Search results for: entry strip thickness deviation compensation
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1316

Search results for: entry strip thickness deviation compensation

1316 Design of a Fuzzy Feed-forward Controller for Monitor HAGC System of Cold Rolling Mill

Authors: S. Khosravi, A. Afshar, F. Barazandeh

Abstract:

In this study we propose a novel monitor hydraulic automatic gauge control (HAGC) system based on fuzzy feedforward controller. This is used in the development of cold rolling mill automation system to improve the quality of cold strip. According to features/ properties of entry steel strip like its average yield stress, width of strip, and desired exit thickness, this controller realizes the compensation for the exit thickness error. The traditional methods of adjusting the roller position, can-t tolerate the variance in the entry steel strip. The proposed method uses a mathematical model of the system together with the expert knowledge to perform this adjustment while minimizing the effect of the stated problem. In order to improve the speed of the controller in rejecting disturbances introduced by entry strip thickness variations, expert knowledge is added as a feed-forward term to the HAGC system. Simulation results for the application of the proposed controller to a real cold mill show that the exit strip quality is highly improved.

Keywords: Fuzzy feed-forward controller, monitor HAGC system, dynamic mathematical model, entry strip thickness deviation compensation

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1315 The Survey of the Buckling Effect of Laminated Plate under the Thermal Load using Complex Finite Strip Method

Authors: A.R.Nezamabadi, M.Mansouri Gavari, S.Mansouri, M.Mansouri Gavari

Abstract:

This article considers the positional buckling of composite thick plates under thermal loading . For this purpose , the complex finite strip method is used . In analysis of complex finite strip, harmonic complex function in longitudinal direction , cubic functions in transversal direction and parabola distribution of transverse shear strain in thickness of thick plate based on higherorder shear deformation theory are used . In given examples , the effect of angles of stratification , number of layers , dimensions ratio and length – to – thick ratio across critical temperature are considered.

Keywords: Thermal buckling , Thick plate , Complex finite strip , Higher – order shear deformation theory.

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1314 Effect of Rolling Parameters on Thin Strip Profile in Cold Rolling

Authors: H. B. Tibar, Z. Y. Jiang

Abstract:

In this study, the influence of rolling process parameters such as the work roll cross angle and work roll shifting value on the strip shape and profile of aluminum have been investigated under dry conditions at a speed ratio of 1.3 using Hille 100 experimental mill. The strip profile was found to improve significantly with increase in work roll cross angle from 0o to 1o, with an associated decrease in rolling force. The effect of roll shifting (from 0 to 8mm) was not as significant as the roll cross angle. However, an increase in work roll shifting value achieved a similar decrease in rolling force as that of work roll cross angle. The effect of work roll shifting was also found to be maximum at an optimum roll speed of 0.0986 m/s for the desired thickness. Of all these parameters, the most significant effect of the strip shape profile was observed with variation of work roll cross angle. However, the rolling force can be a significantly reduced by either increasing the the work roll cross angle or work roll shifting.

Keywords: Rolling speed ratio, strip shape, work roll cross angle, work roll shifting.

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1313 Rail-To-Rail Output Op-Amp Design with Negative Miller Capacitance Compensation

Authors: Muhaned Zaidi, Ian Grout, Abu Khari bin A’ain

Abstract:

In this paper, a two-stage op-amp design is considered using both Miller and negative Miller compensation techniques. The first op-amp design uses Miller compensation around the second amplification stage, whilst the second op-amp design uses negative Miller compensation around the first stage and Miller compensation around the second amplification stage. The aims of this work were to compare the gain and phase margins obtained using the different compensation techniques and identify the ability to choose either compensation technique based on a particular set of design requirements. The two op-amp designs created are based on the same two-stage rail-to-rail output CMOS op-amp architecture where the first stage of the op-amp consists of differential input and cascode circuits, and the second stage is a class AB amplifier. The op-amps have been designed using a 0.35mm CMOS fabrication process.

Keywords: Op-amp, rail-to-rail output, Miller compensation, negative Miller capacitance.

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1312 The Impact of Self-Phase Modulation on Dispersion Compensated Mapping Multiplexing Technique (MMT)

Authors: Mohamed A. Elsherif, A. Malekmohammadi

Abstract:

An exploration in the competency of the optical multilevel Mapping Multiplexing Technique (MMT) system in tolerating to the impact of nonlinearities as Self Phase Modulation (SPM) during the presence of dispersion compensation methods. The existence of high energy pulses stimulates deterioration in the chirp compression process attained by SPM which introduces an upper power boundary limit. An evaluation of the post and asymmetric prepost fiber compensation methods have been deployed on the MMT system compared with others of the same bit rate modulation formats. The MMT 40 Gb/s post compensation system has 1.4 dB enhancements to the 40 Gb/s 4-Arysystem and less than 3.9 dB penalty compared to the 40 Gb/s OOK-RZsystem. However, the optimized Pre-Post asymmetric compensation has an enhancement of 4.6 dB compared to the Post compensation MMT configuration for a 30% pre compensation dispersion.

Keywords: Dispersion compensation, mapping multiplexing technique, self-phase modulation.

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1311 Use of Radial Basis Function Neural Network for Bearing Pressure Prediction of Strip Footing on Reinforced Granular Bed Overlying Weak Soil

Authors: Srinath Shetty K., Shivashankar R., Rashmi P. Shetty

Abstract:

Earth reinforcing techniques have become useful and economical to solve problems related to difficult grounds and provide satisfactory foundation performance. In this context, this paper uses radial basis function neural network (RBFNN) for predicting the bearing pressure of strip footing on reinforced granular bed overlying weak soil. The inputs for the neural network models included plate width, thickness of granular bed and number of layers of reinforcements, settlement ratio, water content, dry density, cohesion and angle of friction. The results indicated that RBFNN model exhibited more than 84 % prediction accuracy, thereby demonstrating its application in a geotechnical problem.

Keywords: Bearing pressure, granular bed, radial basis function neural network, strip footing.

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1310 Design Charts for Strip Footing on Untreated and Cement Treated Sand Mat over Underlying Natural Soft Clay

Authors: Sharifullah Ahmed, Sarwar Jahan Md. Yasin

Abstract:

Shallow foundations on unimproved soft natural soils can undergo a high consolidation and secondary settlement. For low and medium rise building projects on such soil condition, pile foundation may not be cost effective. In such cases an alternative to pile foundations may be shallow strip footings placed on a double layered improved soil system soil. The upper layer of this system is untreated or cement treated compacted sand and underlying layer is natural soft clay. This system will reduce the settlement to an allowable limit. The current research has been conducted with the settlement of a rigid plane-strain strip footing of 2.5 m width placed on the surface of a soil consisting of an untreated or cement treated sand layer overlying a bed of homogeneous soft clay. The settlement of the mentioned shallow foundation has been studied considering both cases with the thicknesses of the sand layer are 0.3 to 0.9 times the width of footing. The response of the clay layer is assumed as undrained for plastic loading stages and drained during consolidation stages. The response of the sand layer is drained during all loading stages. FEM analysis was done using PLAXIS 2D Version 8.0. A natural clay deposit of 15 m thickness and 18 m width has been modeled using Hardening Soil Model, Soft Soil Model, Soft Soil Creep Model, and upper improvement layer has been modeled using only Hardening Soil Model. The groundwater level is at the top level of the clay deposit that made the system fully saturated. Parametric study has been conducted to determine the effect of thickness, density, cementation of the sand mat and density, shear strength of the soft clay layer on the settlement of strip foundation under the uniformly distributed vertical load of varying value. A set of the chart has been established for designing shallow strip footing on the sand mat over thick, soft clay deposit through obtaining the particular thickness of sand mat for particular subsoil parameter to ensure no punching shear failure and no settlement beyond allowable level. Design guideline in the form of non-dimensional charts has been developed for footing pressure equivalent to medium-rise residential or commercial building foundation with strip footing on soft inorganic Normally Consolidated (NC) soil of Bangladesh having void ratio from 1.0 to 1.45.

Keywords: Design charts, ground improvement, PLAXIS 2D, primary and secondary settlement, sand Mat, soft clay.

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1309 Analysis of the Strip Shape and Microstructure with Consideration of Roll Crossing and Shifting

Authors: Z. Y. Jiang, H. B. Tibar, A. Aljabri

Abstract:

Optimisation of the physical and mechanical properties of cold rolled thin strips is achieved by controlling the rolling parameters. In this paper, the factors affecting the asymmetrical cold rolling of thin low carbon steel strip have been studied at a speed ratio of 1.1 without lubricant applied. The effect of rolling parameters on the resulting microstructure was also investigated. It was found that under dry condition, work roll shifting and work roll cross angle can improve the strip profile, and the result is more significant with an increase of work roll cross angle rather than that of work roll shifting. However, there was no obvious change in microstructure. In addition, effects of rolling parameters on strip profile and microstructure have also been discussed.

Keywords: Reduction ratio, rolling speed ratio, strip shape, work rolls cross angle, work roll shifting.

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1308 Influence of Intermediate Principal Stress on Solution of Planar Stability Problems

Authors: M. Jahanandish, M. B. Zeydabadinejad

Abstract:

In this paper, von Mises and Drucker-Prager yield criteria, as typical ones that consider the effect of intermediate principal stress σ2, have been selected and employed for investigating the influence of σ2 on the solution of a typical stability problem. The bearing capacity factors have been calculated under plane strain condition (strip footing) and axisymmetric condition (circular footing) using the method of stress characteristics together with the criteria mentioned. Different levels of σ2 relative to the other two principal stresses have been considered. While a higher σ2 entry in yield criterion gives a higher bearing capacity; its entry in equilibrium equations (axisymmetric) causes substantial reduction.

Keywords: Intermediate principal stress, plane strain, axisymmetric, yield criteria.

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1307 An Augmented Beam-search Based Algorithm for the Strip Packing Problem

Authors: Hakim Akeb, Mhand Hifi

Abstract:

In this paper, the use of beam search and look-ahead strategies for solving the strip packing problem (SPP) is investigated. Given a strip of fixed width W, unlimited length L, and a set of n circular pieces of known radii, the objective is to determine the minimum length of the initial strip that packs all the pieces. An augmented algorithm which combines beam search and a look-ahead strategies is proposed. The look-ahead is used in order to evaluate the nodes at each level of the tree search. The best nodes are then retained for branching. The computational investigation showed that the proposed augmented algorithm is able to improve the best known solutions of the literature on most instances used.

Keywords: Combinatorial optimization, cutting and packing, beam search, heuristic, look-ahead strategy.

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1306 Evaluation of Bearing Capacity of Vertically Loaded Strip Piled-Raft Embedded in Soft Clay

Authors: Seyed Abolhasan Naeini, Mohammad Hosseinzade

Abstract:

Settlement and bearing capacity of a piled raft are the two important issues for the foundations of structures built on coastal areas from the geotechnical engineering point of view. Strip piled raft as a load carrying system can reduce the possible extensive consolidation settlements and improve bearing capacity of structures in soft ground. The aim of this research was to evaluate the efficiency of strip piled raft embedded in soft clay. The efficiency of bearing capacity of strip piled raft foundation has been evaluated numerically in two cases; in the first case, the cap is placed directly on the ground surface and in the second, the cap is placed above the ground. Regarding to the fact that the geotechnical parameters of the soft clay are considered at low level, low bearing capacity is expected. The length, diameter and axe-to-axe distance of piles were the parameters which varied in this study to find out how they affected the bearing capacity. Results indicate that increasing the length and the diameter of the piles increase the bearing capacity.

Keywords: Soft clay, Strip piled raft, Bearing capacity, Settlement.

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1305 Strip Decomposition Parallelization of Fast Direct Poisson Solver on a 3D Cartesian Staggered Grid

Authors: Minh Vuong Pham, Frédéric Plourde, Son Doan Kim

Abstract:

A strip domain decomposition parallel algorithm for fast direct Poisson solver is presented on a 3D Cartesian staggered grid. The parallel algorithm follows the principles of sequential algorithm for fast direct Poisson solver. Both Dirichlet and Neumann boundary conditions are addressed. Several test cases are likewise addressed in order to shed light on accuracy and efficiency in the strip domain parallelization algorithm. Actually the current implementation shows a very high efficiency when dealing with a large grid mesh up to 3.6 * 109 under massive parallel approach, which explicitly demonstrates that the proposed algorithm is ready for massive parallel computing.

Keywords: Strip-decomposition, parallelization, fast directpoisson solver.

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1304 Steady-State Performance of a New Model for UPFC Applied to Multi-Machines System with Nonlinear Load

Authors: S.Ali Al-Mawsawi

Abstract:

In this paper, a new developed construction model of the UPFC is proposed. The construction of this model consists of one shunt compensation block and two series compensation blocks. In this case, the UPFC with the new construction model will be investigated when it is installed in multi-machine systems with nonlinear load model. In addition, the steady–state performance of the new model operating as impedance compensation will be presented and compared with that obtained from the system without compensation.

Keywords: UPFC, PWM, Nonlinear load, Multi-Machines system

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1303 Control of Pressure Gradient in the Contraction of a Wind Tunnel

Authors: Dehghan Manshadi M., Mirzaei M., Soltani M. R., Ghorbanian K.

Abstract:

Subsonic wind tunnel experiments were conducted to study the effect of tripped boundary layer on the pressure distribution in the contraction region of the tunnel. Measurements were performed by installing trip strip at two different positions in the concave portion of the contraction. The results show that installation of the trip strips, have significant effects on both turbulence and pressure distribution. The reduction in the free stream turbulence and reduction of the wall static pressure distribution deferred signified with the location of the trip strip.

Keywords: Contraction, pressure distribution, trip strip, turbulence intensity.

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1302 The Effect of the Hourly Compensation on the Unemployment Rate: Comparative Analysis of United States, Canada and the United Kingdom Using Panel Data Regression Analysis

Authors: Ashiquer Rahman, Hares Mohammad, Ummey Salma

Abstract:

A country’s hourly compensation and unemployment rates are two of its most crucial components. They are not merely statistics but they have profound effects on individual, families, country, and the economy. They are inversely related to one another. The increased hourly compensation in the manufacturing sector can have a favorable effect on job changing issues. Moreover, the relationship between hourly compensation and unemployment is complex and influenced by broader economic factors. In this paper, in order to determine the effect of hourly compensation on unemployment rate, we use the panel data regression models and evaluate the expected link between hourly compensation and unemployment rate. We estimate the fixed effects model (FEM), evaluate the error components model (ECM), and determine which model (the FEM or ECM) is better through pooling all 60 observations. We then analyze and review the data by comparing countries (United States, Canada and the United Kingdom) using panel data regression models. Finally, we provide result, analysis and a summary of this extensive research on how the hourly compensation affects unemployment rate. Additionally, this paper offers relevant and useful guideline for the government and academic community to use an econometrics and social approach for the hourly compensation on unemployment rate to eliminate the problem.

Keywords: Hourly compensation, unemployment rate, panel data regression models, dummy variables, random effects model, fixed effects model, the linear regression model.

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1301 Springback Investigation on Sheet Metal Incremental Formed Parts

Authors: Hongyu Wei, Wenliang Chen, Lin Gao

Abstract:

Incremental forming is a complex forming process with continuously local cumulative deformation taking place during its process, and springback that forming quality affected by would occur. The springback evaluation method based on forming error compensation also was proposed, which it can be defined as the difference between theory and the actual amount of compensation along the measured direction. According to forming error compensation evaluation method, experiments was designed and implemented. And from the results that obtained it can be show, the magnitude of springback average (δE) of formed parts was very small, and the forming precision could be significantly improved by adopting compensation method. Based on double tensile stress state in the main deformation area, a hypothesis that there is little springback be arisen by bending behavior on the formed parts that was proposed.

Keywords: Sheet metal, incremental forming, springback, forming error compensation, geometric accuracy

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1300 Classification of Initial Stripe Height Patterns using Radial Basis Function Neural Network for Proportional Gain Prediction

Authors: Prasit Wonglersak, Prakarnkiat Youngkong, Ittipon Cheowanish

Abstract:

This paper aims to improve a fine lapping process of hard disk drive (HDD) lapping machines by removing materials from each slider together with controlling the strip height (SH) variation to minimum value. The standard deviation is the key parameter to evaluate the strip height variation, hence it is minimized. In this paper, a design of experiment (DOE) with factorial analysis by twoway analysis of variance (ANOVA) is adopted to obtain a statistically information. The statistics results reveal that initial stripe height patterns affect the final SH variation. Therefore, initial SH classification using a radial basis function neural network is implemented to achieve the proportional gain prediction.

Keywords: Stripe height variation, Two-way analysis ofvariance (ANOVA), Radial basis function neural network, Proportional gain prediction.

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1299 Five-axis Strip Machining with Barrel Cutter Based On Tolerance Constraint for Sculptured Surfaces

Authors: YaoAn Lu, QingZhen Bi, BaoRui Du, ShuLin Chen, LiMin Zhu, Kai Huang

Abstract:

Taking the design tolerance into account, this paper presents a novel efficient approach to generate iso-scallop tool path for five-axis strip machining with a barrel cutter. The cutter location is first determined on the scallop surface instead of the design surface, and then the cutter is adjusted to locate the optimal tool position based on the differential rotation of the tool axis and satisfies the design tolerance simultaneously. The machining strip width and error are calculated with the aid of the grazing curve of the cutter. Based on the proposed tool positioning algorithm, the tool paths are generated by keeping the scallop height formed by adjacent tool paths constant. An example is conducted to confirm the validity of the proposed method.

Keywords: Strip machining, barrel cutter, iso-scallop tool path, sculptured surfaces, differential motion.

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1298 Stability Issues on an Implemented All-Pass Filter Circuitry

Authors: Ákos Pintér, István Dénes

Abstract:

The so-called all-pass filter circuits are commonly used in the field of signal processing, control and measurement. Being connected to capacitive loads, these circuits tend to loose their stability; therefore the elaborate analysis of their dynamic behavior is necessary. The compensation methods intending to increase the stability of such circuits are discussed in this paper, including the socalled lead-lag compensation technique being treated in detail. For the dynamic modeling, a two-port network model of the all-pass filter is being derived. The results of the model analysis show, that effective lead-lag compensation can be achieved, alone by the optimization of the circuit parameters; therefore the application of additional electric components are not needed to fulfill the stability requirement.

Keywords: all-pass filter, frequency compensation, stability, linear modeling

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1297 Simulink Library for Reference Current Generation in Active DC Traction Substations

Authors: Mihaela Popescu, Alexandru Bitoleanu

Abstract:

This paper is focused on the reference current calculation in the compensation mode of the active DC traction substations. The so-called p-q theory of the instantaneous reactive power is used as theoretical foundation. The compensation goal of total compensation is taken into consideration for the operation under both sinusoidal and nonsinusoidal voltage conditions, through the two objectives of unity power factor and perfect harmonic cancelation. Four blocks of reference current generation implement the conceived algorithms and they are included in a specific Simulink library, which is useful in a DSP dSPACE-based platform working under Matlab/Simulink. The simulation results validate the correctness of the implementation and fulfillment of the compensation tasks.

Keywords: Active power filter, DC traction, p-q theory, Simulink library.

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1296 Real-Time Testing of Steel Strip Welds based on Bayesian Decision Theory

Authors: Julio Molleda, Daniel F. García, Juan C. Granda, Francisco J. Suárez

Abstract:

One of the main trouble in a steel strip manufacturing line is the breakage of whatever weld carried out between steel coils, that are used to produce the continuous strip to be processed. A weld breakage results in a several hours stop of the manufacturing line. In this process the damages caused by the breakage must be repaired. After the reparation and in order to go on with the production it will be necessary a restarting process of the line. For minimizing this problem, a human operator must inspect visually and manually each weld in order to avoid its breakage during the manufacturing process. The work presented in this paper is based on the Bayesian decision theory and it presents an approach to detect, on real-time, steel strip defective welds. This approach is based on quantifying the tradeoffs between various classification decisions using probability and the costs that accompany such decisions.

Keywords: Classification, Pattern Recognition, ProbabilisticReasoning, Statistical Data Analysis.

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1295 Transaction Costs in Institutional Environment and Entry Mode Choice

Authors: K. D. Mroczek

Abstract:

In the study presented institutional context is discussed in terms of companies’ entry mode choice. In contrary to many previous analyses, instead of using one or two aggregated variables, a set of eleven determinants is used to establish equity and non-equity internationalization friendly conditions. Based on secondary data, 140 countries are analyzed and grouped into clusters revealing similar framework. The range of the economies explored is wide as it covers all regions distinguished by The World Bank. The results can prove a useful alternative for operationalization of institutional variables in further research concerning entry modes or strategic management in international markets.

Keywords: Clustering, entry mode choice, institutional environment, transaction costs.

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1294 Effect of Processing Methods on Texture Evolution in AZ31 Mg Alloy Sheet

Authors: Jung-Ho Moon, Tae Kwon Ha

Abstract:

Textures of AZ31 Mg alloy sheets were evaluated by using neutron diffraction method in this study. The AZ31 sheets were fabricated either by conventional casting and subsequent hot rolling or strip casting. The effect of warm rolling was investigated using the AZ31 Mg alloy sheet produced by conventional casting. Warm rolling of 30% thickness reduction per pass was possible without any side-crack at temperatures as low as 200oC under the roll speed of 30 m/min. The initial microstructure of conventionally cast specimen was found to be partially recrystallized structures. Grain refinement was found to occur actively during the warm rolling. The (0002),(10-10) (10-11),and (10-12) complete pole figures were measured using the HANARO FCD (Neutron Four Circle Diffractometer) and ODF were calculated. The major texture of all specimens can be expressed by ND//(0001) fiber texture. Texture of hot rolled specimen showed the strongest fiber component, while that of strip cast sheet seemed to be similar to random distribution.

Keywords: Mg alloy, texture, pole figure, ODF, neutron diffraction, warm rolling.

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1293 An On-chip LDO Voltage Regulator with Improved Current Buffer Compensation

Authors: Lv Xiaopeng, Bian Qiang, Yue Suge

Abstract:

A fully on-chip low drop-out (LDO) voltage regulator with 100pF output load capacitor is presented. A novel frequency compensation scheme using current buffer is adopted to realize single dominant pole within the unit gain frequency of the regulation loop, the phase margin (PM) is at least 50 degree under the full range of the load current, and the power supply rejection (PSR) character is improved compared with conventional Miller compensation. Besides, the differentiator provides a high speed path during the load current transient. Implemented in 0.18μm CMOS technology, the LDO voltage regulator provides 100mA load current with a stable 1.8V output voltage consuming 80μA quiescent current.

Keywords: capacitor-less LDO, frequency compensation, transient response, power supply rejection

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1292 Factors for Entry Timing Choices Using Principal Axis Factorial Analysis and Logistic Regression Model

Authors: Mat Isa, C. M., Mohd Saman, H., Mohd Nasir, S. R., Jaapar, A.

Abstract:

International market expansion involves a strategic process of market entry decision through which a firm expands its operation from domestic to the international domain. Hence, entry timing choices require the needs to balance the early entry risks and the problems in losing opportunities as a result of late entry into a new market. Questionnaire surveys administered to 115 Malaysian construction firms operating in 51 countries worldwide have resulted in 39.1 percent response rate. Factor analysis was used to determine the most significant factors affecting entry timing choices of the firms to penetrate the international market. A logistic regression analysis used to examine the firms’ entry timing choices, indicates that the model has correctly classified 89.5 per cent of cases as late movers. The findings reveal that the most significant factor influencing the construction firms’ choices as late movers was the firm factor related to the firm’s international experience, resources, competencies and financing capacity. The study also offers valuable information to construction firms with intention to internationalize their businesses.

Keywords: Factors, early movers, entry timing choices, late movers, Logistic Regression Model, Principal Axis Factorial Analysis, Malaysian construction firms.

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1291 Effective Work Roll Cooling toward Stand Reduction in Hot Strip Process

Authors: Temsiri Sapsaman, Anocha Bhocarattanahkul

Abstract:

The maintenance of work rolls in hot strip processing has been lengthy and difficult tasks for hot strip manufacturer because heavy work rolls have to be taken out of the production line, which could take hours. One way to increase the time between maintenance is to improve the effectiveness of the work roll cooling system such that the wear and tear more slowly occurs, while the operation cost is kept low. Therefore, this study aims to improve the work roll cooling system by providing the manufacturer the relationship between the work-roll temperature reduced by cooling and the water flow that can help manufacturer determining the more effective water flow of the cooling system. The relationship is found using simulation with a systematic process adjustment so that the satisfying quality of product is achieved. Results suggest that the manufacturer could reduce the water flow by 9% with roughly the same performance. With the same process adjustment, the feasibility of finishing-mill-stand reduction is also investigated. Results suggest its possibility.

Keywords: Work-roll cooling system, hot strip process adjustment, feasibility study.

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1290 Model Free Terminal Sliding Mode with Gravity Compensation: Application to an Exoskeleton-Upper Limb System

Authors: Sana Bembli, Nahla Khraief Haddad, Safya Belghith

Abstract:

This paper deals with a robust model free terminal sliding mode with gravity compensation approach used to control an exoskeleton-upper limb system. The considered system is a 2-DoF robot in interaction with an upper limb used for rehabilitation. The aim of this paper is to control the flexion/extension movement of the shoulder and the elbow joints in presence of matched disturbances. In the first part, we present the exoskeleton-upper limb system modeling. Then, we controlled the considered system by the model free terminal sliding mode with gravity compensation. A stability study is realized. To prove the controller performance, a robustness analysis was needed. Simulation results are provided to confirm the robustness of the gravity compensation combined with to the Model free terminal sliding mode in presence of uncertainties.

Keywords: Exoskeleton-upper limb system, gravity compensation, model free terminal sliding mode, robustness analysis, Monte Carlo, H∞ methods.

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1289 Characteristics of Speed Dispersion in Urban Expressway

Authors: Fujian Wang, Shubin Ruan, Meiwei Dai

Abstract:

Speed dispersion has tight relation to traffic safety. In this paper, several kinds of indicating parameters (the standard speed deviation, the coefficient of variation, the deviation of V85 and V15, the mean speed deviations, and the difference between adjacent car speeds) are applied to investigate the characteristics of speed dispersion, where V85 and V15 are 85th and 15th percentile speed, respectively. Their relationships are into full investigations and the results show that: there exists a positive relation (linear) between mean speed and the deviation of V85 and V15; while a negative relation (quadratic) between traffic flow and standard speed deviation. The mean speed deviation grows exponentially with mean speed while the absolute speed deviation between adjacent cars grows linearly with the headway. The results provide some basic information for traffic management.

Keywords: Headway, indicating parameters, speed dispersion, urban expressway.

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1288 Coupling Compensation of 6-DOF Parallel Robot Based on Screw Theory

Authors: Ming Cong, Yinghua Wu, Dong Liu, Haiying Wen, Junfa Yu

Abstract:

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.

Keywords: coupling compensation, screw theory, parallel robot, mechanism-model combined motion

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1287 Roundabout Optimal Entry and Circulating Flow Induced by Road Hump

Authors: Amir Hossein Pakshir, A. Hossein Pour, N. Jahandar, Ali Paydar

Abstract:

Roundabout work on the principle of circulation and entry flows, where the maximum entry flow rates depend largely on circulating flow bearing in mind that entry flows must give away to circulating flows. Where an existing roundabout has a road hump installed at the entry arm, it can be hypothesized that the kinematics of vehicles may prevent the entry arm from achieving optimum performance. Road humps are traffic calming devices placed across road width solely as speed reduction mechanism. They are the preferred traffic calming option in Malaysia and often used on single and dual carriageway local routes. The speed limit on local routes is 30mph (50 km/hr). Road humps in their various forms achieved the biggest mean speed reduction (based on a mean speed before traffic calming of 30mph) of up to 10mph or 16 km/hr according to the UK Department of Transport. The underlying aim of reduced speed should be to achieve a 'safe' distribution of speeds which reflects the function of the road and the impacts on the local community. Constraining safe distribution of speeds may lead to poor drivers timing and delayed reflex reaction that can probably cause accident. Previous studies on road hump impact have focused mainly on speed reduction, traffic volume, noise and vibrations, discomfort and delay from the use of road humps. The paper is aimed at optimal entry and circulating flow induced by road humps. Results show that roundabout entry and circulating flow perform better in circumstances where there is no road hump at entrance.

Keywords: Road hump, Roundabout, Speed Reduction

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