Search results for: motion synthesis

Authors: Hui-Jae You, Sun-Tae Chung, Souhwan Jung

Abstract:

SAD (Sum of Absolute Difference) algorithm is heavily used in motion estimation which is computationally highly demanding process in motion picture encoding. To enhance the performance of motion picture encoding on a VLIW processor, an efficient implementation of SAD algorithm on the VLIW processor is essential. SAD algorithm is programmed as a nested loop with a conditional branch. In VLIW processors, loop is usually optimized by software pipelining, but researches on optimal scheduling of software pipelining for nested loops, especially nested loops with conditional branches are rare. In this paper, we propose an optimal scheduling and implementation of SAD algorithm with conditional branch on a VLIW DSP processor. The proposed optimal scheduling first transforms the nested loop with conditional branch into a single loop with conditional branch with consideration of full utilization of ILP capability of the VLIW processor and realization of earlier escape from the loop. Next, the proposed optimal scheduling applies a modulo scheduling technique developed for single loop. Based on this optimal scheduling strategy, optimal implementation of SAD algorithm on TMS320C67x, a VLIW DSP is presented. Through experiments on TMS320C6713 DSK, it is shown that H.263 encoder with the proposed SAD implementation performs better than other H.263 encoder with other SAD implementations, and that the code size of the optimal SAD implementation is small enough to be appropriate for embedded environments.

Keywords: Optimal implementation, SAD algorithm, VLIW, TMS320C6713.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2295

Authors: Hamdi Muhyuddin D. Barra, Henry J. Ramos

Abstract:

Titanium nitride (TiN) has been synthesized using the sheet plasma negative ion source (SPNIS). The parameters used for its effective synthesis has been determined from previous experiments and studies. In this study, further enhancement of the deposition rate of TiN synthesis and advancement of the SPNIS operation is presented. This is primarily achieved by the addition of Sm-Co permanent magnets and a modification of the configuration in the TiN deposition process. The magnetic enhancement is aimed at optimizing the sputtering rate and the sputtering yield of the process. The Sm-Co permanent magnets are placed below the Ti target for better sputtering by argon. The Ti target is biased from –250V to – 350V and is sputtered by Ar plasma produced at discharge current of 2.5–4A and discharge potential of 60–90V. Steel substrates of dimensions 20x20x0.5mm3 were prepared with N2:Ar volumetric ratios of 1:3, 1:5 and 1:10. Ocular inspection of samples exhibit bright gold color associated with TiN. XRD characterization confirmed the effective TiN synthesis as all samples exhibit the (200) and (311) peaks of TiN and the non-stoichiometric Ti2N (220) facet. Cross-sectional SEM results showed increase in the TiN deposition rate of up to 0.35μm/min. This doubles what was previously obtained [1]. Scanning electron micrograph results give a comparative morphological picture of the samples. Vickers hardness results gave the largest hardness value of 21.094GPa.

Keywords: Chemical vapor deposition, Magnetized sheetplasma, Thin-film synthesis, Titanium nitride.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1622

Authors: Wen-Yuh Jywe, Bor-Jeng Lin, Jing-Chung Shen, Jeng-Dao Lee, Hsueh-Liang Huang, Tung-Hsien Hsieh

Abstract:

In this study, a simple 2-D measurement system based on optical design was developed to measure the motion errors of the linear guideway. Compared with the transitional methods about the linear guideway for measuring the motion errors, our proposed 2-D optical measurement system can simultaneously measure horizontal and vertical running straightness errors for the linear guideway.

The performance of the 2-D optical measurement system is verified by experimental results. The standard deviation of the 2-D optical measurement system is about 0.4μm in the measurement range of 100 mm. The maximum measuring speed of the proposed automatic measurement instrument is 1 m/sec.

Keywords: 2-D measurement, linear guideway, motion errors, running straightness.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2185

Authors: Ajay Sharma, R.S. Jangid

Abstract:

Analytical seismic response of multi-story building supported on base isolation system is investigated under real earthquake motion. The superstructure is idealized as a shear type flexible building with lateral degree-of-freedom at each floor. The force-deformation behaviour of the isolation system is modelled by the bi-linear behaviour which can be effectively used to model all isolation systems in practice. The governing equations of motion of the isolated structural system are derived. The response of the system is obtained numerically by step-by-method under three real recorded earthquake motions and pulse motions associated in the near-fault earthquake motion. The variation of the top floor acceleration, interstory drift, base shear and bearing displacement of the isolated building is studied under different initial stiffness of the bi-linear isolation system. It was observed that the high initial stiffness of the isolation system excites higher modes in base-isolated structure and generate floor accelerations and story drift. Such behaviour of the base-isolated building especially supported on sliding type of isolation systems can be detrimental to sensitive equipment installed in the building. On the other hand, the bearing displacement and base shear found to reduce marginally with the increase of the initial stiffness of the initial stiffness of the isolation system. Further, the above behaviour of the base-isolated building was observed for different parameters of the bearing (i.e. post-yield stiffness and characteristic strength) and earthquake motions (i.e. real time history as well as pulse type motion).

Keywords: base isolation, base shear, bi-linear, earthquake, floor accelerations, inter-story drift, multi-story building, pulsemotion, stiffness ratio.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2261

Authors: Gheorghe Galben, Daniel N. Aloi

Abstract:

Recently, the Spherical Motion Models (SMM-s) have been introduced [1]. These new models have been developed for 3D local landmark-base Autonomous Navigation (AN). This paper is revealing new arguments and experimental results to support the SMM-s characteristics. The accuracy and the robustness in performing a specific task are the main concerns of the new investigations. To analyze their performances of the SMM-s, the most powerful tools of estimation theory, the extended Kalman filter (EKF) and unscented Kalman filter (UKF), which give the best estimations in noisy environments, have been employed. The Monte Carlo validation implementations used to test the stability and robustness of the models have been employed as well.

Keywords: Autonomous navigation, extended kalman filter, unscented kalman filter, localization algorithms.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1269

Authors: Youngseok Kim, Chul Park, Jonghwa Yi, Sangsik Choi

Abstract:

The 2-MHz Side Scan SONAR (SSS) attached to the boat for inspection of underwater structures is affected by shaking. It is difficult to determine the exact scale of damage of structure. In this study, a motion sensor is attached to the inside of the 2-MHz SSS to get roll, pitch, and yaw direction data, and developed the image stabilization tool to correct the sonar image. We checked that reliable data can be obtained with an average error rate of 1.99% between the measured value and the actual distance through experiment. It is possible to get the accurate sonar data to inspect damage in underwater structure.

Keywords: Image stabilization, motion sensor, safety inspection, sonar image, underwater structure.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1005

Authors: E. Moroydor Derun, A. S. Kipcak, A. Kaplan, S. Piskin

Abstract:

Magnesium wastes are produced by many industrial activities. This waste problem is becoming a future problem for the world. Magnesium borates have many advantages such as; high corrosion resistance, heat resistance, high coefficient of elasticity and can also be used in the production of material against radiation. Addition, magnesium borates have great potential in sectors including ceramic and detergents industry and superconducting materials. In this study, using the starting materials of waste magnesium and H3BO3 the hydrothermal method was applied at a moderate temperature of 70oC. Several mole ratios of waste magnesium to H3BO3 are selected as; 1:2, 1:4, 1:6, 1:8, 1:10. Reaction time was determined as 1 hour. After the synthesis, X-Ray Diffraction (XRD) and Fourier Transform Infrared Spectroscopy (FT-IR) techniques are applied to products. As a result the forms of mcallisterite “Mg2(B6O7(OH)6)2.9(H2O)”, admontite “MgO(B2O3)3.7(H2O)” and magnesium boron hydrate (MgO(B2O3)3.6(H2O)” are obtained. 

Keywords: Hydrothermal synthesis, magnesium borates, waste magnesium.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2366

Authors: Chen Zhang, Bernhard Schwarz-Röhr, Alexander Härting

Abstract:

To acquire accurate ship motions at the center of gravity, a single low-cost inertial sensor is utilized and applied on board to measure ship oscillating motions. As observations, the three axes accelerations and three axes rotational rates provided by the sensor are used. The mathematical model of processing the observation data includes determination of the distance vector between the sensor and the center of gravity in x, y, and z directions. After setting up the transfer matrix from sensor’s own coordinate system to the ship’s body frame, an extended Kalman filter is applied to deal with nonlinearities between the ship motion in the body frame and the observation information in the sensor’s frame. As a side effect, the method eliminates sensor noise and other unwanted errors. Results are not only roll and pitch, but also linear motions, in particular heave and surge at the center of gravity. For testing, we resort to measurements recorded on a small vessel in a well-defined sea state. With response amplitude operators computed numerically by a commercial software (Seaway), motion characteristics are estimated. These agree well with the measurements after processing with the suggested method.

Keywords: Extended Kalman filter, nonlinear estimation, sea trial, ship motion estimation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 994

Authors: Indah Kurniawaty, Yoki Yulizar, Haryo Satrya Oktaviano, Adam Kusuma Rianto

Abstract:

Magnesium oxide nanoparticles (MgO NP) were successfully synthesized in this study using a one-pot green synthesis mediated by Calliandra calothyrsus leaf extract (CLE). CLE was prepared by maceration of the leaf using methanol with a ratio of 1:5 for 7 days. Secondary metabolites in CLE, such as alkaloids and flavonoids, served as a weak base provider and capping agent in the formation of MgO NP. CLE Fourier Transform Infra-Red (FTIR) spectra peak at 3255 cm-1, 1600 cm-1, 1384 cm-1, 1205 cm-1, 1041 cm-1, and 667 cm-1 showing the presence of vibrations O-H stretching, N-H bending, C-C stretching, C-N stretching and N-H wagging. During the experiment, different CLE volumes and calcined temperatures were used, resulting in a variety of structures. Energy Dispersive X-ray Spectrometer (EDS) and FTIR were used to characterize metal oxide particles. MgO diffraction patterns at 2θ of 36.9°; 42.9°; 62.2°; 74.6°; and 78.5° can be assigned to crystal planes (111), (200), (220), (311), and (222), respectively. Scanning Electron Microscopy (SEM) was used to characterize the surface morphology. The morphology ranged from sphere to flower-like resulting in crystallite sizes of 28 nm, 23 nm, 12 nm, and 9 nm.

Keywords: Calliandra calothyrsus, green-synthesis, magnesium oxide, nanoparticle.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 92

Authors: M. Samaka

Abstract:

This paper presents the development of a software application for Off-line robot task programming and simulation. Such application is designed to assist in robot task planning and to direct manipulator motion on sensor based programmed motion. The concept of the designed programming application is to use the power of the knowledge base for task accumulation. In support of the programming means, an interactive graphical simulation for manipulator kinematics was also developed and integrated into the application as the complimentary factor to the robot programming media. The simulation provides the designer with useful, inexpensive, off-line tools for retain and testing robotics work cells and automated assembly lines for various industrial applications.

Keywords: Robot programming, task-level programming, robot languages, robot simulation, robotics software.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3210

Authors: Nicolas Delcey, Philippe Baucour, Didier Chamagne, Geneviève Wimmer, Auditeau Gérard, Bausseron Thomas, Bouger Odile, Blanvillain Gérard

Abstract:

This paper proposes a thermal study of the catenary/pantograph interface for a train in motion. A 2.5D complex model of the pantograph strip has been defined and created by a coupling between a 1D and a 2D model. Experimental and simulation results are presented and with a comparison allow validating the 2.5D model. Some physical phenomena are described and presented with the help of the model such as the stagger motion thermal effect, particular heats and the effect of the material characteristics. Finally it is possible to predict the critical thermal configuration during a train trip.

Keywords: 2.5D modelling, pantograph/catenary liaison, sliding contact, Joule effect, moving heat source.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1066

Authors: Jerneja Žganec Gros, Aleš Mihelič, Nikola Pavešić, Mario Žganec, Stanislav Gruden

Abstract:

The paper presents the design concept of a unitselection text-to-speech synthesis system for the Slovenian language. Due to its modular and upgradable architecture, the system can be used in a variety of speech user interface applications, ranging from server carrier-grade voice portal applications, desktop user interfaces to specialized embedded devices. Since memory and processing power requirements are important factors for a possible implementation in embedded devices, lexica and speech corpora need to be reduced. We describe a simple and efficient implementation of a greedy subset selection algorithm that extracts a compact subset of high coverage text sentences. The experiment on a reference text corpus showed that the subset selection algorithm produced a compact sentence subset with a small redundancy. The adequacy of the spoken output was evaluated by several subjective tests as they are recommended by the International Telecommunication Union ITU.

Keywords: text-to-speech synthesis, prosody modeling, speech user interface.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1401

Authors: F. Gholami, M. Torabi Angaji, Z. Gholami

Abstract:

Fischer-Tropsch synthesis is one of the most important catalytic reactions that convert the synthetic gas to light and heavy hydrocarbons. One of the main issues is selecting the type of reactor. The slurry bubble reactor is suitable choice for Fischer- Tropsch synthesis because of its good qualification to transfer heat and mass, high durability of catalyst, low cost maintenance and repair. The more common catalysts for Fischer-Tropsch synthesis are Iron-based and Cobalt-based catalysts, the advantage of these catalysts on each other depends on which type of hydrocarbons we desire to produce. In this study, Fischer-Tropsch synthesis is modeled with Iron and Cobalt catalysts in a slurry bubble reactor considering mass and momentum balance and the hydrodynamic relations effect on the reactor behavior. Profiles of reactant conversion and reactant concentration in gas and liquid phases were determined as the functions of residence time in the reactor. The effects of temperature, pressure, liquid velocity, reactor diameter, catalyst diameter, gasliquid and liquid-solid mass transfer coefficients and kinetic coefficients on the reactant conversion have been studied. With 5% increase of liquid velocity (with Iron catalyst), H2 conversions increase about 6% and CO conversion increase about 4%, With 8% increase of liquid velocity (with Cobalt catalyst), H2 conversions increase about 26% and CO conversion increase about 4%. With 20% increase of gas-liquid mass transfer coefficient (with Iron catalyst), H2 conversions increase about 12% and CO conversion increase about 10% and with Cobalt catalyst H2 conversions increase about 10% and CO conversion increase about 6%. Results show that the process is sensitive to gas-liquid mass transfer coefficient and optimum condition operation occurs in maximum possible liquid velocity. This velocity must be more than minimum fluidization velocity and less than terminal velocity in such a way that avoid catalysts particles from leaving the fluidized bed.

Keywords: Modeling, Fischer-Tropsch Synthesis, Slurry Bubble Column Reactor.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2984

Authors: Zhen Chen, Haitao Zhang, Weiyong Ying, Dingye Fang

Abstract:

Based on a global kinetics of direct dimethyl ether (DME) synthesis process from syngas, a steady-state one-dimensional mathematical model for the bubble column slurry reactor (BCSR) has been established. It was built on the assumption of plug flow of gas phase, sedimentation-dispersion model of catalyst grains and isothermal chamber regardless of reaction heats and rates for the design of an industrial scale bubble column slurry reactor. The simulation results indicate that higher pressure and lower temperature were favorable to the increase of CO conversion, DME selectivity, products yield and the height of slurry bed, which has a coincidence with the characteristic of DME synthesis reaction system, and that the height of slurry bed is lessen with the increasing of operation temperature in the range of 220-260℃. CO conversion, the optimal operation conditions in BCSR were proposed. 

Keywords: Alcohol/ether fuel, bubble column slurry reactor, global kinetics, mathematical model.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2579

Authors: Andrey V. Timofeev, Dmitry V. Egorov, Viktor M. Denisov

Abstract:

This paper presents development results of usage of C-OTDR monitoring systems for rail traffic management. The COTDR method is based on vibrosensitive properties of optical fibers. Analysis of Rayleigh backscattering radiation parameters changes which take place due to microscopic seismoacoustic impacts on the optical fiber allows to determine seismoacoustic emission source positions and to identify their types. This approach proved successful for rail traffic management (moving block system, weigh- in-motion system etc.).

Keywords: C-OTDR systems, moving block-sections, rail traffic management, Rayleigh backscattering, weigh-in-motion.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2264

Authors: Do-Jin Jang, Sung-Ah Kim

Abstract:

In designing a kinetic façade, it is hard for the designer to make digital models due to its complex geometry with motion. This paper aims to present a methodology of converting a point cloud of a physical model into a single digital model with a certain topology and motion. The method uses a Microsoft Kinect sensor, and color markers were defined and applied to three paper folding-inspired designs. Although the resulted digital model cannot represent the whole folding range of the physical model, the method supports the designer to conduct a performance-oriented design process with the rough physical model in the reduced folding range.

Keywords: Design media, kinetic façades, tangible user interface, 3D scanning.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1367

Authors: F. Kurtuluş, G. Çelik Gül

Abstract:

Cesium molybdates with general formula CsMIII(MoO4)2, where MIII = Bi, Dy, Pr, Er, exhibit rich polymorphism, and crystallize in a layered structure. These properties cause intensive studies on cesium molybdates. CsBi(MoO4)2 was synthesized by microwave method by using cerium sulphate, bismuth oxide and molybdenum (VI) oxide in an appropriate molar ratio. Characterizations were done by x-ray diffraction (XRD), fourier transform infrared (FTIR) spectroscopy, scanning electron microscopy/energy dispersive analyze (SEM/EDS), thermo gravimetric/differantial thermal analysis (TG/DTA).

Keywords: Cesium bismuth dimolybdate, microwave synthesis, powder x-ray diffraction, rare earth dimolybdates.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1988

Authors: Abdulkareem Hamid, Adam Daïch

Abstract:

Camptothecin (CPT) is a cytotoxic quinoline alkaloid, which inhibits the DNA enzyme topoisomerase I (topo I). It was discovered in 1966 by M. E. Wall and M. C. Wani in systematic screening of natural products for anticancer drugs. It was isolated from the bark and stem of Camptotheca acuminata (Camptotheca, Happy tree), a tree native in China. CPT showed remarkable anticancer activity in preliminary clinical trials but also low solubility and (high) adverse drug reaction. Because of these disadvantages synthetic and medicinal chemists have developed numerous syntheses of Camptothecine [1][2][3] and various derivatives to increase the benefits of the chemical, with good results. In our method CPT analogues has be six steps starting from available material DL Malic acid.

Keywords: Camptothecine, synthesis, analogue.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1567

Authors: Shuenn-Yih Chang, Chiu-Li Huang

Abstract:

It has been shown that a load discontinuity at the end of an impulse will result in an extra impulse and hence an extra amplitude distortion if a step-by-step integration method is employed to yield the shock response. In order to overcome this difficulty, three remedies are proposed to reduce the extra amplitude distortion. The first remedy is to solve the momentum equation of motion instead of the force equation of motion in the step-by-step solution of the shock response, where an external momentum is used in the solution of the momentum equation of motion. Since the external momentum is a resultant of the time integration of external force, the problem of load discontinuity will automatically disappear. The second remedy is to perform a single small time step immediately upon termination of the applied impulse while the other time steps can still be conducted by using the time step determined from general considerations. This is because that the extra impulse caused by a load discontinuity at the end of an impulse is almost linearly proportional to the step size. Finally, the third remedy is to use the average value of the two different values at the integration point of the load discontinuity to replace the use of one of them for loading input. The basic motivation of this remedy originates from the concept of no loading input error associated with the integration point of load discontinuity. The feasibility of the three remedies are analytically explained and numerically illustrated.

Keywords: Dynamic analysis, load discontinuity, shock response, step-by-step integration

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1289

Authors: M. Yildirim, A. S. Kipcak, F. T. Senberber, M. O. Asensio, E. M. Derun, S. Piskin

Abstract:

Potassium borates, which are widely used in welding and metal refining industry, as a lubricating oil additive, cement additive, fiberglass additive and insulation compound, are one of the important groups of borate minerals. In this study the production of a potassium borate mineral via hydrothermal method is aimed. The potassium source of potassium nitrate (KNO3) was used along with a sodium source of sodium hydroxide (NaOH) and boron source of boric acid (H3BO3). The constant parameters of reaction temperature and reaction time were determined as 80°C and 1 h, respectively. The molar ratios of 1:1:3 (as KNO3:NaOH:H3BO3), 1:1:4, 1:1:5, 1:1:6 and 1:1:7 were used. Following the synthesis the identifications of the produced products were conducted by X-Ray Diffraction (XRD), Fourier Transform Infrared Spectroscopy (FT-IR) and Raman Spectroscopy. The results of the experiments and analysis showed in the ratio of 1:1:6, the Santite mineral with powder diffraction file number (pdf no.) of 01-072-1688, which is known as potassium pentaborate (KB5O8·4H2O) was synthesized as best.

Keywords: Hydrothermal synthesis, potassium borate, potassium nitrate, santite.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3244

Authors: Liu Shengnan, Sun Liping, Zhu Jianxun

Abstract:

Based on three dimensional potential flow theory and hinged rigid body motion equations, structure RAOs of Pelamis wave energy converter is analyzed. Analysis of numerical simulation is carried out on Pelamis in the irregular wave conditions, and the motion response of structures and total generated power is obtained. The paper analyzes influencing factors on the average power including diameter of floating body, section form of floating body, draft, hinged stiffness and damping. The optimum parameters are achieved in Zhejiang Province. Compared with the results of the pelamis experiment made by Glasgow University, the method applied in this paper is feasible.

Keywords: Pelamis, Hinge, Floating multibody, Wave energy

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3206

Authors: Dimitrios N. Gkritzapis, Elias E. Panagiotopoulos, Dionissios P. Margaris, Dimitrios G. Papanikas

Abstract:

A full six degrees of freedom (6-DOF) flight dynamics model is proposed for the accurate prediction of short and long-range trajectories of high spin and fin-stabilized projectiles via atmospheric flight to final impact point. The projectiles is assumed to be both rigid (non-flexible), and rotationally symmetric about its spin axis launched at low and high pitch angles. The mathematical model is based on the full equations of motion set up in the no-roll body reference frame and is integrated numerically from given initial conditions at the firing site. The projectiles maneuvering motion depends on the most significant force and moment variations, in addition to wind and gravity. The computational flight analysis takes into consideration the Mach number and total angle of attack effects by means of the variable aerodynamic coefficients. For the purposes of the present work, linear interpolation has been applied from the tabulated database of McCoy-s book. The developed computational method gives satisfactory agreement with published data of verified experiments and computational codes on atmospheric projectile trajectory analysis for various initial firing flight conditions.

Keywords: Constant-Variable aerodynamic coefficients, low and high pitch angles, wind.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2383

Authors: Y.J. Lai, H.Y. Peng, M.W. Wu, J. Shaw

Abstract:

In this study, we used shape memory alloys as actuators to build a biomorphic robot which can imitate the motion of an earthworm. The robot can be used to explore in a narrow space. Therefore we chose shape memory alloys as actuators. Because of the small deformation of a wire shape memory alloy, spiral shape memory alloys are selected and installed both on the X axis and Y axis (each axis having two shape memory alloys) to enable the biomorphic robot to do reciprocating motion. By the mechanism we designed, the robot can increase the distance as it moves in a duty cycle. In addition, two shape memory alloys are added to the robot head for controlling right and left turns. By sending pulses through the I/O card from the controller, the signals are then amplified by a driver to heat the shape memory alloys in order to make the SMA shrink to pull the mechanism to move.

Keywords: Biomorphic Robot, Shape Memory Alloy.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1616

Authors: Rangoli Goyal, Rama Bhargava

Abstract:

The triple diffusive boundary layer flow of nanofluid under the action of constant magnetic field over a non-linear stretching sheet has been investigated numerically. The model includes the effect of Brownian motion, thermophoresis, and cross-diffusion; slip mechanisms which are primarily responsible for the enhancement of the convective features of nanofluid. The governing partial differential equations are transformed into a system of ordinary differential equations (by using group theory transformations) and solved numerically by using variational finite element method. The effects of various controlling parameters, such as the magnetic influence number, thermophoresis parameter, Brownian motion parameter, modified Dufour parameter, and Dufour solutal Lewis number, on the fluid flow as well as on heat and mass transfer coefficients (both of solute and nanofluid) are presented graphically and discussed quantitatively. The present study has industrial applications in aerodynamic extrusion of plastic sheets, coating and suspensions, melt spinning, hot rolling, wire drawing, glass-fibre production, and manufacture of polymer and rubber sheets, where the quality of the desired product depends on the stretching rate as well as external field including magnetic effects.

Keywords: FEM, Thermophoresis, Diffusiophoresis, Brownian motion.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1401

Authors: M. K. Bhuyan, P. K. Bora, D. Ghosh

Abstract:

One very interesting field of research in Pattern Recognition that has gained much attention in recent times is Gesture Recognition. In this paper, we consider a form of dynamic hand gestures that are characterized by total movement of the hand (arm) in space. For these types of gestures, the shape of the hand (palm) during gesturing does not bear any significance. In our work, we propose a model-based method for tracking hand motion in space, thereby estimating the hand motion trajectory. We employ the dynamic time warping (DTW) algorithm for time alignment and normalization of spatio-temporal variations that exist among samples belonging to the same gesture class. During training, one template trajectory and one prototype feature vector are generated for every gesture class. Features used in our work include some static and dynamic motion trajectory features. Recognition is accomplished in two stages. In the first stage, all unlikely gesture classes are eliminated by comparing the input gesture trajectory to all the template trajectories. In the next stage, feature vector extracted from the input gesture is compared to all the class prototype feature vectors using a distance classifier. Experimental results demonstrate that our proposed trajectory estimator and classifier is suitable for Human Computer Interaction (HCI) platform.

Keywords: Hand gesture, human computer interaction, key video object plane, dynamic time warping.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2703

Authors: Cheng Seong Khor, Xiao Qi Yeoh

Abstract:

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

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

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1678

Authors: Maria P. Tzamtzi, Fotis N. Koumboulis

Abstract:

We propose a control design scheme that aims to prevent undesirable liquid outpouring and suppress sloshing during the forward and backward tilting phases of the pouring process, for the case of liquid containers carried by manipulators. The proposed scheme combines a partial inverse dynamics controller with a PID controller, tuned with the use of a “metaheuristic" search algorithm. The “metaheuristic" search algorithm tunes the PID controller based on simulation results of the plant-s linearization around the operating point corresponding to the critical tilting angle, where outpouring initiates. Liquid motion is modeled using the well-known pendulumtype model. However, the proposed controller does not require measurements of the liquid-s motion within the tank.

Keywords: Robotic systems, Controller design, Sloshingsuppression, Metaheuristic optimization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1903

Authors: Byoung-Uk Nam, Hag-Seong Kim, Ho-Jung Lee, Dong-Hyun Kim

Abstract:

This paper focuses on systematic analysis and controller design of the two-inertia STABILIZATION system, considering the angular motion on a base body. This approach is essential to the stabilization system to aim at a target under three or six degrees of freedom base motion. Four controllers, such as conventional PDF(Pseudo-Derivative Feedback) controller with motor speed feedback, PDF controller with load speed feedback, modified PDF controller with motor-load speed feedback and feedforward controller added to modified PDF controller, are suggested to improve reference tracking and disturbance rejection performance. Characteristics and performance of each controller are analyzed and validated by simulation in the case of the modified PDF controller with and without a feedforward controller.

Keywords: Two-Inertia stabilization System, ITAE criterion, Speed Control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2646

Authors: E. Mat Tokit, Yusoff M. Z, Mohammed H.

Abstract:

Numerical investigation on the generality of nanoparticle velocity equation had been done on the previous published work. The three dimensional governing equations (continuity, momentum and energy) were solved using finite volume method (FVM). Parametric study of thermal performance between pure water-cooled and nanofluid-cooled are evaluated for volume fraction in the range of 1% to 4%, and nanofluid type of gamma-Al₂O₃ at Reynolds number range of 67.41 to 286.77. The nanofluid is modeled using single and two phase approach. Three different existing Brownian motion velocities are applied in comparing the generality of the equation for a wide parametric condition. Deviation in between the Brownian motion velocity is identified to be due to the different means of mean free path and constant value used in diffusion equation.

Keywords: Brownian nanoparticle velocity, heat transfer enhancement, nanofluid, two phase model.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2463

Authors: Hanaa M. Abdelgawad, Mona Safar, Ayman M. Wahba

Abstract:

Real time image and video processing is a demand in many computer vision applications, e.g. video surveillance, traffic management and medical imaging. The processing of those video applications requires high computational power. Thus, the optimal solution is the collaboration of CPU and hardware accelerators. In this paper, a Canny edge detection hardware accelerator is proposed. Edge detection is one of the basic building blocks of video and image processing applications. It is a common block in the pre-processing phase of image and video processing pipeline. Our presented approach targets offloading the Canny edge detection algorithm from processing system (PS) to programmable logic (PL) taking the advantage of High Level Synthesis (HLS) tool flow to accelerate the implementation on Zynq platform. The resulting implementation enables up to a 100x performance improvement through hardware acceleration. The CPU utilization drops down and the frame rate jumps to 60 fps of 1080p full HD input video stream.

Keywords: High Level Synthesis, Canny edge detection, Hardware accelerators, and Computer Vision.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5384