Abstract: The research on two-wheels balancing robot has
gained momentum due to their functionality and reliability when
completing certain tasks. This paper presents investigations into the
performance comparison of Linear Quadratic Regulator (LQR) and
PID-PID controllers for a highly nonlinear 2–wheels balancing robot.
The mathematical model of 2-wheels balancing robot that is highly
nonlinear is derived. The final model is then represented in statespace
form and the system suffers from mismatched condition. Two
system responses namely the robot position and robot angular
position are obtained. The performances of the LQR and PID-PID
controllers are examined in terms of input tracking and disturbances
rejection capability. Simulation results of the responses of the
nonlinear 2–wheels balancing robot are presented in time domain. A
comparative assessment of both control schemes to the system
performance is presented and discussed.
Abstract: Delivering streaming video over wireless is an
important component of many interactive multimedia applications
running on personal wireless handset devices. Such personal devices
have to be inexpensive, compact, and lightweight. But wireless
channels have a high channel bit error rate and limited bandwidth.
Delay variation of packets due to network congestion and the high bit
error rate greatly degrades the quality of video at the handheld
device. Therefore, mobile access to multimedia contents requires
video transcoding functionality at the edge of the mobile network for
interworking with heterogeneous networks and services. Therefore,
to guarantee quality of service (QoS) delivered to the mobile user, a
robust and efficient transcoding scheme should be deployed in
mobile multimedia transporting network. Hence, this paper
examines the challenges and limitations that the video transcoding
schemes in mobile multimedia transporting network face. Then
handheld resources, network conditions and content based mobile
and wireless video transcoding is proposed to provide high QoS
applications. Exceptional performance is demonstrated in the
experiment results. These experiments were designed to verify and
prove the robustness of the proposed approach. Extensive
experiments have been conducted, and the results of various video
clips with different bit rate and frame rate have been provided.
Abstract: Self-compacting concrete (SCC), a new kind of high
performance concrete (HPC) have been first developed in Japan in
1986. The development of SCC has made casting of dense
reinforcement and mass concrete convenient, has minimized noise.
Fresh self-compacting concrete (SCC) flows into formwork and
around obstructions under its own weight to fill it completely and
self-compact (without any need for vibration), without any
segregation and blocking. The elimination of the need for
compaction leads to better quality concrete and substantial
improvement of working conditions. SCC mixes generally have a
much higher content of fine fillers, including cement, and produce
excessively high compressive strength concrete, which restricts its
field of application to special concrete only. To use SCC mixes in
general concrete construction practice, requires low cost materials to
make inexpensive concrete.
Rice husk ash (RHA) has been used as a highly reactive
pozzolanic material to improve the microstructure of the interfacial
transition zone (ITZ) between the cement paste and the aggregate in
self compacting concrete. Mechanical experiments of RHA blended
Portland cement concretes revealed that in addition to the pozzolanic
reactivity of RHA (chemical aspect), the particle grading (physical
aspect) of cement and RHA mixtures also exerted significant
influences on the blending efficiency.
The scope of this research was to determine the usefulness of Rice
husk ash (RHA) in the development of economical self compacting
concrete (SCC). The cost of materials will be decreased by reducing
the cement content by using waste material like rice husk ash instead
of.
This paper presents a study on the development of Mechanical
properties up to 180 days of self compacting and ordinary concretes
with rice-husk ash (RHA), from a rice paddy milling industry in
Rasht (Iran). Two different replacement percentages of cement by
RHA, 10%, and 20%, and two different water/cementicious material
ratios (0.40 and 0.35), were used for both of self compacting and
normal concrete specimens. The results are compared with those of
the self compacting concrete without RHA, with compressive,
flexural strength and modulus of elasticity. It is concluded that RHA
provides a positive effect on the Mechanical properties at age after
60 days.
Base of the result self compacting concrete specimens have higher
value than normal concrete specimens in all test except modulus of
elasticity. Also specimens with 20% replacement of cement by RHA
have the best performance.
Abstract: The objective of this paper is to compare the time
specification performance between conventional controller PID and
modern controller SMC for an inverted pendulum system. The goal is
to determine which control strategy delivers better performance with
respect to pendulum-s angle and cart-s position. The inverted
pendulum represents a challenging control problem, which
continually moves toward an uncontrolled state. Two controllers are
presented such as Sliding Mode Control (SMC) and Proportional-
Integral-Derivatives (PID) controllers for controlling the highly
nonlinear system of inverted pendulum model. Simulation study has
been done in Matlab Mfile and simulink environment shows that both
controllers are capable to control multi output inverted pendulum
system successfully. The result shows that Sliding Mode Control
(SMC) produced better response compared to PID control strategies
and the responses are presented in time domain with the details
analysis.
Abstract: High strength concrete has been used in situations
where it may be exposed to elevated temperatures. Numerous authors
have shown the significant contribution of polypropylene fiber to the
spalling resistance of high strength concrete.
When cement-based composite that reinforced by polypropylene
fibers heated up to 170 °C, polypropylene fibers readily melt and
volatilize, creating additional porosity and small channels in to the
matrix that cause the poor structure and low strength.
This investigation develops on the mechanical properties of mortar
incorporating polypropylene fibers exposed to high temperature.
Also effects of different pozzolans on strength behaviour of samples
at elevated temperature have been studied.
To reach this purpose, the specimens were produced by partial
replacement of cement with finely ground glass, silica fume and rice
husk ash as high reactive pozzolans. The amount of this replacement
was 10% by weight of cement to find the effects of pozzolans as a
partial replacement of cement on the mechanical properties of
mortars. In this way, lots of mixtures with 0%, 0.5%, 1% and 1.5% of
polypropylene fibers were cast and tested for compressive and
flexural strength, accordance to ASTM standard. After that
specimens being heated to temperatures of 300, 600 °C, respectively,
the mechanical properties of heated samples were tested.
Mechanical tests showed significant reduction in compressive
strength which could be due to polypropylene fiber melting. Also
pozzolans improve the mechanical properties of sampels.