Abstract: Inverse kinematics analysis plays an important role in developing a robot manipulator. But it is not too easy to derive the inverse kinematic equation of a robot manipulator especially robot manipulator which has numerous degree of freedom. This paper describes an application of Artificial Neural Network for modeling the inverse kinematics equation of a robot manipulator. In this case, the robot has three degree of freedoms and the robot was implemented for drilling a printed circuit board. The artificial neural network architecture used for modeling is a multilayer perceptron networks with steepest descent backpropagation training algorithm. The designed artificial neural network has 2 inputs, 2 outputs and varies in number of hidden layer. Experiments were done in variation of number of hidden layer and learning rate. Experimental results show that the best architecture of artificial neural network used for modeling inverse kinematics of is multilayer perceptron with 1 hidden layer and 38 neurons per hidden layer. This network resulted a RMSE value of 0.01474.
Abstract: This paper aims at presenting the biotechnology used
to obtain collagen-based gels from shark (Squalus acanthias) and brill
skin, marine fish growing in the Black Sea. Due to the structure of its
micro-fibres, collagen can be considered a nanomaterial; in order to
use collagen-based matrixes as biomaterial, rheological studies must
be performed first, to state whether they are stable or not. For the
triple-helix structure to remain stable within these gels at room or
human body temperature, they must be stabilized by reticulation.
Abstract: In projects like waterpower, transportation and
mining, etc., proving up the rock-mass structure and hidden tectonic
to estimate the geological body-s activity is very important.
Integrating the seismic results, drilling and trenching data,
CSAMT method was carried out at a planning dame site in southwest
China to evaluate the stability of a deformation. 2D and imitated 3D
inversion resistivity results of CSAMT method were analyzed. The
results indicated that CSAMT was an effective method for defining
an outline of deformation body to several hundred meters deep; the
Lung Pan Deformation was stable in natural conditions; but uncertain
after the future reservoir was impounded.
This research presents a good case study of the fine surveying and
research on complex geological structure and hidden tectonic in
engineering project.
Abstract: Stuck-pipe in drilling operations is one of the most
pressing and expensive problems in the oil industry. This paper
describes a computational simulation and an experimental study of
the hydrodynamic vibrator, which may be used for liquidation of
stuck-pipe problems during well drilling. The work principle of the
vibrator is based upon the known phenomena of Vortex Street of
Karman and the resulting generation of vibrations. We will discuss
the computational simulation and experimental investigations of
vibrations in this device. The frequency of the vibration parameters
has been measured as a function of the wide range Reynolds Number.
The validity of the computational simulation and of the assumptions
on which it is based has been proved experimentally. The
computational simulation of the vibrator work and its effectiveness
was carried out using FLUENT software. The research showed high
degree of congruence with the results of the laboratory tests and
allowed to determine the effect of the granular material features upon
the pipe vibration in the well. This study demonstrates the potential
of using the hydrodynamic vibrator in a well drilling system.