Search results for: Adaptive buildings

Authors: Tim D. Sass

Abstract:

The experience of engineers and architects practicing today is typically limited to current building code requirements and modern construction methods and materials. However, many cities have a mix of new and old buildings with many buildings constructed over one hundred years ago when building codes and construction methods were much different. When a brick building sustains damage, a structural engineer is often hired to determine the cause of damage as well as determine the necessary repairs. Forensic studies of dozens of brick buildings shows an appreciation of historical building methods and materials is needed to correctly identify the cause of damage and design an appropriate repair. Damage on an older, brick building can be mistakenly attributed to storms or seismic events when the real source of the damage is deficient original construction. Assessing and remediating damaged brickwork on older brick buildings requires an understanding of the original construction, an understanding of older repair methods, and, an understanding of current building code requirements.

Keywords: Brick, damage, deterioration, facade.

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Authors: Young-Seok Choi

Abstract:

This paper presents a normalized subband adaptive filtering (NSAF) algorithm to cope with the sparsity condition of an underlying system in the context of compressive sensing. By regularizing a weighted l1-norm of the filter taps estimate onto the cost function of the NSAF and utilizing a subgradient analysis, the update recursion of the l1-norm constraint NSAF is derived. Considering two distinct weighted l1-norm regularization cases, two versions of the l1-norm constraint NSAF are presented. Simulation results clearly indicate the superior performance of the proposed l1-norm constraint NSAFs comparing with the classical NSAF.

Keywords: Subband adaptive filtering, sparsity constraint, weighted l1-norm.

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Authors: Marine Segui, Simon Bezin, Ruxandra Mihaela Botez

Abstract:

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: Saeed Mian Qaisar, Laurent Fesquet, Marc Renaudin

Abstract:

Mostly the real life signals are time varying in nature. For proper characterization of such signals, time-frequency representation is required. The STFT (short-time Fourier transform) is a classical tool used for this purpose. The limitation of the STFT is its fixed time-frequency resolution. Thus, an enhanced version of the STFT, which is based on the cross-level sampling, is devised. It can adapt the sampling frequency and the window function length by following the input signal local variations. Therefore, it provides an adaptive resolution time-frequency representation of the input. The computational complexity of the proposed STFT is deduced and compared to the classical one. The results show a significant gain of the computational efficiency and hence of the processing power. The processing error of the proposed technique is also discussed.

Keywords: Level Crossing Sampling, Activity Selection, Adaptive Resolution Analysis, Computational Complexity

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Authors: Andrey V. Timofeev

Abstract:

An adaptive nonparametric method is proposed for stable real-time detection of seismoacoustic sources in multichannel C-OTDR systems with a significant number of channels. This method guarantees given upper boundaries for probabilities of Type I and Type II errors. Properties of the proposed method are rigorously proved. The results of practical applications of the proposed method in a real C-OTDR-system are presented in this report.

Keywords: Adaptive detection, change point, interval estimation, guaranteed detection, multichannel monitoring systems.

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Authors: N. Praveen Kumar, Abhijit Mitra, C. Ardil

Abstract:

Decision feedback equalizers are commonly employed to reduce the error caused by intersymbol interference. Here, an adaptive decision feedback equalizer is presented with a new adaptation algorithm. The algorithm follows a block-based approach of normalized least mean square (NLMS) algorithm with set-membership filtering and achieves a significantly less computational complexity over its conventional NLMS counterpart with set-membership filtering. It is shown in the results that the proposed algorithm yields similar type of bit error rate performance over a reasonable signal to noise ratio in comparison with the latter one.

Keywords: Decision feedback equalizer, Adaptive algorithm, Block based computation, Set membership filtering.

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Authors: S. Balaji, E. Golden Julie, Y. Harold Robinson

Abstract:

The context aware adaptive routing protocol is presented for unicast communication in intermittently connected mobile ad hoc networks (MANETs). The selection of the node is done by the Kalman filter prediction theory and it also makes use of utility functions. The context aware adaptive routing is defined by spray and wait technique, but the time consumption in delivering the message is too high and also the resource wastage is more. In this paper, we describe the spray and focus routing scheme for avoiding the existing problems.

Keywords: Context aware adaptive routing, Kalman filter prediction, spray and wait, spray and focus, intermittent networks.

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Authors: M. H. Chung, B. Y. Lee, Y. Kim, E. K. Rhee

Abstract:

With an increase in the interest in the energy conservation for buildings, and the emergence of many methods and easily-understandable approaches to it, energy conservation has now become the public’s main interest, as compared to in the past when it was only focused upon by experts. This study aims to help the occupants of a building to understand the energy efficiency and consumption of the building by providing them information on the building’s energy efficiency through a mobile application. The energy performance assessment models are proposed on the basis of the actual energy usage and building characteristics such as the architectural scheme and the building equipment. The university buildings in Korea are used as a case to demonstrate the mobile application.

Keywords: Energy consumption, energy performance assessment, mobile application, university buildings.

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Authors: Tejinder Singh

Abstract:

When earthquakes strike the city it results in great loss of lives. The present paper talks about a new innovative design system (MegEifel) for buildings which has a mechanism to mitigate deaths in case any earthquake strikes the city. If buildings will be designed according to MegEifel design then the occupants of the building will be safe even when they are in sleep or are doing day wise activities during the time earthquake strikes. The core structure is suggested to be designed on the principle that more deep the foundations are, the harder it is to uproot the structure. The buildings will have an Eifel rod dug deep into earth which will help save lives in tall buildings when earthquake strikes. This design takes a leverage of protective shells to save lives.

Keywords: Structure, MegEifel, Save, Life, Earthquake, Design

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Authors: D. Elleuch, T. Damak

Abstract:

Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is studied throughout the inverted pendulum mounted on a cart. Simulation result show that the BSMC coupled to an adaptive sliding mode observer have stable control law and eligible control amplitude than the BSMC.

Keywords: Backstepping sliding mode controller, interconnected fractional nonlinear system, adaptive sliding mode observer.

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Authors: András Horkai, Attila Talamon, Viktória Sugár

Abstract:

There is an urgent need nowadays to reduce energy demand and the current level of greenhouse gas emission and use renewable energy sources increase in energy efficiency. On the other hand, the European Union (EU) countries are largely dependent on energy imports and are vulnerable to disruption in energy supply, which may, in turn, threaten the functioning of their current economic structure. Residential buildings represent a significant part of the energy consumption of the building stock. Only a small part of the building stock is exchanged every year, thus it is essential to increase the energy efficiency of the existing buildings. Present paper focuses on the buildings built with industrialized technology only, and their opportunities in the boundaries of nearly zero-energy regulation. Current paper shows the emergence of panel construction method, and past and present of the ‘panel’ problem in Hungary with a short outlook to Europe. The study shows as well as the possibilities for meeting the nearly zero and cost optimized requirements for residential buildings by analyzing the renovation scenarios of an existing residential typology.

Keywords: Budapest, energy consumption, industrialized technology, nearly zero-energy buildings.

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Authors: M. Hakan Arslan, I. Hakkı Erkan

Abstract:

Overstrength factor is an important parameter of load reduction factor. In this research, the overstrength factor (Ω) of reinforced concrete (RC) buildings and the parameters of Ω in TEC-2016 draft version have been explored. For this aim, 48 RC buildings have been modeled according to the current seismic code TEC-2007 and Turkish Building Code-500-2000 criteria. After modelling step, nonlinear static pushover analyses have been applied to these buildings by using TEC-2007 Section 7. After the nonlinear pushover analyses, capacity curves (lateral load-lateral top displacement curves) have been plotted for 48 RC buildings. Using capacity curves, overstrength factors (Ω) have been derived for each building. The obtained overstrength factor (Ω) values have been compared with TEC-2016 values for related building types, and the results have been interpreted. According to the obtained values from the study, overstrength factor (Ω) given in TEC-2016 draft code is found quite suitable.

Keywords: Reinforced concrete buildings, overstrength factor, earthquake, static pushover analysis.

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Authors: R.Vinodha S. Abraham Lincoln, J. Prakash

Abstract:

Multi-loop (De-centralized) Proportional-Integral- Derivative (PID) controllers have been used extensively in process industries due to their simple structure for control of multivariable processes. The objective of this work is to design multiple-model adaptive multi-loop PID strategy (Multiple Model Adaptive-PID) and neural network based multi-loop PID strategy (Neural Net Adaptive-PID) for the control of multivariable system. The first method combines the output of multiple linear PID controllers, each describing process dynamics at a specific level of operation. The global output is an interpolation of the individual multi-loop PID controller outputs weighted based on the current value of the measured process variable. In the second method, neural network is used to calculate the PID controller parameters based on the scheduling variable that corresponds to major shift in the process dynamics. The proposed control schemes are simple in structure with less computational complexity. The effectiveness of the proposed control schemes have been demonstrated on the CSTR process, which exhibits dynamic non-linearity.

Keywords: Multiple-model Adaptive PID controller, Multivariableprocess, CSTR process.

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Authors: Jianwei Wu

Abstract:

Based on the one-bit-matching principle and by turning the de-mixing matrix into an orthogonal matrix via certain normalization, Ma et al proposed a one-bit-matching learning algorithm on the Stiefel manifold for independent component analysis [8]. But this algorithm is not adaptive. In this paper, an algorithm which can extract kurtosis and its sign of each independent source component directly from observation data is firstly introduced.With the algorithm , the one-bit-matching learning algorithm is revised, so that it can make the blind separation on the Stiefel manifold implemented completely in the adaptive mode in the framework of natural gradient.

Keywords: Independent component analysis, kurtosis, Stiefel manifold, super-gaussians or sub-gaussians.

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Authors: Seung-Jun Yu, Hwan-Jun Choi, Hyoung-Kyu Song

Abstract:

Among spatial diversity scheme, orthogonal space-time block code (OSTBC) and cyclic delay diversity (CDD) have been widely studied for the cooperative wireless relaying system. However, conventional OSTBC and CDD cannot cope with change in the number of relays owing to low throughput or error performance. In this paper, we propose a cooperative cyclic delay diversity (CDD) scheme that use hierarchical modulation at the source and adaptive modulation based on cyclic redundancy check (CRC) code at the relays.

Keywords: Adaptive modulation, Cooperative communication, CDD, OSTBC.

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Authors: Mhand Hifi, Hedi Mhalla, Mustapha Michaphy

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In this paper, we study the multi-scenario knapsack problem, a variant of the well-known NP-Hard single knapsack problem. We investigate the use of an adaptive algorithm for solving heuristically the problem. The used method combines two complementary phases: a size reduction phase and a dynamic 2- opt procedure one. First, the reduction phase applies a polynomial reduction strategy; that is used for reducing the size problem. Second, the adaptive search procedure is applied in order to attain a feasible solution Finally, the performances of two versions of the proposed algorithm are evaluated on a set of randomly generated instances.

Keywords: combinatorial optimization, max-min optimization, knapsack, heuristics, problem reduction

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Authors: Alireza Gholami, Amir H. D. Markazi

Abstract:

In this paper, an observer-based direct adaptive fuzzy sliding mode (OAFSM) algorithm is proposed. In the proposed algorithm, the zero-input dynamics of the plant could be unknown. The input connection matrix is used to combine the sliding surfaces of individual subsystems, and an adaptive fuzzy algorithm is used to estimate an equivalent sliding mode control input directly. The fuzzy membership functions, which were determined by time consuming try and error processes in previous works, are adjusted by adaptive algorithms. The other advantage of the proposed controller is that the input gain matrix is not limited to be diagonal, i.e. the plant could be over/under actuated provided that controllability and observability are preserved. An observer is constructed to directly estimate the state tracking error, and the nonlinear part of the observer is constructed by an adaptive fuzzy algorithm. The main advantage of the proposed observer is that, the measured outputs is not limited to the first entry of a canonical-form state vector. The closed-loop stability of the proposed method is proved using a Lyapunov-based approach. The proposed method is applied numerically on a multi-link robot manipulator, which verifies the performance of the closed-loop control. Moreover, the performance of the proposed algorithm is compared with some conventional control algorithms.

Keywords: Adaptive algorithm, fuzzy systems, membership functions, observer.

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Authors: Bing Lu, Shuang Li, Hongyuan Zhou

Abstract:

The steel-concrete hybrid structure has been extensively employed in high-rise buildings and super high-rise buildings. The light gauge steel-concrete hybrid structure, including light gauge steel structure and concrete hybrid structure, is a type of steel-concrete hybrid structure, which possesses some advantages of light gauge steel structure and concrete hybrid structure. The seismic behavior and loss assessment of three high-rise buildings with three different concrete hybrid structures were investigated through finite element software. The three concrete hybrid structures are reinforced concrete column-steel beam (RC-S) hybrid structure, concrete-filled steel tube column-steel beam (CFST-S) hybrid structure, and tubed concrete column-steel beam (TC-S) hybrid structure. The nonlinear time-history analysis of three high-rise buildings under 80 earthquakes was carried out. After simulation, it indicated that the seismic performances of three high-rise buildings were superior. Under extremely rare earthquakes, the maximum inter-story drifts of three high-rise buildings are significantly lower than 1/50. The inter-story drift and floor acceleration of high-rise building with CFST-S hybrid structure were bigger than those of high-rise buildings with RC-S hybrid structure, and smaller than those of high-rise building with TC-S hybrid structure. Then, based on the time-history analysis results, the post-earthquake repair cost ratio and repair time of three high-rise buildings were predicted through an economic performance analysis method proposed in FEMA-P58 report. Under frequent earthquakes, basic earthquakes and rare earthquakes, the repair cost ratio and repair time of three high-rise buildings were less than 5% and 15 days, respectively. Under extremely rare earthquakes, the repair cost ratio and repair time of high-rise buildings with TC-S hybrid structure were the most among three high rise buildings. Due to the advantages of CFST-S hybrid structure, it could be extensively employed in high-rise buildings subjected to earthquake excitations.

Keywords: seismic behavior, loss assessment, light gauge steel, concrete hybrid structure, high-rise building, time-history analysis

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Authors: Cuiran Li, Jianli Xie, Chengshu Li

Abstract:

Multicarrier code-division multiple-access is one of the effective techniques to gain its multiple access capability, robustness against fading, and to mitigate the ISI. In this paper, we propose an improved mulcarrier CDMA system with adaptive subchannel allocation. We analyzed the performance of our proposed system in frequency selective fading environment with narrowband interference existing and compared it with that of parallel transmission over many subchannels (namely, conventional MC-CDMA scheme) and DS-CDMA system. Simulation results show that adaptive subchannel allocation scheme, when used in conventional multicarrier CDMA system, the performance will be greatly improved.

Keywords: MC-CDMA, Rayleigh fading, Narrowbandinterference, Channel estimation.

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Authors: Lu Yanhui, Zhang Lizhi, Yin Changchuan, Yue Guangxin

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In this paper, an adaptive radio resource allocation (RRA) algorithm applying to multiple traffic OFDMA system is proposed, which distributes sub-carrier and loading bits among users according to their different QoS requirements and traffic class. By classifying and prioritizing the users based on their traffic characteristic and ensuring resource for higher priority users, the scheme decreases tremendously the outage probability of the users requiring a real time transmission without impact on the spectrum efficiency of system, as well as the outage probability of data users is not increased compared with the RRA methods published.

Keywords: OFDMA, adaptive radio resource allocation, QoS.

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Authors: M. D. Kokate, T. R. Sontakke, P. W. Wani

Abstract:

This paper deals with an adaptive multiuser detector for direct sequence code division multiple-access (DS-CDMA) systems. A modified receiver, precombinig LMMSE is considered under time varying channel environment. Detector updating is performed with two criterions, mean square estimation (MSE) and MOE optimization technique. The adaptive implementation issues of these two schemes are quite different. MSE criterion updates the filter weights by minimizing error between data vector and adaptive vector. MOE criterion together with canonical representation of the detector results in a constrained optimization problem. Even though the canonical representation is very complicated under time varying channels, it is analyzed with assumption of average power profile of multipath replicas of user of interest. The performance of both schemes is studied for practical SNR conditions. Results show that for poor SNR, MSE precombining LMMSE is better than the blind precombining LMMSE but for greater SNR, MOE scheme outperforms with better result.

Keywords: LMMSE, MOE, MUD.

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Authors: T. Arsan

Abstract:

Video streaming over lossy IP networks is very important issues, due to the heterogeneous structure of networks. Infrastructure of the Internet exhibits variable bandwidths, delays, congestions and time-varying packet losses. Because of variable attributes of the Internet, video streaming applications should not only have a good end-to-end transport performance but also have a robust rate control, furthermore multipath rate allocation mechanism. So for providing the video streaming service quality, some other components such as Bandwidth Estimation and Adaptive Rate Controller should be taken into consideration. This paper gives an overview of video streaming concept and bandwidth estimation tools and then introduces special architectures for bandwidth adaptive video streaming. A bandwidth estimation algorithm – pathChirp, Optimized Rate Controllers and Multipath Rate Allocation Algorithm are considered as all-in-one solution for video streaming problem. This solution is directed and optimized by a decision center which is designed for obtaining the maximum quality at the receiving side.

Keywords: Adaptive Video Streaming, Bandwidth Estimation, QoS, Software Architecture.

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Authors: Ayşin Sev, Görkem Aslan

Abstract:

Sustainable tall buildings that provide comfortable, healthy and efficient indoor environments are clearly desirable as the densification of living and working space for the world’s increasing population proceeds. For environmental concerns, these buildings must also be energy efficient. One component of these tasks is the provision of indoor air quality and thermal comfort, which can be enhanced with natural ventilation by the supply of fresh air. Working spaces can only be naturally ventilated with connections to the outdoors utilizing operable windows, double facades, ventilation stacks, balconies, patios, terraces and skygardens. Large amounts of fresh air can be provided to the indoor spaces without mechanical air-conditioning systems, which are widely employed in contemporary tall buildings. This paper tends to present the concept of natural ventilation for sustainable tall office buildings in order to achieve healthy and comfortable working spaces, as well as energy efficient environments. Initially the historical evolution of ventilation strategies for tall buildings is presented, beginning with natural ventilation and continuing with the introduction of mechanical airconditioning systems. Then the emergence of natural ventilation due to the health and environmental concerns in tall buildings is handled, and the strategies for implementing this strategy are revealed. In the next section, a number of case studies that utilize this strategy are investigated. Finally, how tall office buildings can benefit from this strategy is discussed.

Keywords: Tall office building, natural ventilation, energy efficiency, double-skin façade, stack ventilation, air conditioning.

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Authors: Dipankar Dhabak, Soumya Pandit

Abstract:

This paper presents an adaptive technique for generation of data required for construction of artificial neural network-based performance model of nano-scale CMOS inverter circuit. The training data are generated from the samples through SPICE simulation. The proposed algorithm has been compared to standard progressive sampling algorithms like arithmetic sampling and geometric sampling. The advantages of the present approach over the others have been demonstrated. The ANN predicted results have been compared with actual SPICE results. A very good accuracy has been obtained.

Keywords: CMOS Inverter, Nano-scale, Adaptive Sampling, ArtificialNeural Network

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Authors: Carlos H. Cuadra

Abstract:

The present report describes the characteristics of damages and behavior of reinforced concrete buildings during the tsunami action. The discussion is based on the field damage survey in selected cities located on the coast of the zone affected by the Great East Japan Earthquake on March 11, 2011. This earthquake is the most powerful know earthquake that has hit Japan with a magnitude 9.0 and with epicenter located at 129 km of Sendai city (off the coast). The earthquake triggered a destructive tsunami with run up height of up to 40 meters that mainly affect cities located on the Pacific Ocean coast of the Tohoku region (north-east region of Japan). Reinforced concrete buildings in general resist the tsunami without collapse however the non-structural elements like panels and ceilings were severely damaged. The analysis of damages has permitted to understand the behavior of RC buildings under tsunami attack, and has also permitted to establish recommendations for their use to take refuge from tsunami in places where natural topography makes impossible to reach hilltops or other safer places.

Keywords: tsunami, RC buildings, East Japan Earthquake, seismic damage

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Authors: Mehran Pourgholi , Amin Lotfi Eghlim

Abstract:

These Nowadays the explosion of bombs or explosive materials such as gas and oil near or inside the buildings cause some losses in installations and building components. This has made the engineers to make the buildings and their components resistance against the effects of explosion. These activities lead to provide regulations and different methods. The above regulations are mostly focused on the explosion effects resulting from the vehicles around the buildings. Therefore, the explosion resulting from the vehicles outside the buildings will be studied in this research. In the present study, the main goals are to investigate the explosion load effects on the structures located on the piles with the specific quantity of plasticity and observing the permissible response of these structures. The concentrated mass system and the spring with two degree of freedom will be used to study the structural system.

Keywords: Concrete-Framework Building, Explosion Load, piles.

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Authors: Bothinah Altaf, Gary Montague, Elaine B. Martin

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This study involves the modeling and monitoring of an ammonia synthesis fixed-bed reactor using partial least squares (PLS) and its variants. The process exhibits complex dynamic behavior due to the presence of heat recycling and feed quench. One limitation of static PLS model in this situation is that it does not take account of the process dynamics and hence dynamic PLS was used. Although it showed, superior performance to static PLS in terms of prediction, the monitoring scheme was inappropriate hence adaptive PLS was considered. A limitation of adaptive PLS is that non-conforming observations also contribute to the model, therefore, a new adaptive approach was developed, robust adaptive dynamic PLS. This approach updates a dynamic PLS model and is robust to non-representative data. The developed methodology showed a clear improvement over existing approaches in terms of the modeling of the reactor and the detection of faults.

Keywords: Ammonia synthesis fixed-bed reactor, dynamic partial least squares modeling, recursive partial least squares, robust modeling.

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Authors: Firouz Parvizian Ganje, Emad Hezbkhah, Behbood Maashkar

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Climate change could lead to changes in cultural environments and landscapes as we know them.Climate change presents an immediate and significant threat to our natural and built environments and to the ways of life which co-exist with these environments. In most traditional buildings, the harmony of texture with nature and environment has been ever considered; so houses and cities have been mixed with their natural environment so astonishingly and the selection and usage of materials have been in such a way that they have provided the utmost conformity with the environment, as the result the created areas have a unique beauty and attraction.The extent to which climate change contributes to destruction procedure on Iran-s historic buildings.is a subject of current discussion. Cities, towns and built-up areas also have their own characteristics that might make them particularly vulnerable to climate change.

Keywords: Climate Change, historic buildings, Iran

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Authors: Aysin Sev, Meltem Ezel

Abstract:

Sustainability, being the urgent issue of our time, is closely related with the innovations in technology. Nanotechnology (NT), although not a new science, can be regarded relatively a new science for buildings with brand new materials and applications. This paper tends to give a research review of current and near future applications of nanotechnology (NT) for achieving high-performance and healthy buildings for a sustainable future. In the introduction, the driving forces for the sustainability of construction industry are explained. Then, the term NT is defined, and significance of innovations in NT for a sustainable construction industry is revealed. After presenting the application areas of NT and nanomaterials for buildings with a number of cases, challenges in the adoption of this technology are put forward, and finally the impacts of nanoparticles and nanomaterials on human health and environment are discussed.

Keywords: Nanomaterial, self-healing concrete, self-cleaning sensor, nano sensor, steel, wood, aerogel, flexible solar panel.

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Authors: Jincan Li, Mingyu Gao, Zhiwei He, Yuxiang Yang, Zhongfei Yu, Yuanyuan Liu

Abstract:

Building an appropriate motion model is crucial for trajectory planning of robots and determines the operational quality directly. An adaptive acceleration and deceleration motion planning based on trigonometric functions for the end-effector of 6-DOF robots in Cartesian coordinate system is proposed in this paper. This method not only achieves the smooth translation motion and rotation motion by constructing a continuous jerk model, but also automatically adjusts the parameters of trigonometric functions according to the variable inputs and the kinematic constraints. The results of computer simulation show that this method is correct and effective to achieve the adaptive motion planning for linear trajectories.

Keywords: 6-DOF robots, motion planning, trigonometric function, kinematic constraints

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