Abstract: Bezier curves have useful properties for path
generation problem, for instance, it can generate the reference
trajectory for vehicles to satisfy the path constraints. Both algorithms
join cubic Bezier curve segment smoothly to generate the path. Some
of the useful properties of Bezier are curvature. In mathematics,
curvature is the amount by which a geometric object deviates from
being flat, or straight in the case of a line. Another extrinsic example
of curvature is a circle, where the curvature is equal to the reciprocal
of its radius at any point on the circle. The smaller the radius, the
higher the curvature thus the vehicle needs to bend sharply. In this
study, we use Bezier curve to fit highway-like curve. We use
different approach to find the best approximation for the curve so that
it will resembles highway-like curve. We compute curvature value by
analytical differentiation of the Bezier Curve. We will then compute
the maximum speed for driving using the curvature information
obtained. Our research works on some assumptions; first, the Bezier
curve estimates the real shape of the curve which can be verified
visually. Even though, fitting process of Bezier curve does not
interpolate exactly on the curve of interest, we believe that the
estimation of speed are acceptable. We verified our result with the
manual calculation of the curvature from the map.
Abstract: In this paper, according to the classical algorithm
LSQR for solving the least-squares problem, an iterative method is
proposed for least-squares solution of constrained matrix equation. By
using the Kronecker product, the matrix-form LSQR is presented to
obtain the like-minimum norm and minimum norm solutions in a
constrained matrix set for the symmetric arrowhead matrices. Finally,
numerical examples are also given to investigate the performance.
Abstract: In this paper, von Mises and Drucker-Prager yield criteria, as typical ones that consider the effect of intermediate principal stress σ2, have been selected and employed for investigating the influence of σ2 on the solution of a typical stability problem. The bearing capacity factors have been calculated under plane strain condition (strip footing) and axisymmetric condition (circular footing) using the method of stress characteristics together with the criteria mentioned. Different levels of σ2 relative to the other two principal stresses have been considered. While a higher σ2 entry in yield criterion gives a higher bearing capacity; its entry in equilibrium equations (axisymmetric) causes substantial reduction.
Abstract: As one of the convenient and noninvasive sensing
approaches, the automatic limb girth measurement has been applied
to detect intention behind human motion from muscle deformation.
The sensing validity has been elaborated by preliminary researches
but still need more fundamental studies, especially on kinetic
contraction modes. Based on the novel fabric strain sensors, a soft
and smart limb girth measurement system was developed by the
authors’ group, which can measure the limb girth in-motion.
Experiments were carried out on elbow isometric flexion and elbow
isokinetic flexion (biceps’ isokinetic contractions) of 90°/s, 60°/s, and
120°/s for 10 subjects (2 canoeists and 8 ordinary people). After
removal of natural circumferential increments due to elbow position,
the joint torque is found not uniformly sensitive to the limb
circumferential strains, but declining as elbow joint angle rises,
regardless of the angular speed. Moreover, the maximum joint torque
was found as an exponential function of the joint’s angular speed.
This research highly contributes to the application of the automatic
limb girth measuring during kinetic contractions, and it is useful to
predict the contraction level of voluntary skeletal muscles.
Abstract: Escherichia coli (E. coli) is the most isolated bacteria
from blood circulation of septicemic calves. Given the prevalence of
septicemia in animals and its economic importance in veterinary
practice, better understanding of changes in clinical signs following
disease, may contribute to early detection of disorder. The present
study has been carried out to detect changes of clinical signs in
induced sepsis in calves with E. coli. Colisepticemia has been
induced in 10 twenty-day old healthy Holstein- Frisian calves with
intravenous injection of 1.5 X 109 colony forming units (cfu) of
O111:H8 strain of E. coli. Clinical signs including rectal temperature,
heart rate, respiratory rate, shock, appetite, sucking reflex, feces
consistency, general behavior, dehydration and standing ability were
recorded in experimental calves during 24 hours after induction of
colisepticemia. Blood culture was also carried out from calves four
times during experiment. ANOVA with repeated measure is used to
see changes of calves’ clinical signs to experimental colisepticemia,
and values of P≤ 0.05 was considered statistically significant. Mean
values of rectal temperature and heart rate as well as median values
of respiratory rate, appetite, suckling reflex, standing ability and feces
consistency of experimental calves increased significantly during
study (P 0.05). The
results of present study showed that total score of clinical signs in
calves with experimental colisepticemia increased significantly,
although score of some clinical signs such as shock did not change
significantly.
Abstract: Mechanical behavior of 6082T6 aluminum is
investigated at different temperatures. The strain rate sensitivity is
investigated at different temperatures on the grain size variants. The
sensitivity of the measured grain size variants on 3-D grain is
discussed. It is shown that the strain rate sensitivities are negative for
the grain size variants during the deformation of nanostructured
materials. It is also observed that the strain rate sensitivities vary in
different ways with the equivalent radius, semi minor axis radius,
semi major axis radius and major axis radius. From the obtained
results, it is shown that the variation of strain rate sensitivity with
temperature suggests that the strain rate sensitivity at the low and the
high temperature ends of the 6082T6 aluminum range is different.
The obtained results revealed transition at different temperature from
negative strain rate sensitivity as temperature increased on the grain
size variants.
Abstract: A model to predict the plastic zone size for material
under plane stress condition has been developed and verified
experimentally. The developed model is a function of crack size,
crack angle and material property (dislocation density). Simulation
and validation results show that the model developed show good
agreement with experimental results. Samples of low carbon steel
(0.035%C) with included surface crack angles of 45o, 50o, 60o, 70o
and 90o and crack depths of 2mm and 4mm were subjected to low
strain rate between 0.48 x 10-3 s-1 – 2.38 x 10-3 s-1. The mechanical
properties studied were ductility, tensile strength, modulus of
elasticity, yield strength, yield strain, stress at fracture and fracture
toughness. The experimental study shows that strain rate has no
appreciable effect on the size of plastic zone while crack depth and
crack angle plays an imperative role in determining the size of the
plastic zone of mild steel materials.
Abstract: Concurrent planning of project scheduling and
material ordering has been increasingly addressed within last decades
as an approach to improve the project execution costs. Therefore, we
have taken the problem into consideration in this paper, aiming to
maximize schedules quality robustness, in addition to minimize the
relevant costs. In this regard, a bi-objective mathematical model is
developed to formulate the problem. Moreover, it is possible to
utilize the all-unit discount for materials purchasing. The problem is
then solved by the E-constraint method, and the Pareto front is
obtained for a variety of robustness values. The applicability and
efficiency of the proposed model is tested by different numerical
instances, finally.
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: In the vicinity of red sea about 15 fungi species were
isolated from oil contaminated sites. On the basis of aptitude to
degrade the crude oil and DCPIP assay, two fungal isolates were
selected amongst 15 oil degrading strains. Analysis of ITS-1, ITS-2
and amplicon pyrosequencing studies of fungal diversity revealed
that these strains belong to Penicillium and Aspergillus species. Two
strains that proved to be the most efficient in degrading crude oil was
Aspergillus niger (54%) and Penicillium commune (48%) Subsequent
to two weeks of cultivation in BHS medium the degradation rate
were recorded by using spectrophotometer and GC-MS. Hence, it is
cleared that these fungal strains has capability of degradation and can
be utilize for cleaning the Saudi Arabian environment.
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 agenda of showing the scheduled time for
performing certain tasks is known as timetabling. It is widely used in
many departments such as transportation, education, and production.
Some difficulties arise to ensure all tasks happen in the time and
place allocated. Therefore, many researchers invented various
programming models to solve the scheduling problems from several
fields. However, the studies in developing the general integer
programming model for many timetabling problems are still
questionable. Meanwhile, this thesis describes about creating a
general model which solves different types of timetabling problems
by considering the basic constraints. Initially, the common basic
constraints from five different fields are selected and analyzed. A
general basic integer programming model was created and then
verified by using the medium set of data obtained randomly which is
much similar to realistic data. The mathematical software, AIMMS
with CPLEX as a solver has been used to solve the model. The model
obtained is significant in solving many timetabling problems easily
since it is modifiable to all types of scheduling problems which have
same basic constraints.
Abstract: Numerical study of the static response of
homogeneous clay stratum considering a wide range of cohesion and
subject to foundation loads is presented. The linear elastic–perfectly
plastic constitutive relation with the von Mises yield criterion were
utilised to develop a numerically cost effective finite element model
for the soil while imposing a rigid body constrain to the foundation
footing. From the analyses carried out, estimate of the bearing
capacity factor, Nc as well as the ultimate load-carrying capacities of
these soils, effect of cohesion on foundation settlements, stress fields
and failure propagation were obtained. These are consistent with
other findings in the literature and hence can be a useful guide in
design of safe foundations in clay soils for buildings and other
structure.
Abstract: Various nanomaterials can be used as a drug delivery
vehicles in nanomedicine, called nanocarriers. They can either be
organic or inorganic, synthetic or natural-based. Although synthetic
nanocarriers are easier to produce, they can often be toxic for the
organism and thus not suitable for use in treatment. From naturalbased
nanocarriers, the most commonly used are protein cages or
viral capsids. In this work, virus bacteriophage λ was used for
delivery of different cytotoxic drugs (cisplatin, carboplatin,
oxaliplatin and doxorubicin). Large quantities of phage λ were
obtained from phage λ-producing strain of E. coli cultivated in
medium with 0.2% maltose. After killing of E. coli with chloroform
and its removal by centrifugation, the phage was concentrated by
ultracentrifugation at 130 000×g and 4°C for 3 h. The encapsulation
of the drugs was performed by infusion method and four different
concentrations of the drugs were encapsulated (200; 100; 50; 25
μg·mL-1). Free drug molecules were removed by filtration. The
encapsulation was verified using the absorbance for doxorubicin and
atomic absorption spectrometry for platinum cytostatics. The amount
of encapsulated drug linearly increased with the increasing
concentration of applied drug with the determination coefficient
R2=0.989 for doxorubicin; R2=0.967 for cisplatin; R2=0.989 for
carboplatin and R2=0.996 for oxaliplatin. The overall encapsulation
efficiency was calculated as 50% for doxorubicin; 8% for cisplatin;
6% for carboplatin and 10% for oxaliplatin.
Abstract: The effects of the contact ball-lens on the soda lime
glass in laser thermal cleavage with a cw Nd-YAG laser were
investigated in this study. A contact ball-lens was adopted to generate
a bending force on the crack formation of the soda-lime glass in the
laser cutting process. The Nd-YAG laser beam (wavelength of 1064
nm) was focused through the ball-lens and transmitted to the soda-lime
glass, which was coated with a carbon film on the surface with a
bending force from a ball-lens to generate a tensile stress state on the
surface cracking. The fracture was controlled by the contact ball-lens
and a straight cutting was tested to demonstrate the feasibility.
Experimental observations on the crack propagation from the leading
edge, main section and trailing edge of the glass sheet were compared
with various mechanical and thermal loadings. Further analyses on the
stress under various laser powers and contact ball loadings were made
to characterize the innovative technology. The results show that the distributions of the side crack at the
leading and trailing edges are mainly dependent on the boundary
condition, contact force, cutting speed and laser power. With the
increase of the mechanical and thermal loadings, the region of the side
cracks might be dramatically reduced with proper selection of the
geometrical constrains. Therefore the application of the contact
ball-lens is a possible way to control the fracture in laser cleavage with
improved cutting qualities.
Abstract: The purposes of hydraulic gate are to maintain the
functions of storing and draining water. It bears long-term hydraulic
pressure and earthquake force and is very important for reservoir and
waterpower plant. The high tensile strength of steel plate is used as
constructional material of hydraulic gate. The cracks and rusts,
induced by the defects of material, bad construction and seismic
excitation and under water respectively, thus, the mechanics
phenomena of gate with crack are probing into the cause of stress
concentration, induced high crack increase rate, affect the safety and
usage of hydroelectric power plant. Stress distribution analysis is a
very important and essential surveying technique to analyze
bi-material and singular point problems. The finite difference
infinitely small element method has been demonstrated, suitable for
analyzing the buckling phenomena of welding seam and steel plate
with crack. Especially, this method can easily analyze the singularity
of kink crack. Nevertheless, the construction form and deformation
shape of some gates are three-dimensional system. Therefore, the
three-dimensional Digital Image Correlation (DIC) has been
developed and applied to analyze the strain variation of steel plate with
crack at weld joint. The proposed Digital image correlation (DIC)
technique is an only non-contact method for measuring the variation of
test object. According to rapid development of digital camera, the cost
of this digital image correlation technique has been reduced.
Otherwise, this DIC method provides with the advantages of widely
practical application of indoor test and field test without the restriction
on the size of test object. Thus, the research purpose of this research is
to develop and apply this technique to monitor mechanics crack
variations of weld steel hydraulic gate and its conformation under
action of loading. The imagines can be picked from real time
monitoring process to analyze the strain change of each loading stage.
The proposed 3-Dimensional digital image correlation method,
developed in the study, is applied to analyze the post-buckling
phenomenon and buckling tendency of welded steel plate with crack.
Then, the stress intensity of 3-dimensional analysis of different
materials and enhanced materials in steel plate has been analyzed in
this paper. The test results show that this proposed three-dimensional
DIC method can precisely detect the crack variation of welded steel
plate under different loading stages. Especially, this proposed DIC
method can detect and identify the crack position and the other flaws
of the welded steel plate that the traditional test methods hardly detect
these kind phenomena. Therefore, this proposed three-dimensional
DIC method can apply to observe the mechanics phenomena of
composite materials subjected to loading and operating.
Abstract: In this study, a general approach to the reliability
based limit analysis of laterally loaded piles is presented. In
engineering practice the uncertainties play a very important role. The
aim of this study is to evaluate the lateral load capacity of free-head
and fixed-head long pile when plastic limit analysis is considered. In
addition to the plastic limit analysis to control the plastic behaviour
of the structure, uncertain bound on the complementary strain energy
of the residual forces is also applied. This bound has significant effect
for the load parameter. The solution to reliability-based problems is
obtained by a computer program which is governed by the reliability
index calculation.
Abstract: In this work, repaired crack in 6061- T6 aluminum
plate with composite patches presented, firstly we determine the
displacement, strain and stress, also the first six mode shape of the
plate, secondly we took the same model adding central crack
initiation, which is located in the center of the plate, its seize vary
from 20 mm to 60 mm and we compare the first results with second.
Thirdly we repair various cracks with composite patch (carbon/
epoxy) and for (2 layers, 4 layers). Finally the comparison of stress,
strain, displacement and six first natural frequencies between un-cracked
specimen, crack propagation and composite patch repair.
Abstract: The current study focuses on the seismic design of
offshore pipelines against active faults. After an extensive literature
review of the provisions of the seismic norms worldwide and of the
available analytical methods, the study simulates numerically
(through finite-element modeling and strain-based criteria) the
distress of offshore pipelines subjected to PGDs induced by active
normal and reverse seismic faults at the seabed. Factors, such as the
geometrical properties of the fault, the mechanical properties of the
ruptured soil formations, and the pipeline characteristics, are
examined. After some interesting conclusions regarding the seismic
vulnerability of offshore pipelines, potential cost-effective mitigation
measures are proposed taking into account constructability issues.
Abstract: Countryside has been generally recognized and
regarded as a characteristic symbol which presents in human memory
for a long time. As a result of the change of times, because of it is
failure to meet the growing needs of the growing life and mental
decline, the vast rural area began to decline. But their history feature
image which accumulated by the ancient tradition provides people
with the origins of existence on the spiritual level, such as "identity"
and "belonging", makes people closer to the others in the spiritual and
psychological aspects of a common experience about the past, thus the
sense of a lack of culture caused by the losing of memory symbols is
weakened. So, in the modernization process, how to repair its vitality
and transform and planning it in a sustainable way has become a hot
topics in architectural and urban planning. This paper aims to break
the constraints of disciplines, from the perspective of interdiscipline,
using the research methods of systems science to analyze and discuss
the theories and methods of rural form factors, which based on the
viewpoint of memory in psychology. So we can find a right way to
transform the Rural to give full play to the role of the countryside in
the actual use and the shape of history spirits.