Abstract: This paper provides a description of a Collision Avoidance algorithm that has been developed starting from the mathematical modeling of the flight of insects, in terms of spirals and conchospirals geometric paths. It is able to calculate a proper avoidance manoeuver aimed to prevent the infringement of a predefined distance threshold between ownship and the considered intruder, while minimizing the ownship trajectory deviation from the original path and in compliance with the aircraft performance limitations and dynamic constraints. The algorithm is designed in order to be suitable for real-time applications, so that it can be considered for the implementation in the most recent airborne automatic collision avoidance systems using the traffic data received through an ADS-B IN device. The presented approach is able to take into account the rules-of-the-air, due to the possibility to select, through specifically designed decision making logic based on the consideration of the encounter geometry, the direction of the calculated collision avoidance manoeuver that allows complying with the rules-of-the-air, as for instance the fundamental right of way rule. In the paper, the proposed collision avoidance algorithm is presented and its preliminary design and software implementation is described. The applicability of this method has been proved through preliminary simulation tests performed in a 2D environment considering single intruder encounter geometries, as reported and discussed in the paper.
Abstract: In this paper, we present the design of the
super-ellipsoidal potential function (SEPF), that can be used for
autonomous collision avoidance of an unmanned aerial vehicle (UAV)
in a 3-dimensional space. In the design of SEPF, we have the
full control over the shape and size of the potential function. In
particular, we can adjust the length, width, height, and the amount
of flattening at the tips of the potential function so that the collision
avoidance motion vector generated from the potential function can
be adjusted accordingly. Based on the idea of the SEPF, we also
propose an approach for the local autonomy of a UAV for its collision
avoidance when the UAV is teleoperated by a human operator. In
our proposed approach, a teleoperated UAV can not only avoid
collision autonomously with other surrounding objects but also track
the operator’s control input as closely as possible. As a result, an
operator can always be in control of the UAV for his/her high-level
guidance and navigation task without worrying too much about
the UAVs collision avoidance while it is being teleoperated. The
effectiveness of the proposed approach is demonstrated through a
human-in-the-loop simulation of quadrotor UAV teleoperation using
virtual robot experimentation platform (v-rep) and Matlab programs.
Abstract: Banda Sea Collision Zone (BSCZ) is the result of the
interaction and convergence of Indo-Australian plate, Eurasian plate
and Pacific plate. This location is located in eastern Indonesia. This
zone has a very high seismic activity. In this research, we will
calculate the rate (λ) and Mean Square Error (MSE). By this result,
we will classification earthquakes distribution in the BSCZ with the
point process approach. Chi-square is used to determine the type of
earthquakes distribution in the sub region of BSCZ. The data used in
this research is data of earthquakes with a magnitude ≥ 6 SR for the
period 1964-2013 and sourced from BMKG Jakarta. This research is
expected to contribute to the Moluccas Province and surrounding
local governments in performing spatial plan document related to
disaster management.
Abstract: Inspired by the Formula-1 competition, IMechE
(Institute of Mechanical Engineers) and Formula SAE (Society of
Mechanical Engineers) organize annual competitions for University
and College students worldwide to compete with a single-seat racecar
they have designed and built. Design of the chassis or the frame is a
key component of the competition because the weight and stiffness
properties are directly related with the performance of the car and the
safety of the driver. In addition, a reduced weight of the chassis has
direct influence on the design of other components in the car. Among
others, it improves the power to weight ratio and the aerodynamic
performance. As the power output of the engine or the battery
installed in the car is limited to 80 kW, increasing the power to
weight ratio demands reduction of the weight of the chassis, which
represents the major part of the weight of the car. In order to reduce
the weight of the car, ION Racing team from University of
Stavanger, Norway, opted for a monocoque design. To ensure
fulfilment of the competition requirements of the chassis, the
monocoque design should provide sufficient torsional stiffness and
absorb the impact energy in case of possible collision. The study reported in this article is based on the requirements for
Formula Student competition. As part of this study, diverse
mechanical tests were conducted to determine the mechanical
properties and performances of the monocoque design. Upon a
comprehensive theoretical study of the mechanical properties of
sandwich composite materials and the requirements of monocoque
design in the competition rules, diverse tests were conducted
including 3-point bending test, perimeter shear test and test for
absorbed energy. The test panels were homemade and prepared with
equivalent size of the side impact zone of the monocoque, i.e. 275
mm x 500 mm, so that the obtained results from the tests can be
representative. Different layups of the test panels with identical core
material and the same number of layers of carbon fibre were tested
and compared. Influence of the core material thickness was also
studied. Furthermore, analytical calculations and numerical analysis
were conducted to check compliance to the stated rules for Structural
Equivalency with steel grade SAE/AISI 1010. The test results were
also compared with calculated results with respect to bending and
torsional stiffness, energy absorption, buckling, etc. The obtained results demonstrate that the material composition
and strength of the composite material selected for the monocoque
design has equivalent structural properties as a welded frame and thus
comply with the competition requirements. The developed analytical
calculation algorithms and relations will be useful for future
monocoque designs with different lay-ups and compositions.
Abstract: This paper addresses the problem of offline path
planning for Unmanned Aerial Vehicles (UAVs) in complex threedimensional
environment with obstacles, which is modelled by 3D
Cartesian grid system. Path planning for UAVs require the
computational intelligence methods to move aerial vehicles along the
flight path effectively to target while avoiding obstacles. In this paper
Modified Particle Swarm Optimization (MPSO) algorithm is applied
to generate the optimal collision free 3D flight path for UAV. The
simulations results clearly demonstrate effectiveness of the proposed
algorithm in guiding UAV to the final destination by providing
optimal feasible path quickly and effectively.
Abstract: In this paper, we present a quantum statistical
mechanical formulation from our recently analytical expressions for
partial-wave transition matrix of a three-particle system. We report
the quantum reactive cross sections for three-body scattering
processes 1+(2,3)→1+(2,3) as well as recombination
1+(2,3)→1+(3,1) between one atom and a weakly-bound dimer. The
analytical expressions of three-particle transition matrices and their
corresponding cross-sections were obtained from the threedimensional
Faddeev equations subjected to the rank-two non-local
separable potentials of the generalized Yamaguchi form. The
equilibrium quantum statistical mechanical properties such partition
function and equation of state as well as non-equilibrium quantum
statistical properties such as transport cross-sections and their
corresponding transport collision integrals were formulated
analytically. This leads to obtain the transport properties, such as
viscosity and diffusion coefficient of a moderate dense gas.
Abstract: The system of ordinary nonlinear differential
equations describing sliding velocity during impact with friction for a
three-dimensional rigid-multibody system is developed. No analytical
solutions have been obtained before for this highly nonlinear system.
Hence, a power series solution is proposed. Since the validity of this
solution is limited to its convergence zone, a suitable time step is
chosen and at the end of it a new series solution is constructed. For a
case study, the trajectory of the sliding velocity using the proposed
method is built using 6 time steps, which coincides with a Runge-
Kutta solution using 38 time steps.
Abstract: The main function of Medium Access Control (MAC) is to share the channel efficiently between all nodes. In the real-time scenario, there will be certain amount of wastage in bandwidth due to back-off periods. More bandwidth will be wasted in idle state if the back-off period is very high and collision may occur if the back-off period is small. So, an optimization is needed for this problem. The main objective of the work is to reduce delay due to back-off period thereby reducing collision and increasing throughput. Here a method, called the virtual back-off algorithm (VBA) is used to optimize the back-off period and thereby it increases throughput and reduces collisions. The main idea is to optimize the number of transmission for every node. A counter is introduced at each node to implement this idea. Here counter value represents the sequence number. VBA is classified into two types VBA with counter sharing (VBA-CS) and VBA with no counter sharing (VBA-NCS). These two classifications of VBA are compared for various parameters. Simulation is done in NS-2 environment. The results obtained are found to be promising.
Abstract: In this paper, the dependence of soliton pulses with
respect to phase in a 10Gbps, single channel, dispersion
uncompensated telecommunication system was studied. The
characteristic feature of periodic soliton interaction was noted at the
Interaction point (I=6202.5Km) in one collision length of L=12405.1
Km. The interaction point is located for 10Gbps system with an
initial relative spacing (qo) of soliton as 5.28 using Perturbation
theory. It is shown that, when two in-phase solitons are launched,
they interact at the point I=6202.5 Km, but the interaction could be
restricted with introduction of different phase initially. When the
phase of the input solitons increases, the deviation of soliton pulses at
the ‘I’ also increases. We have successfully demonstrated this effect
in a telecommunication set-up in terms of Quality factor (Q), where
the Q=0 for in-phase soliton. The Q was noted to be 125.9, 38.63,
47.53, 59.60, 161.37, and 78.04 for different phases such as 10o, 20o,
30o, 45o, 60o and 90o degrees respectively at Interaction point (I).
Abstract: In order to avoid self-collision of space manipulators
during operation process, a real-time detection method is proposed in
this paper. The manipulator is fitted into a cylinder-enveloping
surface, and then, a kind of detection algorithm of collision between
cylinders is analyzed. The collision model of space manipulator
self-links can be detected by using this algorithm in real-time detection
during the operation process. To ensure security of the operation, a
safety threshold is designed. The simulation and experiment results
verify the effectiveness of the proposed algorithm for a 7-DOF space
manipulator.
Abstract: The structures obtained with the use of sandwich
technologies combine low weight with high energy absorbing
capacity and load carrying capacity. Hence, there is a growing and
markedly interest in the use of sandwiches with aluminum foam core
because of very good properties such as flexural rigidity and energy
absorption capability. In the current investigation, the static threepoint
bending tests were carried out on the sandwiches with
aluminum foam core and glass fiber reinforced polymer (GFRP)
skins at different values of support span distances aiming the analyses
of their flexural performance. The influence of the core thickness and
the GFRP skin type was reported in terms of peak load and energy
absorption capacity. For this purpose, the skins with two different
types of fabrics which have same thickness value and the aluminum
foam core with two different thicknesses were bonded with a
commercial polyurethane based flexible adhesive in order to combine
the composite sandwich panels. The main results of the bending tests
are: force-displacement curves, peak force values, absorbed energy,
collapse mechanisms and the effect of the support span length and
core thickness. The results of the experimental study showed that the
sandwich with the skins made of S-Glass Woven fabrics and with the
thicker foam core presented higher mechanical values such as load
carrying and energy absorption capacities. The increment of the
support span distance generated the decrease of the mechanical
values for each type of panels, as expected, because of the inverse
proportion between the force and span length. The most common
failure types of the sandwiches are debonding of the lower skin and
the core shear. The obtained results have particular importance for
applications that require lightweight structures with a high capacity
of energy dissipation, such as the transport industry (automotive,
aerospace, shipbuilding and marine industry), where the problems of
collision and crash have increased in the last years.
Abstract: Cemented carbide balls are usually implemented in
industry under the environment of high speed, high temperature,
corrosiveness and strong collisions. However, its application is limited
due to high fabrication cost, processing efficiency and quality. A novel
eccentric lapping method with two rotatable lapping plates was
proposed in this paper. A mathematical model was constructed to
analyze the influence of each design parameter on this lapping method.
To validate this new lapping method, an orthogonal experiment was
conducted with cemented carbide balls (YG6). The simulation model
was verified and the optimal lapping parameters were derived. The
results show that the surface roundness of the balls reaches to 0.65um
from 2um in 1 hour using this lapping method. So, using this novel
lapping method, it can effectively improve the machining precision
and efficiency of cemented carbide balls.
Abstract: IEEE 802.11a/b/g standards provide multiple
transmission rates, which can be changed dynamically according to the
channel condition. Cooperative communications were introduced to
improve the overall performance of wireless LANs with the help of
relay nodes with higher transmission rates. The cooperative
communications are based on the fact that the transmission is much
faster when sending data packets to a destination node through a relay
node with higher transmission rate, rather than sending data directly to
the destination node at low transmission rate. To apply the cooperative
communications in wireless LAN, several MAC protocols have been
proposed. Some of them can result in collisions among relay nodes in a
dense network. In order to solve this problem, we propose a new
protocol. Relay nodes are grouped based on their transmission rates.
And then, relay nodes only in the highest group try to get channel
access. Performance evaluation is conducted using simulation, and
shows that the proposed protocol significantly outperforms the
previous protocol in terms of throughput and collision probability.
Abstract: The idea of the asynchronous transmission in
wavelength division multiplexing (WDM) ring MANs is studied in
this paper. Especially, we present an efficient access technique to
coordinate the collisions-free transmission of the variable sizes of IP
traffic in WDM ring core networks. Each node is equipped with a
tunable transmitter and a tunable receiver. In this way, all the
wavelengths are exploited for both transmission and reception. In
order to evaluate the performance measures of average throughput,
queuing delay and packet dropping probability at the buffers, a
simulation model that assumes symmetric access rights among the
nodes is developed based on Poisson statistics. Extensive numerical
results show that the proposed protocol achieves apart from high
bandwidth exploitation for a wide range of offered load, fairness of
queuing delay and dropping events among the different packets size
categories.
Abstract: The thermal conductivity of a fluid can be
significantly enhanced by dispersing nano-sized particles in it, and
the resultant fluid is termed as "nanofluid". A theoretical model for
estimating the thermal conductivity of a nanofluid has been proposed
here. It is based on the mechanism that evenly dispersed
nanoparticles within a nanofluid undergo Brownian motion in course
of which the nanoparticles repeatedly collide with the heat source.
During each collision a rapid heat transfer occurs owing to the solidsolid
contact. Molecular dynamics (MD) simulation of the collision
of nanoparticles with the heat source has shown that there is a pulselike
pick up of heat by the nanoparticles within 20-100 ps, the extent
of which depends not only on thermal conductivity of the
nanoparticles, but also on the elastic and other physical properties of
the nanoparticle. After the collision the nanoparticles undergo
Brownian motion in the base fluid and release the excess heat to the
surrounding base fluid within 2-10 ms. The Brownian motion and
associated temperature variation of the nanoparticles have been
modeled by stochastic analysis. Repeated occurrence of these events
by the suspended nanoparticles significantly contributes to the
characteristic thermal conductivity of the nanofluids, which has been
estimated by the present model for a ethylene glycol based nanofluid
containing Cu-nanoparticles of size ranging from 8 to 20 nm, with
Gaussian size distribution. The prediction of the present model has
shown a reasonable agreement with the experimental data available
in literature.
Abstract: Now-a-days autonomous mobile robots have found
applications in diverse fields. An autonomous robot system must be
able to behave in an intelligent manner to deal with complex and
changing environment. This work proposes the performance of path
planning and navigation of autonomous mobile robot using
Gravitational Search Algorithm (GSA), Simulated Annealing (SA)
and Particle Swarm optimization (PSO) based intelligent controllers
in an unstructured environment. The approach not only finds a valid
collision free path but also optimal one. The main aim of the work is
to minimize the length of the path and duration of travel from a
starting point to a target while moving in an unknown environment
with obstacles without collision. Finally, a comparison is made
between the three controllers, it is found that the path length and time
duration made by the robot using GSA is better than SA and PSO
based controllers for the same work.
Abstract: We propose a new alternative method for imposing
fluid-solid boundary conditions in simulations of Multiparticle
Collision Dynamics. Our method is based on the introduction of
an explicit potential force acting between the fluid particles and a
surface representing a solid boundary. We show that our method can
be used in simulations of plane Poiseuille flows. Important quantities
characterizing the flow and the fluid-solid interaction like the slip
coefficient at the solid boundary and the effective viscosity of the
fluid, are measured in terms of the set of independent parameters
defining the numerical implementation. We find that our method can
be used to simulate the correct hydrodynamic flow within a wide
range of values of these parameters.
Abstract: Molluca Collision Zone is located at the junction of
the Eurasian, Australian, Pacific and the Philippines plates. Between
the Sangihe arc, west of the collision zone, and to the east of
Halmahera arc is active collision and convex toward the Molluca Sea.
This research will analyze the behavior of earthquake occurrence in
Molluca Collision Zone related to the distributions of an earthquake
in each partition regions, determining the type of distribution of a
occurrence earthquake of partition regions, and the mean occurence
of earthquakes each partition regions, and the correlation between the
partitions region. We calculate number of earthquakes using partition
method and its behavioral using conventional statistical methods. In
this research, we used data of shallow earthquakes type and its
magnitudes ≥4 SR (period 1964-2013). From the results, we can
classify partitioned regions based on the correlation into two classes:
strong and very strong. This classification can be used for early
warning system in disaster management.
Abstract: In this paper, a different architecture of a collision detection neural network (DCNN) is developed. This network, which has been particularly reviewed, has enabled us to solve with a new approach the problem of collision detection between two convex polyhedra in a fixed time (O (1) time). We used two types of neurons, linear and threshold logic, which simplified the actual implementation of all the networks proposed. The study of the collision detection is divided into two sections, the collision between a point and a polyhedron and then the collision between two convex polyhedra. The aim of this research is to determine through the AMAXNET network a mini maximum point in a fixed time, which allows us to detect the presence of a potential collision.
Abstract: Using pseudo potential method arbitrary amplitude ion-acoustic solitary waves have been theoretically studied in a collisionless plasma consisting of warm drifting positive ions, Boltzmann positrons and nonthermal electrons. Ion-acoustic solitary wave solutions have been obtained and the dependence of the solitary wave profile on different plasma parameters has been studied numerically. Lower and higher order compressive and rarefactive solitary waves are observed in presence of positrons, nonthermal electrons, ion drift velocity and finite ion temperature. Inclusion of higher order nonlinearity is shown to have significant correction to the solitary wave profile for the same values of plasma parameters.