Search results for: injection velocity

Authors: Xuan Sun, Mingbo Tong

Abstract:

To understand the factors which affect impact damage on composite structures, particularly the effects of impact position and ribs. In this paper, a finite element model (FEM) of low-velocity impact damage on the composite structure was established via the nonlinear finite element method, combined with the user-defined materials subroutine (VUMAT) of the ABAQUS software. The structural elements chosen for the investigation comprised a series of stiffened composite panels, representative of real aircraft structure. By impacting the panels at different positions relative to the ribs, the effect of relative position of ribs was found out. Then the simulation results and the experiments data were compared. Finally, the factors which affect impact damage on the structures were discussed. The paper was helpful for the design of stiffened composite structures.

Keywords: Stiffened, Low-velocity, Impact, Abaqus, Impact Energy.

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Authors: Ricardo Merlo

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In this paper, we analyzed the different didactic proposals for teaching about the free fall motion of bodies available online. An important aspect was the interpretation of the direction and sense of the acceleration of gravity and of the falling velocity of a body, which is why we found different applications of the Cartesian reference system used and also different graphical presentations of the velocity as a function of time and of the distance traveled vertically by the body in the period of time that it was dropped from a height h0. In this framework, a survey of previous concepts was applied to a voluntary group of first-year university students of an Engineering degree before and after the development of the class of the subject in question. Then, Hake's index (0.52) was determined, which resulted in an average learning gain from the meaningful use of the reference system and the respective graphs of velocity versus time and height versus time.

Keywords: Didactic gain, free–fall, physics teaching, previous knowledge.

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Authors: Ram N. Singh, Abraham K. George, Dawood N. Al-Namaani

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The Euler-s equation of motion is extended to include the viscosity stress tensor leading to the formulation of Navier– Stokes type equation. The latter is linearized and applied to investigate the rotational motion or vorticity in a viscous fluid. Relations for the velocity of viscous waves and attenuation parameter are obtained in terms of viscosity (μ) and the density (¤ü) of the fluid. μ and ¤ü are measured experimentally as a function of temperature for two different samples of light and heavy crude oil. These data facilitated to determine the activation energy, velocity of viscous wave and the attenuation parameter. Shear wave velocity in heavy oil is found to be much larger than the light oil, whereas the attenuation parameter in heavy oil is quite low in comparison to light one. The activation energy of heavy oil is three times larger than light oil.

Keywords: Activation Energy, Attenuation, Crude Oil, Navier- Stokes Equation, Viscosity.

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Authors: Imran Siddique

Abstract:

This paper deals with the helical flow of a Newtonian fluid in an infinite circular cylinder, due to both longitudinal and rotational shear stress. The velocity field and the resulting shear stress are determined by means of the Laplace and finite Hankel transforms and satisfy all imposed initial and boundary conditions. For large times, these solutions reduce to the well-known steady-state solutions.

Keywords: Newtonian fluids, Velocity field, Exact solutions, Shear stress, Cylindrical domains.

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Authors: M. Najafi, F. Rahimi Dehgolan

Abstract:

In this paper, the dynamic modeling of a single-link flexible beam with a tip mass is given by using Hamilton's principle. The link has been rotational and translational motion and it was assumed that the beam is moving with a harmonic velocity about a constant mean velocity. Non-linearity has been introduced by including the non-linear strain to the analysis. Dynamic model is obtained by Euler-Bernoulli beam assumption and modal expansion method. Also, the effects of rotary inertia, axial force, and associated boundary conditions of the dynamic model were analyzed. Since the complex boundary value problem cannot be solved analytically, the multiple scale method is utilized to obtain an approximate solution. Finally, the effects of several conditions on the differences among the behavior of the non-linear term, mean velocity on natural frequencies and the system stability are discussed.

Keywords: Non-linear vibration, stability, axially moving beam, bifurcation, multiple scales method.

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Authors: S. Manaseer, F. A. Masooud, A. A. Sharieh

Abstract:

Fault tolerance is critical in many of today's large computer systems. This paper focuses on improving fault tolerance through testing. Moreover, it concentrates on the memory faults: how to access the editable part of a process memory space and how this part is affected. A special Software Fault Injection Technique (SFIT) is proposed for this purpose. This is done by sequentially scanning the memory of the target process, and trying to edit maximum number of bytes inside that memory. The technique was implemented and tested on a group of programs in software packages such as jet-audio, Notepad, Microsoft Word, Microsoft Excel, and Microsoft Outlook. The results from the test sample process indicate that the size of the scanned area depends on several factors. These factors are: process size, process type, and virtual memory size of the machine under test. The results show that increasing the process size will increase the scanned memory space. They also show that input-output processes have more scanned area size than other processes. Increasing the virtual memory size will also affect the size of the scanned area but to a certain limit.

Keywords: Complex software systems, Error detection, Fault tolerance, Injection and testing methodology, Memory faults, Process and virtual memory.

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Authors: M. S. Reza, M. Hamdi, S. H. Tomadi, A. R. Ismail

Abstract:

The operating control parameters of injection flushing type of electrical discharge machining process on stainless steel 304 workpiece using copper tools are being optimized according to its individual machining characteristic i.e. Electrode Wear Ratio (EWR). Higher EWR would give bad dimensional precision for the EDM machined workpiece because of high electrode wear. Hence, the quality characteristic for EWR is set to lower-the-better to achieve the optimum dimensional precision for the machined workpiece. Taguchi method has been used for the construction, layout and analysis of the experiment for EWR machining characteristic. The use of Taguchi method in the experiment saves a lot of time and cost of preparing and machining the experiment samples. Therefore, an L18 Orthogonal array which was the fundamental component in the statistical design of experiments has been used to plan the experiments and Analysis of Variance (ANOVA) is used to determine the optimum machining parameters for this machining characteristic. The control parameters selected for this optimization experiments are polarity, pulse on duration, discharge current, discharge voltage, machining depth, machining diameter and dielectric liquid pressure. The result had shown that negative polarity machining parameter setting will decreases EWR.

Keywords: ANOVA, EDM, Injection Flushing, L18Orthogonal Array, EWR, Stainless Steel 304

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Authors: Madhujit Deb, G. R. K. Sastry, R. S. Panua, Rahul Banerjee, P. K. Bose

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The present work attempts to investigate the combustion, performance and emission characteristics of an existing single-cylinder four-stroke compression-ignition engine operated in dual-fuel mode with hydrogen as an alternative fuel. Environmental concerns and limited amount of petroleum fuels have caused interests in the development of alternative fuels like hydrogen for internal combustion (IC) engines. In this experimental investigation, a diesel engine is made to run using hydrogen in dual fuel mode with diesel, where hydrogen is introduced into the intake manifold using an LPGCNG injector and pilot diesel is injected using diesel injectors. A Timed Manifold Injection (TMI) system has been developed to vary the injection strategies. The optimized timing for the injection of hydrogen was 10^0 CA after top dead center (ATDC). From the study it was observed that with increasing hydrogen rate, enhancement in brake thermal efficiency (BTHE) of the engine has been observed with reduction in brake specific energy consumption (BSEC). Furthermore, Soot contents decrease with an increase in indicated specific NOx emissions with the enhancement of hydrogen flow rate.

Keywords: Diesel engine, Hydrogen, BTHE, BSEC, Soot, NOx.

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Authors: Jiri Brozovsky

Abstract:

Modulus of elasticity is one of the important parameters of construction materials, which considerably influence their deformation properties and which can also be determined by means of non-destructive test methods like ultrasonic pulse method. However, measurement results of ultrasonic pulse methods are influenced by various factors, one of which is the natural frequency of the transducers. The paper states knowledge about influence of natural frequency of the transducers (54; 82 and 150kHz) on ultrasonic pulse velocity and dynamic modulus of elasticity (Young's Dynamic modulus of elasticity). Differences between ultrasonic pulse velocity and dynamic modulus of elasticity were found with the same smallest dimension of test specimen in the direction of sounding and density their value decreases as the natural frequency of transducers grew.

Keywords: Calcium silicate brick, ultrasonic pulse method, ultrasonic pulse velocity, dynamic modulus of elasticity.

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Authors: Rana Khalid Naeem, Asif Mansoor

Abstract:

In this communication an expression for mean velocity of waste flow via an open channel is proposed which is an improvement over Manning formula. The discharges, storages and depths are computed at all locations of the Lyari river by utilizing proposed expression. The results attained through proposed expression are in good agreement with the observed data and better than those acquired using Manning formula.

Keywords: Comparison, Depth, Flow, Open Channel, Proposed Model, Storage

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Authors: Pandaba Patro, Brundaban Patro

Abstract:

The numerical simulation of fully developed gas–solid flow in a horizontal pipe is done using the eulerian-eulerian approach, also known as two fluids modeling as both phases are treated as continuum and inter-penetrating continua. The solid phase stresses are modeled using kinetic theory of granular flow (KTGF). The computed results for velocity profiles and pressure drop are compared with the experimental data. We observe that the convection and diffusion terms in the granular temperature cannot be neglected in gas solid flow simulation along a horizontal pipe. The particle-wall collision and lift also play important role in eulerian modeling. We also investigated the effect of flow parameters like gas velocity, particle properties and particle loading on pressure drop prediction in different pipe diameters. Pressure drop increases with gas velocity and particle loading. The gas velocity has the same effect ((proportional toU2 ) as single phase flow on pressure drop prediction. With respect to particle diameter, pressure drop first increases, reaches a peak and then decreases. The peak is a strong function of pipe bore.

Keywords: CFD, Eulerian modeling, gas solid flow, KTGF.

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Authors: Mahmoud Zarrini

Abstract:

Avalanche release of snow has been modeled in the present studies. Snow is assumed to be represented by semi-solid and the governing equations have been studied from the concept of continuum approach. The dynamical equations have been solved for two different zones [starting zone and track zone] by using appropriate initial and boundary conditions. Effect of density (ρ), Eddy viscosity (η), Slope angle (θ), Slab depth (R) on the flow parameters have been observed in the present studies. Numerical methods have been employed for computing the non linear differential equations. One of the most interesting and fundamental innovation in the present studies is getting initial condition for the computation of velocity by numerical approach. This information of the velocity has obtained through the concept of fracture mechanics applicable to snow. The results on the flow parameters have found to be in qualitative agreement with the published results.

Keywords: Snow avalanche, fracture mechanics, avalanche velocity, avalanche zones.

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

Abstract:

Voltage stability has become an important issue to many power systems around the world due to the weak systems and long line on power system networks. In this paper, MATLAB load flow program is applied to obtain the weak points in the system combined with finding the voltage stability limit. The maximum permissible loading of a system, within the voltage stability limit, is usually determined. The methods for varying tap ratio (using tap changing transformer) and applying different values of shunt capacitor injection to improve the voltage stability within the limit are also provided.

Keywords: Load flow, Voltage stability, Tap changingtransformer, Shunt capacitor injection, Voltage stability limit

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Authors: Mahmud Gungor, Ali Aydin, Erdal Akyol, Suat Tasdelen

Abstract:

The understanding of geotechnical characteristics of near-surface material and the effects of the groundwater is very important problem in such as site studies. For showing the relations between seismic data and groundwater, we selected about 25 km2 as the study area. It has been presented which is a detailed work of seismic data and groundwater depths of Gokpinar Damp area. Seismic waves velocity (Vp and Vs) are very important parameters showing the soil properties. The seismic records were used the method of the multichannel analysis of surface waves near area of Gokpinar Damp area. Sixty sites in this area have been investigated with survey lines about 60 m in length. MASW (Multichannel analysis of surface wave) method has been used to generate onedimensional shear wave velocity profile at locations. These shear wave velocities are used to estimate equivalent shear wave velocity in the study area at every 2 and 5 m intervals up to a depth of 45 m. Levels of equivalent shear wave velocity of soil are used the classified of the study area. After the results of the study, it must be considered as components of urban planning and building design of Gokpinar Damp area, Denizli and the application and use of these results should be required and enforced by municipal authorities.

Keywords: Seismic data, Gokpinar Damp, urban planning, Denizli.

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Authors: M. Jalali Azizpour, H. Mohammadi Majd

Abstract:

High velocity oxygen fuel (HVOF) spray technique is one of the leading technologies that have been proposed as an alternative to the replacement of electrolytic hard chromium plating in a number of engineering applications. In this study, WC-Co powder was coated on AISI1045 steel using high velocity oxy fuel (HVOF) method. The sin²ψ method was used to evaluate the through thickness residual stress by means of XRD after mechanical layer removal process (only grinding). The average of through thickness residual stress using X-Ray diffraction was -400 MPa.

Keywords: Grinding, HVOF, Thermal spray, WC-Co.

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Authors: Reza Hossseynie, Amir Jafari

Abstract:

This paper presents a method for steering velocity bounded mobile robots in environments with partially known stationary obstacles. The exact location of obstacles is unknown and only a probability distribution associated with the location of the obstacles is known. Kinematic model of a 2-wheeled differential drive robot is used as the model of mobile robot. The presented control strategy uses the Artificial Potential Field (APF) method for devising a desired direction of movement for the robot at each instant of time while the Constrained Directions Control (CDC) uses the generated direction to produce the control signals required for steering the robot. The location of each obstacle is considered to be the mean value of the 2D probability distribution and similarly, the magnitude of the electric charge in the APF is set as the trace of covariance matrix of the location probability distribution. The method not only captures the challenges of planning the path (i.e. probabilistic nature of the location of unknown obstacles), but it also addresses the output saturation which is considered to be an important issue from the control perspective. Moreover, velocity of the robot can be controlled during the steering. For example, the velocity of robot can be reduced in close vicinity of obstacles and target to ensure safety. Finally, the control strategy is simulated for different scenarios to show how the method can be put into practice.

Keywords: Steering, obstacle avoidance, mobile robots, constrained directions control, artificial potential field.

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Authors: Ayush Chugh, Gaurav Gupta

Abstract:

Today’s technology is heavily dependent on web applications. Web applications are being accepted by users at a very rapid pace. These have made our work efficient. These include webmail, online retail sale, online gaming, wikis, departure and arrival of trains and flights and list is very long. These are developed in different languages like PHP, Python, C#, ASP.NET and many more by using scripts such as HTML and JavaScript. Attackers develop tools and techniques to exploit web applications and legitimate websites. This has led to rise of web application security; which can be broadly classified into Declarative Security and Program Security. The most common attacks on the applications are by SQL Injection and XSS which give access to unauthorized users who totally damage or destroy the system. This paper presents a detailed literature description and analysis on Web Application Security, examples of attacks and steps to mitigate the vulnerabilities.

Keywords: Attacks, Injection, JavaScript, SQL, Vulnerability, XSS.

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Authors: M. Jalali Azizpour, H. Mohammadi Majd

Abstract:

In this paper, the effect of WC-12Co particle velocity in HVOF thermal spraying process on the coating thickness has been studied. The statistical results show that the spray distance and oxygen-to-fuel ratio are more effective factors on particle characterization and thickness of HVOF thermal spraying coatings. Spray Watch diagnostic system, scanning electron microscopy (SEM), X-ray diffraction and thickness measuring system were used for this purpose.

Keywords: Grinding, HVOF, Thermal spray, WC-Co.

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Authors: Giovanni Incerti

Abstract:

The dynamic behaviour of a four-bar linkage driven by a velocity controlled DC motor is discussed in the paper. In particular the author presents the results obtained by means of a specifically developed software, which implements the mathematical models of all components of the system (linkage, transmission, electric motor, control devices). The use of this software enables a more efficient design approach, since it allows the designer to check, in a simple and immediate way, the dynamic behaviour of the mechanism, arising from different values of the system parameters.

Keywords: Four-bar linkage, Speed control, Dynamic analysis.

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Authors: Dowluru Ravi Kumar, Bhima Prabhakara Rao

Abstract:

Propagation of solitons in single-mode birefringent fibers is considered under the presence of third-order dispersion (TOD). The behavior of two neighboring solitons and their interaction is investigated under the presence of third-order dispersion with different group velocity dispersion (GVD) parameters. It is found that third-order dispersion makes the resultant soliton to deviate from its ideal position and increases the interaction between adjacent soliton pulses. It is also observed that this deviation due to third-order dispersion is considerably small when the optical pulse propagates at wavelengths relatively far from the zerodispersion. Modified coupled nonlinear Schrödinger-s equations (CNLSE) representing the propagation of optical pulse in single mode fiber with TOD are solved using split-step Fourier algorithm. The results presented in this paper reveal that the third-order dispersion can substantially increase the interaction between the solitons, but large group velocity dispersion reduces the interaction between neighboring solitons.

Keywords: Birefringence, Group velocity dispersion, Polarization mode dispersion, Soliton interaction, Third order dispersion.

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Authors: M. Najafi, S. Bab, F. Rahimi Dehgolan

Abstract:

The motion of an axially moving beam with rotating prismatic joint with a tip mass on the end is analyzed to investigate the nonlinear vibration and dynamic stability of the beam. The beam is moving with a harmonic axially and rotating velocity about a constant mean velocity. A time-dependent partial differential equation and boundary conditions with the aid of the Hamilton principle are derived to describe the beam lateral deflection. After the partial differential equation is discretized by the Galerkin method, the method of multiple scales is applied to obtain analytical solutions. Frequency response curves are plotted for the super harmonic resonances of the first and the second modes. The effects of non-linear term and mean velocity are investigated on the steady state response of the axially moving beam. The results are validated with numerical simulations.

Keywords: Axially moving beam, Galerkin method, non-linear vibration, super harmonic resonances.

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Authors: K. Kannan, V. Venkataraman

Abstract:

Free convection effects and heat transfer due to a pulsating point heat source embedded in an infinite, fluid saturated, porous dusty medium are studied analytically. Both velocity and temperature fields are discussed in the form of series expansions in the Rayleigh number, for both the fluid and particle phases based on the mean heat generation rate from source and on the permeability of the porous dusty medium. This study is carried out by assuming the Rayleigh number small and the validity of Darcy-s law. Analytical expressions for both phases are obtained for second order mean in both velocity and temperature fields and evolution of different wave patterns are observed in the fluctuating part. It has been observed that, at the vicinity of the origin, the second order mean flow is influenced only by relaxation time of dust particles and not by dust concentration.

Keywords: Pulsating point heat source, azimuthal velocity, porous dusty medium, Darcy's law.

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Authors: Seni Karnchanawong, Wachara Phajee

Abstract:

The effects of upflow liquid velocity (ULV) on performance of expanded granular sludge bed (EGSB) system were investigated. The EGSB reactor, made from galvanized steel pipe 0.10 m diameter and 5 m height, had been used to treat piggery wastewater, after passing through acidification tank. It consisted of 39.3 l working volume in reaction zone and 122 l working volume in sedimentation zone, at the upper part. The reactor was seeded with anaerobically digested sludge and operated at the ULVs of 4, 8, 12 and 16 m/h, consecutively, corresponding to organic loading rates of 9.6 – 13.0 kg COD/ (m3.d). The average COD concentrations in the influent were 9,601 – 13,050 mg/l. The COD removal was not significantly different, i.e. 93.0% - 94.0%, except at ULV 12 m/h where SS in the influent was exceptionally high so that VSS washout had occurred, leading to low COD removal. The FCOD and VFA concentrations in the effluent of all experiments were not much different, indicating the same range of treatment performance. The biogas production decreased at higher ULV and ULV of 4 m/h is suggested as design criterion for EGSB system.

Keywords: Expanded granular sludge bed system, piggery wastewater, upflow liquid velocity

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Authors: Sh. Khalilarya, S. Jafarmadar, H. Khatamnezhad, Gh. Javadirad, M. Pourfallah

Abstract:

One promising way to achieve low temperature combustion regime is the use of a large amount of cooled EGR. In this paper, the effect of injection timing on low temperature combustion process and emissions were investigated via three dimensional computational fluid dynamics (CFD) procedures in a DI diesel engine using high EGR rates. The results show when increasing EGR from low levels to levels corresponding to reduced temperature combustion, soot emission after first increasing, is decreased beyond 40% EGR and get the lowest value at 58% EGR rate. Soot and NOx emissions are simultaneously decreased at advanced injection timing before 20.5 ºCA BTDC in conjunction with 58% cooled EGR rate in compared to baseline case.

Keywords: Diesel Engine, Low Temperature Combustion, High Cooled EGR Rates, Combustion, Emissions

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Authors: K. R. V. Manikantachari, Vasudevan Raghavan, K. Srinivasan

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Present study focuses on studying the oscillatory behavior of jet diffusion flames. At a particular jet exit velocity, the flames are seen to exhibit natural flickering. Initially the flickering process is not continuous. In this transition region as well as in the continuous flickering regime, the flickering displays multiple frequency oscillations. The response of the flame to the exit velocity profile of the burner is also studied using three types of burners. The entire range of natural flickering is investigated by capturing high speed digital images and processing them using a MATLAB code.

Keywords: Diffusion flames, Natural flickering, flickering frequency, intermittent flickering

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Authors: Abinash Tripathy, Girish Muralidharan, Amitava Pramanik, Prosenjit Sen

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Superhydrophobic surfaces are abundant in nature. Several surfaces such as wings of butterfly, legs of water strider, feet of gecko and the lotus leaf show extreme water repellence behaviour. Self-cleaning, stain-free fabrics, spill-resistant protective wears, drag reduction in micro-fluidic devices etc. are few applications of superhydrophobic surfaces. In order to design robust superhydrophobic surface, it is important to understand the interaction of water with superhydrophobic surface textures. In this work, we report a simple coating method for creating large-scale flexible superhydrophobic paper surface. The surface consists of multiple layers of silanized zirconia microparticles decorated with zirconia nanoparticles. Water contact angle as high as 159±1⁰ and contact angle hysteresis less than 8⁰ was observed. Drop impact studies on superhydrophobic paper surface were carried out by impinging water droplet and capturing its dynamics through high speed imaging. During the drop impact, the Weber number was varied from 20 to 80 by altering the impact velocity of the drop and the parameters such as contact time, normalized spread diameter were obtained. In contrast to earlier literature reports, we observed contact time to be dependent on impact velocity on superhydrophobic surface. Total contact time was split into two components as spread time and recoil time. The recoil time was found to be dependent on the impact velocity while the spread time on the surface did not show much variation with the impact velocity. Further, normalized spreading parameter was found to increase with increase in impact velocity.

Keywords: Contact angle, contact angle hysteresis, contact time, superhydrophobic.

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Authors: Rasool Razmi, Mohammad Hossein Sedaghat, Reza Janamiri, Amir Hatampou

Abstract:

This work concerns on experimentally investigation of surfactant flooding in fractured porous media. In this study a series of water and surfactant injection processes were performed on micromodels initially saturated with a heavy crude oil. Eight fractured glass micromodels were used to illustrate effects of surfactant types and concentrations on oil recovery efficiency in presence of fractures with different properties i.e. fracture orientation, length and number of fractures. Two different surfactants with different concentrations were tested. The results showed that surfactant flooding would be more efficient by using SDS surfactant aqueous solution and also by locating injection well in a proper position respect to fracture properties. This study demonstrates different physical and chemical conditions that affect the efficiency of this method of enhanced oil recovery.

Keywords: Displacement, Fractured five-spot systems, Heavy oil, Surfactant flooding.

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Authors: Mehdi Moayyedian, Kazem Abhary, Romeo Marian

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This paper presents an evaluation of a plastic defect in injection molding before it occurs in the process; it is known as the short shot defect. The evaluation of different parameters which affect the possibility of short shot defect is the aim of this paper. The analysis of short shot possibility is conducted via SolidWorks Plastics and Taguchi method to determine the most significant parameters. Finite Element Method (FEM) is employed to analyze two circular flat polypropylene plates of 1 mm thickness. Filling time, part cooling time, pressure holding time, melt temperature and gate type are chosen as process and geometric parameters, respectively. A methodology is presented herein to predict the possibility of the short-shot occurrence. The analysis determined melt temperature is the most influential parameter affecting the possibility of short shot defect with a contribution of 74.25%, and filling time with a contribution of 22%, followed by gate type with a contribution of 3.69%. It was also determined the optimum level of each parameter leading to a reduction in the possibility of short shot are gate type at level 1, filling time at level 3 and melt temperature at level 3. Finally, the most significant parameters affecting the possibility of short shot were determined to be melt temperature, filling time, and gate type.

Keywords: Injection molding, plastic defects, short shot, Taguchi method.

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Authors: B. Moaveni, S. Morovati

Abstract:

In recent years, increasing the usage of railway transportations especially in developing countries caused more attention to control systems railway vehicles. Consequently, designing and implementing the modern control systems to improve the operating performance of trains and locomotives become one of the main concerns of researches. Dynamic braking systems is an important safety system which controls the amount of braking torque generated by traction motors, to keep the adhesion coefficient between the wheel-sets and rail road in optimum bound. Adhesion force has an important role to control the braking distance and prevent the wheels from slipping during the braking process. Cascade control structure is one of the best control methods for the wide range of industrial plants in the presence of disturbances and errors. This paper presents cascade control structure based on two forward simple controllers with two feedback loops to control the slip ratio and braking torque. In this structure, the inner loop controls the angular velocity and the outer loop control the longitudinal velocity of the locomotive that its dynamic is slower than the dynamic of angular velocity. This control structure by controlling the torque of DC traction motors, tries to track the desired velocity profile to access the predefined braking distance and to control the slip ratio. Simulation results are employed to show the effectiveness of the introduced methodology in dynamic braking system.

Keywords: Cascade control, dynamic braking system, DC traction motors, slip control.

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Authors: Seyed-Yaser Nabavi-Chashmi, Davood Asadi, Karim Ahmadi, Eren Demir

Abstract:

The landing phase of a UAV is very critical as there are many uncertainties in this phase, which can easily entail a hard landing or even a crash. In this paper, the estimation of relative distance and velocity to the ground, as one of the most important processes during the landing phase, is studied. Using accurate measurement sensors as an alternative approach can be very expensive for sensors like LIDAR, or with a limited operational range, for sensors like ultrasonic sensors. Additionally, absolute positioning systems like GPS or IMU cannot provide distance to the ground independently. The focus of this paper is to determine whether we can measure the relative distance and velocity of UAV and ground in the landing phase using just low-resolution images taken by a monocular camera. The Lucas-Konda feature detection technique is employed to extract the most suitable feature in a series of images taken during the UAV landing. Two different approaches based on Extended Kalman Filters (EKF) have been proposed, and their performance in estimation of the relative distance and velocity are compared. The first approach uses the kinematics of the UAV as the process and the calculated optical flow as the measurement. On the other hand, the second approach uses the feature’s projection on the camera plane (pixel position) as the measurement while employing both the kinematics of the UAV and the dynamics of variation of projected point as the process to estimate both relative distance and relative velocity. To verify the results, a sequence of low-quality images taken by a camera that is moving on a specifically developed testbed has been used to compare the performance of the proposed algorithm. The case studies show that the quality of images results in considerable noise, which reduces the performance of the first approach. On the other hand, using the projected feature position is much less sensitive to the noise and estimates the distance and velocity with relatively high accuracy. This approach also can be used to predict the future projected feature position, which can drastically decrease the computational workload, as an important criterion for real-time applications.

Keywords: Automatic landing, multirotor, nonlinear control, parameters estimation, optical flow.

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