Abstract: The paper focuses on the enhanced stiffness modeling
of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the
virtual joint technique that describes the compliance of manipulator elements by a set of localized six-dimensional springs separated by
rigid links and perfect joints. In contrast to the conventional
formulation, which is valid for the unloaded mode and small
displacements, the proposed approach implicitly assumes that the loading leads to the non-negligible changes of the manipulator posture and corresponding amendment of the Jacobian. The
developed numerical technique allows computing the static
equilibrium and relevant force/torque reaction of the manipulator for
any given displacement of the end-effector. This enables designer
detecting essentially nonlinear effects in elastic behavior of
manipulator, similar to the buckling of beam elements. It is also proposed the linearization procedure that is based on the inversion of
the dedicated matrix composed of the stiffness parameters of the
virtual springs and the Jacobians/Hessians of the active and passive
joints. The developed technique is illustrated by an application example that deals with the stiffness analysis of a parallel
manipulator of the Orthoglide family
Abstract: Recently, Cassava has been the driving force of many
developing countries- economic progress. To attain this level,
prerequisites were put in place enabling cassava sector to become an
industrial and a highly competitive crop. Cameroon can achieve the
same results. Moreover, it can upgrade the living conditions of both
rural and urban dwellers and stimulate the development of the whole
economy. Achieving this outcome calls for agricultural policy
reforms. The adoption and implementation of adequate policies go
along with efficient strategies. To choose effective strategies, an indepth
investigation of the sector-s problems is highly recommended.
This paper uses gap analysis method to evaluate cassava sector in
Cameroon. It studies the present situation (where it is now),
interrogates the future (where it should be) and finally proposes
solutions to fill the gap.
Abstract: In this study, the thermal and mechanical properties of
basalt fibre reinforced concrete were investigated. The volume
fractions of basalt fibre of (0.1, 0.2, 0.3, and 0.5% by total mix
volume) were used. Properties such as heat transfer, compressive and
splitting tensile strengths were examined. Results indicated that the
strength increases with increase the fibre content till 0.3% then there
is a slight reduction when 0.5% fibre used. Lower amount of heat
conducted through the thickness of concrete specimens than the
conventional concrete was also recorded.
Abstract: Deep cold rolling (DCR) and low plasticity burnishing (LPB) process are cold working processes, which easily produce a smooth and work-hardened surface by plastic deformation of surface irregularities. The present study focuses on the surface roughness and surface hardness aspects of AISI 4140 work material, using fractional factorial design of experiments. The assessment of the surface integrity aspects on work material was done, in order to identify the predominant factors amongst the selected parameters. They were then categorized in order of significance followed by setting the levels of the factors for minimizing surface roughness and/or maximizing surface hardness. In the present work, the influence of main process parameters (force, feed rate, number of tool passes/overruns, initial roughness of the work piece, ball material, ball diameter and lubricant used) on the surface roughness and the hardness of AISI 4140 steel were studied for both LPB and DCR process and the results are compared. It was observed that by using LPB process surface hardness has been improved by 167% and in DCR process surface hardness has been improved by 442%. It was also found that the force, ball diameter, number of tool passes and initial roughness of the workpiece are the most pronounced parameters, which has a significant effect on the work piece-s surface during deep cold rolling and low plasticity burnishing process.
Abstract: In order to calculate the flexural strength of
normal-strength concrete (NSC) beams, the nonlinear actual concrete
stress distribution within the compression zone is normally replaced
by an equivalent rectangular stress block, with two coefficients of α
and β to regulate the intensity and depth of the equivalent stress
respectively. For NSC beams design, α and β are usually assumed
constant as 0.85 and 0.80 in reinforced concrete (RC) codes. From an
earlier investigation of the authors, α is not a constant but significantly
affected by flexural strain gradient, and increases with the increasing
of strain gradient till a maximum value. It indicates that larger
concrete stress can be developed in flexure than that stipulated by
design codes. As an extension and application of the authors- previous
study, the modified equivalent concrete stress block is used here to
produce a series of design charts showing the maximum design limits
of flexural strength and ductility of singly- and doubly- NSC beams,
through which both strength and ductility design limits are improved
by taking into account strain gradient effect.
Abstract: A full six degrees of freedom (6-DOF) flight dynamics
model is proposed for the accurate prediction of short and long-range
trajectories of high spin and fin-stabilized projectiles via atmospheric
flight to final impact point. The projectiles is assumed to be both rigid
(non-flexible), and rotationally symmetric about its spin axis launched
at low and high pitch angles. The mathematical model is based on the
full equations of motion set up in the no-roll body reference frame and
is integrated numerically from given initial conditions at the firing
site. The projectiles maneuvering motion depends on the most
significant force and moment variations, in addition to wind and
gravity. The computational flight analysis takes into consideration the
Mach number and total angle of attack effects by means of the
variable aerodynamic coefficients. For the purposes of the present
work, linear interpolation has been applied from the tabulated database
of McCoy-s book. The developed computational method gives
satisfactory agreement with published data of verified experiments and
computational codes on atmospheric projectile trajectory analysis for
various initial firing flight conditions.
Abstract: In this study the effect of incorporation of recycled
glass-fibre reinforced polymer (GFRP) waste materials, obtained by
means of milling processes, on mechanical behaviour of polyester
polymer mortars was assessed. For this purpose, different contents of
recycled GFRP waste powder and fibres, with distinct size gradings,
were incorporated into polyester based mortars as sand aggregates
and filler replacements. Flexural and compressive loading capacities
were evaluated and found better than unmodified polymer mortars.
GFRP modified polyester based mortars also show a less brittle
behaviour, with retention of some loading capacity after peak load.
Obtained results highlight the high potential of recycled GFRP waste
materials as efficient and sustainable reinforcement and admixture for
polymer concrete and mortars composites, constituting an emergent
waste management solution.
Abstract: This paper presents results obtained from the
numerical solution for the flow past an oscillating circular cylinder at
Reynolds number of 200. The frequency of oscillation was fixed to
the vortex shedding frequency from a fixed cylinder, f0, while the
amplitudes of oscillations were varied from to 1.1a, where a
represents the radius of the cylinder. The response of the flow
through the fluid forces acting on the surface of the cylinder are
investigated. The lock-on phenomenon is captured at low oscillation
amplitudes.
Abstract: This article presents the analysis of experimental values regarding cracking pattern, specific strains and deformability for reinforced high strength concrete beams. The beams have the concrete class C80/95 and a longitudinal reinforcement ratio of 2.01%, respectively 3.39%. The elements were subjected to flexure under static short-term and long-term loading. The experimental values are compared with calculation values using the design relationships according to Eurocode 2.
Abstract: Chevron frames (Inverted-V-braced frames or Vbraced
frames) have seismic disadvantages, such as not good exhibit force redistribution capability and compression brace buckles
immediately. Researchers developed new design provisions on
increasing both the ductility and lateral resistance of these structures
in seismic areas. One of these new methods is adding zipper columns, as proposed by Khatib et al. (1988) [2]. Zipper columns are
vertical members connecting the intersection points of the braces
above the first floor. In this paper applicability of the suspended
zipper system to Seismic Rehabilitation of Steel Structures is investigated.
The models are 3-, 6-, 9-, and 12-story Inverted-V-braced frames.
In this case, it is assumed that the structures must be rehabilitated. For rehabilitation of structures, zipper column is used. The result of
researches showed that the suspended zipper system is effective in
case of 3-, 6-, and 9-story Inverted-V-braced frames and it would
increase lateral resistance of structure up to life safety level. But in
case of high-rise buildings (such as 12 story frame), it doesn-t show
good performance. For solving this problem, the braced bay can
consist of small “units" over the height of the entire structure, which each of them is a zipper-braced bay with a few stories. By using this
method the lateral resistance of 12 story Inverted-V-braced frames is increased up to safety life level.
Abstract: Temperature dependence of force of gravitation is one
of the fundamental problems of physics. This problem has got special
value in connection with that the general theory of relativity,
supposing the weakest positive influence of a body temperature on its
weight, actually rejects an opportunity of measurement of negative
influence of temperature on gravity in laboratory conditions. Really,
the recognition of negative temperature dependence of gravitation,
for example, means basic impossibility of achievement of a
singularity («a black hole») at a gravitational collapse. Laboratory
experiments with exact weighing the heated up metal samples,
indicating negative influence temperatures of bodies on their physical
weight are described. Influence of mistakes of measurements is
analyzed. Calculations of distribution of temperature in volume of the
bar, agreed with experimental data of time dependence of weight of
samples are executed. The physical substantiation of negative
temperature dependence of weight of the bodies, based on correlation
of acceleration at thermal movement of micro-particles of a body and
its absolute temperature, are given.
Abstract: This paper presents a real time force sensing
instrument that is designed for human gait analysis purposes. It is
capable of recording and monitoring ground reaction forces exerted
by human foot during various activities such as walking, running and
jumping in real time. In overall, force sensing mat mainly consists of
three elements: the force sensing mat, signal conditioning circuit and
data acquisition device. Force sensing mat is the mat that contains an
array of force sensing elements. To control and process the incoming
signal from the force sensing mat, Force-Logger and Force-Reloader
are developed using National Instrument Labview. This paper
describes the architecture of the force sensing mat, signal
conditioning circuit and the real time streaming of the incoming data
from the force sensing mat. Additionally, a preliminary experiment
dataset is presented in this paper.
Abstract: Stick models are widely used in studying the
behaviour of straight as well as skew bridges and viaducts subjected
to earthquakes while carrying out preliminary studies. The
application of such models to highly curved bridges continues to
pose challenging problems. A viaduct proposed in the foothills of the
Himalayas in Northern India is chosen for the study. It is having 8
simply supported spans @ 30 m c/c. It is doubly curved in horizontal
plane with 20 m radius. It is inclined in vertical plane as well. The
superstructure consists of a box section. Three models have been
used: a conventional stick model, an improved stick model and a 3D
finite element model. The improved stick model is employed by
making use of body constraints in order to study its capabilities. The
first 8 frequencies are about 9.71% away in the latter two models.
Later the difference increases to 80% in 50th mode. The viaduct was
subjected to all three components of the El Centro earthquake of May
1940. The numerical integration was carried out using the Hilber-
Hughes-Taylor method as implemented in SAP2000. Axial forces
and moments in the bridge piers as well as lateral displacements at
the bearing levels are compared for the three models. The maximum
difference in the axial forces and bending moments and
displacements vary by 25% between the improved and finite element
model. Whereas, the maximum difference in the axial forces,
moments, and displacements in various sections vary by 35%
between the improved stick model and equivalent straight stick
model. The difference for torsional moment was as high as 75%. It is
concluded that the stick model with body constraints to model the
bearings and expansion joints is not desirable in very sharp S curved
viaducts even for preliminary analysis. This model can be used only
to determine first 10 frequency and mode shapes but not for member
forces. A 3D finite element analysis must be carried out for
meaningful results.
Abstract: In order to make environmental test centrifuge balance
automatically and accurately, reduce unbalance centrifugal force,
balance adjusting system of centrifuge is designed. The new balance
adjusting system comprises motor-reducer, timing belt, screw pair,
slider-guideway and four rocker force sensors. According to
information obtained by the four rocker force sensors, unbalanced
value at both ends of the big arm is computed and heavy block is
moved to achieve balance adjusting. In this paper, motor power and
torque to move the heavy block is calculated. In full load running
progress of centrifuge, the stress-strain of screw pair composed by
adjusting nut and big arm are analyzed. A successful application of the
balance adjusting system is also put forwarded. The results show that
the balance adjusting system can satisfy balance require of
environmental test centrifuge.
Abstract: Commercial hydroxyapatite (HA) was reinforced by
adding 2, 5, and 10 wt % of 28.5%CaO-28.5%P2O5-38%Na2 O-
5%CaF2 based glass and then sintered. Although HA shows good
biocompatibility with the human body, its applications are limited to
non load-bearing areas and coatings due to its poor mechanical
properties. These mechanical properties can be improved
substantially with addition of glass ceramics by sintering. In this
study, the effects of sintering hydroxyapatite with above specified
phosphate glass additions are quantified. Each composition was
sintered over a range of temperatures. Scanning electron microscopy
and x-ray diffraction were used to characterize the microstructure and
phases of the composites. The density, microhardness, and
compressive strength were measured using Archimedes Principle,
Vickers Microhardness Tester (at 0.98 N), and Instron Universal
Testing Machine (cross speed of 0.5 mm/min) respectively. These
results were used to indicate which composition provided suitable
material for use in hard tissue replacement. Composites containing 10
wt % glass additions formed dense HA/TCP (tricalcium phosphate)
composite materials possessing good compressive strength and
hardness than HA. In-vitro bioactivity was assessed by evaluating
changes in pH and Ca2+ ion concentration of SBF-simulated body
fluid on immersion of these composites in it for two weeks.
Abstract: A self tuning PID control strategy using reinforcement
learning is proposed in this paper to deal with the control of wind
energy conversion systems (WECS). Actor-Critic learning is used to
tune PID parameters in an adaptive way by taking advantage of the
model-free and on-line learning properties of reinforcement learning
effectively. In order to reduce the demand of storage space and to
improve the learning efficiency, a single RBF neural network is used
to approximate the policy function of Actor and the value function of
Critic simultaneously. The inputs of RBF network are the system
error, as well as the first and the second-order differences of error.
The Actor can realize the mapping from the system state to PID
parameters, while the Critic evaluates the outputs of the Actor and
produces TD error. Based on TD error performance index and
gradient descent method, the updating rules of RBF kernel function
and network weights were given. Simulation results show that the
proposed controller is efficient for WECS and it is perfectly
adaptable and strongly robust, which is better than that of a
conventional PID controller.
Abstract: In this study, hydroxyapatite (HA) composites are
prepared on addition of 30%CaO-30%P2O5-40%Na2 O based glass to
pure HA, in proportion of 2, 5, and 10 wt %. Each composition was
sintered over a range of temperatures. The quantitative phase
analysis was carried out using XRD and the microstructures were
studied using SEM. The density, microhardness, and compressive
strength have shown increase with the increasing amount of glass
addition. The resulting composites have chemical compositions that
are similar to the inorganic constituent of the mineral part of bone,
and constitutes trace elements like Na. X-ray diffraction showed no
decomposition of HA to secondary phases, however, the glass
reinforced-HA composites contained a HA phase and variable
amounts of tricalcium phosphate phase, depending on the amount of
bioglass added. The HA-composite material exhibited higher
compressive strength compared to sintered HA. The HA composite
reinforced with 10 wt % bioglass showed highest bioactivity level.
Abstract: Based on experimental data using accelerometry technology there was developed an analytical model that approximates human induced ground reaction forces in vertical, longitudinal and lateral directions ascending and descending the stairs. Proposed dynamic loading factors and corresponding phase shifts for the first five harmonics of continuous walking force history in case of stair ascend and descend. Into account is taken imperfectness of individual footfall forcing functions, differences between continuous walking force histories among individuals. There is proposed mean synthetic continuous walking force history that can be used in numerical simulations of human movement on the stairs.
Abstract: As the world move to the accomplishment of Performance Based Engineering philosophies in seismic design of Civil Engineering structures, new seismic design provisions require Structural Engineers to perform both static and dynamic analysis for the design of structures. While Linear Equivalent Static Analysis is performed for regular buildings up to 90m height in zone I and II, Dynamic Analysis should be performed for regular and irregular buildings in zone IV and V. Dynamic Analysis can take the form of a dynamic Time History Analysis or a linear Response Spectrum Analysis. In present study, Multi-storey irregular buildings with 20 stories have been modeled using software packages ETABS and SAP 2000 v.15 for seismic zone V in India. This paper also deals with the effect of the variation of the building height on the structural response of the shear wall building. Dynamic responses of building under actual earthquakes, EL-CENTRO 1949 and CHI-CHI Taiwan 1999 have been investigated. This paper highlights the accuracy and exactness of Time History analysis in comparison with the most commonly adopted Response Spectrum Analysis and Equivalent Static Analysis.
Abstract: The importance of machining process in today-s
industry requires the establishment of more practical approaches to
clearly represent the intimate and severe contact on the tool-chipworkpiece
interfaces. Mathematical models are developed using the
measured force signals to relate each of the tool-chip friction
components on the rake face to the operating cutting parameters in
rough turning operation using multilayers coated carbide inserts.
Nonlinear modeling proved to have high capability to detect the
nonlinear functional variability embedded in the experimental data.
While feedrate is found to be the most influential parameter on the
friction coefficient and its related force components, both cutting
speed and depth of cut are found to have slight influence. Greater
deformed chip thickness is found to lower the value of friction
coefficient as the sliding length on the tool-chip interface is reduced.