Search results for: Shaft centerline position

Authors: ML. Benmessaoud, A. Lamrani, K. Nemra, AK. Souici

Abstract:

This paper presents an Extended Kaman Filter implementation of a single-camera Visual Simultaneous Localization and Mapping algorithm, a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based, The odometry data is incremental, and therefore it will accumulate error over time, since the robot may slip or may be lifted, consequently if the odometry is used alone we can not accurately estimate the robot position, in this paper we show that a combination of odometry and visual landmark via the extended Kalman filter can improve the robot position estimate. We use a Pioneer II robot and motorized pan tilt camera models to implement the algorithm.

Keywords: Mobile Robot, Navigation, vSLAM, EKF, monocular.

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Authors: Shooshpasha I., Kiakojoori M., Mirzagoltabar R. A.

Abstract:

High building constructions are increasing in south beaches of the Caspian Sea because of tourist attractions and limitation of residential areas. According to saturated alluvial fields transfer of load from high structures to the soil by piles is inevitable. In spite of most of these piles are under compression forces, tension piles are used in special conditions. Few studies have been conducted because of the limited use of these piles. Tension capacity of openended pipe piles in full scale was tested in this study. The length of the bored piles was 420 up to 480 cm and all were in 120 cm diameter. The results of testing 7 piles were compared with the results of relations given by researches.

Keywords: piles, tension capacity, sand, shaft friction

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Authors: Gabriele Bedon, Marco Raciti Castelli, Ernesto Benini

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An experimental campaign of measurements for a Darrieus vertical-axis wind turbine (VAWT) is presented for open field conditions. The turbine is characterized by a twisted bladed design, each blade being placed at a fixed distance from the rotational shaft. The experimental setup to perform the acquisitions is described. The results are lower than expected, due to the high influence of the wind shear.

Keywords: Vertical-axis wind turbine, Darrieus wind turbine, twisted blades, experimental measurements, wind shear.

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Authors: C. Nallusamy, A. Sabari, K. Suganya

Abstract:

Geographical routing protocol requires node physical location information to make forwarding decision. Geographical routing uses location service or position service to obtain the position of a node. The geographical information is a geographic coordinates or can be obtained through reference points on some fixed coordinate system. Link can be formed between two nodes. Link lifetime plays a crucial role in MANET. Link lifetime represent how long the link is stable without any failure between the nodes. Link failure may occur due to mobility and because of link failure energy of nodes can be drained. Thus this paper proposes survey about link lifetime prediction using geographical information.

Keywords: MANET, Geographical routing, Link lifetime, Link stability.

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Authors: M.Zadshakoyan, H.Jafarzadeh, E.Abdi Sobbouhi

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Injection forging is a Nett-shape manufacturing process in which one or two punches move axially causing a radial flow into a die cavity in a form which is prescribed by the exitgeometry, such as pulley, flanges, gears and splines on a shaft. This paper presents an experimental and numerical study of the injection forging of splines in terms of load requirement and material flow. Three dimensional finite element analyses are used to investigate the effect of some important parameters in this process. The experiment has been carried out using solid commercial lead billets with two different billet diameters and four different dies.

Keywords: Injection forging, splines, material flow, FEM

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Authors: Yung-Tien Liu, Chun-Chao Wang

Abstract:

This paper presents the control performance of a high-precision positioning device using the hybrid actuator composed of a piezoelectric (PZT) actuator and a voice-coil motor (VCM). The combined piezo-VCM actuator features two main characteristics: a large operation range due to long stroke of the VCM, and high precision and heavy load positioning ability due to PZT impact force. A one-degree-of-freedom (DOF) experimental setup was configured to examine the fundamental characteristics, and the control performance was effectively demonstrated by using a switching controller. In rough positioning state, an integral variable structure controller (IVSC) was used for the VCM to conduct long range of operation; in precision positioning state, an impact force controller (IFC) for the PZT actuator coupled with presliding states of the sliding table was used to obtain high-precision position control and achieve both forward and backward actuations. The experimental results showed that the sliding table having a mass of 881g and with a preload of 10 N was successfully positioned within the positioning accuracy of 10 nm in both forward and backward position controls.

Keywords: Integral variable structure controller (IVSC), impact force, precision positioning, presliding, PZT actuator, voice-coil motor (VCM).

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Authors: Balaji Sankar, Sadanand Kulkarni

Abstract:

Compliant foil gas lubricated bearings are used for the support of light loads in the order of few kilograms at high speeds, in the order of 50,000 RPM. The stiffness of the foil bearings depends both on the stiffness of the compliant foil and on the lubricating gas film. The stiffness of the bearings plays a crucial role in the stable operation of the supported rotor over a range of speeds. This paper describes a numerical approach to estimate the stiffness of the bearings using pseudo spectral scheme. Methodology to obtain the stiffness of the foil bearing as a function of weight of the shaft is given and the results are presented.

Keywords: Foil bearing, simulation, numerical, stiffness estimation.

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Authors: Seyed Mostafa Torabi

Abstract:

A Wireless sensor network (WSN) consists of a set of battery-powered nodes, which collaborate to perform sensing tasks in a given environment. Each node in WSN should be capable to act for long periods of time with scrimpy or no external management. One requirement for this independent is: in the presence of adverse positions, the sensor nodes must be capable to configure themselves. Hence, the nodes for determine the existence of unusual events in their surroundings should make use of position awareness mechanisms. This work approaches the problem by considering the possible unusual events as diseases, thus making it possible to diagnose them through their symptoms, namely, their side effects. Considering these awareness mechanisms as a foundation for highlevel monitoring services, this paper also shows how these mechanisms are included in the primal plan of an intrusion detection system.

Keywords: Awareness Mechanism, Intrusion Detection, Independent, Wireless Sensor Network

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Authors: Michael A. Folcik, Bijan Karimi

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A robot simulator was developed to measure and investigate the performance of a robot navigation system based on the relative position of the robot with respect to random obstacles in any two dimensional environment. The presented simulator focuses on investigating the ability of a fuzzy-neural system for object avoidance. A navigation algorithm is proposed and used to allow random navigation of a robot among obstacles when the robot faces an obstacle in the environment. The main features of this simulator can be used for evaluating the performance of any system that can provide the position of the robot with respect to obstacles in the environment. This allows a robot developer to investigate and analyze the performance of a robot without implementing the physical robot.

Keywords: Applications of Fuzzy Logic and Neural Networksin Robotics, Artificial Intelligence, Embedded Systems, MobileRobots, Robot Navigation, Robotics.

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Authors: Phongsak Phakamach

Abstract:

A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintain the insensitivity to parameter variation and disturbances. The FLSMFC strategy is implemented and applied to a position control of a DC servomotor drives. Experimental results indicated that FLSMFC system performance with respect to the sensitivity to parameter variations is greatly reduced. Also, excellent control effects and avoids the chattering phenomenon.

Keywords: Sliding mode model following control, fuzzy logic, DC servomotor.

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Authors: R. Dariani, S. Schmidt, R. Kasper

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Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulation of the autonomous driving allows taking decision on undefined situation such as lane change or obstacle avoidance. Based on position of the vehicle, lane situation and obstacle position, the optimization problem is reformulated in real-time to avoid the obstacle and any car crash.

Keywords: Autonomous driving, Obstacle avoidance, Optimal control, Path planning.

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Authors: Tapano Kumar Hotta, S P Venkateshan

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Steady state experiments have been conducted for natural and mixed convection heat transfer, from five different sized protruding discrete heat sources, placed at the bottom position on a PCB and mounted on a vertical channel. The characteristic length ( Lh ) of heat sources vary from 0.005 to 0.011 m. The study has been done for different range of Reynolds number and modified Grashof number. From the experiment, the surface temperature distribution and the Nusselt number of discrete heat sources have been obtained and the effects of Reynold number and Richardson number on them have been discussed. The objective is to find the rate of heat dissipation from heat sources, by placing them at the bottom position on a PCB and to compare both modes of cooling of heat sources.

Keywords: Discrete heat source, mixed convection, natural convection, vertical channel

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Authors: S. Parasuraman, Ler Shiaw Pei

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In this paper, the bio-mechanical analysis of human joints is carried out and the study is extended to the robot manipulator. This study will first focus on the kinematics of human arm which include the movement of each joint in shoulder, wrist, elbow and finger complexes. Those analyses are then extended to the design of a human robot manipulator. A simulator is built for Direct Kinematics and Inverse Kinematics of human arm. In the simulation of Direct Kinematics, the human joint angles can be inserted, while the position and orientation of each finger tips (end-effector) are shown. Inverse Kinematics does the reverse of the Direct Kinematics. Based on previous materials obtained from kinematics analysis, the human manipulator joints can be designed to follow prescribed position trajectories.

Keywords: Kinematics, Human Joints, Robotics, Robot Dynamics, Manipulators.

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Authors: Ahmet Denker, Tuğrul Adıgüzel

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This paper presents a solution for a robotic manipulation problem. We formulate the problem as combining target identification, tracking and interception. The task in our solution is sensing a target on a conveyor belt and then intercepting robot-s end-effector at a convenient rendezvous point. We used an object recognition method which identifies the target and finds its position from visualized scene picture, then the robot system generates a solution for rendezvous problem using the target-s initial position and belt velocity . The interception of the target and the end-effector is executed at a convenient rendezvous point along the target-s calculated trajectory. Experimental results are obtained using a real platform with an industrial robot and a vision system over it.

Keywords: Object recognition, rendezvous planning, robotics.

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Authors: J. Hodicky, P. Frantis

Abstract:

Command and Control (C2) system and its interfacethe Common Operational Picture (COP) are main means that supports commander in its decision making process. COP contains information about friendly and enemy unit positions. The friendly position is gathered via tactical network. In the case of tactical network failure the information about units are not available. The tactical simulator can be used as a tool that is capable to predict movements of units in respect of terrain features. Article deals with an experiment that was based on Czech C2 system that is in the case of connectivity lost fed by VR Forces simulator. Article analyzes maximum time interval in which the position created by simulator is still usable and truthful for commander in real time.

Keywords: command and control system, movement prediction, simulation

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Authors: A. Papalou, K. Vozikis

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The aim of this paper is the analysis and preservation of lime kilns, focusing on the structure, construction, and functionality of vertical shaft lime kilns of the Cap Corse in Corsica. Plans and sections of two lime kilns are presented in detail, providing an overall picture of this specific industrial heritage. The potential damage areas are identified performing structural analysis of a lime kiln using the finite element method. A restoration and strengthening technique that satisfies the directions of the Charter of Venice is presented using post-tensioning tendons. Recommendations are given to preserve and promote these important historical structures integrating them into the custom footpath.

Keywords: industrial heritage, lime kilns, post-tensioning, preservation

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Authors: Rasha A. Salameh

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This research attempts to evaluate the treatment provided by the Qatari media to the decision to allow Saudi women to drive, and then activate this decision after a few months, that is, within the time frame between September 26, 2017 until June 30, 2018. This is through asking several questions, including whether the political dispute between Qatar and Saudi Arabia has cast a shadow over this handling, and if these Qatari media handlings are used to criticize the Saudi regime for delaying this step. Here emerges one of the research hypotheses that says that the coverage did not have the required professionalism, due to the fact that the decision and its activation took place in light of the political stalemate between Qatar and the Kingdom of Saudi Arabia, which requires testing the media framing and agenda theories to know to what extent they apply to this case. The research dealt with a sample of five Qatari media read in this sample: Al-Jazeera Net, The New Arab Newspaper, Al-Sharq Newspaper, The Arab Newspaper, and Al-Watan Newspaper. The results showed that most of the authors who covered the decision to allow Saudi women to drive a car did not achieve a balance in their writing, and that almost half of them did not have objectivity, and this indicates the proof of the hypothesis that there is a defect in the professional competence in covering the decision to allow Saudi women to drive cars by means of Qatari media, and the researcher attributes this result to the political position between Qatar and Saudi Arabia, in addition to the fact that the Arab media in most of them are characterized by a low ceiling of freedom, and most of them are identical in their position with the position of the regime’s official view.

Keywords: Saudi women, stereotypes, hate speech, framing.

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Authors: Hussam Elias, Ninovic Perez, Holger Hirsch

Abstract:

The completion of the EMC regulations worldwide is growing steadily as the usage of electronics in our daily lives is increasing more than ever. In this paper, we present a method to perform the final phase of Electromagnetic Compatibility (EMC) measurement and to reduce the required test time according to the norm EN 55032 by using a developed tool and the Conventional Neural Network (CNN). The neural network was trained using real EMC measurements which were performed in the Semi Anechoic Chamber (SAC) by CETECOM GmbH in Essen Germany. To implement our proposed method, we wrote software to perform the radiated electromagnetic interference (EMI) measurements and use the CNN to predict and determine the position of the turntable that meet the maximum radiation value.

Keywords: Conventional neural network, electromagnetic compatibility measurement, mean absolute error, position error.

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Authors: Mohammed Gamil Montasser, Angelo Battaglia

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Tourism is making its presence felt across the Sultanate of Oman. The story is one of the most recognized phenomena as a sustainable solid growth and is considered a remarkable outcome for any destination. The competitive situation and challenges within the tourism industry worldwide entail a better understanding of the destination position and its image to achieve Oman’s aspiration to retain its international reputation as one of the most desirable destinations in the Middle East. To access general perceptions of Oman’s attributes, their importance and their influences among U.S. tourists, an online survey was conducted with 522 American travelers who have traveled internationally, including non-visitors, virtual-visitors and visitors to Oman. This research involved a total of 36 attributes in the survey. Participants were asked to rate their agreement on how each attribute represented Oman and how important each attribute was for selecting destinations on 5- point Likert Scale. They also indicated if each attribute has a positive, neutral or negative influence on their destination selection. Descriptive statistics and importance performance analysis (IPA) were conducted. IPA illustrated U.S. tourists’ perceptions of Oman’s destination attributes and their importance in destination selection on a matrix with four quadrants, divided by actual mean value in each grid for importance (M=3.51) and performance (M=3.57). Oman tourism organizations and destination managers may use these research findings for future marketing and management efforts toward the U.S. travel market.

Keywords: Analysis of importance and performance, destination attributes, Oman’s position, U.S. tourists.

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Authors: Karolina Patora

Abstract:

This article investigates liquidity risk management by banks, which has gained significant importance since the global financial crisis of 2008. The issue is of particular interest for countries like Poland, in which foreign capital plays a dominant role. Such an ownership structure poses certain risks to the local banking sector, which faces an increased probability of the withdrawal of funding or assets’ transfers abroad in case of a crisis. Both these factors can have a detrimental influence on the liquidity position of foreign-owned banks and hence negatively affect the financial stability of the whole banking sector. The aim of this study is to evaluate the impact of a dominating share of foreign investors in the Polish banking sector on the liquidity position of commercial banks. The study hypothesizes that the ownership structure of the Polish banking sector, in which there are banks predominantly controlled by foreign investors, does not pose a threat to the liquidity position of Polish banks. A supplementary research hypothesis is that the liquidity risk profile of foreign-owned banks differs from that of domestic banks. The sample consists of 14 foreign-owned banks and 5 domestic banks owned by local investors, which together constitute approximately 87% of the banking sector’s assets. The data covers the period of 2004–2014. The results of the regression models show no evidence of significant differences in terms of the dynamics of changes of the liquidity buffers between the foreign-owned and domestic banks, although the signs of the coefficients might suggest that the foreign-owned banks were decreasing the holdings of liquid assets at a slower pace over the examined period, compared to the domestic banks. However, no proof of the statistical significance of these findings has been found. The supplementary research hypothesis that the liquidity risk profile of foreign-controlled banks differs from that of domestic banks was rejected.

Keywords: Financial stability, foreign-owned banks, liquidity position, liquidity risk.

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Authors: Débora V. Busman, Venerando E. Amaro, Mattheus da C. Prudêncio

Abstract:

Prognostic studies of the shoreline are of utmost importance for Ponta Negra Beach, located in Natal, Northeastern Brazil, where the infrastructure recently built along the shoreline is severely affected by flooding and erosion. This study compares shoreline predictions using three linear regression methods (LMS, LRR and WLR) and tries to discern the best method for different shoreline position scenarios. The methods have shown erosion on the beach in each of the scenarios tested, even in less intense dynamic conditions. The WLA_A with confidence interval of 95% was the well-adjusted model and calculated a retreat of -1.25 m/yr to -2.0 m/yr in hot spot areas. The change of the shoreline on Ponta Negra Beach can be measured as a negative exponential curve. Analysis of these methods has shown a correlation with the morphodynamic stage of the beach.

Keywords: Coastal Erosion, Prognostic Model, DSAS.

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Authors: S. Hossainpour, A. R. Binesh

Abstract:

High-velocity oxygen fuel (HVOF) thermal spraying uses a combustion process to heat the gas flow and coating material. A computational fluid dynamics (CFD) model has been developed to predict gas dynamic behavior in a HVOF thermal spray gun in which premixed oxygen and propane are burnt in a combustion chamber linked to a parallel-sided nozzle. The CFD analysis is applied to investigate axisymmetric, steady-state, turbulent, compressible, chemically reacting, subsonic and supersonic flow inside and outside the gun. The gas velocity, temperature, pressure and Mach number distributions are presented for various locations inside and outside the gun. The calculated results show that the most sensitive parameters affecting the process are fuel-to-oxygen gas ratio and total gas flow rate. Gas dynamic behavior along the centerline of the gun depends on both total gas flow rate and fuel-to-oxygen gas ratio. The numerical simulations show that the axial gas velocity and Mach number distribution depend on both flow rate and ratio; the highest velocity is achieved at the higher flow rate and most fuel-rich ratio. In addition, the results reported in this paper illustrate that the numerical simulation can be one of the most powerful and beneficial tools for the HVOF system design, optimization and performance analysis.

Keywords: HVOF, CFD, gas dynamics, thermal spray, combustion.

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Authors: Dimitar Karastoyanov, Vladimir Monov

Abstract:

The paper is concerned with the technological process of renovation of shafts used in industrial manufacturing for extruding of sheet material. In the classical renovation technologies, a chrome based coating is applied to the working surface of the shaft in galvanic baths. The process, however, is known to be exclusively harmful due to the waste cyanide products. In this work, we present an advanced nanotechnology based on nonelectric chemical laying of a nickel coating with included nanoparticles. The technology is environmentally harmless and the new coating features an increased hardness and wear resistance. Results from experimental tests of the nanostructured nickel coating are presented and discussed.

Keywords: Materials processing, nanoparticles, nickel coating, shafts renovation.

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Authors: Ali Raad Hassan

Abstract:

Contact stress analysis between two spur gear teeth was considered in different contact positions, representing a pair of mating gears during rotation. A programme has been developed to plot a pair of teeth in contact. This programme was run for each 3° of pinion rotation from the first location of contact to the last location of contact to produce 10 cases. Each case was represented a sequence position of contact between these two teeth. The programme gives graphic results for the profiles of these teeth in each position and location of contact during rotation. Finite element models were made for these cases and stress analysis was done. The results were presented and finite element analysis results were compared with theoretical calculations, wherever available.

Keywords: Contact stress, Spur gear, Contact ratio, Finite elements

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Authors: Hasliza A. Rahim, Fareq Malek, Nur A. M. Affendi, Azuwa Ali, Norshafinash Saudin, Latifah Mohamed

Abstract:

This paper presents the experimental investigation of on-body channel fading at 2.45 GHz considering two effects of the user body movement; stationary and mobile. A pair of body-worn antennas was utilized in this measurement campaign. A statistical analysis was performed by comparing the measured on-body path loss to five well-known distributions; lognormal, normal, Nakagami, Weibull and Rayleigh. The results showed that the average path loss of moving arm varied higher than the path loss in sitting position for upper-arm-to-left-chest link, up to 3.5 dB. The analysis also concluded that the Nakagami distribution provided the best fit for most of on-body static link path loss in standing still and sitting position, while the arm movement can be best described by log-normal distribution.

Keywords: On-Body channel communications, fading characteristics, statistical model.

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Authors: Hechmi Saidi, Noureddine Hamdi

Abstract:

The performance of Decode and Forward (DF) multihop Free Space Optical ( FSO) scheme deploying Multiple Input Multiple Output (MIMO) configuration under Gamma-Gamma (GG) statistical distribution, that adopts M-ary Pulse Position Modulation (MPPM) coding, is investigated. We have extracted exact and estimated values of Symbol-Error Rates (SERs) respectively. A closed form formula related to the Probability Density Function (PDF) is expressed for our designed system. Thanks to the use of DF multihop MIMO FSO configuration and MPPM signaling, atmospheric turbulence is combatted; hence the transmitted signal quality is improved.

Keywords: FSO, MIMO, MIMO, multihop, DF, SER, GG channel.

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Authors: Guanqiao Wang, Hongyang Yu

Abstract:

There is a lot of repetitive work in the traditional construction industry. These repetitive tasks can significantly improve production efficiency by replacing manual tasks with robots. Therefore, robots appear more and more frequently in the construction industry. Navigation and positioning is a very important task for construction robots, and the requirements for accuracy of positioning are very high. Traditional indoor robots mainly use radio frequency or vision methods for positioning. Compared with ordinary robots, the indoor plastering robot needs to be positioned closer to the wall for wall plastering, so the requirements for construction positioning accuracy are higher, and the traditional navigation positioning method has a large error, which will cause the robot to move. Without the exact position, the wall cannot be plastered or the error of plastering the wall is large. A positioning method is proposed, which is assisted by line lasers and uses image processing-based positioning to perform more accurate positioning on the traditional positioning work. In actual work, filter, edge detection, Hough transform and other operations are performed on the images captured by the camera. Each time the position of the laser line is found, it is compared with the standard value, and the position of the robot is moved or rotated to complete the positioning work. The experimental results show that the actual positioning error is reduced to less than 0.5 mm by this accurate positioning method.

Keywords: Indoor plastering robot, navigation, precise positioning, line laser, image processing.

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Authors: Myunghoun Jang, Yongkyu Yi

Abstract:

Appropriate selection of lifting equipments for a high-rise building construction project is one of the important factors to the project’s success. Proper position of a tower crane on a construction site is so important to be determined by an expert or an experienced construction manager who draws working range of a tower crane and moves it over a 2D (dimensional) site layout plan. But it is not usual to use 3D CAD, BIM or virtual reality for temporary facility planning or selection of a tower crane. This study proposes a method to use augmented reality to select proper position of tower cranes. An augmented reality prototype is implemented on a smart device to verify the practicability of the proposed method.

Keywords: Augmented Reality, Construction Planning, Site Layout, Temporary Facility Management, Tower Crane

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Authors: Zdeňka Rendlová

Abstract:

This paper presents the mathematical description of the high-speed rotating system taking into account the influence of internal and external damping. The mathematical model is obtained by using the finite element method. The analyzed system is an automotive turbocharger understood as a rotor-bearing system. The circular cross-section shaft is equipped with one compressor wheel, one turbine wheel and is supported by two floating ring bearings. Based on the model, the dynamical analysis of a turbocharger is performed and stability conditions are evaluated.

Keywords: External damping, internal damping, journal bearing, stability, turbocharger.

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Authors: A. N. K. Nasir, M. A. Ahmad, R. M. T. Raja Ismail

Abstract:

The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic Regulator (LQR) and PID-PID controllers for a highly nonlinear 2–wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in statespace form and the system suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the LQR and PID-PID controllers are examined in terms of input tracking and disturbances rejection capability. Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed.

Keywords: PID, LQR, Two-wheels balancing robot.

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