Abstract: A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.
Abstract: Lipases are enzymes particularly amenable for
immobilization by entrapment methods, as they can work equally
well in aqueous or non-conventional media and long-time stability of
enzyme activity and enantioselectivity is needed to elaborate more
efficient bioprocesses. The improvement of Pseudomonas
fluorescens (Amano AK) lipase characteristics was investigated by
optimizing the immobilization procedure in hybrid organic-inorganic
matrices using ionic liquids as additives. Ionic liquids containing a
more hydrophobic alkyl group in the cationic moiety are beneficial
for the activity of immobilized lipase. Silanes with alkyl- or aryl
nonhydrolizable groups used as precursors in combination with
tetramethoxysilane could generate composites with higher
enantioselectivity compared to the native enzyme in acylation
reactions of secondary alcohols. The optimal effect on both activity
and enantioselectivity was achieved for the composite made from
octyltrimethoxysilane and tetramethoxysilane at 1:1 molar ratio (60%
increase of total activity following immobilization and enantiomeric
ratio of 30). Ionic liquids also demonstrated valuable properties as
reaction media for the studied reactions, comparable with the usual
organic solvent, hexane.
Abstract: The mechanical quadrature methods for solving the boundary integral equations of the anisotropic Darcy-s equations with Dirichlet conditions in smooth domains are presented. By applying the collectively compact theory, we prove the convergence and stability of approximate solutions. The asymptotic expansions for the error show that the methods converge with the order O (h3), where h is the mesh size. Based on these analysis, extrapolation methods can be introduced to achieve a higher convergence rate O (h5). An a posterior asymptotic error representation is derived in order to construct self-adaptive algorithms. Finally, the numerical experiments show the efficiency of our methods.
Abstract: In many buildings we rely on large footings to offer
structural stability. Designers often compensate for the lack of
knowledge available with regard to foundation-soil interaction by
furnishing structures with overly large footings. This may lead to a
significant increase in building expenditures if many large
foundations are present. This paper describes the interface material
law that governs the behavior along the contact surface of adjacent
materials, and the behavior of a large foundation under ultimate limit
loading. A case study is chosen that represents a common
foundation-soil system frequently used in general practice and
therefore relevant to other structures. Investigations include
compressing versus uplifting wind forces, alterations to the
foundation size and subgrade compositions, the role of the slab
stiffness and presence and the effect of commonly used structural
joints and connections. These investigations aim to provide the
reader with an objective design approach, efficiently preventing
structural instability.
Abstract: Numerical analysis for the aerodynamic characteristics
of the WIG (wing-in ground effect) craft with highly cambered and
aspect ratio of one is performed to predict the ground effect for the
case of with- and without- lower-extension endplate. The analysis is
included varying angles of attack from 0 to10 deg. and ground
clearances from 5% of chord to 50%. Due to the ground effect, the lift
by rising in pressure on the lower surface is increased and the
influence of wing-tip vortices is decreased. These two significant
effects improve the lift-drag ratio. On the other hand, the endplate
prevents the high-pressure air escaping from the air cushion at the
wing tip and causes to increase the lift and lift-drag ratio further. It is
found from the visualization of computation results that two wing-tip
vortices are generated from each surface of the wing tip and their
strength are weak and diminished rapidly. Irodov-s criteria are also
evaluated to investigate the static height stability. The comparison of
Irodov-s criteria shows that the endplate improves the deviation of the
static height stability with respect to pitch angles and heights. As the
results, the endplate can improve the aerodynamic characteristics and
static height stability of wings in ground effect, simultaneously.
Abstract: The approach of subset selection in polynomial
regression model building assumes that the chosen fixed full set of
predefined basis functions contains a subset that is sufficient to
describe the target relation sufficiently well. However, in most cases
the necessary set of basis functions is not known and needs to be
guessed – a potentially non-trivial (and long) trial and error process.
In our research we consider a potentially more efficient approach –
Adaptive Basis Function Construction (ABFC). It lets the model
building method itself construct the basis functions necessary for
creating a model of arbitrary complexity with adequate predictive
performance. However, there are two issues that to some extent
plague the methods of both the subset selection and the ABFC,
especially when working with relatively small data samples: the
selection bias and the selection instability. We try to correct these
issues by model post-evaluation using Cross-Validation and model
ensembling. To evaluate the proposed method, we empirically
compare it to ABFC methods without ensembling, to a widely used
method of subset selection, as well as to some other well-known
regression modeling methods, using publicly available data sets.
Abstract: This paper addresses the problem of the partial state
feedback stabilization of a class of nonlinear systems. In order to
stabilization this class systems, the especial place of this paper is
to reverse designing the state feedback control law from the method
of judging system stability with the center manifold theory. First of
all, the center manifold theory is applied to discuss the stabilization
sufficient condition and design the stabilizing state control laws for a
class of nonlinear. Secondly, the problem of partial stabilization for a
class of plane nonlinear system is discuss using the lyapunov second
method and the center manifold theory. Thirdly, we investigate specially
the problem of the stabilization for a class of homogenous plane
nonlinear systems, a class of nonlinear with dual-zero eigenvalues and
a class of nonlinear with zero-center using the method of lyapunov
function with homogenous derivative, specifically. At the end of this
paper, some examples and simulation results are given show that the
approach of this paper to this class of nonlinear system is effective
and convenient.
Abstract: In this paper, a nonlinear delay population model is investigated. Choosing the delay as a bifurcation parameter, we demonstrate that Hopf bifurcation will occur when the delay exceeds a critical value. Global existence of bifurcating periodic solutions is established. Numerical simulations supporting the theoretical findings are included.
Abstract: In this paper, we consider the problem of logic simplification for a special class of logic functions, namely complementary Boolean functions (CBF), targeting low power implementation using static CMOS logic style. The functions are uniquely characterized by the presence of terms, where for a canonical binary 2-tuple, D(mj) ∪ D(mk) = { } and therefore, we have | D(mj) ∪ D(mk) | = 0 [19]. Similarly, D(Mj) ∪ D(Mk) = { } and hence | D(Mj) ∪ D(Mk) | = 0. Here, 'mk' and 'Mk' represent a minterm and maxterm respectively. We compare the circuits minimized with our proposed method with those corresponding to factored Reed-Muller (f-RM) form, factored Pseudo Kronecker Reed-Muller (f-PKRM) form, and factored Generalized Reed-Muller (f-GRM) form. We have opted for algebraic factorization of the Reed-Muller (RM) form and its different variants, using the factorization rules of [1], as it is simple and requires much less CPU execution time compared to Boolean factorization operations. This technique has enabled us to greatly reduce the literal count as well as the gate count needed for such RM realizations, which are generally prone to consuming more cells and subsequently more power consumption. However, this leads to a drawback in terms of the design-for-test attribute associated with the various RM forms. Though we still preserve the definition of those forms viz. realizing such functionality with only select types of logic gates (AND gate and XOR gate), the structural integrity of the logic levels is not preserved. This would consequently alter the testability properties of such circuits i.e. it may increase/decrease/maintain the same number of test input vectors needed for their exhaustive testability, subsequently affecting their generalized test vector computation. We do not consider the issue of design-for-testability here, but, instead focus on the power consumption of the final logic implementation, after realization with a conventional CMOS process technology (0.35 micron TSMC process). The quality of the resulting circuits evaluated on the basis of an established cost metric viz., power consumption, demonstrate average savings by 26.79% for the samples considered in this work, besides reduction in number of gates and input literals by 39.66% and 12.98% respectively, in comparison with other factored RM forms.
Abstract: Particle Swarm Optimization (PSO) with elite PSO
parameters has been developed for power flow analysis under
practical constrained situations. Multiple solutions of the power flow
problem are useful in voltage stability assessment of power system.
A method of determination of multiple power flow solutions is
presented using a hybrid of Particle Swarm Optimization (PSO) and
local search technique. The unique and innovative learning factors of
the PSO algorithm are formulated depending upon the node power
mismatch values to be highly adaptive with the power flow problems.
The local search is applied on the pbest solution obtained by the PSO
algorithm in each iteration. The proposed algorithm performs reliably
and provides multiple solutions when applied on standard and illconditioned
systems. The test results show that the performances of
the proposed algorithm under critical conditions are better than the
conventional methods.
Abstract: An optimal power flow (OPF) based on particle swarm
optimization (PSO) was developed with more realistic generator
security constraint using the capability curve instead of only Pmin/Pmax
and Qmin/Qmax. Neural network (NN) was used in designing digital
capability curve and the security check algorithm. The algorithm is
very simple and flexible especially for representing non linear
generation operation limit near steady state stability limit and under
excitation operation area. In effort to avoid local optimal power flow
solution, the particle swarm optimization was implemented with
enough widespread initial population. The objective function used in
the optimization process is electric production cost which is
dominated by fuel cost. The proposed method was implemented at
Java Bali 500 kV power systems contain of 7 generators and 20
buses. The simulation result shows that the combination of generator
power output resulted from the proposed method was more economic
compared with the result using conventional constraint but operated
at more marginal operating point.
Abstract: This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strategy.
Abstract: The spiral angle of the elementary cellulose fibril in
the wood cell wall, often called microfibril angle, (MFA). Microfibril
angle in hardwood is one of the key determinants of solid timber
performance due to its strong influence on the stiffness, strength,
shrinkage, swelling, thermal-dynamics mechanical properties and
dimensional stability of wood. Variation of MFA (degree) in the S2
layer of the cell walls among Acacia mangium trees was determined
using small-angle X-ray scattering (SAXS). The length and
orientation of the microfibrils of the cell walls in the irradiated
volume of the thin samples are measured using SAXS and optical
microscope for 3D surface measurement. The undetermined
parameters in the analysis are the MFA, (M) and the standard
deviation (σФ) of the intensity distribution arising from the wandering
of the fibril orientation about the mean value. Nine separate pairs of
values are determined for nine different values of the angle of the
incidence of the X-ray beam relative to the normal to the radial
direction in the sample. The results show good agreement. The
curve distribution of scattered intensity for the real cell wall structure
is compared with that calculated with that assembly of rectangular
cells with the same ratio of transverse to radial cell wall length. It is
demonstrated that for β = 45°, the peaks in the curve intensity
distribution for the real and the rectangular cells coincide. If this
peak position is Ф45, then the MFA can be determined from the
relation M = tan-1 (tan Ф45 / cos 45°), which is precise for rectangular
cells. It was found that 92.93% of the variation of MFA can be
attributed to the distance from pith to bark. Here we shall present our
results of the MFA in the cell wall with respect to its shape, structure
and the distance from pith to park as an important fast check and yet
accurate towards the quality of wood, its uses and application.
Abstract: This paper demonstrates the application of craziness based particle swarm optimization (CRPSO) technique for designing the 8th order low pass Infinite Impulse Response (IIR) filter. CRPSO, the much improved version of PSO, is a population based global heuristic search algorithm which finds near optimal solution in terms of a set of filter coefficients. Effectiveness of this algorithm is justified with a comparative study of some well established algorithms, namely, real coded genetic algorithm (RGA) and particle swarm optimization (PSO). Simulation results affirm that the proposed algorithm CRPSO, outperforms over its counterparts not only in terms of quality output i.e. sharpness at cut-off, pass band ripple, stop band ripple, and stop band attenuation but also in convergence speed with assured stability.
Abstract: The precision of heat flux simulation influences the
temperature field and test aberration for TB test and also reflects the
test level for spacecraft development. This paper describes TB tests for
a small satellite using solar simulator, electric heaters, calrod heaters
to evaluate the difference of the three methods. Under the same
boundary condition, calrod heaters cases were about 6oC higher than
solar simulator cases and electric heaters cases for
non-external-heat-flux cases (extreme low temperature cases). While
calrod heaters cases and electric heaters cases were 5~7oC and 2~3oC
lower than solar simulator cases respectively for high temperature
cases. The results show that the solar simulator is better than calrod
heaters for its better collimation, non-homogeneity and stability.
Abstract: Experimental data are presented to show the influence of different types of chemical demulsifier on the stability and demulsification of emulsions. Three groups of demulsifier with different functional groups were used in this work namely amines, alcohol and polyhydric alcohol. The results obtained in this study have exposed the capability of chemical breaking agents in destabilization of water in crude oil emulsions. From the present study, found that molecular weight of the demulsifier were influent the capability of the emulsion to separate.
Abstract: Pakistani doctors (MBBS) are emigrating towards developed countries for professional adjustments. This study aims to highlight causes and consequences of doctors- brain drain from Pakistan. Primary data was collected from Mayo Hospital, Lahore by interviewing doctors (n=100) through systematic random sampling technique. It found that various socio-economic and political conditions are working as push and pull factors for brain drain of doctors in Pakistan. Majority of doctors (83%) declared poor remunerations and professional infrastructure of health department as push factor of doctors- brain drain. 81% claimed that continuous instability in political situation and threats of terrorism are responsible for emigration of doctors. 84% respondents considered fewer opportunities of further studies responsible for their emigration. Brain drain of doctors is affecting health sector-s policies / programs, standard doctor-patient ratios and quality of health services badly.
Abstract: This paper presents the buckling analysis of short and
long functionally graded cylindrical shells under thermal and
mechanical loads. The shell properties are assumed to vary
continuously from the inner surface to the outer surface of the shell.
The equilibrium and stability equations are derived using the total
potential energy equations, Euler equations and first order shear
deformation theory assumptions. The resulting equations are solved
for simply supported boundary conditions. The critical temperature
and pressure loads are calculated for both short and long cylindrical
shells. Comparison studies show the effects of functionally graded
index, loading type and shell geometry on critical buckling loads of
short and long functionally graded cylindrical shells.
Abstract: This paper deals with the conceptual design of the
new aeroelastic demonstrator for the whirl flutter simulation. The
paper gives a theoretical background of the whirl flutter phenomenon
and describes the events of the whirl flutter occurrence in the
aerospace practice. The second part is focused on the experimental
research of the whirl flutter on aeroelastic similar models. Finally the
concept of the new aeroelastic demonstrator is described. The
demonstrator represents the wing and engine of the twin turboprop
commuter aircraft including a driven propeller. It allows the changes
of the main structural parameters influencing the whirl flutter
stability characteristics. It is intended for the experimental
investigation of the whirl flutter in the wind tunnel. The results will
be utilized for validation of analytical methods and software tools.
Abstract: Dengue fever is an important human arboviral disease. Outbreaks are now reported quite often from many parts of the world. The number of cases involving pregnant women and infant cases are increasing every year. The illness is often severe and complications may occur. Deaths often occur because of the difficulties in early diagnosis and in the improper management of the diseases. Dengue antibodies from pregnant women are passed on to infants and this protects the infants from dengue infections. Antibodies from the mother are transferred to the fetus when it is still in the womb. In this study, we formulate a mathematical model to describe the transmission of this disease in pregnant women. The model is formulated by dividing the human population into pregnant women and non-pregnant human (men and non-pregnant women). Each class is subdivided into susceptible (S), infectious (I) and recovered (R) subclasses. We apply standard dynamical analysis to our model. Conditions for the local stability of the equilibrium points are given. The numerical simulations are shown. The bifurcation diagrams of our model are discussed. The control of this disease in pregnant women is discussed in terms of the threshold conditions.