Abstract: This paper describes an underactuated robot hand operated by low-power actuators. It can grasp objects of various shapes using easy operations. This hand is suitable for use as a lightweight prosthetic hand that can grasp various objects using few input channels. To realize operations using a low-power actuator, a cross section deformation spring is proposed. The design procedure of the underactuated robot finger is proposed to realize an adaptive grasping movement. The validity of this mechanism and design procedure are confirmed through an object grasping experiment. Results demonstrate the effectiveness of across section deformation spring in reducing the actuator power. Moreover, adaptive grasping movement is realized by an easy operation.
Abstract: The article deals with biomechanics of cyclist with unilateral transtibial amputation. Transtibial amputation completely removes ankle and part of muscles of a lower leg which are responsible for production of force during pedaling and causes significant geometric and power asymmetry between the limbs during cycling movement. The primary goal of this work is to assess the effects of length adjustment of the crank on the kinematics and muscle activity of cyclist. The paper presents experimental work, which aims to find a suitable ratio of the length of kinematic components to improve overall athletic performance. The study presents the results of the kinematic analysis of the cycling movement with different crank length realized by tracking camera system together with the results of muscle activity measurements captured by electromyography and measurement of forces in the cranks by strain gauges.
Abstract: A solar powered air heating system using parabolic trough collector was experimentally investigated. In this experimental setup, the reflected solar radiations were focused on absorber tube which was placed at focal length of the parabolic trough. In this setup, air was used as working fluid which collects the heat from absorber tube. To enhance the performance of parabolic trough, collector with different type of reflectors were used. It was observed For Aluminum sheet maximum temperature is 52.3ºC, which 24.22% more than steel sheet as reflector and 8.5% more than Aluminum foil as reflector, also efficiency by using Aluminum sheet as reflector compared to steel sheet as reflector is 61.18% more. Efficiency by using Aluminum sheet as reflector compared to Aluminum foil as reflector is 18.98% more.
Abstract: Recent experimental evidences have shown that because
of a fast convergence and a nice accuracy, neural networks training
via extended kalman filter (EKF) method is widely applied. However,
as to an uncertainty of the system dynamics or modeling error, the
performance of the method is unreliable. In order to overcome this
problem in this paper, a new finite impulse response (FIR) filter based
learning algorithm is proposed to train radial basis function neural
networks (RBFN) for nonlinear function approximation. Compared
to the EKF training method, the proposed FIR filter training method
is more robust to those environmental conditions. Furthermore , the
number of centers will be considered since it affects the performance
of approximation.
Abstract: Paper presents an comparative evaluation of features extraction algorithm for a real-time isolated word recognition system
based on FPGA. The Mel-frequency cepstral, linear frequency cepstral, linear predictive and their cepstral coefficients were
implemented in hardware/software design. The proposed system was investigated in speaker dependent mode for 100 different
Lithuanian words. The robustness of features extraction algorithms was tested recognizing the speech records at different signal to noise rates. The experiments on clean records show highest accuracy for Mel-frequency cepstral and linear frequency cepstral coefficients. For records with 15 dB signal to noise rate the linear predictive cepstral coefficients gives best result. The hard and soft part of the system is clocked on 50 MHz and 100 MHz accordingly. For the classification purpose the pipelined dynamic time warping core was implemented. The proposed word recognition system satisfy the real-time requirements and is suitable for applications in embedded systems.
Abstract: This paper summarizes and presents main results of an in-depth numerical analysis dealing with the shear buckling resistance of aluminum plate girders. The studies conducted have permitted the development of a simple design expression to determine the critical shear buckling stress in aluminum web panels. This expression takes into account the effects of reduction of strength in aluminum alloys due to welding process. Ultimate shear resistance (USR) of plate girders can be obtained theoretically using Cardiff theory or Hӧglund’s theory. USR of aluminum alloy plate girders predicted theoretically using BS8118 appear inconsistent when compared with test data. Theoretical predictions based on Hӧglund’s theory, are more realistic. Cardiff theory proposed to predict the USR of steel plate girders only. Welded aluminum alloy plate girders studied experimentally by others; the USR resulted from tests are reviewed. Comparison between the test results with the values obtained from Hӧglund’s theory, BS8118 design method and Cardiff theory performed theoretically. Finally, a new equation based on Cardiff tension-field theory, proposed to predict theoretically the USR of aluminum plate girders.
Abstract: This paper involves a study of the heavy metal pollution of the soils around one of cement plants in Libya called Suk-Alkhameas and surrounding urban areas caused by cement kiln dust (CKD) emitted. Samples of soil was collected from sites at four directions around the cement factory at distances 250m, 1000m, and 3000m from the factory and at (0-10)cm deep in the soil. These samples are analyzed for Fe (iii), Zn(ii), and Pb (ii) as major pollutants. These values are compared with soils at 25 Km distances from the factory as a reference or control samples. The results show that the concentration of Fe ions in the surface soil was within the acceptable range of 1000ppm. However, for Zn and Pb ions the concentrations at the east and north sides of the factory were found six fold higher than the benchmark level. This high value was attributed to the wind which blows usually from south to north and from west to east. This work includes an investigation of the adsorption isotherms and adsorption efficiency of CKD as adsorbent of heavy metal ions (Fe (iii), Zn(ii), and Pb(ii)) from the polluted soils of Suk-Alkameas city. The investigation was conducted in batch and fixed bed column flow technique. The adsorption efficiency of the studied heavy metals ions removals onto CKD depends on the pH of the solution. The optimum pH values are found to be in the ranges of 8-10 and decreases at lower pH values. The removal efficiency of these heavy metals ions ranged from 93% for Pb, 94% for Zn, and 98% for Fe ions for 10 g.l-1 adsorbent concentration. The maximum removal efficiency of these ions was achieved at 50-60 minutes contact times at which equilibrium is reached. Fixed bed column experimental measurements are also made to evaluate CKD as an adsorbent for the heavy metals. Results obtained are with good agreement with Langmuir and Drachsal assumption of multilayer formation on the adsorbent surface.
Abstract: This paper proposes an implementation of boost converter for a resistive load using photovoltaic energy as a source. The model of photovoltaic cell and operating principle of boost converter are presented. A PIC microcontroller is used in the close loop control to generate pulses for controlling the converter circuit. To performance evaluation of boost converter, a variation of output voltage of PV panel is done by shading one and two cells.
Abstract: The effect of polyelectrolytes; cationic and anionic charges and coagulants have been investigated for fresh activated sludge at different concentrations and pH values in a comparative fashion. The results from the experiments indicate that the cationic polyelectrolytes have a significant effluence on the sludge characteristic, degree of flocculation and water quality such as turbidity and SVI. The results show that the cationic CPAM-80 is the most effective polyelectrolyte used corresponding to turbidity and SVI despite of the variations in feed properties of the fresh activated sludge.
Abstract: In this work, we have used arrays of micromechanical piezoresistive cantilever with different geometries to detect carcinoembryonic antigen (CEA), which is known as an important biomarker associated with various cancers such as colorectal, lung, breast, pancreatic, and bladder cancer. The sensing principle is based on the surface stress changes induced by antigen–antibody interaction on the microcantilevers surfaces. Different concentrations of CEA in a human serum albumin (HSA) solution were detected as a function of deflection of the beams. According to the experiments, it was revealed that microcantilevers have surface stress sensitivities in the order of 8 (mJ/m). This matter allows them to detect CEA concentrations as low as 3 ng/mL or 18 pM. This indicates the fact that the self-sensing microcantilevers approach is beneficial for pathological tests.
Abstract: Open burning of sugarcane fields is recognized to have a negative impact on soil by degrading its properties, especially soil organic carbon (SOC) content. Better understating the effect of open burning on soil carbon dynamics is crucial for documenting the carbon sequestration capacity of agricultural soils. In this study, experiments to investigate soil carbon stocks under burned and unburned sugarcane plantation systems in Thailand were conducted. The results showed that cultivation fields without open burning during 5 consecutive years enabled to increase the SOC content at a rate of 1.37 Mg ha-1y-1. Also it was found that sugarcane fields burning led to about 15% reduction of the total carbon stock in the 0-30 cm soil layer. The overall increase in SOC under unburned practice is mainly due to the large input of organic material through the use of sugarcane residues.
Abstract: The paper presents how to design the indirect vector control of three-phase induction motor drive systems using the artificial intelligence technique called the adaptive tabu search. The results from the simulation and the experiment show that the drive system with the controller designed from the proposed method can provide the best output speed response compared with those of the conventional method. The controller design using the proposed technique can be used to create the software package for engineers to achieve the optimal controller design of the induction motor speed control based on the indirect vector concept.
Abstract: The population growth in the world requires an increase in demand of residential and housing construction. Using lightweight construction materials such as cold formed steel sections and ferrocement could be an alternate solution to foster the construction industry. In this study, a new composite column is introduced. It consists of cold formed steel section and ferrocement jacket. The ferrocement jacket was constructed using self-compacting mortar with two wire steel mesh of 550 MPa yield strength. Experimental push out tests was conducted to investigate the strength capacities and behavior of proposed shear connectors namely, bolt, bar-angle and self-drilling screw shear connectors. It was found that bolt connector showed the best behavior followed by bar-angle. Also, it was concluded that the ferrocement could be used to strength and improve the behavior of cold formed steel column.
Abstract: Paper focuses on experimental testing of possibilities of mechanical activation of fly ash and observation of influence of specific surface and granulometry on final properties of fresh and hardened concrete. Mechanical grinding prepared various fineness of fly ash, which was classed by specific surface in accordance with Blain and their granulometry was determined by means of laser granulometer. Then, sets of testing specimens were made from mix designs of identical composition with 25% or Portland cement CEM I 42.5 R replaced with fly ash with various specific surface and granulometry. Mix design with only Portland cement was used as reference. Mix designs were tested on consistency of fresh concrete and compressive strength after 7, 28, 60 and 90 days.
Abstract: This paper discusses some notes on the vibration design for the piezoelectric cooling fan. After reviewing the fundamental formulas of the cantilever Euler beam, it is not easy to find the optimal design of the piezoelectric fan. The experiments also show the complicated results of the vibration behavior and air flow.
Abstract: Application of compost in agriculture is very desirable worldwide. In the Czech Republic, compost is the most often used to improve soil structure and increase the content of soil organic matter, but the effects of compost addition on the fate of mineral nitrogen are only scarcely described. This paper deals with possibility of using combined application of compost, mineral and organic fertilizers to reduce the leaching of mineral nitrogen from arable land. To demonstrate the effect of compost addition on leaching of mineral nitrogen, we performed the pot experiment. As a model crop, Lactuca sativa L. was used and cultivated for 35 days in climate chamber in thoroughly homogenized arable soil. Ten variants of the experiment were prepared; two control variants (pure arable soil and arable soil with added compost), four variants with different doses of mineral and organic fertilizers and four variants of the same doses of mineral and organic fertilizers with the addition of compos. The highest decrease of mineral nitrogen leaching was observed by the simultaneous applications of soluble humic substances and compost to soil samples, about 417% in comparison with the control variant. Application of these organic compounds also supported microbial activity and nitrogen immobilization documented by the highest soil respiration and by the highest value of the index of nitrogen availability. The production of plant biomass after this application was not the highest due to microbial competition for the nutrients in soil, but was 24% higher in comparison with the control variant. To support these promising results the experiment should be repeated in field conditions.
Abstract: Paper is dealing by testing of IN23 ceramic cutting tools at irregular shocks at special fixture - interrupted cut simulator. Standard tests provided at fixture were at regular interrupted cut at 4 slats by 90°. These new tests will be at irregular cut for 1 slat, 2 slats against each other, 2 slats side by side, 3 slats and 4 slats. The main goal is check if irregular shocks have influence at mechanical and thermal shock at tool life of cutting inserts.
Abstract: Shear testing is one of the most complex testing areas where available methods and specimen geometries are different from each other. Therefore, a modified shear test specimen (MSTS) combining the simple uniaxial test with a zone of interest (ZOI) is tested which gives almost the pure shear. In this study, material parameters of polypropylene (PP) and high density polyethylene (HDPE) are first measured by tensile tests with a dogbone shaped specimen. These parameters are then used as an input for the finite element analysis. Secondly, a specially designed specimen (MSTS) is used to perform the shear stress tests in a tensile testing machine to get the results in terms of forces and extension, crack initiation etc. Scanning Electron Microscopy (SEM) is also performed on the shear fracture surface to find material behavior. These experiments are then simulated by finite element method and compared with the experimental results in order to confirm the simulation model. Shear stress state is inspected to find the usability of the proposed shear specimen. Finally, a geometry correction factor can be established for these two materials in this specific loading and geometry with notch using Linear Elastic Fracture Mechanics (LEFM). By these results, strain energy of shear failure and stress intensity factor (SIF) of shear of these two polymers are discussed in the special application of the screw cap opening of the medical or food packages with a temper evidence safety solution.
Abstract: A power measurement algorithm of the input mix components of the noise signal and pulse interference is considered. The algorithm efficiency analysis has been carried out for different interference-to-signal ratio. Algorithm performance features have been explored by numerical experiment results.
Abstract: This paper examines the development of one step, five hybrid point method for the solution of first order initial value problems. We adopted the method of collocation and interpolation of power series approximate solution to generate a continuous linear multistep method. The continuous linear multistep method was evaluated at selected grid points to give the discrete linear multistep method. The method was implemented using a constant order predictor of order seven over an overlapping interval. The basic properties of the derived corrector was investigated and found to be zero stable, consistent and convergent. The region of absolute stability was also investigated. The method was tested on some numerical experiments and found to compete favorably with the existing methods.