Abstract: This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
Abstract: Transportation of long turbine blades from one place
to another is a difficult process. Hence a feasibility study of
modularization of wind turbine blade was taken from structural
standpoint through finite element analysis. Initially, a non-segmented
blade is modeled and its structural behavior is evaluated to serve as
reference. The resonant, static bending and fatigue tests are simulated
in accordance with IEC61400-23 standard for comparison purpose.
The non-segmented test blade is separated at suitable location based
on trade off studies and the segments are joined with an innovative
double strap bonded joint configuration. The adhesive joint is
modeled by adopting cohesive zone modeling approach in ANSYS.
The developed blade model is analyzed for its structural response
through simulation. Performances of both the blades are found to be
similar, which indicates that, efficient segmentation of the long blade
is possible which facilitates easy transportation of the blades and on
site reassembling. The location selected for segmentation and
adopted joint configuration has resulted in an efficient segmented
blade model which proves the methodology adopted for segmentation
was quite effective. The developed segmented blade appears to be the
viable alternative considering its structural response specifically in
fatigue within considered assumptions.
Abstract: The Orthogonal Frequency Division Multiplexing
(OFDM) with high data rate, high spectral efficiency and its ability to
mitigate the effects of multipath makes them most suitable in wireless
application. Impulsive noise distorts the OFDM transmission and
therefore methods must be investigated to suppress this noise. In this
paper, a State Space Recursive Least Square (SSRLS) algorithm
based adaptive impulsive noise suppressor for OFDM
communication system is proposed. And a comparison with another
adaptive algorithm is conducted. The state space model-dependent
recursive parameters of proposed scheme enables to achieve steady
state mean squared error (MSE), low bit error rate (BER), and faster
convergence than that of some of existing algorithm.
Abstract: In this paper, we propose a system for preventing gas
risks through the use of wireless communication modules and
intelligent gas safety appliances. Our system configuration consists of
an automatic extinguishing system, detectors, a wall-pad, and a
microcomputer controlled micom gas meter to monitor gas flow and
pressure as well as the occurrence of earthquakes. The automatic fire
extinguishing system checks for both combustible gaseous leaks and
monitors the environmental temperature, while the detector array
measures smoke and CO gas concentrations. Depending on detected
conditions, the micom gas meter cuts off an inner valve and generates
a warning, the automatic fire-extinguishing system cuts off an external
valve and sprays extinguishing materials, or the sensors generate
signals and take further action when smoke or CO are detected.
Information on intelligent measures taken by the gas safety appliances
and sensors are transmitted to the wall-pad, which in turn relays this as
real time data to a server that can be monitored via an external network
(BcN) connection to a web or mobile application for the management
of gas safety. To validate this smart-home gas management system, we
field-tested its suitability for use in Korean apartments under several
scenarios.
Abstract: This paper examines the utilization of public-private
partnerships for the building and operation of wastewater treatment
plants. Our research focuses on risk allocation in this kind of projects.
Our analysis builds on more than hundred wastewater treatment
plants built and operated through PPP projects in Aragon (Spain).
The paper illustrates the consequences of an inadequate management
of construction risk and an unsuitable transfer of demand risk in
wastewater treatment plants. It also shows that the involvement of
many public bodies at local, regional and national level further
increases the complexity of this kind of projects and make time
delays more likely.
Abstract: A simple adaptive voice activity detector (VAD) is
implemented using Gabor and gammatone atomic decomposition of
speech for high Gaussian noise environments. Matching pursuit is
used for atomic decomposition, and is shown to achieve optimal
speech detection capability at high data compression rates for low
signal to noise ratios. The most active dictionary elements found by
matching pursuit are used for the signal reconstruction so that the
algorithm adapts to the individual speakers dominant time-frequency
characteristics. Speech has a high peak to average ratio enabling
matching pursuit greedy heuristic of highest inner products to isolate
high energy speech components in high noise environments. Gabor
and gammatone atoms are both investigated with identical
logarithmically spaced center frequencies, and similar bandwidths.
The algorithm performs equally well for both Gabor and gammatone
atoms with no significant statistical differences. The algorithm
achieves 70% accuracy at a 0 dB SNR, 90% accuracy at a 5 dB SNR
and 98% accuracy at a 20dB SNR using 30d B SNR as a reference
for voice activity.
Abstract: In order to produce lead free piezoceramics with
optimum piezoelectric and dielectric properties, KNN modified with
Li+ (as an A site dopant) and Sb5+ (as a B site dopant)
(K0.49Na0.49Li0.02) (Nb0.96Sb0.04) O3 (referred as KNLNS in this paper)
have been synthesized using solid state reaction method and
conventional sintering technique. The ceramics were sintered in the
narrow range of 1050°C-1090°C for 2-3 h to get precise information
about sintering parameters. Detailed study of dependence of
microstructural, dielectric and piezoelectric properties on sintering
conditions was then carried out. The study suggests that the volatility
of the highly hygroscopic KNN ceramics is not only sensitive to
sintering temperatures but also to sintering durations. By merely
reducing the sintering duration for a given sintering temperature we
saw an increase in the density of the samples which was supported by
the increase in dielectric constants of the ceramics. And since density
directly or indirectly affects almost all the associated properties, other
dielectric and piezoelectric properties were also enhanced as we
approached towards the most suitable sintering temperature and
duration combination. The detailed results are reported in this paper.
Abstract: Evolutionary optimization methods such as genetic
algorithms have been used extensively for the construction site layout
problem. More recently, ant colony optimization algorithms, which
are evolutionary methods based on the foraging behavior of ants,
have been successfully applied to benchmark combinatorial
optimization problems. This paper proposes a formulation of the site
layout problem in terms of a sequencing problem that is suitable for
solution using an ant colony optimization algorithm.
In the construction industry, site layout is a very important
planning problem. The objective of site layout is to position
temporary facilities both geographically and at the correct time such
that the construction work can be performed satisfactorily with
minimal costs and improved safety and working environment. During
the last decade, evolutionary methods such as genetic algorithms
have been used extensively for the construction site layout problem.
This paper proposes an ant colony optimization model for
construction site layout. A simple case study for a highway project is
utilized to illustrate the application of the model.
Abstract: An efficient remanufacturing network lead to an
efficient design of sustainable manufacturing enterprise. In
remanufacturing network, products are collected from the customer
zone, disassembled and remanufactured at a suitable remanufacturing
facility. In this respect, another issue to consider is how the returned
product to be remanufactured, in other words, what is the best layout
for such facility. In order to achieve a sustainable manufacturing
system, Cellular Manufacturing System (CMS) designs are highly
recommended, CMSs combine high throughput rates of line layouts
with the flexibility offered by functional layouts (job shop).
Introducing the CMS while designing a remanufacturing network will
benefit the utilization of such a network. This paper presents and
analyzes a comprehensive mathematical model for the design of
Dynamic Cellular Remanufacturing Systems (DCRSs). In this paper,
the proposed model is the first one to date that considers CMS and
remanufacturing system simultaneously. The proposed DCRS model
considers several manufacturing attributes such as multi period
production planning, dynamic system reconfiguration, duplicate
machines, machine capacity, available time for workers, worker
assignments, and machine procurement, where the demand is totally
satisfied from a returned product. A numerical example is presented
to illustrate the proposed model.
Abstract: In the present study, the kinetics of thermal
degradation of a phenolic and lignin reinforced phenolic foams, and
the lignin used as reinforcement were studied and the activation
energies of their degradation processes were obtained by a DAEM
model. The average values for five heating rates of the mean
activation energies obtained were: 99.1, 128.2, and 144.0 kJ.mol-1 for
the phenolic foam; 109.5, 113.3, and 153.0 kJ.mol-1 for the lignin
reinforcement; and 82.1, 106.9, and 124.4 kJ.mol-1 for the lignin
reinforced phenolic foam. The standard deviation ranges calculated
for each sample were 1.27-8.85, 2.22-12.82, and 3.17-8.11 kJ.mol-1
for the phenolic foam, lignin and the reinforced foam, respectively.
The DAEM model showed low mean square errors (
Abstract: Micro-electromechanical system (MEMS)
accelerometers and gyroscopes are suitable for the inertial navigation
system (INS) of many applications due to low price, small
dimensions and light weight. The main disadvantage in a comparison
with classic sensors is a worse long term stability. The estimation
accuracy is mostly affected by the time-dependent growth of inertial
sensor errors, especially the stochastic errors. In order to eliminate
negative effects of these random errors, they must be accurately
modeled. In this paper, the Allan variance technique will be used in
modeling the stochastic errors of the inertial sensors. By performing
a simple operation on the entire length of data, a characteristic curve
is obtained whose inspection provides a systematic characterization
of various random errors contained in the inertial-sensor output data.
Abstract: The seismic risk mitigation from the perspective of
the old buildings stock is truly essential in Algerian urban areas,
particularly those located in seismic prone regions, such as Annaba
city, and which the old buildings present high levels of degradation
associated with no seismic strengthening and/or rehabilitation
concerns. In this sense, the present paper approaches the issue of the
seismic vulnerability assessment of old masonry building stocks
through the adaptation of a simplified methodology developed for a
European context area similar to that of Annaba city, Algeria.
Therefore, this method is used for the first level of seismic
vulnerability assessment of the masonry buildings stock of the old
city center of Annaba. This methodology is based on a vulnerability
index that is suitable for the evaluation of damage and for the
creation of large-scale loss scenarios. Over 380 buildings were
evaluated in accordance with the referred methodology and the
results obtained were then integrated into a Geographical Information
System (GIS) tool. Such results can be used by the Annaba city
council for supporting management decisions, based on a global view
of the site under analysis, which led to more accurate and faster
decisions for the risk mitigation strategies and rehabilitation plans.
Abstract: This work is the first dowel in a rather wide research
activity in collaboration with Euro Mediterranean Center for Climate
Changes, aimed at introducing scalable approaches in Ocean
Circulation Models. We discuss designing and implementation of
a parallel algorithm for solving the Variational Data Assimilation
(DA) problem on Graphics Processing Units (GPUs). The algorithm
is based on the fully scalable 3DVar DA model, previously proposed
by the authors, which uses a Domain Decomposition approach
(we refer to this model as the DD-DA model). We proceed with
an incremental porting process consisting of 3 distinct stages:
requirements and source code analysis, incremental development of
CUDA kernels, testing and optimization. Experiments confirm the
theoretic performance analysis based on the so-called scale up factor
demonstrating that the DD-DA model can be suitably mapped on
GPU architectures.
Abstract: In this paper, an analytical simplified method for
calculating elasto-plastic stresses strains of notched bodies subject to
non-proportional loading paths is discussed. The method was based
on the Neuber notch correction, which relates the incremental elastic
and elastic-plastic strain energy densities at the notch root and the
material constitutive relationship. The validity of the method was
presented by comparing computed results of the proposed model
against finite element numerical data of notched shaft. The
comparison showed that the model estimated notch-root elasto-plastic
stresses strains with good accuracy using linear-elastic stresses. The
prosed model provides more efficient and simple analysis method
preferable to expensive experimental component tests and more
complex and time consuming incremental non-linear FE analysis.
The model is particularly suitable to perform fatigue life and fatigue
damage estimates of notched components subjected to nonproportional
loading paths.
Abstract: Quality of Service (QoS) attributes as part of the
service description is an important factor for service attribute. It is not
easy to exactly quantify the weight of each QoS conditions since
human judgments based on their preference causes vagueness. As
web services selection requires optimization, evolutionary computing
based on heuristics to select an optimal solution is adopted. In this
work, the evolutionary computing technique Particle Swarm
Optimization (PSO) is used for selecting a suitable web services
based on the user’s weightage of each QoS values by optimizing the
QoS weight vector and thereby finding the best weight vectors for
best services that is being selected. Finally the results are compared
and analyzed using static inertia weight and deterministic inertia
weight of PSO.
Abstract: Due to rapid pressured of population growth, city has
started to lose its old tradition. City becomes congested with
uncomfortably living. Urban renewal refers orderly development of
settlements as well as land redevelopment. For this paper Chittagong
city has been selected as study area. It had a great tradition but it has
been losing its concord. Land use pattern of this place is also
haphazard due to lack of planning intervention. Renewal plan is
needed to ascertain suitable redevelopment and to recommend on
preservation of city heritage structure. The goal of this study is to
prepare a renewal plan using local planning approach. Social impact
methods have been used to achieve this goal. Both primary and
secondary data are used to achieve the goal. This study may find out
a complete solution for healthy living in old Part of city. This study
will help to preserve its tradition and makes urban lives more livable.
Abstract: The research of juice flavor forecasting has become
more important in China. Due to the fast economic growth in China,
many different kinds of juices have been introduced to the market. If a
beverage company can understand their customers’ preference well,
the juice can be served more attractive. Thus, this study intends to
introducing the basic theory and computing process of grapes juice
flavor forecasting based on support vector regression (SVR). Applying
SVR, BPN, and LR to forecast the flavor of grapes juice in real data
shows that SVR is more suitable and effective at predicting
performance.
Abstract: PhilSHORE is a multi-site, multi-device and multicriteria
decision support tool designed to support the development of
tidal current energy in the Philippines. Its platform is based on
Geographic Information Systems (GIS) which allows for the
collection, storage, processing, analyses and display of geospatial
data. Combining GIS tools with open source web development
applications, PhilSHORE becomes a webGIS-based marine spatial
planning tool. To date, PhilSHORE displays output maps and graphs
of power and energy density, site suitability and site-device analysis.
It enables stakeholders and the public easy access to the results of
tidal current energy resource assessments and site suitability
analyses. Results of the initial development show that PhilSHORE is
a promising decision support tool for ORE project developments.
Abstract: An Australian manufacturer has fabricated an
innovative GFRP sandwich panel made from E-glass fiber skin and a
modified phenolic core for structural applications. Debonding, which
refers to separation of skin from the core material in composite
sandwiches, is one of the most common types of damage in
composites. The presence of debonding is of great concern because it
not only severely affects the stiffness but also modifies the dynamic
behaviour of the structure. Generally it is seen that the majority of
research carried out has been concerned about the delamination of
laminated structures whereas skin-core debonding has received
relatively minor attention. Furthermore it is observed that research
done on composite slabs having multiple skin-core debonding is very
limited. To address this gap, a comprehensive research investigating
dynamic behaviour of composite panels with single and multiple
debonding is presented. The study uses finite-element modelling and
analyses for investigating the influence of debonding on free
vibration behaviour of single and multilayer composite sandwich
panels. A broad parametric investigation has been carried out by
varying debonding locations, debonding sizes and support conditions
of the panels in view of both single and multiple debonding.
Numerical models were developed with Strand7 finite element
package by innovatively selecting the suitable elements to diligently
represent their actual behavior. Three-dimensional finite element
models were employed to simulate the physically real situation as
close as possible, with the use of an experimentally and numerically
validated finite element model. Comparative results and conclusions
based on the analyses are presented. For similar extents and locations
of debonding, the effect of debonding on natural frequencies appears
greatly dependent on the end conditions of the panel, giving greater
decrease in natural frequency when the panels are more restrained.
Some modes are more sensitive to debonding and this sensitivity
seems to be related to their vibration mode shapes. The fundamental
mode seems generally the least sensitive mode to debonding with
respect to the variation in free vibration characteristics. The results
indicate the effectiveness of the developed three dimensional finite
element models in assessing debonding damage in composite
sandwich panels.
Abstract: Chrome tannery wastewater causes serious environmental hazard due to its high pollution potential. As a result, rigorous treatment is necessary for abatement of pollution from this type of wastewater. There are many research studies on chrome tannery wastewater treatment in the field of physical, chemical, and biological methods. In general, biological treatment process is found ineffective for direct application because of adverse effects by toxic chromium, sulphide, chloride etc. However, biological methods were employed mainly for a few sub processes generating significant amount of organic matter and without chromium, chlorides etc. In this context the present paper reviews the characteristics feature and pollution potential of wastewater generated from chrome tannery units and treatment of the same. The different biological processes used earlier and their chronological development for treatment of the chrome tannery wastewater are thoroughly reviewed in this paper. In this regard, the scope of hybrid bioreactor - an advanced technology option has also been explored, as this kind of treatment is well suited for the wastewater having inhibitory substances.