Abstract: This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
Abstract: Heat transfer due to forced convection of copper water
based nanofluid has been predicted by Artificial Neural network
(ANN). The present nanofluid is formed by mixing copper
nanoparticles in water and the volume fractions are considered here
are 0% to 15% and the Reynolds number are kept constant at 100.
The back propagation algorithm is used to train the network. The
present ANN is trained by the input and output data which has been
obtained from the numerical simulation, performed in finite volume
based Computational Fluid Dynamics (CFD) commercial software
Ansys Fluent. The numerical simulation based results are compared
with the back propagation based ANN results. It is found that the
forced convection heat transfer of water based nanofluid can be
predicted correctly by ANN. It is also observed that the back
propagation ANN can predict the heat transfer characteristics of
nanofluid very quickly compared to standard CFD method.
Abstract: Non-crimp 3D orthogonal fabric composite is one of
the textile-based composite materials that are rapidly developing
light-weight engineering materials. The present paper focuses on
geometric and micromechanical modeling of non-crimp 3D
orthogonal carbon fabric and composites reinforced with it for
aerospace applications. In this research meso-finite element (FE)
modeling employs for stress analysis in different load conditions.
Since mechanical testing of expensive textile carbon composites with
specific application isn't affordable, simulation composite in a virtual
environment is a helpful way to investigate its mechanical properties
in different conditions.
Abstract: Al6061 alloy base matrix, reinforced with particles of
silicon carbide (10 wt %) and Graphite powder (1wt%), known as
hybrid composites have been fabricated by liquid metallurgy route
(stir casting technique) and optimized at different parameters like
applied load, sliding speed and sliding distance by taguchi method. A
plan of experiment generated through taguchi technique was used to
perform experiments based on L27 orthogonal array. The developed
ANOVA and regression equations are used to find the optimum
coefficient of friction and wear under the influence of applied load,
sliding speed and sliding distance. On the basis of “smaller the best”
the dry sliding wear resistance was analysed and finally confirmation
tests were carried out to verify the experimental results.
Abstract: Purpose: The study aimed to assess the depressant or
antidepressant effects of several Nonsteroidal Anti-Inflammatory
Drugs (NSAIDs) in mice: the selective cyclooxygenase-2 (COX-2)
inhibitor meloxicam, and the non-selective COX-1 and COX-2
inhibitors lornoxicam, sodium metamizole, and ketorolac. The
current literature data regarding such effects of these agents are
scarce.
Materials and methods: The study was carried out on NMRI mice
weighing 20-35 g, kept in a standard laboratory environment. The
study was approved by the Ethics Committee of the University of
Medicine and Pharmacy „Carol Davila”, Bucharest. The study agents
were injected intraperitoneally, 10 mL/kg body weight (bw) 1 hour
before the assessment of the locomotor activity by cage testing (n=10
mice/ group) and 2 hours before the forced swimming tests (n=15).
The study agents were dissolved in normal saline (meloxicam,
sodium metamizole), ethanol 11.8% v/v in normal saline (ketorolac),
or water (lornoxicam), respectively. Negative and positive control
agents were also given (amitryptilline in the forced swimming test).
The cage floor used in the locomotor activity assessment was divided
into 20 equal 10 cm squares. The forced swimming test involved
partial immersion of the mice in cylinders (15/9cm height/diameter)
filled with water (10 cm depth at 28C), where they were left for 6
minutes. The cage endpoint used in the locomotor activity assessment
was the number of treaded squares. Four endpoints were used in the
forced swimming test (immobility latency for the entire 6 minutes,
and immobility, swimming, and climbing scores for the final 4
minutes of the swimming session), recorded by an observer that was
„blinded” to the experimental design. The statistical analysis used the
Levene test for variance homogeneity, ANOVA and post-hoc
analysis as appropriate, Tukey or Tamhane tests.
Results: No statistically significant increase or decrease in the
number of treaded squares was seen in the locomotor activity
assessment of any mice group. In the forced swimming test,
amitryptilline showed an antidepressant effect in each experiment, at
the 10 mg/kg bw dosage. Sodium metamizole was depressant at 100
mg/kg bw (increased the immobility score, p=0.049, Tamhane test),
but not in lower dosages as well (25 and 50 mg/kg bw). Ketorolac
showed an antidepressant effect at the intermediate dosage of 5
mg/kg bw, but not so in the dosages of 2.5 and 10 mg/kg bw,
respectively (increased the swimming score, p=0.012, Tamhane test).
Meloxicam and lornoxicam did not alter the forced swimming
endpoints at any dosage level.
Discussion: 1) Certain NSAIDs caused changes in the forced
swimming patterns without interfering with locomotion. 2) Sodium
metamizole showed a depressant effect, whereas ketorolac proved
antidepressant. Conclusion: NSAID-induced mood changes are not
class effects of these agents and apparently are independent of the
type of inhibited cyclooxygenase (COX-1 or COX-2).
Disclosure: This paper was co-financed from the European Social
Fund, through the Sectorial Operational Programme Human Resources Development 2007-2013, project number POSDRU /159
/1.5 /S /138907 "Excellence in scientific interdisciplinary research,
doctoral and postdoctoral, in the economic, social and medical fields
-EXCELIS", coordinator The Bucharest University of Economic
Studies.
Abstract: In the present study, the kinetics of thermal
degradation of a phenolic and lignin reinforced phenolic foams, and
the lignin used as reinforcement were studied and the activation
energies of their degradation processes were obtained by a DAEM
model. The average values for five heating rates of the mean
activation energies obtained were: 99.1, 128.2, and 144.0 kJ.mol-1 for
the phenolic foam; 109.5, 113.3, and 153.0 kJ.mol-1 for the lignin
reinforcement; and 82.1, 106.9, and 124.4 kJ.mol-1 for the lignin
reinforced phenolic foam. The standard deviation ranges calculated
for each sample were 1.27-8.85, 2.22-12.82, and 3.17-8.11 kJ.mol-1
for the phenolic foam, lignin and the reinforced foam, respectively.
The DAEM model showed low mean square errors (
Abstract: Failure of typical seismic frames has been found by
plastic hinge occurring on beams section near column faces. On the
other hand, the seismic capacity of the frames can be enhanced if the
plastic hinges of the beams are shifted away from the column faces.
This paper presents detailing of reinforcements in the interior beam–
column connections aiming to relocate the plastic hinge of reinforced
concrete and precast concrete frames. Four specimens were tested
under quasi-static cyclic load including two monolithic specimens
and two precast specimens. For one monolithic specimen, typical
seismic reinforcement was provided and considered as a reference
specimen named M1. The other reinforced concrete frame M2
contained additional intermediate steel in the connection area
compared with the specimen M1. For the precast specimens,
embedded T-section steels in joint were provided, with and without
diagonal bars in the connection area for specimen P1 and P2,
respectively. The test results indicated the ductile failure with beam
flexural failure in monolithic specimen M1 and the intermediate steel
increased strength and improved joint performance of specimen M2.
For the precast specimens, cracks generated at the end of the steel
inserts. However, slipping of reinforcing steel lapped in top of the
beams was seen before yielding of the main bars leading to the brittle
failure. The diagonal bars in precast specimens P2 improved the
connection stiffness and the energy dissipation capacity.
Abstract: The structures obtained with the use of sandwich
technologies combine low weight with high energy absorbing
capacity and load carrying capacity. Hence, there is a growing and
markedly interest in the use of sandwiches with aluminum foam core
because of very good properties such as flexural rigidity and energy
absorption capability. In the current investigation, the static threepoint
bending tests were carried out on the sandwiches with
aluminum foam core and glass fiber reinforced polymer (GFRP)
skins at different values of support span distances aiming the analyses
of their flexural performance. The influence of the core thickness and
the GFRP skin type was reported in terms of peak load and energy
absorption capacity. For this purpose, the skins with two different
types of fabrics which have same thickness value and the aluminum
foam core with two different thicknesses were bonded with a
commercial polyurethane based flexible adhesive in order to combine
the composite sandwich panels. The main results of the bending tests
are: force-displacement curves, peak force values, absorbed energy,
collapse mechanisms and the effect of the support span length and
core thickness. The results of the experimental study showed that the
sandwich with the skins made of S-Glass Woven fabrics and with the
thicker foam core presented higher mechanical values such as load
carrying and energy absorption capacities. The increment of the
support span distance generated the decrease of the mechanical
values for each type of panels, as expected, because of the inverse
proportion between the force and span length. The most common
failure types of the sandwiches are debonding of the lower skin and
the core shear. The obtained results have particular importance for
applications that require lightweight structures with a high capacity
of energy dissipation, such as the transport industry (automotive,
aerospace, shipbuilding and marine industry), where the problems of
collision and crash have increased in the last years.
Abstract: Objects are usually horizontally sliced when printed by 3D printers. Therefore, if an object to be printed, such as a collection of fibers, originally has natural direction in shape, the printed direction contradicts with the natural direction. By using proper tools, such as field-oriented 3D paint software, field-oriented solid modelers, field-based tool-path generation software, and non-horizontal FDM 3D printers, the natural direction can be modeled and objects can be printed in a direction that is consistent with the natural direction. This consistence results in embodiment of momentum or force in expressions of the printed object. To achieve this goal, several design and manufacturing problems, but not all, have been solved. An application of this method is (Japanese) 3D calligraphy.
Abstract: This paper is part of a study to develop robots for
farming. As such power requirement to operate equipment attach to
such robots become an important factor. Soil-tool interaction plays
major role in power consumption, thus predicting accurately the
forces which act on the blade during the farming is very important for
optimal designing of farm equipment. In this paper, a finite element
investigation for tillage tools and soil interaction is described by
using an inelastic constitutive material law for agriculture
application. A 3-dimensional (3D) nonlinear finite element analysis
(FEA) is developed to examine behavior of a blade with different
rake angles moving in a block of soil, and to estimate the blade force.
The soil model considered is an elastic-plastic with non-associated
Drucker-Prager material model. Special use of contact elements are
employed to consider connection between soil-blade and soil-soil
surfaces. The FEA results are compared with experimental ones,
which show good agreement in accurately predicting draft forces
developed on the blade when it moves through the soil. Also a very
good correlation was obtained between FEA results and analytical
results from classical soil mechanics theories for straight blades.
These comparisons verified the FEA model developed. For analyzing
complicated soil-tool interactions and for optimum design of blades,
this method will be useful.
Abstract: Indonesian higher education has experienced
significant changes over the last decade. In 1999, the government
published an overall strategy for decentralisation and enhancement of
local autonomy in many sectors, including (higher) education.
Indonesian higher education reforms have forced universities to
restructure their internal university governance to become more
entrepreneurial. These new types of internal university governance
are likely to affect the institutions’ leadership and management. This
paper discusses the approach and findings of a study on the
managerial leadership styles of deans in Indonesian universities. The
study aims to get a better understanding of styles exhibited by deans
manifested in their behaviours. Using the theories of reasoned action
and planned behaviour, in combination with the competing values
framework, a large-scale survey was conducted to gather information
on the deans’ behaviours, attitudes, subjective norms, and perceived
behavioural control. Based on the responses of a sample of 218
deans, the study identifies a number of leadership styles: the Master,
the Competitive Consultant, the Consensual Goal-Setter, the Focused
Team Captain, and the Informed Trust-Builder style. The study
demonstrates that attitudes are the primary determinant of the styles
that were found. Perceived behavioural control is a factor that
explains some managerial leadership styles. By understanding the
attitudes of deans in Indonesian universities, and their leadership
styles, universities can strengthen their management and governance,
and thus improve their effectiveness.
Abstract: Transmission shafts are affected by various forces, for
example, during acceleration or sudden breaks, bending during
transportation, vertical forces that lead to cuts. One of the main
failures in combines is breaking shaft which repairmen refer it.
Structural resistance of canal against torque is very important in the
beginning of the movement. For analyzing stress, a typical sample
from a type of combine was selected, called JD955 combine. Long
shaft in this combine was analyzed with finite element method by
Ansys13 generic package under static load. Conducted analysis
showed that there is a maximum stress in contact surfaces of
indentations and also in place of changing diameter. Safety factor
value is low in parts of the shaft and this increases the probability of
failure at these points. To improve the conditions with the least cost
and an approach of product improvement, using alternative alloy is
important.
Abstract: The emerging markets of post-USSR countries have
attracted Western multinational companies; however, weak
institutions and unstable host country environments have hindered the
implementation of successful management practices. The Ukrainian
market, in light of recent events, is particularly interesting to study
for its compatibility with Western businesses. This paper focuses on
factors that can facilitate or inhibit the transfer of human resource
management practices from Western headquarters to Ukrainian
subsidiaries. To explain the national context’s effects better, a
business systems approach has been applied to a qualitative study of
16 wholly owned Western subsidiaries, dissecting the reasons for a
weak integration of Western practices in Ukraine. Results show that
underdeveloped institutions have forced companies to develop
additional practices that compensate for national weaknesses, as well
as to adjust to a constantly changing environment. Flexibility and
local responsiveness were observed as vital for success in Ukraine.
Abstract: The present research work investigates the seismic
response of reinforced concrete (RC) frame building considering the
effect of modeling masonry infill (MI) walls. The seismic behavior of
a residential 6-storey RC frame building, considering and ignoring
the effect of masonry, is numerically investigated using response
spectrum (RS) analysis. The considered herein building is designed
as a moment resisting frame (MRF) system following the Egyptian
code (EC) requirements. Two developed models in terms of bare
frame and infill walls frame are used in the study. Equivalent
diagonal strut methodology is used to represent the behavior of infill
walls, whilst the well-known software package ETABS is used for
implementing all frame models and performing the analysis. The
results of the numerical simulations such as base shear,
displacements, and internal forces for the bare frame as well as the
infill wall frame are presented in a comparative way. The results of
the study indicate that the interaction between infill walls and frames
significantly change the responses of buildings during earthquakes
compared to the results of bare frame building model. Specifically,
the seismic analysis of RC bare frame structure leads to
underestimation of base shear and consequently damage or even
collapse of buildings may occur under strong shakings. On the other
hand, considering infill walls significantly decrease the peak floor
displacements and drifts in both X and Y-directions.
Abstract: Pipa is one of the most important Chinese traditional
plucked instruments, but its directivity has never been measured
systematically. In western, directivity of loudness for western
instruments is deeply researched through analysis of sound pressure
level, whereas the directivity of timbre is seldom studied. In this paper,
a new method for directivity of timbre was proposed, and horizontal
directivity patterns of loudness and timbre of Pipa were measured.
Directivity of Pipa radiation was measured in an anechoic room. The
sound of Pipa played by a musician was recorded simultaneously by
32 microphones with Pipa in the center. The measuring results were
examined through listening test. According to the measurement of
Pipa directivity radiation, we put forward the best localization of Pipa
in the Chinese traditional orchestra and the optimal recording region.
Abstract: The principle of the seismic performance evaluation methods is to provide a measure of capability for a building or set of buildings to be damaged by an earthquake. The common objective of many of these methods is to supply classification criteria. The purpose of this study is to present a method for assessing the seismic performance of structures, based on Pushover method; we are particularly interested in reinforced concrete frame structures, which represent a significant percentage of damaged structures after a seismic event. The work is based on the characterization of seismic movement of the various earthquake zones in terms of PGA and PGD that is obtained by means of SIMQK_GR and PRISM software and the correlation between the points of performance and the scalar characterizing the earthquakes will developed.
Abstract: Reflux condensation occurs in vertical channels and tubes when there is an upward core flow of vapour (or gas-vapour mixture) and a downward flow of the liquid film. The understanding of this condensation configuration is crucial in the design of reflux condensers, distillation columns, and in loss-of-coolant safety analyses in nuclear power plant steam generators. The unique feature of this flow is the upward flow of the vapour-gas mixture (or pure vapour) that retards the liquid flow via shear at the liquid-mixture interface. The present model solves the full, elliptic governing equations in both the film and the gas-vapour core flow. The computational mesh is non-orthogonal and adapts dynamically the phase interface, thus produces a sharp and accurate interface. Shear forces and heat and mass transfer at the interface are accounted for fundamentally. This modeling is a big step ahead of current capabilities by removing the limitations of previous reflux condensation models which inherently cannot account for the detailed local balances of shear, mass, and heat transfer at the interface. Discretisation has been done based on finite volume method and co-located variable storage scheme. An in-house computer code was developed to implement the numerical solution scheme. Detailed results are presented for laminar reflux condensation from steam-air mixtures flowing in vertical parallel plate channels. The results include velocity and gas mass fraction profiles, as well as axial variations of film thickness.
Abstract: In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.
Abstract: Freelancing in IT has seen an increased popularity
during the last years mainly because of the fast Internet adoption in
the countries with emerging economies, correlated with the
continuous seek for reduced development costs as well with the rise
of online platforms which address planning, coordination and various
development tasks. This paper conducts an overview of the most
relevant Freelance Marketplaces available and studies the market
structure, distribution of the workforce and trends in IT freelancing.
Abstract: In this research the effect of moisture at three levels
(47, 57, and 67 w.b.%) on the physical properties of the Pofaki pea
variety including, dimensions, geometric mean diameter, volume,
sphericity index and the surface area was determined. The influence
of different moisture levels (47, 57 and 67 w.b.%), in two loading
orientation (longitudinal and transverse) and three loading speed (4,6
and 8 mm min-1) on the mechanical properties of pea such as
maximum deformation, rupture force, rupture energy, toughness and
the power to break the pea was investigated. It was observed in the
physical properties that moisture changes were affective at 1% on,
dimensions, geometric mean diameter, volume, sphericity index and
the surface area. It was observed in the mechanical properties that
moisture changes were effective at 1% on, maximum deformation,
rupture force, rupture energy, toughness and the power to break.
Loading speed was effective on maximum deformation, rupture
force, rupture energy at 1% and it was effective on toughness at 5%.
Loading orientation was effective on maximum deformation, rupture
force, rupture energy, toughness at 1% and it was effective on power
at 5%. The mutual effect of speed and orientation were effective on
rupture energy at 1% and were effective on toughness at 5%
probability. The mutual effect of moisture and speed were effective
on rupture force and rupture energy at 1% and were effective on
toughness 5% probability. The mutual effect of orientation and
moisture on rupture energy and toughness were effective at 1%.