Abstract: In global navigation satellite system (GNSS) denied settings, such as indoor environments, autonomous mobile robots are often limited to dead-reckoning navigation techniques to determine their position, velocity, and attitude (PVA). Localization is typically accomplished by employing an inertial measurement unit (IMU), which, while precise in nature, accumulates errors rapidly and severely degrades the localization solution. Standard sensor fusion methods, such as Kalman filtering, aim to fuse precise IMU measurements with accurate aiding sensors to establish a precise and accurate solution. In indoor environments, where GNSS and no other a priori information is known about the environment, effective sensor fusion is difficult to achieve, as accurate aiding sensor choices are sparse. However, an opportunity arises by employing a depth camera in the indoor environment. A depth camera can capture point clouds of the surrounding floors and walls. Extracting attitude from these surfaces can serve as an accurate aiding source, which directly combats errors that arise due to gyroscope imperfections. This configuration for sensor fusion leads to a dramatic reduction of PVA error compared to traditional aiding sensor configurations. This paper provides the theoretical basis for the depth camera aiding sensor method, initial expectations of performance benefit via simulation, and hardware implementation thus verifying its veracity. Hardware implementation is performed on the Quanser Qbot 2™ mobile robot, with a Vector-Nav VN-200™ IMU and Kinect™ camera from Microsoft.
Abstract: Pile foundations are one of the most preferred deep foundation systems for high rise or heavily loaded structures. In many instances, the failure of the pile founded structures in liquefiable soils had been observed even in many recent earthquakes. Failure of pile foundation have occurred because of buckling, as the pile behaves as an unsupported slender structural element once the surrounding soil liquefies. However, the buckling capacity depends on the depth of soil liquefied and its residual strength. Hence it is essential to check the pile against the possible buckling failure. Beam on non-linear Winkler Foundation is one of the efficient methods to model the pile-soil behavior in liquefiable soil. The pile-soil interaction is modelled through p-y springs, there are different p-y curves available for modeling liquefiable soil. In the present work, the influence of two such p-y curves on the buckling capacity of pile foundation is studied considering the initial geometric and non-linear behavior of pile foundation. The proposed method is validated against experimental results. A significant difference in the buckling capacity is observed for the two p-y curves used in the analysis. A parametric study is conducted to understand the influence of pile flexural rigidity, different initial geometric imperfections, and different soil relative densities on the buckling capacity of pile foundation.
Abstract: While the use of cast-in-place concrete for an airfield and highway pavement overlay is very common, the application of precast concrete elements is very limited today. The main reasons consist of high production costs and complex structural behavior. Despite that, several precast concrete systems have been developed and tested with the aim to provide a system with rapid construction. The contribution deals with the reinforcement design of a hexagonal element developed for a proposed airfield pavement system. The sub-base course of the system is composed of compacted recycled concrete aggregates and fiber reinforced concrete with recycled aggregates place on top of it. The selected element belongs to a group of precast concrete elements which are being considered for the construction of a surface course. Both high costs of full-scale experiments and the need to investigate various elements force to simulate their behavior in a numerical analysis software by using finite element method instead of performing expensive experiments. The simulation of the selected element was conducted on a nonlinear model in order to obtain such results which could fully compensate results from experiments. The main objective was to design reinforcement of the precast concrete element subject to quasi-static loading from airplanes with respect to geometrical imperfections, manufacturing imperfections, tensile stress in reinforcement, compressive stress in concrete and crack width. The obtained findings demonstrate that the position and the presence of imperfection in a pavement highly affect the stress distribution in the precast concrete element. The precast concrete element should be heavily reinforced to fulfill all the demands. Using under-reinforced concrete elements would lead to the formation of wide cracks and cracks permanently open.
Abstract: Many cities in China have been experiencing serious urban sprawl since the 1980s, which pose great challenges to a country with scare cultivated land and huge population. Because of different social and economic context and development stage, driving forces of urban sprawl in China are quite different from developed countries. Therefore, it is of great importance to probe into urban sprawl driving mechanism in Chinese context. By a comparison study of the background and features of urban sprawl between China and developed countries, this research establishes an analytical framework for sprawl dynamic mechanism in China. By literature review and analyzing data from national statistical yearbook, it then probes into the driving mechanism and the primary cause of urban sprawl. The results suggest that population increase, economic growth, traffic and information technology development lead to rapid expansion of urban space; defects of land institution and lack of effective guidance give rise to low efficiency of urban land use. Moreover, urban sprawl is ultimately attributed to imperfections of policy and institution. On this basis, this research puts forward several sprawl control strategies in Chinese context.
Abstract: In this modern era of automation, most of the academic
exams and competitive exams are Multiple Choice Questions (MCQ).
The responses of these MCQ based exams are recorded in the
Optical Mark Reader (OMR) sheet. Evaluation of the OMR sheet
requires separate specialized machines for scanning and marking.
The sheets used by these machines are special and costs more than a
normal sheet. Available process is non-economical and dependent on
paper thickness, scanning quality, paper orientation, special hardware
and customized software. This study tries to tackle the problem of
evaluating the OMR sheet without any special hardware and making
the whole process economical. We propose an image processing
based algorithm which can be used to read and evaluate the scanned
OMR sheets with no special hardware required. It will eliminate the
use of special OMR sheet. Responses recorded in normal sheet is
enough for evaluation. The proposed system takes care of color,
brightness, rotation, little imperfections in the OMR sheet images.
Abstract: Due to the numerous advantages of steel corrugated
web girders, its application field is growing for bridges as well as for
buildings. The global stability behavior of such girders is
significantly larger than those of conventional I-girders with flat web,
thus the application of the structural steel material can be
significantly reduced. Design codes and specifications do not provide
clear and complete rules or recommendations for the determination of
the lateral torsional buckling (LTB) resistance of corrugated web
girders. Therefore, the authors made a thorough investigation
regarding the LTB resistance of the corrugated web girders. Finite
element (FE) simulations have been performed to develop new
design formulas for the determination of the LTB resistance of
trapezoidally corrugated web girders. FE model is developed
considering geometrical and material nonlinear analysis using
equivalent geometric imperfections (GMNI analysis). The equivalent
geometric imperfections involve the initial geometric imperfections
and residual stresses coming from rolling, welding and flame cutting.
Imperfection sensitivity analysis was performed to determine the
necessary magnitudes regarding only the first eigenmodes shape
imperfections. By the help of the validated FE model, an extended
parametric study is carried out to investigate the LTB resistance for
different trapezoidal corrugation profiles. First, the critical moment of
a specific girder was calculated by FE model. The critical moments
from the FE calculations are compared to the previous analytical
calculation proposals. Then, nonlinear analysis was carried out to
determine the ultimate resistance. Due to the numerical
investigations, new proposals are developed for the determination of
the LTB resistance of trapezoidally corrugated web girders through a
modification factor on the design method related to the conventional
flat web girders.
Abstract: This article reports the descriptive analysis of self-compassion in polytechnic students. It has been long believed that self-compassion can improve students’ motivation in completing their studies. This research was conducted with the aim to see the degree of self-compassion in polytechnic students in Indonesia by using Neff's Self-Compassion Scale (short form) measurement tool consisting of 12 items. The research method used was descriptive study with survey technique on 255 students. The results showed that 78% of students had low self-compassion and 22% had high self-compassion. This revealed that polytechnic students still criticize themselves harshly, make a poor judgment and bad self-appraisal, and they also cannot accept their imperfection and consider it as a self-judgment. The students also tend to think that they are the only ones that experience failure and suffering. This can lead to a sense of isolation (self-isolation). Furthermore, the students are often too concerned with aspects that are not liked both in themselves and in life (over-identification). Improving the students’ level of self-compassion can be done by building an educational climate that not only criticizes the students but provides feedback as well. This should focus on the students’ real behavior rather than the students’ general character.
Abstract: The review of selected methods of strengthening of steel structures with carbon fiber reinforced polymer (CFRP) tapes and the analysis of influence of composite materials on the steel thin-walled elements are performed in this paper. The study is also focused to the problem of applying fast and effective strengthening methods of the steel structures made of thin-walled profiles. It is worth noting that the issue of strengthening the thin-walled structures is a very complex, due to inability to perform welded joints in this type of elements and the limited ability to applying mechanical fasteners. Moreover, structures made of thin-walled cross-section demonstrate a high sensitivity to imperfections and tendency to interactive buckling, which may substantially contribute to the reduction of critical load capacity. Due to the lack of commonly used and recognized modern methods of strengthening of thin-walled steel structures, authors performed the experimental studies of thin-walled sigma profiles strengthened with CFRP tapes. The paper presents the experimental stand and the preliminary results of laboratory test concerning the analysis of the effectiveness of the strengthening steel beams made of thin-walled sigma profiles with CFRP tapes. The study includes six beams made of the cold-rolled sigma profiles with height of 140 mm, wall thickness of 2.5 mm, and a length of 3 m, subjected to the uniformly distributed load. Four beams have been strengthened with carbon fiber tape Sika CarboDur S, while the other two were tested without strengthening to obtain reference results. Based on the obtained results, the evaluation of the accuracy of applied composite materials for strengthening of thin-walled structures was performed.
Abstract: In this paper, a direct design using a nonlinear inelastic analysis is suggested. Also, this paper compares the load carrying capacity obtained by a nonlinear inelastic analysis with experiment results to verify the accuracy of the results. The allowable stress design results of a railroad through a plate girder bridge and the safety factor of the nonlinear inelastic analysis were compared to examine the safety performance. As a result, the load safety factor for the nonlinear inelastic analysis was twice as high as the required safety factor under the allowable stress design standard specified in the civil engineering structure design standards for urban magnetic levitation railways, which further verified the advantages of the proposed direct design method.
Abstract: The end panels of a large rectangular industrial duct,
which experience significant internal pressures, also experience
considerable transverse shear due to transfer of gravity loads to the
supports. The current design practice of such thin plate panels for
shear load is based on methods used for the design of plate girder
webs. The structural arrangements, the loadings and the resulting
behavior associated with the industrial duct end panels are, however,
significantly different from those of the web of a plate girder. The
large aspect ratio of the end panels gives rise to multiple bands of
tension fields, whereas the plate girder web design is based on one
tension field. In addition to shear, the industrial end panels are
subjected to internal pressure which in turn produces significant
membrane action. This paper reports a study which was undertaken
to review the current industrial analysis and design methods and to
propose a comprehensive method of designing industrial duct end
panels for shear resistance. In this investigation, a nonlinear finite element model was
developed to simulate the behavior of industrial duct end panel, along
with the associated edge stiffeners, subjected to transverse shear and
internal pressures. The model considered the geometric imperfections
and constitutive relations for steels. Six scale independent
dimensionless parameters that govern the behavior of such end panel
were identified and were then used in a parametric study. It was
concluded that the plate slenderness dominates the shear strength of
stockier end panels, and whereas, both the plate slenderness and the
aspect ratio influence the shear strength of slender end panels. Based
on these studies, this paper proposes design aids for estimating the
shear strength of rectangular duct end panels.
Abstract: The floor beams of steel buildings, cold-formed steel
floor joists in particular, often require large web openings, which may
affect their shear capacities. A cost effective way to mitigate the
detrimental effects of such openings is to weld/fasten reinforcements.
A difficulty associated with an experimental investigation to establish
suitable reinforcement schemes for openings in shear zone is that
moment always coexists with the shear, and thus, it is impossible to
create pure shear state in experiments, resulting in moment
influenced results. However, Finite Element Method (FEM) based
analysis can be conveniently used to investigate the pure shear
behaviour of webs including webs with reinforced openings. This
paper presents the details associated with the finite element analysis
of thick/thin-plates (representing the web of hot-rolled steel beam,
and the web of a cold-formed steel member) having a large
reinforced opening. The study considered simply-supported
rectangular plates subjected to in-plane shear loadings until failure
(including post-buckling behaviour). The plate was modelled using
geometrically non-linear quadrilateral shell elements, and non-linear
stress-strain relationship based on experiments. Total Langrangian
with large displacement/small strain formulation was used for such
analyses. The model also considered the initial geometric
imperfections. This study considered three reinforcement schemes,
namely, flat, lip, and angle reinforcements. This paper discusses the
modelling considerations and presents the results associated with the
various reinforcement schemes under consideration.
Abstract: The Sigma-Delta A/D converters have been proposed
as a practical application for A/D conversion at high rates because of
its simplicity and robustness to imperfections in the circuit, also
because the traditional converters are more difficult to implement in
VLSI technology. These difficulties with conventional conversion
methods need precise analog components in their filters and
conversion circuits, and are more vulnerable to noise and
interference. This paper aims to analyze the architecture, function and
application of Analog-Digital converters (A/D) Sigma-Delta to
overcome these difficulties, showing some simulations using the
Simulink software and Multisim.
Abstract: The switching lag-time and the voltage drop across
the power devices cause serious waveform distortions and
fundamental voltage drop in pulse width-modulated inverter output.
These phenomenons are conspicuous when both the output frequency
and voltage are low. To estimate the output voltage from the PWM
reference signal it is essential to take account of these imperfections
and to correct them. In this paper, on-line compensation method is
presented. It needs three simple blocs to add at the ideal reference
voltages. This method does not require any additional hardware
circuit and off- line experimental measurement. The paper includes
experimental results to demonstrate the validity of the proposed
method. It is applied, finally, in case of indirect vector controlled
induction machine and implemented using dSpace card.
Abstract: Lateral-torsional buckling (LTB) is one of the
phenomenae controlling the ultimate bending strength of steel Ibeams
carrying distributed loads on top flange. Built-up I-sections
are used as main beams and distributors. This study investigates the
ultimate bending strength of such beams with sections of different
classes including slender elements. The nominal strengths of the
selected beams are calculated for different unsupported lengths
according to the Provisions of the American Institute of Steel
Constructions (AISC-LRFD). These calculations are compared with
results of a nonlinear inelastic study using accurate FE model for this
type of loading. The goal is to investigate the performance of the
provisions for the selected sections. Continuous distributed load at
the top flange of the beams was applied at the FE model.
Imperfections of different values are implemented to the FE model to
examine their effect on the LTB of beams at failure, and hence, their
effect on the ultimate strength of beams. The study also introduces a
procedure for evaluating the performance of the provisions compared
with the accurate FEA results of the selected sections. A simplified
design procedure is given and recommendations for future code
updates are made.
Abstract: This paper investigates the problem of tracking spa¬tiotemporal changes of a satellite image through the use of Knowledge Discovery in Database (KDD). The purpose of this study is to help a given user effectively discover interesting knowledge and then build prediction and decision models. Unfortunately, the KDD process for spatiotemporal data is always marked by several types of imperfections. In our paper, we take these imperfections into consideration in order to provide more accurate decisions. To achieve this objective, different KDD methods are used to discover knowledge in satellite image databases. Each method presents a different point of view of spatiotemporal evolution of a query model (which represents an extracted object from a satellite image). In order to combine these methods, we use the evidence fusion theory which considerably improves the spatiotemporal knowledge discovery process and increases our belief in the spatiotemporal model change. Experimental results of satellite images representing the region of Auckland in New Zealand depict the improvement in the overall change detection as compared to using classical methods.
Abstract: In this work, we treat the problems related to chemical and petrochemical plants of a certain complex process taking the centrifugal compressor as an example, a system being very complex by its physical structure as well as its behaviour (surge phenomenon). We propose to study the application possibilities of the recent control approaches to the compressor behaviour, and consequently evaluate their contribution in the practical and theoretical fields. Facing the studied industrial process complexity, we choose to make recourse to fuzzy logic for analysis and treatment of its control problem owing to the fact that these techniques constitute the only framework in which the types of imperfect knowledge can jointly be treated (uncertainties, inaccuracies, etc..) offering suitable tools to characterise them. In the particular case of the centrifugal compressor, these imperfections are interpreted by modelling errors, the neglected dynamics, no modelisable dynamics and the parametric variations. The purpose of this paper is to produce a total robust nonlinear controller design method to stabilize the compression process at its optimum steady state by manipulating the gas rate flow. In order to cope with both the parameter uncertainty and the structured non linearity of the plant, the proposed method consists of a linear steady state regulation that ensures robust optimal control and of a nonlinear compensation that achieves the exact input/output linearization.
Abstract: In construction of any structure, the aesthetic and utility values should be considered in such a way as to make the structure cost-effective. Most structures are composed of elements and joints which are very critical in any skeletal space structure because they majorly determine the performance of the structure. In early times, most space structures were constructed using rigid joints which had the advantage of better performing structures as compared to pin-jointed structures but with the disadvantage of requiring all the construction work to be done on site. The discovery of semi-rigid joints now enables connections to be prefabricated and quickly assembled on site while maintaining good performance. In this paper, cost-effective is discussed basing on strength of connectors at the joints, buckling of joints and overall structure, and the effect of initial geometrical imperfections. Several existing joints are reviewed by classifying them into categories and discussing where they are most suited and how they perform structurally. Also, finite element modeling using ABAQUS is done to determine the buckling behavior. It is observed that some joints are more economical than others. The rise to span ratio and imperfections are also found to affect the buckling of the structures. Based on these, general principles that guide the design of cost-effective joints and structures are discussed.
Abstract: Gaussian mixture background model is widely used in
moving target detection of the image sequences. However, traditional
Gaussian mixture background model usually considers the time
continuity of the pixels, and establishes background through statistical
distribution of pixels without taking into account the pixels- spatial
similarity, which will cause noise, imperfection and other problems.
This paper proposes a new Gaussian mixture modeling approach,
which combines the color and gradient of the spatial information, and
integrates the spatial information of the pixel sequences to establish
Gaussian mixture background. The experimental results show that the
movement background can be extracted accurately and efficiently, and
the algorithm is more robust, and can work in real time in tracking
applications.
Abstract: Large scale systems such as computational Grid is
a distributed computing infrastructure that can provide globally
available network resources. The evolution of information processing
systems in Data Grid is characterized by a strong decentralization of
data in several fields whose objective is to ensure the availability and
the reliability of the data in the reason to provide a fault tolerance
and scalability, which cannot be possible only with the use of the
techniques of replication. Unfortunately the use of these techniques
has a height cost, because it is necessary to maintain consistency
between the distributed data. Nevertheless, to agree to live with
certain imperfections can improve the performance of the system by
improving competition. In this paper, we propose a multi-layer protocol
combining the pessimistic and optimistic approaches conceived
for the data consistency maintenance in large scale systems. Our
approach is based on a hierarchical representation model with tree
layers, whose objective is with double vocation, because it initially
makes it possible to reduce response times compared to completely
pessimistic approach and it the second time to improve the quality
of service compared to an optimistic approach.
Abstract: This paper unifies power optimization approaches in
various energy converters, such as: thermal, solar, chemical, and
electrochemical engines, in particular fuel cells. Thermodynamics
leads to converter-s efficiency and limiting power. Efficiency
equations serve to solve problems of upgrading and downgrading of
resources. While optimization of steady systems applies the
differential calculus and Lagrange multipliers, dynamic optimization
involves variational calculus and dynamic programming. In reacting
systems chemical affinity constitutes a prevailing component of an
overall efficiency, thus the power is analyzed in terms of an active
part of chemical affinity. The main novelty of the present paper in the
energy yield context consists in showing that the generalized heat
flux Q (involving the traditional heat flux q plus the product of
temperature and the sum products of partial entropies and fluxes of
species) plays in complex cases (solar, chemical and electrochemical)
the same role as the traditional heat q in pure heat engines.
The presented methodology is also applied to power limits in fuel
cells as to systems which are electrochemical flow engines propelled
by chemical reactions. The performance of fuel cells is determined by
magnitudes and directions of participating streams and mechanism of
electric current generation. Voltage lowering below the reversible
voltage is a proper measure of cells imperfection. The voltage losses,
called polarization, include the contributions of three main sources:
activation, ohmic and concentration. Examples show power maxima
in fuel cells and prove the relevance of the extension of the thermal
machine theory to chemical and electrochemical systems. The main
novelty of the present paper in the FC context consists in introducing
an effective or reduced Gibbs free energy change between products p
and reactants s which take into account the decrease of voltage and
power caused by the incomplete conversion of the overall reaction.