too, but these ones, as well as FEM numerical modeling, are not the subject of this paper.
Keywords: Bolt assembly connection, Cyclic loading, Failure mechanisms, Fatigue strength, Steel structure, Structural detail category, Temporary railway bridge.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2163831 SURF Based Image Matching from Different Angle of Viewpoints using Rectification and Simplified Orientation Correction
Authors: K.M.Goh, M.M.Mokji, S.A.R. Abu-Bakar
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Speeded-Up Robust Feature (SURF) is commonly used for feature matching in stereovision because of their robustness towards scale changes and rotational changes. However, SURF feature cannot cope with large viewpoint changes or skew distortion. This paper introduces a method which can help to improve the wide baseline-s matching performance in term of accuracy by rectifying the image using two vanishing points. Simplified orientation correction was used to remove the false matching..
Keywords: Affine, orientation, projective, SURF.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2313830 Site Inspection and Evaluation Behavior of Qing Shang Concrete Bridge
Authors: Haleem K. Hussain, Liu Gui Wei, Zhang Lian Zhen, Yongxue Li
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It is necessary to evaluate the bridges conditions and strengthen bridges or parts of them. The reinforcement necessary due to some reasons can be summarized as: First, a changing in use of bridge could produce internal forces in a part of structural which exceed the existing cross-sectional capacity. Second, bridges may also need reinforcement because damage due to external factors which reduced the cross-sectional resistance to external loads. One of other factors could listed here its misdesign in some details, like safety of bridge or part of its.This article identify the design demands of Qing Shan bridge located in is in Heilongjiang Province He gang - Nen Jiang Road 303 provincial highway, Wudalianchi area, China, is an important bridge in the urban areas. The investigation program was include the observation and evaluate the damage in T- section concrete beams , prestressed concrete box girder bridges section in additional evaluate the whole state of bridge includes the pier , abutments , bridge decks, wings , bearing and capping beam, joints, ........etc. The test results show that the bridges in general structural condition are good. T beam span No 10 were observed, crack extended upward along the ribbed T beam, and continue to the T beam flange. Crack width varying between 0.1mm to 0.4mm, the maximum about 0.4mm. The bridge needs to be improved flexural bending strength especially at for T beam section.Keywords: Field investigation, prestressed concrete box girder, maintenance, Qing Shan Bridge
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1871829 Piping Fragility Composed of Different Materials by Using OpenSees Software
Authors: Woo Young Jung, Min Ho Kwon, Bu Seog Ju
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A failure of the non-structural component can cause significant damages in critical facilities such as nuclear power plants and hospitals. Historically, it was reported that the damage from the leakage of sprinkler systems, resulted in the shutdown of hospitals for several weeks by the 1971 San Fernando and 1994 North Ridge earthquakes. In most cases, water leakages were observed at the cross joints, sprinkler heads, and T-joint connections in piping systems during and after the seismic events. Hence, the primary objective of this study was to understand the seismic performance of T-joint connections and to develop an analytical Finite Element (FE) model for the T-joint systems of 2-inch fire protection piping system in hospitals subjected to seismic ground motions. In order to evaluate the FE models of the piping systems using OpenSees, two types of materials were used: 1) Steel02 materials and 2) Pinching4 materials. Results of the current study revealed that the nonlinear moment-rotation FE models for the threaded T-joint reconciled well with the experimental results in both FE material models. However, the system-level fragility determined from multiple nonlinear time history analyses at the threaded T-joint was slightly different. The system-level fragility at the T-joint, determined by Pinching4 material was more conservative than that of using Steel02 material in the piping system.
Keywords: Fragility, T-joint, Piping, Leakage, Sprinkler.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2895828 Design of a 5-Joint Mechanical Arm with User-Friendly Control Program
Authors: Amon Tunwannarux, Supanunt Tunwannarux
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This paper describes the design concepts and implementation of a 5-Joint mechanical arm for a rescue robot named CEO Mission II. The multi-joint arm is a five degree of freedom mechanical arm with a four bar linkage, which can be stretched to 125 cm. long. It is controlled by a teleoperator via the user-friendly control and monitoring GUI program. With Inverse Kinematics principle, we developed the method to control the servo angles of all arm joints to get the desired tip position. By clicking the determined tip position or dragging the tip of the mechanical arm on the computer screen to the desired target point, the robot will compute and move its multi-joint arm to the pose as seen on the GUI screen. The angles of each joint are calculated and sent to all joint servos simultaneously in order to move the mechanical arm to the desired pose at once. The operator can also use a joystick to control the movement of this mechanical arm and the locomotion of the robot. Many sensors are installed at the tip of this mechanical arm for surveillance from the high level and getting the vital signs of victims easier and faster in the urban search and rescue tasks. It works very effectively and easy to control. This mechanical arm and its software were developed as a part of the CEO Mission II Rescue Robot that won the First Runner Up award and the Best Technique award from the Thailand Rescue Robot Championship 2006. It is a low cost, simple, but functioning 5-Jiont mechanical arm which is built from scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont mechanical arm hardware concept and its software can also be used as the basic mechatronics to many real applications.Keywords: Multi-joint, mechanical arm, inverse kinematics, rescue robot, GUI control program.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1816827 Distribution Sampling of Vector Variance without Duplications
Authors: Erna T. Herdiani, Maman A. Djauhari
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In recent years, the use of vector variance as a measure of multivariate variability has received much attention in wide range of statistics. This paper deals with a more economic measure of multivariate variability, defined as vector variance minus all duplication elements. For high dimensional data, this will increase the computational efficiency almost 50 % compared to the original vector variance. Its sampling distribution will be investigated to make its applications possible.Keywords: Asymptotic distribution, covariance matrix, likelihood ratio test, vector variance.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1574826 An Inflatable and Foldable Knee Exosuit Based on Intelligent Management of Biomechanical Energy
Authors: Jing Fang, Yao Cui, Mingming Wang, Shengli She, Jianping Yuan
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Wearable robotics is a potential solution in aiding gait rehabilitation of lower limbs dyskinesia patients, such as knee osteoarthritis or stroke afflicted patients. Many wearable robots have been developed in the form of rigid exoskeletons, but their bulk devices, high cost and control complexity hinder their popularity in the field of gait rehabilitation. Thus, the development of a portable, compliant and low-cost wearable robot for gait rehabilitation is necessary. Inspired by Chinese traditional folding fans and balloon inflators, the authors present an inflatable, foldable and variable stiffness knee exosuit (IFVSKE) in this paper. The pneumatic actuator of IFVSKE was fabricated in the shape of folding fans by using thermoplastic polyurethane (TPU) fabric materials. The geometric and mechanical properties of IFVSKE were characterized with experimental methods. To assist the knee joint smartly, an intelligent control profile for IFVSKE was proposed based on the concept of full-cycle energy management of the biomechanical energy during human movement. The biomechanical energy of knee joints in a walking gait cycle of patients could be collected and released to assist the joint motion just by adjusting the inner pressure of IFVSKE. Finally, a healthy subject was involved to walk with and without the IFVSKE to evaluate the assisting effects.
Keywords: Biomechanical energy management, gait rehabilitation, knee exosuit, wearable robotics.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1165825 Modeling Language for Machine Learning
Authors: Tsuyoshi Okita, Tatsuya Niwa
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For a given specific problem an efficient algorithm has been the matter of study. However, an alternative approach orthogonal to this approach comes out, which is called a reduction. In general for a given specific problem this reduction approach studies how to convert an original problem into subproblems. This paper proposes a formal modeling language to support this reduction approach. We show three examples from the wide area of learning problems. The benefit is a fast prototyping of algorithms for a given new problem.Keywords: Formal language, statistical inference problem, reduction.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1614824 Determination of Electromagnetic Properties of Human Tissues
Authors: Iliana Marinova, Valentin Mateev
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In this paper a computer system for electromagnetic properties measurements is designed. The system employs Agilent 4294A precision impedance analyzer to measure the amplitude and the phase of a signal applied over a tested biological tissue sample. Measured by the developed computer system data could be used for tissue characterization in wide frequency range from 40Hz to 110MHz. The computer system can interface with output devices acquiring flexible testing process.Keywords: Electromagnetic properties, human tissue, bioimpedance, measurement system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2429823 Collaborative Web-Based E-learning Environment for Information Security Curriculum
Authors: Wei Hu, Tianzhou Chen, Qingsong Shi
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In recent years, the development of e-learning is very rapid. E-learning is an attractive and efficient way for computer education. Student interaction and collaboration also plays an important role in e-learning. In this paper, a collaborative web-based e-learning environment is presented. A wide range of interactive and collaborative methods are integrated into a web-based environment. This e-learning environment is designed for information security curriculum.Keywords: E-learning, information Security, curriculum, web-based environment.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1729822 Electrical Properties of Starch/Chitosan-Nh4no3 Polymer Electrolyte
Authors: A.S.A. Khiar, A.K. Arof
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Starch/chitosan blend have been prepared via the solution casting technique. Ionic conductivity for the system was conducted over a wide range of frequency between 50 Hz-1 MHz and at temperatures between 303 K and 373 K. Sample with 35 wt% of NH4NO3 shows the highest conductivity of 3.89 ± 0.79 x 10-5 Scm-1 at room temperature. Conductivity-temperature relationship suggests that samples are Arrhenian. Power law exponent was obtained through dielectric loss variation and the trend suggests that the conduction mechanism of the ions can be represented by the correlated barrier hopping (CBH) model.Keywords: starch, chitosan, permittivity, power exponent law
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2724821 A Continuous Time Sigma Delta Modulators Using CMOS Current Conveyors
Authors: E. Farshidi, N. Ahmadpoor
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In this paper, a alternative structure method for continuous time sigma delta modulator is presented. In this modulator for implementation of integrators in loop filter second generation current conveyors are employed. The modulator is designed in CMOS technology and features low power consumption (<2.8mW), low supply voltage (±1.65), wide dynamic range (>65db), and with 180khZ bandwidth. Simulation results confirm that this design is suitable for data converters.Keywords: Current Conveyor, continuous, sigma delta, MOS, modulator
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2123820 Brief Review of the Self-Tightening, Left-Handed Thread
Authors: Robert S. Giachetti, Emanuele Grossi
Abstract:
Loosening of bolted joints in rotating machines can adversely affect their performance, cause mechanical damage, and lead to injuries. In this paper, two potential loosening phenomena in rotating applications are discussed. First, ‘precession,’ is governed by thread/nut contact forces, while the second is based on inertial effects of the fastened assembly. These mechanisms are reviewed within the context of historical usage of left-handed fasteners in rotating machines which appears absent in the literature and common machine design texts. Historically, to prevent loosening of wheel nuts, vehicle manufacturers have used right-handed and left-handed threads on different sides of the vehicle, but most modern vehicles have abandoned this custom and only use right-handed, tapered lug nuts on all sides of the vehicle. Other classical machines such as the bicycle continue to use different handed threads on each side while other machines such as, bench grinders, circular saws and brush cutters still use left-handed threads to fasten rotating components. Despite the continued use of left-handed fasteners, the rationale and analysis of left-handed threads to mitigate self-loosening of fasteners in rotating applications is not commonly, if at all, discussed in the literature or design textbooks. Without scientific literature to support these design selections, these implementations may be the result of experimental findings or aged institutional knowledge. Based on a review of rotating applications, historical documents and mechanical design references, a formal study of the paradoxical nature of left-handed threads in various applications is merited.
Keywords: Rotating machinery, self-loosening fasteners, wheel fastening, vibration loosening.
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