Abstract: In this paper, a new design of spherical robotic system
based on the concepts of gimbal structure and gyro dynamics is
presented. Robots equipped with multiple wheels and complex
steering mechanics may increase the weight and degrade the energy
transmission efficiency. In addition, the wheeled and legged robots are
relatively vulnerable to lateral impact and lack of lateral mobility.
Therefore, the proposed robotic design uses a spherical shell as the
main body for ground locomotion, instead of using wheel devices.
Three spherical shells are structured in a similar way to a gimbal
device and rotate like a gyro system. The design and mechanism of the
proposed robotic system is introduced. In addition, preliminary results
of the dynamic model based on the principles of planar rigid body
kinematics and Lagrangian equation are included. Simulation results
and rig construction are presented to verify the concepts.
Abstract: Innovation plays an important role in economic
growth and development. Evolutionary economics has entrepreneurs
at the centre of the innovation system, but includes all other
participants as contributors to the performance of the innovation
system. Education and training institutions, one of the participants in
the innovation system, contributes in different ways to human capital.
The gap in literature on the competence building as part of human
capital in the analysis of innovation systems is addressed in this
paper. The Mpumalanga Province of South Africa is used as a case
study. It was found that the absence of a university, the level of
education, the quality and performance in the education sector and
the condition of the education infrastructure have not been conducive
to learning.
Abstract: The heavy metal pollution degree in the soils around
the Zangezur copper and molybdenum combine in Syunik Marz,
Armenia was assessed. The results of the study showed that heavy
metal pollution degree in the soils mainly decreased with increasing
distance from the open mine and the ore enrichment combine which
indicated that the open mine and the ore enrichment combine were
the main sources of heavy metal pollution. The only exception was
observed in the northern part of the open mine where pollution
degree in the sites (along the open mine) situated 600 meters far from
the mine was higher than that in the sites located 300 meters far from
the mine. This can be explained by the characteristics of relief and air
currents as well as the weak vegetation cover of these sites and the
characteristics of soil structure. According to geo-accumulation index
(I-geo), contamination factor (Cf), contamination degree (Cd) and
pollution load index (PLI) values, the pollution degree in the soils
around the open mine and the ore enrichment combine was higher
than that in the soils around the tailing dumps which was due to the
proper and accurate operation of the Artsvanik tailing damp and the
recultivation of the Voghji tailing dump.
The high Cu and Mo pollution of the soils was conditioned by the
character of industrial activities, the moving direction of air currents
as well as the physicochemical peculiarities of the soils.
Abstract: Ionic liquids consisting of a phosphonium cationic
moiety and a saccharinate anion are synthesized and compared with
their precursors, phosphonium chlorides, in reference to their
extraction efficiency towards L-lactic acid. On the base of
measurements of the acid and the water partitioning in the
equilibrium biphasic systems, the molar ratios between acid, water
and ionic liquid are estimated which allows to deduce the lactic acid
extractive pathway. The effect of a salting-out addition that
strengthens hydrophobicity in both phases is studied in view to reveal
the best biphasic system with respect to IL low toxicity and high
extraction efficiency.
Abstract: To determine the potential of a low cost Irish
engineered timber product to replace high cost solid timber for use in
bending active structures such as gridshells a single Irish engineered
timber product in the form of orientated strand board (OSB) was
selected. A comparative study of OSB and solid timber was carried
out to determine the optimum properties that make a material suitable
for use in gridshells. Three parameters were identified to be relevant
in the selection of a material for gridshells. These three parameters
are the strength to stiffness ratio, the flexural stiffness of
commercially available sections, and the variability of material and
section properties. It is shown that when comparing OSB against
solid timber, OSB is a more suitable material for use in gridshells that
are at the smaller end of the scale and that have tight radii of
curvature. Typically, for solid timber materials, stiffness is used as an
indicator for strength and engineered timber is no different. Thus, low
flexural stiffness would mean low flexural strength. However, when
it comes to bending active gridshells, OSB offers a significant
advantage. By the addition of multiple layers, an increased section
size is created, thus endowing the structure with higher stiffness and
higher strength from initial low stiffness and low strength materials
while still maintaining tight radii of curvature. This allows OSB to
compete with solid timber on large scale gridshells. Additionally, a
preliminary sustainability study using a set of sustainability indicators
was carried out to determine the relative sustainability of building a
large-scale gridshell in Ireland with a primary focus on economic
viability but a mention is also given to social and environmental
aspects. For this, the Savill garden gridshell in the UK was used as
the functional unit with the sustainability of the structural roof
skeleton constructed from UK larch solid timber being compared
with the same structure using Irish OSB. Albeit that the advantages of
using commercially available OSB in a bending active gridshell are
marginal and limited to specific gridshell applications, further study
into an optimised engineered timber product is merited.
Abstract: Chemical vapor deposition (CVD) diamond coated
cutting tool has excellent cutting performance, it is the most ideal tool
for the processing of nonferrous metals and alloys, composites,
nonmetallic materials and other difficult-to-machine materials
efficiently and accurately. Depositing CVD diamond coating on the
cemented carbide with high cobalt content can improve its toughness
and strength, therefore, it is very important to research on the
preparation technology and cutting properties of CVD diamond coated
cemented carbide cutting tool with high cobalt content. The
preparation technology of boron-doped diamond (BDD) coating has
been studied and the coated drills were prepared. BDD coating were
deposited on the drills by using the optimized parameters and the SEM
results show that there are no cracks or collapses in the coating.
Cutting tests with the prepared drills against the silumin and aluminum
base printed circuit board (PCB) have been studied. The results show
that the wear amount of the coated drill is small and the machined
surface has a better precision. The coating does not come off during
the test, which shows good adhesion and cutting performance of the
drill.
Abstract: The purpose of the present work was to develop an
innovative food product with nutritional properties as well as
appealing organoleptic qualities. The product, a jam, was prepared
with the beans’ cooking water combined with fresh apple or carrot,
without the addition of any conservatives. Three different jams were
produced: bean and carrot, bean and apple and bean, apple and
cinnamon. The developed products underwent a sensorial analysis
that revealed that the bean, apple and cinnamon jam was globally
better accepted. However, with this study, the consumers determined
that the bean and carrot jam had the most attractive color and the
bean and apple jam the better consistency. Additionally, it was
possible to analyze the jams for their chemical components, namely
fat, fiber, protein, sugars and antioxidant activity. The obtained
results showed that the bean and carrot jam had the highest lipid
content, while the bean, apple and cinnamon jam had the highest
fiber content, when compared to the other two jams. Regarding the
sugar content, both jams with apple revealed similar sugar values,
which were higher than the sugar content of the bean and carrot jam.
The antioxidant activity was on average 10 mg TE/g.
Abstract: Power Regeneration in Refrigeration Plant concept
has been analyzed and has been shown to be capable of saving about
25% power in Cryogenic Plants with the Power Regeneration System
(PRS) running under nominal conditions. The innovative component
Compressor Expander Group (CEG) based on turbomachinery has
been designed and built modifying CETT compressor and expander,
both selected for optimum plant performance. Experiments have
shown the good response of the turbomachines to run with R404a as
working fluid. Power saving up to 12% under PRS derated conditions
(50% loading) has been demonstrated. Such experiments allowed
predicting a power saving up to 25% under CEG full load.
Abstract: In this paper we consider the equation of motion for
the F (R, T) gravity on their property of conformal invariance. It
is shown that in the general case, such a theory is not conformal
invariant. Studied special cases for the functions v and u in which
can appear properties of the theory. Also we consider cosmological
aspects F (R, T) theory of gravity, having considered particular case
F (R, T) = μR+νT^2. Showed that in this case there is a nonlinear
dependence of the parameter equation of state from time to time,
which affects its evolution.
Abstract: Using the pseudopotential technique the Sagdeev
potential equation has been derived in a plasma consisting of twotemperature
nonisothermal electrons, negatively charged dust grains
and warm positive ions. The study shows that the presence of
nonisothermal two-temperature electrons and charged dust grains
have significant effects on the excitation and structure of the ionacoustic
double layers in the model plasma under consideration. Only
compressive type double layer is obtained in the present plasma
model. The double layer solution has also been obtained by including
higher order nonlinearity and nonisothermality, which is shown to
modify the amplitude and deform the shape of the double layer.
Abstract: Theory of interpretation of electromagnetic fields studied in the electrical prospecting with direct current is mainly developed for the case of a horizontal surface observation. However in practice we often have to work in difficult terrain surface. Conducting interpretation without the influence of topography can cause non-existent anomalies on sections. This raises the problem of studying the impact of different shapes of ground surface relief on the results of electrical prospecting's research. This research examines the numerical solutions of the direct problem of electrical prospecting for two-dimensional and three-dimensional media, taking into account the terrain. The problem is solved using the method of integral equations. The density of secondary currents on the relief surface is obtained.
Abstract: Now in some countries of the world the cellular
market is on the point of saturation, in others - positive dynamics of
development kept on. The reasons for it are also different, but there
are united by their general susceptibility to innovation changes, if
they are really innovative. If to take as an example the cellular market
of Kazakhstan it is defined by the low percent of smart phones at
consumers, the low population density, undercapacity of the 3G
channel, and absence of universal access to the LTE technology that
limits dynamical growth of this branch. These moments are
aggravated by failures of starting commercial projects by private
companies which prevent to be implemented and widely adopted to a
new product among consumers. The object of the research is possible
integration of wireless and program technologies at which
introduction the idea can regenerate in an innovation. The analysis of
existing projects in the market and the possible union of the
technologies through a prism of theoretical bases of innovative
activity shows that efficiency of the company by development and
introduction of innovations is possible only thanks to strict
observance of all terms and conditions of the innovative process
which main term is profit. Despite that fact that on a global scale the
innovativeness issue of companies is very popular, there are no
researches about possibility of innovative breaks in the field of
wireless access to the Internet in the cellular market of Kazakhstan.
Abstract: The present work describes the implementation of the
Enhanced Collaborative Optimization (ECO) multilevel architecture
with a gradient-based optimization algorithm with the aim of
performing a multidisciplinary design optimization of a generic
unmanned aerial vehicle with morphing technologies. The concepts
of weighting coefficient and dynamic compatibility parameter are
presented for the ECO architecture. A routine that calculates the
aircraft performance for the user defined mission profile and vehicle’s
performance requirements has been implemented using low fidelity
models for the aerodynamics, stability, propulsion, weight, balance
and flight performance. A benchmarking case study for evaluating
the advantage of using a variable span wing within the optimization
methodology developed is presented.
Abstract: Advances in the use of health care technology have
resulted in increased adverse events (AEs) related to the use of
medical devices. The study focused on the existing reporting systems.
This study was conducted in a tertiary care public sector hospital.
Devices included Syringe infusion pumps, Cardiac monitors, Pulse
oximeters, Ventilators and Defibrillators. A total of 211 respondents
were recruited. Interviews were held with 30 key informants. Medical
records were scrutinized. Relevant statistical tests were used.
Resident doctors reported maximum frequency of AEs, followed
by nurses; and least by consultants. A significant association was
found between the cadre of health care personnel and awareness that
the patients and bystanders have a risk of sustaining AE. Awareness
regarding reporting of AEs was low, and it was generally done
verbally. Other critical findings are discussed in the light of the
barriers to reporting, reasons for non-compliance, recording system,
and so on.
Abstract: We address the integer frequency offset (IFO)
estimation under the influence of the timing offset (TO) in orthogonal
frequency division multiplexing (OFDM) systems. Incorporating the
IFO and TO into the symbol set used to represent the received
OFDM symbol, we investigate the influence of the TO on the IFO,
and then, propose a combining method between two consecutive
OFDM correlations, reducing the influence. The proposed scheme
has almost the same complexity as that of the conventional
schemes, whereas it does not need the TO knowledge contrary to
the conventional schemes. From numerical results it is confirmed
that the proposed scheme is insensitive to the TO, consequently,
yielding an improvement of the IFO estimation performance over
the conventional schemes when the TO exists.
Abstract: This paper presents circuit models to analyze the
conducted susceptibility of multiconductor shielded cables in
frequency domains using Branin’s method, which is referred to as the
method of characteristics. These models, which can be used directly
in the time and frequency domains, take into account the presence of
both the transfer impedance and admittance. The conducted
susceptibility is studied by using an injection current on the cable
shield as the source. Two examples are studied; a coaxial shielded
cable and shielded cables with two parallel wires (i.e., twinax cables).
This shield has an asymmetry (one slot on the side). Results obtained
by these models are in good agreement with those obtained by other
methods.
Abstract: The Markov decision process (MDP) based
methodology is implemented in order to establish the optimal
schedule which minimizes the cost. Formulation of MDP problem
is presented using the information about the current state of pipe,
improvement cost, failure cost and pipe deterioration model. The
objective function and detailed algorithm of dynamic programming
(DP) are modified due to the difficulty of implementing the
conventional DP approaches. The optimal schedule derived from
suggested model is compared to several policies via Monte
Carlo simulation. Validity of the solution and improvement in
computational time are proved.
Abstract: This study introduces two types of self-oscillating
circuits that are frequently found in power electronics applications.
Special effort is made to relate the circuits to the analogous mechanical
systems of some important scientific inventions: Galileo’s pendulum
clock and Coulomb’s friction model. A little touch of related history
and philosophy of science will hopefully encourage curiosity, advance
the understanding of self-oscillating systems and satisfy the aspiration
of some students for scientific literacy. Finally, the two self-oscillating
circuits are applied to design a simple class-D audio amplifier.
Abstract: The dissimilar joint between aluminum/titanium
alloys (Al 6082 and Ti G2) were successfully achieved by CO2 laser
welding with a single pass and without filler material using the
overlap joint design. Laser welding parameters ranges combinations
were experimentally determined using Taguchi approach with the
objective of producing welded joint with acceptable welding profile
and high quality of mechanical properties. In this study a joining of
dissimilar Al 6082 / Ti G2 was resulted in three distinct regions
fusion area in the weldment. These regions are studied in terms of its
microstructural characteristics and microhardness which are directly
affecting the welding quality.
The weld metal was mainly composed of martensite alpha prime.
In two different metals in the two different sides of joint HAZ, grain
growth was detected. The microhardness of the joint distribution also
has shown microhardness increasing in the HAZ of two base metals
and a varying microhardness in fusion zone.
Abstract: Urban Search and Rescue (USAR) is a functional
capability that has been developed to allow the United Kingdom Fire
and Rescue Service to deal with ‘major incidents’ primarily involving
structural collapse. The nature of the work undertaken by USAR
means that staying out of a damaged or collapsed building structure is
not usually an option for search and rescue personnel. As a result
there is always a risk that they themselves could become victims. For
this paper, a systematic and investigative review using desk research
was undertaken to explore the role which structural engineering can
play in assisting search and rescue personnel to conduct structural
assessments when in the field. The focus is on how search and rescue
personnel can assess damaged and collapsed building structures, not
just in terms of structural damage that may been countered, but also
in relation to structural stability. Natural disasters, accidental
emergencies, acts of terrorism and other extreme events can vary
significantly in nature and ferocity, and can cause a wide variety of
damage to building structures. It is not possible or, even realistic, to
provide search and rescue personnel with definitive guidelines and
procedures to assess damaged and collapsed building structures as
there are too many variables to consider. However, understanding
what implications damage may have upon the structural stability of a
building structure will enable search and rescue personnel to better judge
and quantify risk from a life-safety standpoint. It is intended that this
will allow search and rescue personnel to make informed decisions
and ensure every effort is made to mitigate risk, so that they
themselves do not become victims.