Abstract: The ionization yield of ion tracks in polymers and bio-molecular systems reaches a maximum, known as the Bragg peak, close to the end of the ion trajectories. Along the path of the ions through the materials, many electrons are generated, which produce a cascade of further ionizations and, consequently, a shower of secondary electrons. Among these, very low energy secondary electrons can produce damage in the biomolecules by dissociative electron attachment. This work deals with the calculation of the energy distribution of electrons produced by protons in a sample of polymethylmethacrylate (PMMA), a material that is used as a phantom for living tissues in hadron therapy. PMMA is also of relevance for microelectronics in CMOS technologies and as a photoresist mask in electron beam lithography. We present a Monte Carlo code that, starting from a realistic description of the energy distribution of the electrons ejected by protons moving through PMMA, simulates the entire cascade of generated secondary electrons. By following in detail the motion of all these electrons, we find the radial distribution of the energy that they deposit in PMMA for several initial proton energies characteristic of the Bragg peak.
Abstract: This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cannot be generated directly by the motors. To overcome this problem, the second level of the controllers, dynamic control, is designed. This dynamic control law is developed based on Lyapunov theory in order to track the desired trajectories of the mobile robot. The stability of the tracking error is proved using Lupunov and Barbalat approaches. Simulation results on a nonholonomic wheeled mobile robot are given to demonstrate the feasibility and effectiveness of the presented approach.
Abstract: A Fourier series based learning control (FSBLC)
algorithm for tracking trajectories of mechanical systems with
unknown nonlinearities is presented. Two processes are introduced to
which the FSBLC with PD controller is applied. One is a simplified
service robot capable of climbing stairs due to special wheels and
the other is a propeller driven pendulum with nearly the same
requirements on control. Additionally to the investigation of learning
the feed forward for the desired trajectories some considerations on
the implementation of such an algorithm on low cost microcontroller
hardware are made. Simulations of the service robot as well as
practical experiments on the pendulum show the capability of the used
FSBLC algorithm to perform the task of improving control behavior
for repetitive task of such mechanical systems.
Abstract: In this work, we present a Bayesian non-parametric
approach to model the motion control of ATVs. The motion control
model is based on a Dirichlet Process-Gaussian Process (DP-GP)
mixture model. The DP-GP mixture model provides a flexible
representation of patterns of control manoeuvres along trajectories
of different lengths and discretizations. The model also estimates the
number of patterns, sufficient for modeling the dynamics of the ATV.
Abstract: This paper presents the trajectory tracking control of a
spatial redundant hybrid manipulator. This manipulator consists of
two parallel manipulators which are a variable geometry truss (VGT)
module. In fact, each VGT module with 3-degress of freedom (DOF)
is a planar parallel manipulator and their operational planes of these
VGT modules are arranged to be orthogonal to each other. Also, the
manipulator contains a twist motion part attached to the top of the
second VGT module to supply the missing orientation of the endeffector.
These three modules constitute totally 7-DOF hybrid
(parallel-parallel) redundant spatial manipulator. The forward
kinematics equations of this manipulator are obtained, then,
according to these equations, the inverse kinematics is solved based
on an optimization with the joint limit avoidance. The dynamic
equations are formed by using virtual work method. In order to test
the performance of the redundant manipulator and the controllers
presented, two different desired trajectories are followed by using the
computed force control method and a switching control method. The
switching control method is combined with the computed force
control method and genetic algorithm. In the switching control
method, the genetic algorithm is only used for fine tuning in the
compensation of the trajectory tracking errors.
Abstract: Embracing the upcoming era of urbanization with the challenges of limitation of resources, disappearing cultural identities and conflicts among different groups of stakeholders, new integrated approaches are offered in our urban practice to help decision-makers and stakeholders frame and develop well-conceived, practical strategies for urban developing trajectories to approach urban-level sustainability in multiple social, cultural, ecological dimensions. Through bottom-up participation, we take advantage of tourism and leisure industries as driving forces for urbanization in China to promote integrated sustainable systems, with the hope of approaching both historical and ecological aspects of urban sustainability; and also thanks to top-down participation, we have codes, standards and rules established by the governments to strengthen the implementation of ecological urban sustainability. The results are monitored and evaluated experimentally and multidimensionally and the sustainable systems we constructed with local stakeholder groups turned out to be effective. The presentation of our selected projects would indicate our different focuses on urban sustainability.
Abstract: The island of Cuba, the largest of the Greater Antilles, is located in the tropical North Atlantic. It is annually affected by numerous weather events, which have caused severe damage to our coastal areas. In the same way that many other coastlines around the world, the beautiful beaches of the Hicacos Peninsula also suffer from erosion. This leads to a structural regression of the coastline. If measures are not taken, the hotels will be exposed to the advance of the sea, and it will be a serious problem for the economy. With the aim of studying the intensity of this type of activity, specialists of group of coastal and marine engineering from CIH, in the framework of the research conducted within the project MEGACOSTAS 2, provide their research to simulate extreme events and assess their impact in coastal areas, mainly regarding the definition of flood volumes and morphodynamic changes in sandy beaches. The main objective of this work is the evaluation of the process of Varadero beach erosion (the coastal sector has an important impact in the country's economy) on the Hicacos Peninsula for different paths of hurricanes. The mathematical model XBeach, which was integrated into the Coastal engineering system introduced by the project of MEGACOSTA 2 to determine the area and the more critical profiles for the path of hurricanes under study, was applied. The results of this project have shown that Center area is the greatest dynamic area in the simulation of the three paths of hurricanes under study, showing high erosion volumes and the greatest average length of regression of the coastline, from 15- 22 m.
Abstract: The laws of Newtonian mechanics allow ab-initio
molecular dynamics to model and simulate particle trajectories in
material science by defining a differentiable potential function. This
paper discusses some considerations for the coding of ab-initio
programs for simulation on a standalone computer and illustrates
the approach by C language codes in the context of embedded
metallic atoms in the face-centred cubic structure. The algorithms use
velocity-time integration to determine particle parameter evolution
for up to several thousands of particles in a thermodynamical
ensemble. Such functions are reusable and can be placed in a
redistributable header library file. While there are both commercial
and free packages available, their heuristic nature prevents dissection.
In addition, developing own codes has the obvious advantage of
teaching techniques applicable to new problems.
Abstract: This paper looks at healing performances as
ethnographic expressions of local knowledge and culture embedded
within the Malay psyche and gemeinschaft. As society develops and
progresses, these healing performances are caught within conflicting
trajectories which become compounded by the contestations of
tradition, religious concerns, locality and modernity. As
exemplifications of the Malay ethos, these performances practice
common rituals, cater to the innate needs of the practitioners and
serve the targeted, closed, local community. This paper traces the
ethnographic methods in documenting these practices as rituals of
healing in a post-modern world. It delineates the ethnographic
concepts used to analyze these rituals, and to semiotically read the
varied binarial oppositions and juxtapositions. The paper concludes
by highlighting the reconciliatory processes involved in maintaining
these ritual performances as exemplifications of the Malay ethos
playing an important role in the re-aligning, re-balancing and healing
of the Malay community’s psyche.
Abstract: The construction of most coastal infrastructure developments around the world are usually made considering wave height, current velocities and river discharges; however, little effort has been paid to surveying sediment transport during dredging or the modification to currents outside the ports or marinas during and after the construction. This study shows a complete survey during the construction of one of the largest ports of the Gulf of Mexico. An anchored Acoustic Doppler Current Velocity profiler (ADCP), a towed ADCP and a combination of model outputs were used at the Veracruz port construction in order to describe the hourly sediment transport and current modifications in and out of the new port. Owing to the stability of the system the new port was construction inside Vergara Bay, a low wave energy system with a tidal range of up to 0.40 m. The results show a two-current system pattern within the bay. The north side of the bay has an anticyclonic gyre, while the southern part of the bay shows a cyclonic gyre. Sediment transport trajectories were made every hour using the anchored ADCP, a numerical model and the weekly data obtained from the towed ADCP within the entire bay. The sediment transport trajectories were carefully tracked since the bay is surrounded by coral reef structures which are sensitive to sedimentation rate and water turbidity. The survey shows that during dredging and rock input used to build the wave breaker sediments were locally added (< 2500 m2) and local currents disperse it in less than 4 h. While the river input located in the middle of the bay and the sewer system plant may add more than 10 times this amount during a rainy day or during the tourist season. Finally, the coastal line obtained seasonally with a drone suggests that the southern part of the bay has not been modified by the construction of the new port located in the northern part of the bay, owing to the two subsystem division of the bay.
Abstract: The main purpose of this study is to assess the
sediment quality and potential ecological risk in marine sediments in
Gymea Bay located in south Sydney, Australia. A total of 32 surface
sediment samples were collected from the bay. Current track
trajectories and velocities have also been measured in the bay. The
resultant trace elements were compared with the adverse biological
effect values Effect Range Low (ERL) and Effect Range Median
(ERM) classifications. The results indicate that the average values of
chromium, arsenic, copper, zinc, and lead in surface sediments all
reveal low pollution levels and are below ERL and ERM values. The
highest concentrations of trace elements were found close to
discharge points and in the inner bay, and were linked with high
percentages of clay minerals, pyrite and organic matter, which can
play a significant role in trapping and accumulating these elements.
The lowest concentrations of trace elements were found to be on the
shoreline of the bay, which contained high percentages of sand
fractions. It is postulated that the fine particles and trace elements are
disturbed by currents and tides, then transported and deposited in
deeper areas. The current track velocities recorded in Gymea Bay had
the capability to transport fine particles and trace element pollution
within the bay. As a result, hydrodynamic measurements were able to
provide useful information and to help explain the distribution of
sedimentary particles and geochemical properties. This may lead to
knowledge transfer to other bay systems, including those in remote
areas. These activities can be conducted at a low cost, and are
therefore also transferrable to developing countries. The advent of
portable instruments to measure trace elements in the field has also
contributed to the development of these lower cost and easily applied
methodologies available for use in remote locations and low-cost
economies.
Abstract: Finding the optimal 3D path of an aerial vehicle under
flight mechanics constraints is a major challenge, especially when
the algorithm has to produce real time results in flight. Kinematics
models and Pythagorian Hodograph curves have been widely used
in mobile robotics to solve this problematic. The level of difficulty
is mainly driven by the number of constraints to be saturated at the
same time while minimizing the total length of the path. In this paper,
we suggest a pragmatic algorithm capable of saturating at the same
time most of dimensioning helicopter 3D trajectories’ constraints
like: curvature, curvature derivative, torsion, torsion derivative, climb
angle, climb angle derivative, positions. The trajectories generation
algorithm is able to generate versatile complex 3D motion primitives
feasible by a helicopter with parameterization of the curvature and the
climb angle. An upper ”motion primitives’ concatenation” algorithm
is presented based. In this article we introduce a new way of designing
three-dimensional trajectories based on what we call the ”Dubins
gliding symmetry conjecture”. This extremely performing algorithm
will be soon integrated to a real-time decisional system dealing with
inflight safety issues.
Abstract: Rotary entrainment is a phenomenon in which the
interface of two immiscible fluids are subjected to external flux by
means of rotation. Present work reports the experimental study on
rotary motion of a horizontal cylinder between the interface of air and
water to observe the penetration of gas inside the liquid. Experiments
have been performed to establish entrainment of air mass in water
alongside the cylindrical surface. The movement of tracer and seeded
particles has been tracked to calculate the speed and path of the
entrained air inside water. Simplified particle image velocimetry
technique has been used to trace the movement of particles/tracers at
the moment they are injected inside the entrainment zone and
suspended beads have been used to replicate the particle movement
with respect to time in order to determine the flow dynamics of the
fluid along the cylinder. Present paper establishes a thorough experimental analysis of the
rotary entrainment phenomenon between air and water keeping in
interest the extent to which we can intermix the two and also to study
its entrainment trajectories.
Abstract: The paper presents an advanced control system for
tennis ball throwing machines to improve their accuracy according to
the ball impact points. A further advantage of the system is the much
easier calibration process involving the intelligent solution of the
automatic adjustment of the stroking parameters according to the ball
elasticity, the self-calibration, the use of the safety margin at very flat
strokes and the possibility to placing the machine to any position of
the half court. The system applies mathematical methods to
determine the exact ball trajectories and special approximating
processes to access all points on the aimed half court.
Abstract: In this article, a method is presented to effectively
estimate the deformed shape of a thick plate due to line heating. The
method uses a fifth order spline interpolation, with up to C3
continuity at specific points to compute the shape of the deformed
geometry. First and second order derivatives over a surface are the
resulting parameters of a given heating line on a plate. These
parameters are determined through experiments and/or finite element
simulations. Very accurate kriging models are fitted to real or virtual
surfaces to build-up a database of maps. Maps of first and second
order derivatives are then applied on numerical plate models to
evaluate their evolving shapes through a sequence of heating lines.
Adding an optimization process to this approach would allow
determining the trajectories of heating lines needed to shape complex
geometries, such as Francis turbine blades.
Abstract: Discursive practices enacted by educators in
kindergarten create a blueprint for how the educational trajectories of
students with disabilities are constructed. This two-year ethnographic
case study critically examines educators’ relationships with students
considered to present challenging behaviors in one kindergarten
classroom located in a predominantly White middle class school
district in the Northeast of the United States. Focusing on the
language and practices used by one special education teacher and
three teaching assistants, this paper analyzes how teacher responses
to students’ behaviors constructs and positions students over one year
of kindergarten education. Using a critical discourse analysis it shows
that educators understand students’ behaviors as deficit and needing
consequences. This study highlights how educators’ responses reflect
students' individual characteristics including family background,
socioeconomics and ability status. This paper offers in depth analysis
of two students’ stories, which evidenced that the language used by
educators amplifies the social positioning of students within the
classroom and creates a foundation for who they are constructed to
be. Through exploring routine language and practices, this paper
demonstrates that educators outlined a blueprint of kindergartners,
which positioned students as learners in ways that became the ground
for either a limited or a promising educational pathway for them.
Abstract: Particle size distribution, the most important
characteristics of aerosols, is obtained through electrical
characterization techniques. The dynamics of charged nanoparticles
under the influence of electric field in Electrical Mobility
Spectrometer (EMS) reveals the size distribution of these particles.
The accuracy of this measurement is influenced by flow conditions,
geometry, electric field and particle charging process, therefore by
the transfer function (transfer matrix) of the instrument. In this work,
a wire-cylinder corona charger was designed and the combined fielddiffusion
charging process of injected poly-disperse aerosol particles
was numerically simulated as a prerequisite for the study of a
multichannel EMS. The result, a cloud of particles with no uniform
charge distribution, was introduced to the EMS. The flow pattern and
electric field in the EMS were simulated using Computational Fluid
Dynamics (CFD) to obtain particle trajectories in the device and
therefore to calculate the reported signal by each electrometer.
According to the output signals (resulted from bombardment of
particles and transferring their charges as currents), we proposed a
modification to the size of detecting rings (which are connected to
electrometers) in order to evaluate particle size distributions more
accurately. Based on the capability of the system to transfer
information contents about size distribution of the injected particles,
we proposed a benchmark for the assessment of optimality of the
design. This method applies the concept of Von Neumann entropy
and borrows the definition of entropy from information theory
(Shannon entropy) to measure optimality. Entropy, according to the
Shannon entropy, is the ''average amount of information contained in
an event, sample or character extracted from a data stream''.
Evaluating the responses (signals) which were obtained via various
configurations of detecting rings, the best configuration which gave
the best predictions about the size distributions of injected particles,
was the modified configuration. It was also the one that had the
maximum amount of entropy. A reasonable consistency was also
observed between the accuracy of the predictions and the entropy
content of each configuration. In this method, entropy is extracted
from the transfer matrix of the instrument for each configuration.
Ultimately, various clouds of particles were introduced to the
simulations and predicted size distributions were compared to the
exact size distributions.
Abstract: Advance in techniques of image and video processing has enabled the development of intelligent video surveillance systems. This study was aimed to automatically detect moving human objects and to analyze events of dual human interaction in a surveillance scene. Our system was developed in four major steps: image preprocessing, human object detection, human object tracking, and motion trajectory analysis. The adaptive background subtraction and image processing techniques were used to detect and track moving human objects. To solve the occlusion problem during the interaction, the Kalman filter was used to retain a complete trajectory for each human object. Finally, the motion trajectory analysis was developed to distinguish between the interaction and non-interaction events based on derivatives of trajectories related to the speed of the moving objects. Using a database of 60 video sequences, our system could achieve the classification accuracy of 80% in interaction events and 95% in non-interaction events, respectively. In summary, we have explored the idea to investigate a system for the automatic classification of events for interaction and non-interaction events using surveillance cameras. Ultimately, this system could be incorporated in an intelligent surveillance system for the detection and/or classification of abnormal or criminal events (e.g., theft, snatch, fighting, etc.).
Abstract: The paper develops a Non-Linear Model Predictive
Control (NMPC) of water quality in Drinking Water Distribution
Systems (DWDS) based on the advanced non-linear quality dynamics
model including disinfections by-products (DBPs). A special attention
is paid to the analysis of an impact of the flow trajectories prescribed
by an upper control level of the recently developed two-time scale
architecture of an integrated quality and quantity control in DWDS.
The new quality controller is to operate within this architecture in the
fast time scale as the lower level quality controller. The controller
performance is validated by a comprehensive simulation study based
on an example case study DWDS.
Abstract: In this contribution two approaches for calculating
optimal trajectories for highly automated vehicles are presented and
compared. The first one is based on a non-linear vehicle model, used
for evaluation. The second one is based on a simplified model and
can be implemented on a current ECU. In usual driving situations
both approaches show very similar results.