Abstract: Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.
Abstract: Nanoporous g-Al2O3 samples were synthesized via a sol-gel technique, introducing changes in the Yoldas´ method. The aim of the work was to achieve an effective control of the nanostructure properties and morphology of the final g-Al2O3. The influence of the reagent temperature during the hydrolysis was evaluated in case of water at 5 ºC and 98 ºC, and alkoxide at -18 ºC and room temperature. Sol-gel transitions were performed at 120 ºC and room temperature. All g-Al2O3 samples were characterized by X-ray diffraction, nitrogen adsorption and thermal analysis. Our results showed that temperature of both water and alkoxide has not much influence on the nanostructure of the final g-Al2O3, thus giving a structure very similar to that of samples obtained by the reference method as long as the reaction temperature above 75 ºC is reached soon enough. XRD characterization showed diffraction patterns corresponding to g-Al2O3 for all samples. Also BET specific area values (253-280 m2/g) were similar to those obtained by Yoldas’s original method. The temperature of the sol-gel transition does not affect the resulting sample structure, and crystalline boehmite particles were identified in all dried gels. We analyzed the reproducibility of the samples’ structure by preparing different samples under identical conditions; we found that performing the sol-gel transition at 120 ºC favors the production of more reproducible samples and also reduces significantly the time of the sol-gel reaction.
Abstract: This paper develops a meshless approach, called Element Free Galerkin (EFG) method, which is based on the weak form Moving Least Squares (MLS) of the partial differential governing equations and employs the interpolation to construct the meshless shape functions. The variation weak form is used in the EFG where the trial and test functions are approximated bye the MLS approximation. Since the shape functions constructed by this discretization have the weight function property based on the randomly distributed points, the essential boundary conditions can be implemented easily. The local weak form of the partial differential governing equations is obtained by the weighted residual method within the simple local quadrature domain. The spline function with high continuity is used as the weight function. The presently developed EFG method is a truly meshless method, as it does not require the mesh, either for the construction of the shape functions, or for the integration of the local weak form. Several numerical examples of two-dimensional static structural analysis are presented to illustrate the performance of the present EFG method. They show that the EFG method is highly efficient for the implementation and highly accurate for the computation. The present method is used to analyze the static deflection of beams and plate hole
Abstract: 14 mudstone samples were collected within the sedimentary succession of Mukdadiya Formation (Late Miocene – Early Pliocene) from Shewasoor area at Northeastern Iraq. The samples were subjected to laboratory studies including mineralogical analysis (using X-ray Diffraction technique) in order to identify the clay mineralogy of Mukdadiya Formation of both clay and non-clay minerals. The results of non-clay minerals are: quartz, feldspar and carbonate (calcite and dolomite) minerals. The clay minerals are: montmorillonite, kaolinite, palygorskite, chlorite, and illite by the major basal reflections of each mineral. The origins of these minerals are deduced also.
Abstract: This paper investigates the effects of breaks in bonds,
breaks in the earthing system and breaks in earth wire on the rise of
the earth potential (EPR) in a substation and at the transmission tower
bases using various models of an L6 tower. Different approaches
were adopted to examine the integrity of the earthing system and the
terminal towers. These effects were investigated to see the associated
difference in the EPR magnitudes with respect to a healthy system at
various locations. Comparisons of the computed EPR magnitudes
were then made between the healthy and unhealthy system to detect
any difference. The studies were conducted at power frequency for a
uniform soil with different soil resistivities. It was found that full
breaks in the double bond of the terminal towers increase the EPR
significantly at the fault location, while they reduce EPR at the
terminal tower bases. A fault on the isolated section of the grid can
result in EPR values up to 8 times of those on a healthy system at
higher soil resistivities, provided that the extended earthing system
stays connected to the grid.
Abstract: Microcantilevers are the basic MEMS devices, which
can be used as sensors, actuators and electronics can be easily built
into them. The detection principle of microcantilever sensors is based
on the measurement of change in cantilever deflection or change in its
resonance frequency. The objective of this work is to explore the
analogies between mechanical and electrical equivalent of
microcantilever beams. Normally scientists and engineers working in
MEMS use expensive software like CoventorWare, IntelliSuite,
ANSYS/Multiphysics etc. This paper indicates the need of developing
electrical equivalent of the MEMS structure and with that, one can
have a better insight on important parameters, and their interrelation of
the MEMS structure. In this work, considering the mechanical model
of microcantilever, equivalent electrical circuit is drawn and using
force-voltage analogy, it is analyzed with circuit simulation software.
By doing so, one can gain access to powerful set of intellectual tools
that have been developed for understanding electrical circuits Later
the analysis is performed using ANSYS/Multiphysics - software based
on finite element method (FEM). It is observed that both mechanical
and electrical domain results for a rectangular microcantlevers are in
agreement with each other.
Abstract: In this paper, the 2-D unsteady viscous flow around
two cam shaped cylinders in tandem arrangement is numerically
simulated in order to study the characteristics of the flow in turbulent
regimes. The investigation covers the effects of high subcritical and
supercritical Reynolds numbers and L/D ratio on total drag
coefficient. The equivalent diameter of cylinders is 27.6 mm The
space between center to center of two cam shaped cylinders is define
as longitudinal pitch ratio and it varies in range of 1.5< L/D
Abstract: In this paper, we present an application of Riemannian
geometry for processing non-Euclidean image data. We consider the
image as residing in a Riemannian manifold, for developing a new
method to brain edge detection and brain extraction. Automating this
process is a challenge due to the high diversity in appearance brain
tissue, among different patients and sequences. The main contribution, in this paper, is the use of an edge-based
anisotropic diffusion tensor for the segmentation task by integrating
both image edge geometry and Riemannian manifold (geodesic,
metric tensor) to regularize the convergence contour and extract
complex anatomical structures. We check the accuracy of the
segmentation results on simulated brain MRI scans of single
T1-weighted, T2-weighted and Proton Density sequences. We
validate our approach using two different databases: BrainWeb
database, and MRI Multiple sclerosis Database (MRI MS DB). We
have compared, qualitatively and quantitatively, our approach with
the well-known brain extraction algorithms. We show that using
a Riemannian manifolds to medical image analysis improves the
efficient results to brain extraction, in real time, outperforming the
results of the standard techniques.
Abstract: This research was planned in order to study the effect
of drought stress and different levels of Superabsorbent and their
effect on grain yield, biologic yield and harvest index. In this study, 3
different depths of irrigation were considered as the main treatment
I1, I2, I3 as 100, 75 and 50 percent of water requirement of plants
respectively and different levels of Superabsorbent were used as
secondary treatment (S0, S1, S2 and S3, equal to 0 (control), 15, 30
and 45 gr/m2 respectively). According to the results, independent
effects of irrigation and Superabsorbent treatments at 1% level on
biologic and grain yield of corn were significant. In addition,
independent effect of irrigation treatments at 5% level on harvest
index was significant. But independent effect of Superabsorbent
treatments on harvest index was not significant.
Abstract: The goal of the modern education system is to prepare
students to be able to adapt to ever-changing life situations. They
must be able to acquire required knowledge independently; apply
such knowledge in practice to solve various problems by using
modern technologies; think critically and creatively; competently use
information; be communicative, work in a team; and develop their
own moral values, intellect and cultural awareness. As a result, the
status of education significantly increases; new requirements to its
quality have been formed. In recent years the competency-based
approach in education has become of significant interest. This
approach is a strengthening of applied and practical characteristics of
a school education and leads to the forming of the key students’
competencies which define their success in future life. In this article,
the authors’ attention focuses on a range of key competencies,
educational, informational and communicative and on the possibility
to develop such competencies via STEM education. This research
shows the change in students’ attitude towards scientific disciplines
such as mathematics, general science, technology and engineering as
a result of STEM education. Two staged analyzed questionnaires
completed by students of forms II to IV in the republic of Trinidad
and Tobago allowed the authors to categorize students between two
levels that represent students’ attitude to various disciplines. The
significance of differences between selected levels was confirmed
with the use of Pearson’s chi-squared test. In summary, the analysis
of obtained data makes it possible to conclude that STEM education
has a great potential for development of core students’ competencies
and encourage the development of positive student attitude towards
the above mentioned above scientific disciplines.
Abstract: Standard Gibbs energy of formation ΔGfor(298.15) of
lanthanide-iron double oxides of garnet-type crystal structure
R3Fe5O12 - RIG (R – are rare earth ions) from initial oxides are
evaluated. The calculation is based on the data of standard entropies
S298.15 and standard enthalpies ΔH298.15 of formation of compounds
which are involved in the process of garnets synthesis. Gibbs energy
of formation is presented as temperature function ΔGfor(T) for the
range 300-1600K. The necessary starting thermodynamic data were
obtained from calorimetric study of heat capacity – temperature
functions and by using the semi-empirical method for calculation of
ΔH298.15 of formation. Thermodynamic functions for standard
temperature – enthalpy, entropy and Gibbs energy - are
recommended as reference data for technological evaluations.
Through the structural series of rare earth-iron garnets the correlation
between thermodynamic properties and characteristics of lanthanide
ions are elucidated.
Abstract: The development of transport systems has negative
impacts on the environment although it has beneficial effects on
society. The car policy caused many problems such as: - the
spectacular growth of fuel consumption hence the very vast increase
in urban pollution, traffic congestion in certain places and at certain
times, the increase in the number of accidents. The exhaust emissions
from cars and weather conditions are the main factors that determine
the level of pollution in urban atmosphere. These conditions lead to
the phenomenon of heat transfer and radiation occurring between the
air and the soil surface of any town. These exchanges give rise, in
urban areas, to the effects of heat islands that correspond to the
appearance of excess air temperature between the city and its
surrounding space. In this object, we perform a numerical simulation
of the plume generated by the cars exhaust gases and show that these
gases form a screening effect above the urban city which cause the
heat island in the presence of wind flow. This study allows us: 1. To
understand the different mechanisms of interactions between these
phenomena.2. To consider appropriate technical solutions to mitigate
the effects of the heat island.
Abstract: Many water desalination technologies have been
developed but in general they are energy intensive and have high cost
and adverse environmental impact. Recently, adsorption technology
for water desalination has been investigated showing the potential of
using low temperature waste heat (50-85oC) thus reducing energy
consumption and CO2 emissions. This work mathematically
compares the performance of an adsorption cycle that produces two
useful effects namely, fresh water and cooling using two different
adsorbents, silica-gel and an advanced zeolite material AQSOA-ZO2,
produced by Mitsubishi plastics. It was found that at low chilled
water temperatures, typically below 20oC, the AQSOA-Z02 is more
efficient than silica-gel as the cycle can produce 5.8 m3 of fresh water
per day and 50.1 Rton of cooling per tonne of AQSOA-ZO2. Above
20oC silica-gel is still better as the cycle production reaches 8.4 m3
per day and 62.4 Rton per tonne of silica-gel. These results show the
potential of using the AQSOA-Z02 at low chilled water temperature
for water desalination and cooling applications.
Abstract: This paper reports the numerical simulation of doublediffusive
natural convection flows within a horizontal annular filled
with a saturated porous medium. The analysis concerns the influence
of the different parameters governing the problem, namely, the
Rayleigh number Ra, the Lewis number Le and the buoyancy ratio N,
on the heat and mass transfer and on the flow structure, in the case of
a fixed radius ratio R = 2. The numerical model used for the
discretization of the dimensionless equations governing the problem
is based on the finite difference method, using the ADI scheme. The
study is focused on steady-state solutions in the cooperation situation.
Abstract: Precise capture of plantar 3D surface of the foot at the
loading gait phases on rigid substrates was found to be valuable for
the assessment of the physiology, health and problems of the feet.
Photogrammetry, a precision 3D spatial data capture technique is
suitable for this type of dynamic application. In this research, the
technique is utilised to study the plantar deformation as a result of
having a strip of kinesiology tape on the plantar surface during the
loading phase of gait. For this pilot study, one healthy adult male
subject was recruited under the University’s human research ethics
guidelines for this preliminary study. The 3D plantar deformation
data with and without applying the tape were analysed. The results
and analyses are presented together with detailed findings.
Abstract: Interaction between human, location and activity
defines space. In the framework of these relations, space is a
container for current specifications in relations of the 3 mentioned
elements. The change of land utility considered with average
performance range, urban regulations, society requirements etc. will
provide welfare and comfort for citizens. From an engineering view it
is fundamental that choosing a proper location for a specific civil
activity requires evaluation of locations from different perspectives.
The debate of desirable establishment of municipal service elements
in urban regions is one of the most important issues related to urban
planning. In this paper, the research type is applicable based on goal,
and is descriptive and analytical based on nature. Initially existing
terminals in Esfahan are surveyed and then new locations are
presented based on evaluated criteria. In order to evaluate terminals
based on the considered factors, an AHP model is used at first to
estimate weight of different factors and then existing and suggested
locations are evaluated using Arc GIS software and AHP model
results. The results show that existing bus terminals are located in
fairly proper locations. Further results of this study suggest new
locations to establish terminals based on urban criteria.
Abstract: Background: With the perceived pain and poor
function experienced following knee arthroplasty, patients usually
feel un-satisfied. Yet, a controversy still persists on the appropriate
operative technique that doesn’t affect proprioception much.
Purpose: This study compared the effects of Cruciate Retaining
(CR) and Posterior Stabilized (PS) total knee arthroplasty (TKA on
dynamic balance, pain and functional performance following
rehabilitation.
Methods: Thirty patients with CRTKA (group I), thirty with
PSTKA (group II) and fifteen indicated for arthroplasty but weren’t
operated on yet (group III) participated in the study. The mean age
was 54.53±3.44, 55.13±3.48 and 55.33±2.32 years and BMI
35.7±3.03, 35.7±1.99 and 35.73±1.03 kg/m2 for groups I, II and III
respectively. The Berg Balance Scale (BBS), WOMAC pain subscale
and Timed Up-and-Go (TUG) and Stair-Climbing (SC) tests were
used for assessment. Assessments were conducted four weeks preand
post-operatively, three, six and twelve months post-operatively
with the control group being assessed at the same time intervals. The
post-operative rehabilitation involved hospitalization (1st week),
home-based (2nd-4th weeks), and outpatient clinic (5th-12th weeks)
programs, follow-up to all groups for twelve months.
Results: The Mixed design MANOVA revealed that group I had
significantly lower pain scores and SC time compared with group II
three, six and twelve months post-operatively. Moreover, the BBS
scores increased significantly and the pain scores and TUG and SC
time decreased significantly six months post-operatively compared
with four weeks pre- and post-operatively and three months postoperatively
in groups I and II with the opposite being true four weeks
post-operatively. But no significant differences in BBS scores, pain
scores and TUG and SC time between six and twelve months postoperatively
in groups I and II.
Interpretation/Conclusion: CRTKA is preferable to PSTKA,
possibly due to the preserved human proprioceptors in the un-excised
PCL.
Abstract: In this research, waterglass based aerogel powder was
prepared by sol–gel process and ambient pressure drying. Inspired by
limited dust releasing, aerogel powder was introduced to the PET
electrospinning solution in an attempt to create required bulk and
surface structure for the nanofibers to improve their hydrophobic and
insulation properties. The samples evaluation was carried out by
measuring density, porosity, contact angle, heat transfer, FTIR, BET,
and SEM. According to the results, porous silica aerogel powder was
fabricated with mean pore diameter of 24 nm and contact angle of
145.9º. The results indicated the usefulness of the aerogel powder
confined into nanofibers to control surface roughness for
manipulating superhydrophobic nanowebs with water contact angle
of 147º. It can be due to a multi-scale surface roughness which was
created by nanowebs structure itself and nanofibers surface
irregularity in presence of the aerogels while a layer of fluorocarbon
created low surface energy. The wettability of a solid substrate is an
important property that is controlled by both the chemical
composition and geometry of the surface. Also, a decreasing trend in
the heat transfer was observed from 22% for the nanofibers without
any aerogel powder to 8% for the nanofibers with 4% aerogel
powder. The development of thermal insulating materials has become
increasingly more important than ever in view of the fossil energy
depletion and global warming that call for more demanding energysaving
practices.
Abstract: Collapsible soils go through radical rearrangement of
their particles when triggered by water, stress or/and vibration,
causing loss of volume. This loss of volume in soil as seen in
foundation failures has caused millions of dollars’ worth of damages
to public facilities and infrastructure and so has an adverse effect on
the society and people. Despite these consequences and the several
studies that are available, more research is still required in the study
of soil collapsibility. Discerning the pedogenesis (formation) of soils
and investigating the combined effects of the different geological soil
properties is key to elucidating and quantifying soils collapsibility.
This study presents a novel laboratory testing regime that would be
undertaken on soil samples where the effects of soil type, compactive
variables (moisture content, density, void ratio, degree of saturation)
and loading are analyzed. It is anticipated that results obtained would
be useful in mapping the trend of the combined effect thus the basis
for evaluating soil collapsibility or collapse potentials encountered in
construction with volume loss problems attributed to collapse.
Abstract: Through this paper we present a method for automatic
generation of ontological model from any data source using Model
Driven Architecture (MDA), this generation is dedicated to the
cooperation of the knowledge engineering and software engineering.
Indeed, reverse engineering of a data source generates a software
model (schema of data) that will undergo transformations to generate
the ontological model. This method uses the meta-models to validate
software and ontological models.