Search results for: Optimization design

Authors: R. Bharanidaran, B. T. Ramesh

Abstract:

High precision in motion is required to manipulate the micro objects in precision industries for micro assembly, cell manipulation etc. Precision manipulation is achieved based on the appropriate mechanism design of micro devices such as microgrippers. Design of a compliant based mechanism is the better option to achieve a highly precised and controlled motion. This research article highlights the method of designing a compliant based three fingered microgripper suitable for holding asymmetric objects. Topological optimization technique, a systematic method is implemented in this research work to arrive a topologically optimized design of the mechanism needed to perform the required micro motion of the gripper. Optimization technique has a drawback of generating senseless regions such as node to node connectivity and staircase effect at the boundaries. Hence, it is required to have post processing of the design to make it manufacturable. To reduce the effect of post processing stage and to preserve the edges of the image, a cubic spline interpolation technique is introduced in the MATLAB program. Structural performance of the topologically developed mechanism design is tested using finite element method (FEM) software. Further the microgripper structure is examined to find its fatigue life and vibration characteristics.

Keywords: Compliant mechanism, Cubic spline interpolation, FEM, Topology optimization.

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Authors: Amin Safari, Hossein Shayeghi

Abstract:

This paper presents a novel approach for tuning unified power flow controller (UPFC) based damping controller in order to enhance the damping of power system low frequency oscillations. The design problem of damping controller is formulated as an optimization problem according to the eigenvalue-based objective function which is solved using iteration particle swarm optimization (IPSO). The effectiveness of the proposed controller is demonstrated through eigenvalue analysis and nonlinear time-domain simulation studies under a wide range of loading conditions. The simulation study shows that the designed controller by IPSO performs better than CPSO in finding the solution. Moreover, the system performance analysis under different operating conditions show that the δE based controller is superior to the mB based controller.

Keywords: UPFC, Optimization Problem, Iteration ParticleSwarm Optimization, Damping Controller, Low FrequencyOscillations.

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Authors: Alvise Pellegrini, Ernesto Benini

Abstract:

The design of a steam turbine is a very complex engineering operation that can be simplified and improved thanks to computer-aided multi-objective optimization. This process makes use of existing optimization algorithms and losses correlations to identify those geometries that deliver the best balance of performance (i.e. Pareto-optimal points). This paper deals with a one-dimensional multi-objective and multi-point optimization of a single-stage steam turbine. Using a genetic optimization algorithm and an algebraic one-dimensional ideal gas-path model based on loss and deviation correlations, a code capable of performing the optimization of a predefined steam turbine stage was developed. More specifically, during this study the parameters modified (i.e. decision variables) to identify the best performing geometries were solidity and angles both for stator and rotor cascades, while the objective functions to maximize were totalto- static efficiency and specific work done. Finally, an accurate analysis of the obtained results was carried out.

Keywords: Steam turbine, optimization, genetic algorithms.

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Authors: Jyotsna Ogale, Alok Jain

Abstract:

In this paper newly reported Cosh window function is used in the design of prototype filter for M-channel Near Perfect Reconstruction (NPR) Cosine Modulated Filter Bank (CMFB). Local search optimization algorithm is used for minimization of distortion parameters by optimizing the filter coefficients of prototype filter. Design examples are presented and comparison has been made with Kaiser window based filterbank design of recently reported work. The result shows that the proposed design approach provides lower distortion parameters and improved far-end suppression than the Kaiser window based design of recent reported work.

Keywords: Window function, Cosine modulated filterbank, Local search optimization.

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Authors: Sidhartha Panda, N. P. Padhy

Abstract:

This paper investigates the application of Particle Swarm Optimization (PSO) technique for coordinated design of a Power System Stabilizer (PSS) and a Thyristor Controlled Series Compensator (TCSC)-based controller to enhance the power system stability. The design problem of PSS and TCSC-based controllers is formulated as a time domain based optimization problem. PSO algorithm is employed to search for optimal controller parameters. By minimizing the time-domain based objective function, in which the deviation in the oscillatory rotor speed of the generator is involved; stability performance of the system is improved. To compare the capability of PSS and TCSC-based controller, both are designed independently first and then in a coordinated manner for individual and coordinated application. The proposed controllers are tested on a weakly connected power system. The eigenvalue analysis and non-linear simulation results are presented to show the effectiveness of the coordinated design approach over individual design. The simulation results show that the proposed controllers are effective in damping low frequency oscillations resulting from various small disturbances like change in mechanical power input and reference voltage setting.

Keywords: Particle swarm optimization, Phillips-Heffron model, power system stability, PSS, TCSC.

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Authors: Hakim T. Kadhim, Faris A. Jabbar, Aldo Rona, Audrius Bagdanaviciu

Abstract:

Computer-based optimization techniques can be employed to improve the efficiency of energy conversions processes, including reducing the aerodynamic loss in a thermal power plant turbomachine. In this paper, towards mitigating secondary flow losses, a design optimization workflow is implemented for the casing geometry of a 1.5 stage axial flow turbine that improves the turbine isentropic efficiency. The improved turbine is used in an open thermodynamic gas cycle with regeneration and cogeneration. Performance estimates are obtained by the commercial software Cycle – Tempo. Design and off design conditions are considered as well as variations in inlet air temperature. Reductions in both the natural gas specific fuel consumption and in CO₂ emissions are predicted by using the gas turbine cycle fitted with the new casing design. These gains are attractive towards enhancing the competitiveness and reducing the environmental impact of thermal power plant.

Keywords: Axial flow turbine, computational fluid dynamics, gas turbine power plant, optimization.

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Authors: Alireza Keshmiri, Shahriar Bagheri, Nan Wu

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This research presents an analytical model for the development of an energy harvester with piezoelectric rings stacked at the boundary of the structure based on the Adomian decomposition method. The model is applied to geometrically non-uniform beams to derive the steady-state dynamic response of the structure subjected to base motion excitation and efficiently harvest the subsequent vibrational energy. The in-plane polarization of the piezoelectric rings is employed to enhance the electrical power output. A parametric study for the proposed energy harvester with various design parameters is done to prepare the dataset required for optimization. Finally, simulation-based optimization technique helps to find the optimum structural design with maximum efficiency. To solve the optimization problem, an artificial neural network is first trained to replace the simulation model, and then, a genetic algorithm is employed to find the optimized design variables. Higher geometrical non-uniformity and length of the beam lowers the structure natural frequency and generates a larger power output.

Keywords: Piezoelectricity, energy harvesting, simulation-based optimization, artificial neural network, genetic algorithm.

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Authors: R.Muthuvelayudham, T.Viruthagiri

Abstract:

Response Surface Methodology (RSM) is a powerful and efficient mathematical approach widely applied in the optimization of cultivation process. Cellulase enzyme production by Trichoderma reesei RutC30 using agricultural waste rice straw and banana fiber as carbon source were investigated. In this work, sequential optimization strategy based statistical design was employed to enhance the production of cellulase enzyme through submerged cultivation. A fractional factorial design (26-2) was applied to elucidate the process parameters that significantly affect cellulase production. Temperature, Substrate concentration, Inducer concentration, pH, inoculum age and agitation speed were identified as important process parameters effecting cellulase enzyme synthesis. The concentration of lignocelluloses and lactose (inducer) in the cultivation medium were found to be most significant factors. The steepest ascent method was used to locate the optimal domain and a Central Composite Design (CCD) was used to estimate the quadratic response surface from which the factor levels for maximum production of cellulase were determined.

Keywords: Banana fiber, Cellulase, Optimization, Rice straw

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Authors: M. Rokonuzzaman, Z. Gürdal

Abstract:

This paper describes the design optimization of ferrocement-laminated plate made up of reinforcing steel wire mesh(es) and cement mortar. For the improvement of the designing process, the plate is modeled as a multi-layer medium, dividing the ferrocement plate into layers of mortar and ferrocement. The mortar layers are assumed to be isotropic in nature and the ferrocement layers are assumed to be orthotropic. The ferrocement layers are little stiffer, but much more costlier, than the mortar layers due the presence of steel wire mesh. The optimization is performed for minimum weight design of the laminate using a genetic algorithm. The optimum designs are discussed for different plate configurations and loadings, and it is compared with the worst designs obtained at the final generation. The paper provides a procedure for the designers in decision-making process.

Keywords: Buckling, Ferrocement-Laminated Plate, Genetic Algorithm, Plate Theory.

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Authors: Camelia Petrescu, Lavinia Ferariu

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The paper presents an optimization study based on genetic algorithms (GA-s) for a radio-frequency applicator used in heating dielectric band products. The weakly coupled electro-thermal problem is analyzed using 2D-FEM. The design variables in the optimization process are: the voltage of a supplementary “guard" electrode and six geometric parameters of the applicator. Two objective functions are used: temperature uniformity and total active power absorbed by the dielectric. Both mono-objective and multiobjective formulations are implemented in GA optimization.

Keywords: Dielectric heating, genetic algorithms, optimization, RF applicators.

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Authors: Francisco Aparisi, Marco A. de Luna

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In some real applications of Statistical Process Control it is necessary to design a control chart to not detect small process shifts, but keeping a good performance to detect moderate and large shifts in the quality. In this work we develop a new quality control chart, the synthetic T2 control chart, that can be designed to cope with this objective. A multi-objective optimization is carried out employing Genetic Algorithms, finding the Pareto-optimal front of non-dominated solutions for this optimization problem.

Keywords: Multi-objective optimization, Quality Control, SPC, Synthetic T2 control chart.

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Authors: Martha C. Orazulume, Jibril D. Jiya

Abstract:

Flexible satellites are equipped with various appendages which vibrate under the influence of any excitation and make the attitude of the satellite to be unstable. Therefore, the system must be able to adjust to balance the effect of these appendages in order to point accurately and satisfactorily which is one of the most important problems in satellite design. Proportional Integral Derivative (PID) Controller is simple to design and computationally efficient to implement which is used to stabilize the effect of these flexible appendages. However, manual turning of the PID is time consuming, waste energy and money. Particle Swarm Optimization (PSO) is used to tune the parameters of PID Controller. Simulation results obtained show that PSO tuned PID Controller is able to re-orient the spacecraft attitude as well as dampen the effect of mechanical resonance and yields better performance when compared with manually tuned PID Controller.

Keywords: Attitude control, flexible satellite, particle swarm optimization, PID controller.

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Authors: Janis Šliseris, Karlis Rocens

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Optimization of rational geometrical and mechanical parameters of panel with curved plywood ribs is considered in this paper. The panel consists of cylindrical plywood ribs manufactured from Finish plywood, upper and bottom plywood flange, stiffness diaphragms. Panel is filled with foam. Minimal ratio of structure self weight and load that could be applied to structure is considered as rationality criteria. Optimization is done, by using classical beam theory without nonlinearities. Optimization of discreet design variables is done by Genetic algorithm.

Keywords: Curved plywood ribs, genetic algorithm, rationalparameters of ribbed panel, structure optimization.

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Authors: Ashwin Bala, K. Panthalaraja Kumaran, S. Prithviraj, R. Pradeep, J. Udhayakumar, S. Ajith

Abstract:

In this paper comprehensive studies have been carried out for the design optimization of a waste heat recovery system for effectively utilizing the domestic air conditioner heat energy for producing hot water. Numerical studies have been carried for the geometry optimization of a waste heat recovery system for domestic air conditioners. Numerical computations have been carried out using a validated 2d pressure based, unsteady, 2nd-order implicit, SST k-ω turbulence model. In the numerical study, a fully implicit finite volume scheme of the compressible, Reynolds-Averaged, Navier- Stokes equations is employed. At identical inflow and boundary conditions various geometries were tried and effort has been taken for proposing the best design criteria. Several combinations of pipe line shapes viz., straight and spiral with different number of coils for the radiator have been attempted and accordingly the design criteria has been proposed for the waste heat recovery system design. We have concluded that, within the given envelope, the geometry optimization is a meaningful objective for getting better performance of waste heat recovery system for air conditioners.

Keywords: Air-conditioning system, Energy conversion system, Hot water production from waste heat, Waste heat recovery system.

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Authors: Naohiko Honma, Kojiro Suzuki

Abstract:

This paper proposes the concept of aerocapture with aerodynamic-environment-adaptive variable geometry flexible aeroshell that vehicle deploys. The flexible membrane is composed of thin-layer film or textile as its aeroshell in order to solve some problems obstructing realization of aerocapture technique. Multi-objective optimization study is conducted to investigate solutions and derive design guidelines. As a result, solutions which can avoid aerodynamic heating and enlarge the corridor width up to 10% are obtained successfully, so that the effectiveness of this concept can be demonstrated. The deformation-use optimum solution changes its drag coefficient from 1.6 to 1.1, along with the change in dynamic pressure. Moreover, optimization results show that deformation-use solution requires the membrane for which upper temperature limit and strain limit are more than 700 K and 120%, respectively, and elasticity (Young-s modulus) is of order of 106 Pa.

Keywords: Aerocapture, flexible aeroshell, optimization, response surface methodology.

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Authors: Cheng Seong Khor, Xiao Qi Yeoh

Abstract:

This work concerns the topological optimization problem for determining the optimal petroleum refinery configuration. We are interested in further investigating and hopefully advancing the existing optimization approaches and strategies employing logic propositions to conceptual process synthesis problems. In particular, we seek to contribute to this increasingly exciting area of chemical process modeling by addressing the following potentially important issues: (a) how the formulation of design specifications in a mixed-logical-and-integer optimization model can be employed in a synthesis problem to enrich the problem representation by incorporating past design experience, engineering knowledge, and heuristics; and (b) how structural specifications on the interconnectivity relationships by space (states) and by function (tasks) in a superstructure should be properly formulated within a mixed-integer linear programming (MILP) model. The proposed modeling technique is illustrated on a case study involving the alternative processing routes of naphtha, in which significant improvement in the solution quality is obtained.

Keywords: Mixed-integer linear programming (MILP), petroleum refinery, process synthesis, superstructure.

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Authors: Ji Hyeong Park, Ji Hye Jeon, Hyo Seon Park

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Environmental pollution problems have been globally main concern in all fields including economy, society and culture into the 21st century. Beginning with the Kyoto Protocol, the reduction on the emissions of greenhouse gas such as CO2 and SOX has been a principal challenge of our day. As most buildings unlike durable goods in other industries have a characteristic and long life cycle, they consume energy in quantity and emit much CO2. Thus, for green building construction, more research is needed to reduce the CO2 emissions at each stage in the life cycle. However, recent studies are focused on the use and maintenance phase. Also, there is a lack of research on the initial design stage, especially the structure design. Therefore, in this study, we propose an optimal design plan considering CO2 emissions and cost in composite buildings simultaneously by applying to the structural design of actual building.

Keywords: Multi-objective optimization, CO2 emissions, structural cost, encased composite structure

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Authors: Michiharu Maeda, Shinya Tsuda

Abstract:

This paper presents an algorithm of particle swarm optimization with reduction for global optimization problems. Particle swarm optimization is an algorithm which refers to the collective motion such as birds or fishes, and a multi-point search algorithm which finds a best solution using multiple particles. Particle swarm optimization is so flexible that it can adapt to a number of optimization problems. When an objective function has a lot of local minimums complicatedly, the particle may fall into a local minimum. For avoiding the local minimum, a number of particles are initially prepared and their positions are updated by particle swarm optimization. Particles sequentially reduce to reach a predetermined number of them grounded in evaluation value and particle swarm optimization continues until the termination condition is met. In order to show the effectiveness of the proposed algorithm, we examine the minimum by using test functions compared to existing algorithms. Furthermore the influence of best value on the initial number of particles for our algorithm is discussed.

Keywords: Particle swarm optimization, Global optimization, Metaheuristics, Reduction.

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Authors: Didik Nurhadiyanto , Moch Agus Choiron , Ken Kaminishi , Shigeyuki Haruyama

Abstract:

At the previous study of new metal gasket, contact width and contact stress were important design parameter for optimizing metal gasket performance. However, the range of contact stress had not been investigated thoroughly. In this study, we conducted a gasket design optimization based on an elastic and plastic contact stress analysis considering forming effect using FEM. The gasket model was simulated by using two simulation stages which is forming and tightening simulation. The optimum design based on an elastic and plastic contact stress was founded. Final evaluation was determined by helium leak quantity to check leakage performance of both type of gaskets. The helium leak test shows that a gasket based on the plastic contact stress design better than based on elastic stress design.

Keywords: Contact stress, metal gasket, plastic, elastic

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Authors: Kyaw Myo Lin, Wunna Swe, Pyone Lai Swe

Abstract:

This paper presents the coordinated controller design of static synchronous compensator (STATCOM) and power system stabilizers (PSSs) for power system stability improvement. Coordinated design problem of STATCOM-based controller with multiple PSSs is formulated as an optimization problem and optimal controller parameters are obtained using bacteria foraging optimization algorithm. By minimizing the proposed objective function, in which the speed deviations between generators are involved; stability performance of the system is improved. The nonlinear simulation results show that coordinated design of STATCOM-based controller and PSSs improve greatly the system damping oscillations and consequently stability improvement.

Keywords: Bacteria Foraging, Coordinated Design, Power System Stability, PSSs, STATCOM.

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Authors: Y. Abdelrazig, R. Moses

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Roadway planning and design is a very complex process involving five key phases before a project is completed; planning, project development, final design, right-of-way, and construction. The planning phase for a new roadway transportation project is a very critical phase as it greatly affects all latter phases of the project. A location study is usually performed during the preliminary planning phase in a new roadway project. The objective of the location study is to develop alignment alternatives that are cost efficient considering land acquisition and construction costs. This paper describes a methodology to develop optimal preliminary roadway alignments utilizing spatial-data. Four optimization criteria are taken into consideration; roadway length, land cost, land slope, and environmental impacts. The basic concept of the methodology is to convert the proposed project area into a grid, which represents the search space for an optimal alignment. The aforementioned optimization criteria are represented in each of the grid’s cells. A spatial-data optimization technique is utilized to find the optimal alignment in the search space based on the four optimization criteria. Two case studies for new roadway projects in Duval County in the State of Florida are presented to illustrate the methodology. The optimization output alignments are compared to the proposed Florida Department of Transportation (FDOT) alignments. The comparison is based on right-of-way costs for the alignments. For both case studies, the right-of-way costs for the developed optimal alignments were found to be significantly lower than the FDOT alignments.

Keywords: Optimization, planning, roadway alignment, FDOT.

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Authors: H. Nikzad, S. Yoshitomi

Abstract:

This study investigates and develops the structural optimization method. The effect of size constraints on practical solution of reinforced concrete (RC) building structure with shear wall is proposed. Cross-sections of beam and column, and thickness of shear wall are considered as design variables. The objective function to be minimized is total cost of the structure by using a simple and efficient automated MATLAB platform structural optimization methodology. With modification of mathematical formulations, the result is compared with optimal solution without size constraints. The most suitable combination of section sizes is selected as for the final design application based on linear static analysis. The findings of this study show that defining higher value of upper bound of sectional sizes significantly affects optimal solution, and defining of size constraints play a vital role in finding of global and practical solution during optimization procedures. The result and effectiveness of proposed method confirm the ability and efficiency of optimal solutions for 3D RC shear wall-frame structure.

Keywords: Structural optimization, linear static analysis, ETABS, MATLAB, RC shear wall-frame structures.

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Authors: Foad Nazari, Seyed Mahmood Hosseini, Mohammad Hossein Abolbashari, Mohammad Hassan Abolbashari

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The present study is concerned with the optimal design of functionally graded plates using particle swarm optimization (PSO) algorithm. In this study, meshless local Petrov-Galerkin (MLPG) method is employed to obtain the functionally graded (FG) plate’s natural frequencies. Effects of two parameters including thickness to height ratio and volume fraction index on the natural frequencies and total mass of plate are studied by using the MLPG results. Then the first natural frequency of the plate, for different conditions where MLPG data are not available, is predicted by an artificial neural network (ANN) approach which is trained by back-error propagation (BEP) technique. The ANN results show that the predicted data are in good agreement with the actual one. To maximize the first natural frequency and minimize the mass of FG plate simultaneously, the weighted sum optimization approach and PSO algorithm are used. However, the proposed optimization process of this study can provide the designers of FG plates with useful data.

Keywords: Optimal design, natural frequency, FG plate, hybrid meshless method, MLPG method, ANN approach, particle swarm optimization.

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Authors: M. Saravanan, J. Raja Murugadoss, V. Jayanthi

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Optimal design of structure has a main role in reduction of material usage which leads to deduction in the final cost of construction projects. Evolutionary approaches are found to be more successful techniques for solving size and shape structural optimization problem since it uses a stochastic random search instead of a gradient search. By reviewing the recent literature works the problem found was the optimization of weight. A new meta-heuristic algorithm called as Cuckoo Search (CS) Algorithm has used for the optimization of the total weight of the truss structures. This paper has used set of 10 bars and 25 bars trusses for the testing purpose. The main objective of this work is to reduce the number of iterations, weight and the total time consumption. In order to demonstrate the effectiveness of the present method, minimum weight design of truss structures is performed and the results of the CS are compared with other algorithms.

Keywords: Cuckoo search algorithm, levy’s flight, meta-heuristic, optimal weight.

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Authors: Farhad Kolahan, M. Hossein Abolbashari, Samaeddin Mohitzadeh

Abstract:

Several methods are available for weight and shape optimization of structures, among which Evolutionary Structural Optimization (ESO) is one of the most widely used methods. In ESO, however, the optimization criterion is completely case-dependent. Moreover, only the improving solutions are accepted during the search. In this paper a Simulated Annealing (SA) algorithm is used for structural optimization problem. This algorithm differs from other random search methods by accepting non-improving solutions. The implementation of SA algorithm is done through reducing the number of finite element analyses (function evaluations). Computational results show that SA can efficiently and effectively solve such optimization problems within short search time.

Keywords: Simulated annealing, Structural optimization, Compliance, C.V. product.

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Authors: Suhas K, Sripadaraja K

Abstract:

This paper details few mechanical modeling and design issues of RF MEMS switches. We concentrate on an electrostatically actuated broad side series switch; surface micromachined with a crab leg membrane. The same results are extended to any complex structure. With available experimental data and fabrication results, we present the variation in dynamic performance and compliance of the switch with reference to few design issues, which we find are critical in deciding the dynamic behavior of the switch, without compromise on the RF characteristics. The optimization of pull in voltage, transient time and resonant frequency with regard to these critical design parameters are also presented.

Keywords: Microelectromechanical Systems (MEMS), RadioFrequency MEMS, Modeling, Actuators

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Authors: Kostas Metaxiotis

Abstract:

Portfolio optimization is one of the most important topics in finance. This paper proposes a mean–variance–skewness (MVS) portfolio optimization model. Traditionally, the portfolio optimization problem is solved by using the mean–variance (MV) framework. In this study, we formulate the proposed model as a three-objective optimization problem, where the portfolio's expected return and skewness are maximized whereas the portfolio risk is minimized. For solving the proposed three-objective portfolio optimization model we apply an adapted version of the non-dominated sorting genetic algorithm (NSGAII). Finally, we use a real dataset from FTSE-100 for validating the proposed model.

Keywords: Evolutionary algorithms, portfolio optimization, skewness, stock selection.

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Authors: Arash Hassanpour Isfahani, Siavash Sadeghi

Abstract:

Permanent magnet synchronous machines are known as a good candidate for hybrid electric vehicles due to their unique merits. However they have two major drawbacks i.e. high cost and small speed range. In this paper an optimal design of a permanent magnet machine is presented. A reduction of permanent magnet material for a constant torque and an extension in speed and torque ranges are chosen as the optimization aims. For this purpose the analytical model of the permanent magnet synchronous machine is derived and the appropriate design algorithm is devised. The genetic algorithm is then employed to optimize some machine specifications. Finally the finite element method is used to validate the designed machine.

Keywords: Design, Finite Element, Hybrid electric vehicle, Optimization, Permanent magnet synchronous machine.

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Authors: Oğuzhan Hasançebi, Saeid Kazemzadeh Azad

Abstract:

Keywords: Structural design optimization, optimal sizing, metaheuristics, self-adaptive step-size search, steel trusses, steel frames.}

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Authors: Andrew Randles, Ilker Ocak, Cheam Daw Don, Navab Singh, Alex Gu

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Nine Degrees of Freedom (9 DOF) systems are already in development in many areas. In this paper, an integrated pressure sensor is proposed that will make use of an already existing monolithic 9 DOF inertial MEMS platform. Capacitive pressure sensors can suffer from limited sensitivity for a given size of membrane. This novel pressure sensor design increases the sensitivity by over 5 times compared to a traditional array of square diaphragms while still fitting within a 2 mm x 2 mm chip and maintaining a fixed static capacitance. The improved design uses one large diaphragm supported by pillars with fixed electrodes placed above the areas of maximum deflection. The design optimization increases the sensitivity from 0.22 fF/kPa to 1.16 fF/kPa. Temperature sensitivity was also examined through simulation.

Keywords: Capacitive pressure sensor, 9 DOF, 10 DOF, sensor, capacitive, inertial measurement unit, IMU, inertial navigation system, INS.

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