Abstract: In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.
Abstract: Due to adverse pressure gradient along the diverging
walls of wide-angled diffusers, the attached flow separates from
one wall and remains attached permanently to the other wall in a
process called stalling. Stalled diffusers render the whole fluid flow
system, in which they are part of, very inefficient. There is then an
engineering need to try to understand the whole process of diffuser
stall if any meaningful attempts to improve on diffuser efficiency
are to be made. In this regard, this paper provides a data bank
contribution for the mean flow-field in wide-angled diffusers where
the complete velocity and static pressure fields, and pressure recovery
data for diffusers in the fully stalled flow regime are experimentally
measured. The measurements were carried out at Reynolds numbers
between 1.07×105 and 2.14×105 based on inlet hydraulic diameter
and centreline velocity for diffusers whose divergence angles were
between 30Ôùª and 50Ôùª. Variation of Reynolds number did not significantly
affect the velocity and static pressure profiles. The wall static
pressure recovery was found to be more sensitive to changes in the
Reynolds number. By increasing the velocity from 10 m/s to 20 m/s,
the wall static pressure recovery increased by 8.31%. However, as the
divergence angle was increased, a similar increase in the Reynolds
number resulted in a higher percentage increase in pressure recovery.
Experimental results showed that regardless of the wall to which
the flow was attached, both the velocity and pressure fields were
replicated with discrepancies below 2%.
Abstract: The aim of this study was to analyse the most
important parameters determining the quality of the motion structure
of the basic classical dance jump – grand jeté.Research sample
consisted of 8 students of the Dance Conservatory in Brno. Using the
system Simi motion we performed a 3D kinematic analysis of the
jump. On the basis of the comparison of structure quality and
measured data of the grand jeté, we defined the optimal values of the
relevant parameters determining the quality of the performance. The
take-off speed should achieve about 2.4 m·s-1, the optimum take-off
angle is 28 - 30º. The take-off leg should swing backward at the
beginning of the flight phase with the minimum speed of 3.3 m·s-1.If
motor abilities of dancers achieve the level necessary for optimal
performance of a classical dance jump, there is room for certain
variability of the structure of the dance jump.
Abstract: An effort has been taken to simulate the combustion
and performance characteristics of biodiesel fuel in direct injection
(D.I) low heat rejection (LHR) diesel engine. Comprehensive
analyses on combustion characteristics such as cylinder pressure,
peak cylinder pressure, heat release and performance characteristics
such as specific fuel consumption and brake thermal efficiency are
carried out. Compression ignition (C.I) engine cycle simulation was
developed and modified in to LHR engine for both diesel and
biodiesel fuel. On the basis of first law of thermodynamics the
properties at each degree crank angle was calculated. Preparation and
reaction rate model was used to calculate the instantaneous heat
release rate. A gas-wall heat transfer calculations are based on the
ANNAND-s combined heat transfer model with instantaneous wall
temperature to analyze the effect of coating on heat transfer. The
simulated results are validated by conducting the experiments on the
test engine under identical operating condition on a turbocharged D.I
diesel engine. In this analysis 20% of biodiesel (derived from
Jatropha oil) blended with diesel and used in both conventional and
LHR engine. The simulated combustion and performance
characteristics results are found satisfactory with the experimental
value.
Abstract: This paper To get the angle value with a MEMS rate
gyroscope in some specific field, the usual method is to make an
integral operation to the rate output, which will lead the error
cumulating effect. So the rate gyro is not suitable. MEMS rate
integrating gyroscope (MRIG) will solve this problem. A DSP system
has been developed to implement the control arithmetic. The system
can measure the angle of rotation directly by the control loops that
make the sensor work in whole-angle mode. Modeling the system with
MATLAB, desirable results of angle outputs are got, which prove the
feasibility of the control arithmetic.
Abstract: In this paper as showed a non-invasive 3D eye tracker
for optometry clinical applications. Measurements of biomechanical
variables in clinical practice have many font of errors associated with
traditional procedments such cover test (CT), near point of
accommodation (NPC), eye ductions (ED), eye vergences (EG) and,
eye versions (ES). Ocular motility should always be tested but all
evaluations have a subjective interpretations by practitioners, the
results is based in clinical experiences, repeatability and accuracy
don-t exist. Optometric-lab is a tool with 3 (tree) analogical video
cameras triggered and synchronized in one acquisition board AD.
The variables globe rotation angle and velocity can be quantified.
Data record frequency was performed with 27Hz, camera calibration
was performed in a know volume and image radial distortion
adjustments.
Abstract: This work deals with problems of tool axis inclination angles in ball-end milling. Tool axis inclination angle contributes to improvement of functional surface properties (surface integrity - surface roughness, residual stress, micro hardness, etc.), decreasing cutting forces and improving production. By milling with ball-end milling tool, using standard way of cutting, when work piece and cutting tool contain right angle, we have zero cutting speed on edge. At this point cutting tool only pushes material into the work piece. Here we can observe the following undesirable effects - chip contraction, increasing of cutting temperature, increasing vibrations or creation of built-up edge. These effects have negative results – low quality of surface and decreasing of tool life (in the worse case even it is pinching out). These effects can be eliminated with the tilt of cutting tool or tilt of work piece.
Abstract: An experimental study of Reinforced Concrete, RC, columns strengthened using a steel jacketing technique was conducted. The jacketing technique consisted of four steel vertical angles installed at the corners of the column joined by horizontal steel straps confining the column externally. The effectiveness of the technique was evaluated by testing the RC column specimens under eccentric monotonic loading until failure occurred. Strain gauges were installed to monitor the strains in the internal reinforcement as well as the external jacketing system. The effectiveness of the jacketing technique was demonstrated, and the parameters affecting the technique were studied.
Abstract: In this paper, a method for matching image segments
using triangle-based (geometrical) regions is proposed. Triangular
regions are formed from triples of vertex points obtained from a
keypoint detector (SIFT). However, triangle regions are subject to
noise and distortion around the edges and vertices (especially acute
angles). Therefore, these triangles are expanded into parallelogramshaped
regions. The extracted image segments inherit an important
triangle property; the invariance to affine distortion. Given two
images, matching corresponding regions is conducted by computing
the relative affine matrix, rectifying one of the regions w.r.t. the other
one, then calculating the similarity between the reference and
rectified region. The experimental tests show the efficiency and
robustness of the proposed algorithm against geometrical distortion.
Abstract: Polymer-like organic thin films were deposited on both
aluminum alloy type 6061 and glass substrates at room temperature by
Plasma Enhanced Chemical Vapor Deposition (PECVD) methodusing
benzene and hexamethyldisiloxane (HMDSO) as precursor materials.
The surface and physical properties of plasma-polymerized organic
thin films were investigated at different r.f. powers. The effects of
benzene/argon ratio on the properties of plasma polymerized benzene
films were also investigated. It is found that using benzene alone
results in a non-coherent and non-adherent powdery deposited
material. The chemical structure and surface properties of the asgrown
plasma polymerized thin films were analyzed on glass
substrates with FTIR and contact angle measurements. FTIR spectra
of benzene deposited film indicated that the benzene rings are
preserved when increasing benzene ratio and/or decreasing r.f.
powers. FTIR spectra of HMDSO deposited films indicated an
increase of the hydrogen concentration and a decrease of the oxygen
concentration with the increase of r.f. power. The contact angle (θ) of
the films prepared from benzene was found to increase by about 43%
as benzene ratio increases from 10% to 20%. θ was then found to
decrease to the original value (51°) when the benzene ratio increases
to 100%. The contact angle, θ, for both benzene and HMDSO
deposited films were found to increase with r.f. power. This signifies
that the plasma polymerized organic films have substantially low
surface energy as the r.f power increases. The corrosion resistance of
aluminum alloy substrate both bare and covered with plasma
polymerized thin films was carried out by potentiodynamic
polarization measurements in standard 3.5 wt. % NaCl solution at
room temperature. The results indicate that the benzene and HMDSO
deposited films are suitable for protection of the aluminum substrate
against corrosion. The changes in the processing parameters seem to
have a strong influence on the film protective ability. Surface
roughness of films deposited on aluminum alloy substrate was
investigated using scanning electron microscopy (SEM). The SEM
images indicate that the surface roughness of benzene deposited films
increase with decreasing the benzene ratio. SEM images of benzene
and HMDSO deposited films indicate that the surface roughness
decreases with increasing r.f. power. Studying the above parameters
indicate that the films produced are suitable for specific practical
applications.
Abstract: The hidden-point bar method is useful in many
surveying applications. The method involves determining the
coordinates of a hidden point as a function of horizontal and vertical
angles measured to three fixed points on the bar. Using these
measurements, the procedure involves calculating the slant angles,
the distances from the station to the fixed points, the coordinates of
the fixed points, and then the coordinates of the hidden point. The
propagation of the measurement errors in this complex process has
not been fully investigated in the literature. This paper evaluates the
effect of the bar geometry on the position accuracy of the hidden
point which depends on the measurement errors of the horizontal and
vertical angles. The results are used to establish some guidelines
regarding the inclination angle of the bar and the location of the
observed points that provide the best accuracy.
Abstract: Radio propagation from point-to-point is affected by
the physical channel in many ways. A signal arriving at a destination
travels through a number of different paths which are referred to as
multi-paths. Research in this area of wireless communications has
progressed well over the years with the research taking different
angles of focus. By this is meant that some researchers focus on
ways of reducing or eluding Multipath effects whilst others focus on
ways of mitigating the effects of Multipath through compensation
schemes. Baseband processing is seen as one field of signal
processing that is cardinal to the advancement of software defined
radio technology. This has led to wide research into the carrying out
certain algorithms at baseband. This paper considers compensating
for Multipath for Frequency Modulated signals. The compensation
process is carried out at Radio frequency (RF) and at Quadrature
baseband (QBB) and the results are compared. Simulations are
carried out using MatLab so as to show the benefits of working at
lower QBB frequencies than at RF.
Abstract: Rotation or tilt present in an image capture by digital
means can be detected and corrected using Artificial Neural Network
(ANN) for application with a Face Recognition System (FRS). Principal
Component Analysis (PCA) features of faces at different angles
are used to train an ANN which detects the rotation for an input image
and corrected using a set of operations implemented using another
system based on ANN. The work also deals with the recognition
of human faces with features from the foreheads, eyes, nose and
mouths as decision support entities of the system configured using
a Generalized Feed Forward Artificial Neural Network (GFFANN).
These features are combined to provide a reinforced decision for
verification of a person-s identity despite illumination variations. The
complete system performing facial image rotation detection, correction
and recognition using re-enforced decision support provides a
success rate in the higher 90s.
Abstract: the intension in this work is to investigate the effect of
different bending manifold pipes on engine performance for different
engine speed. Power, Torque, and BSFC were calculated and
presented to show the effect of varying bending pipes angles on them
for all cases considered. A special program used to carry out the
calculations. A simulation model for 4-cylinders spark ignition
engine with turbocharger has been built and calculated. The analysis
of the results shows that for 120o angle the torque increases about
40% at 3000 rpm and 25% at 4000 rpm without changing in fuel
consumption. For 90o angle the increment in torque is about 10 %.
For the same bending angle the increment in brake power is around
40% at 3000 rpm and 25% at 4000 rpm. The increment in fuel
consumption is about 12% for 60o and 30% for 90o between (6000-
7000) rpm.
Abstract: The Lattice Boltzmann Method (LBM) with double populations is applied to solve the steady-state laminar natural convective heat transfer in a triangular cavity filled with water. The bottom wall is heated, the vertical wall is cooled, and the inclined wall is kept adiabatic. The buoyancy effect was modeled by applying the Boussinesq approximation to the momentum equation. The fluid velocity is determined by D2Q9 LBM and the energy equation is discritized by D2Q4 LBM to compute the temperature field. Comparisons with previously published work are performed and found to be in excellent agreement. Numerical results are obtained for a wide range of parameters: the Rayleigh number from to and the inclination angle from 0° to 360°. Flow and thermal fields were exhibited by means of streamlines and isotherms. It is observed that inclination angle can be used as a relevant parameter to control heat transfer in right-angled triangular enclosures.
Abstract: This paper examines the use of mechanical aerator for
oxidation-ditch process. The rotor, which controls the aeration, is the
main component of the aeration process. Therefore, the objective of
this study is to find out the variations in overall oxygen transfer
coefficient (KLa) and aeration efficiency (AE) for different
configurations of aerator by varying the parameters viz. speed of
aerator, depth of immersion, blade tip angles so as to yield higher
values of KLa and AE. Six different configurations of aerator were
developed and fabricated in the laboratory and were tested for abovementioned
parameters. The curved blade rotor (CBR) emerged as a
potential aerator with blade tip angle of 47°.
The mathematical models are developed for predicting the
behaviour of CBR w.r.t kLa and power. In laboratory studies, the
optimum value of KLa and AE were observed to be 10.33 h-1 and
2.269 kg O2/ kWh.
Abstract: Traditional wind tunnel models are meticulously machined from metal in a process that can take several months. While very precise, the manufacturing process is too slow to assess a new design's feasibility quickly. Rapid prototyping technology makes this concurrent study of air vehicle concepts via computer simulation and in the wind tunnel possible. This paper described the Affects layer thickness models product with rapid prototyping on Aerodynamic Coefficients for Constructed wind tunnel testing models. Three models were evaluated. The first model was a 0.05mm layer thickness and Horizontal plane 0.1μm (Ra) second model was a 0.125mm layer thickness and Horizontal plane 0.22μm (Ra) third model was a 0.15mm layer thickness and Horizontal plane 4.6μm (Ra). These models were fabricated from somos 18420 by a stereolithography (SLA). A wing-body-tail configuration was chosen for the actual study. Testing covered the Mach range of Mach 0.3 to Mach 0.9 at an angle-of-attack range of -2° to +12° at zero sideslip. Coefficients of normal force, axial force, pitching moment, and lift over drag are shown at each of these Mach numbers. Results from this study show that layer thickness does have an effect on the aerodynamic characteristics in general; the data differ between the three models by fewer than 5%. The layer thickness does have more effect on the aerodynamic characteristics when Mach number is decreased and had most effect on the aerodynamic characteristics of axial force and its derivative coefficients.
Abstract: This research proposes the change of damping coefficient regarding minimum displacement. From the mass with external forced and damper problem, when is the constant external forced transmitted to the understructure in the difference angle between 30 and 60 degrees. This force generates the vibration as general known; however, the objective of this problem is to have minimum displacement. As the angle is changed and the goal is the same; therefore, the damper of the system must be varied while keeping constant spring stiffness. The problem is solved by using nonlinear programming and the suitable changing of the damping coefficient is provided.
Abstract: Carbon Capture & Storage (CCS) is one of the various
methods that can be used to reduce the carbon footprint of the
energy sector. This paper focuses on the absorption of CO2 from
flue gas using packed columns, whose efficiency is highly dependent
on the structure of the liquid films within the column. To study the
characteristics of liquid films a CFD solver, OpenFOAM is utilised
to solve two-phase, isothermal film flow using the volume-of-fluid
(VOF) method. The model was validated using existing experimental
data and the Nusselt theory. It was found that smaller plate inclination
angles, with respect to the horizontal plane, resulted in larger wetted
areas on smooth plates. However, only a slight improvement in
the wetted area was observed. Simulations were also performed
using a ridged plate and it was observed that these surface textures
significantly increase the wetted area of the plate. This was mainly
attributed to the channelling effect of the ridges, which helped to
oppose the surface tension forces trying to minimise the surface area.
Rivulet formations on the ridged plate were also flattened out and
spread across a larger proportion of the plate width.
Abstract: Extensive wind tunnel tests have been conducted to
investigate the unsteady flow field over and behind a 2D model of a
660 kW wind turbine blade section in pitching motion. The surface
pressure and wake dynamic pressure variation at a distance of 1.5
chord length from trailing edge were measured by pressure
transducers during several oscillating cycles at 3 reduced frequencies
and oscillating amplitudes. Moreover, form drag and linear
momentum deficit are extracted and compared at various conditions.
The results show that the wake velocity field and surface pressure of
the model have similar behavior before and after the airfoil beyond
the static stall angle of attack. In addition, the effects of reduced
frequency and oscillation amplitudes are discussed.