Abstract: Austenite and Martensite indicate the phases of solids undergoing phase transformation which we usually associate with materials and not with living organisms. This article provides an overview of bacterial proteins and structures that are undergoing phase transformation and suggests its probable effect on mechanical behavior. The context is mainly within the role of phase transformations occurring in the flagellum of bacteria. The current knowledge of molecular mechanism leading to phase variation in living organisms is reviewed. Since in bacteria, each flagellum is driven by a separate motor, similarity to a Differential drive in case of four-wheeled vehicles is suggested. It also suggests the application of the mechanism in which bacteria changes its direction of movement to facilitate single point turning of a multi-wheeled vehicle. Finally, examples are presented to illustrate that the motion due to phase transformation of flagella in bacteria can start a whole new research on motion mechanisms.
Abstract: Recently electric vehicles are becoming popular as an
alternative of conventional fossil fuel vehicles. Conventional Internal
Combustion Engine (ICE) vehicle uses fossil fuel which contributing
a major part of overall carbon emission in the environment. Carbon
and other green house gas emission are responsible for global
warming and resulting climate change. It becomes vital to evaluate
performance of vehicle based on emission. In this paper an effort has
been made to depict the picture of emission caused by vehicle and
scenario of Australia has taken into account. Effort has been made to
compare the fossil based vehicle with electric vehicle in phases. The
study also evaluates advancement in electric vehicle technology,
required infrastructure for sustainability and future scope of
developments. This paper also includes the evaluation of electric
vehicle concept for pollution control and sustainable transport
systems in future. This study can be a benchmark for development of
electric vehicle as low carbon emission alternative for the cities of
tomorrow.
Abstract: The three-time-scale plant model of a wind power
generator, including a wind turbine, a flexible vertical shaft, a Variable
Inertia Flywheel (VIF) module, an Active Magnetic Bearing (AMB)
unit and the applied wind sequence, is constructed. In order to make
the wind power generator be still able to operate as the spindle speed
exceeds its rated speed, the VIF is equipped so that the spindle speed
can be appropriately slowed down once any stronger wind field is
exerted. To prevent any potential damage due to collision by shaft
against conventional bearings, the AMB unit is proposed to regulate
the shaft position deviation. By singular perturbation order-reduction
technique, a lower-order plant model can be established for the
synthesis of feedback controller. Two major system parameter
uncertainties, an additive uncertainty and a multiplicative uncertainty,
are constituted by the wind turbine and the VIF respectively.
Frequency Shaping Sliding Mode Control (FSSMC) loop is proposed
to account for these uncertainties and suppress the unmodeled
higher-order plant dynamics. At last, the efficacy of the FSSMC is
verified by intensive computer and experimental simulations for
regulation on position deviation of the shaft and counter-balance of
unpredictable wind disturbance.
Abstract: This paper addresses issues of integral steering of
vehicles with two steering axles, where the rear wheels are pivoted in
the direction of the front wheels, but also in the opposite direction.
The steering box of the rear axle is presented with simple linkages
(single contour) that correlate the pivoting of the rear wheels
according to the direction of the front wheels, respectively to the
rotation angle of the steering wheel. The functionality of the system
is analyzed – the extent to which the requirements of the integral
steering are met by the considered/proposed mechanisms. The paper
highlights the quality of the single contour linkages, with two driving
elements for meeting these requirements, emphasizing diagrams of
mechanisms with 2 driving elements. Cam variants are analyzed and
proposed for the rear axle steering box. Cam profiles are determined
by various factors.
Abstract: In its attempt to offer new ways into autonomy for a
large population of disabled people, assistive technology has largely
been inspired by robotics engineering. Recent human-like robots
carry new hopes that it seems to us necessary to analyze by means of
a specific theory of anthropomorphism. We propose to distinguish a
functional anthropomorphism which is the one of actual wheelchairs
from a structural anthropomorphism based on a mimicking of human
physiological systems. If functional anthropomorphism offers the
main advantage of eliminating the physiological systems
interdependence issue, the highly link between the robot for disabled
people and their human-built environment would lead to privilege in
the future the anthropomorphic structural way. In this future
framework, we highlight a general interdependence principle : any
partial or local structural anthropomorphism generates new
anthropomorphic needs due to the physiological systems
interdependency, whose effects can be evaluated by means of
specific anthropomorphic criterions derived from a set theory-based
approach of physiological systems.
Abstract: The use of hard and brittle material has become
increasingly more extensive in recent years. Therefore processing of
these materials for the parts fabrication has become a challenging
problem. However, it is time-consuming to machine the hard brittle
materials with the traditional metal-cutting technique that uses
abrasive wheels. In addition, the tool would suffer excessive wear as
well. However, if ultrasonic energy is applied to the machining
process and coupled with the use of hard abrasive grits, hard and
brittle materials can be effectively machined. Ultrasonic machining
process is mostly used for the brittle materials. The present research
work has developed models using finite element approach to predict
the mechanical stresses sand strains produced in the tool during
ultrasonic machining process. Also the flow behavior of abrasive
slurry coming out of the nozzle has been studied for simulation using
ANSYS CFX module. The different abrasives of different grit sizes
have been used for the experimentation work.
Abstract: The autonomous mobile robot was designed and implemented which was capable of navigating in the industrial environments and did a job of picking objects from variable height and delivering it to another location following a predefined trajectory. In developing country like Bangladesh industrial robotics is not very prevalent yet, due to the high installation cost. The objective of this project was to develop an autonomous mobile robot for industrial application using the available resources in the local market at lower manufacturing cost. The mechanical system of the robot was comprised of locomotion, gripping and elevation system. Grippers were designed to grip objects of a predefined shape. Cartesian elevation system was designed for vertical movement of the gripper. PIC18F452 microcontroller was the brain of the control system. The prototype autonomous robot was fabricated for relatively lower load than the industry and the performance was tested in a virtual industrial environment created within the laboratory to realize the effectiveness.
Abstract: The length of a cycle basis of a graph is the sum of the lengths of its elements. A minimum cycle basis is a cycle basis with minimum length. In this work, a construction of a minimum cycle basis for the wreath product of wheels with stars is presented. Moreover, the length of minimum cycle basis and the length of its longest cycle are calculated.
Abstract: An additive fuzzy system comprising m rules with
n inputs and p outputs in each rule has at least t m(2n + 2 p + 1)
parameters needing to be tuned. The system consists of a large
number of if-then fuzzy rules and takes a long time to tune its
parameters especially in the case of a large amount of training data
samples. In this paper, a new learning strategy is investigated to cope
with this obstacle. Parameters that tend toward constant values at the
learning process are initially fixed and they are not tuned till the end
of the learning time. Experiments based on applications of the
additive fuzzy system in function approximation demonstrate that the
proposed approach reduces the learning time and hence improves
convergence speed considerably.
Abstract: This project focuses on the development of a line
follower algorithm for a Two Wheels Balancing Robot. In this
project, ATMEGA32 is chosen as the brain board controller to react
towards the data received from Balance Processor Chip on the
balance board to monitor the changes of the environment through
two infra-red distance sensor to solve the inclination angle problem.
Hence, the system will immediately restore to the set point (balance
position) through the implementation of internal PID algorithms at
the balance board. Application of infra-red light sensors with the PID
control is vital, in order to develop a smooth line follower robot. As a
result of combination between line follower program and internal self
balancing algorithms, we are able to develop a dynamically
stabilized balancing robot with line follower function.
Abstract: A robust wheel slip controller for electric vehicles is
introduced. The proposed wheel slip controller exploits the dynamics
of electric traction drives and conventional hydraulic brakes for
achieving maximum energy efficiency and driving safety. Due to
the control of single wheel traction motors in combination with a
hydraulic braking system, it can be shown, that energy recuperation
and vehicle stability control can be realized simultaneously. The
derivation of a sliding mode wheel slip controller accessing two
drivetrain actuators is outlined and a comparison to a conventionally
braked vehicle is shown by means of simulation.
Abstract: This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.
Abstract: The whole work is based on possibility to use Lego Mindstorms robotics systems to reduce costs. Lego Mindstorms consists of a wide variety of hardware components necessary to simulate, programme and test of robotics systems in practice. To programme algorithm, which simulates space using the ultrasonic sensor, was used development environment supplied with kit. Software Matlab was used to render values afterwards they were measured by ultrasonic sensor. The algorithm created for this paper uses theoretical knowledge from area of signal processing. Data being processed by algorithm are collected by ultrasonic sensor that scans 2D space in front of it. Ultrasonic sensor is placed on moving arm of robot which provides horizontal moving of sensor. Vertical movement of sensor is provided by wheel drive. The robot follows map in order to get correct positioning of measured data. Based on discovered facts it is possible to consider Lego Mindstorm for low-cost and capable kit for real-time modelling.
Abstract: This article is an extension and a practical application
approach of Wheeler-s NEBIC theory (Net Enabled Business
Innovation Cycle). NEBIC theory is a new approach in IS research
and can be used for dynamic environment related to new technology.
Firms can follow the market changes rapidly with support of the IT
resources. Flexible firms adapt their market strategies, and respond
more quickly to customers changing behaviors. When every leading
firm in an industry has access to the same IT resources, the way that
these IT resources are managed will determine the competitive
advantages or disadvantages of firm. From Dynamic Capabilities
Perspective and from newly introduced NEBIC theory by Wheeler,
we know that only IT resources cannot deliver customer value but
good configuration of those resources can guarantee customer value
by choosing the right emerging technology, grasping the economic
opportunities through business innovation and growth. We found
evidences in literature that SOA (Service Oriented Architecture) is a
promising emerging technology which can deliver the desired
economic opportunity through modularity, flexibility and loosecoupling.
SOA can also help firms to connect in network which can
open a new window of opportunity to collaborate in innovation and
right kind of outsourcing
Abstract: This paper suggests a fast and stable Target Tracking
system in collaborative control of UAV and UGV. Wi-Fi communication range is limited in collaborative control of UAV and UGV. Thus, to secure a stable communications, UAV and UGV have
to be kept within a certain distance from each other. But existing
method which uses UAV Vertical Camera to follow the motion of
UGV is likely to lose a target with a sudden movement change.
Eventually, UGV has disadvantages that it could only move at a low
speed and not make any sudden change of direction in order to keep
track of the target. Therefore, we suggest utilizing AR Drone UAV front camera to track fast-moving and Omnidirectional Mecanum
Wheel UGV.
Abstract: The objective of this study is to design an adaptive
neuro-fuzzy inference system (ANFIS) for estimation of surface
roughness in grinding process. The Used data have been generated
from experimental observations when the wheel has been dressed
using a rotary diamond disc dresser. The input parameters of model
are dressing speed ratio, dressing depth and dresser cross-feed rate
and output parameter is surface roughness. In the experimental
procedure the grinding conditions are constant and only the dressing
conditions are varied. The comparison of the predicted values and the
experimental data indicates that the ANFIS model has a better
performance with respect to back-propagation neural network
(BPNN) model which has been presented by the authors in previous
work for estimation of the surface roughness.
Abstract: This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.
Abstract: There is currently intensive debate in Alberta,
Canada, regarding rural to urban water reallocation. This paper
explores the demographic and attitudinal influences that are
associated with the acceptance of water reallocation policies and
whether such acceptance differs between urban and rural residents.
We investigate three policy orientations in regards to water policies:
i) government intervention; ii) environmental protection; and iii)
protecting irrigators- water rights. We find that urban dwellers are
more likely to favour government intervention while rural dwellers
are more likely to support policies that aim at protecting irrigators-
water rights. While urban dwellers are also more likely to favour
environmental protection, the difference is not statistically
significant. We also find that other factors have a significant impact
on policy choice irrespective of residence such as demographic and
socioeconomic factors as well as the values people hold toward water
and the environment.
Abstract: This article proposes a novel Pareto-based multiobjective
meta-heuristic algorithm named non-dominated ranking
genetic algorithm (NRGA) to solve multi-facility location-allocation
problem. In NRGA, a fitness value representing rank is assigned to
each individual of the population. Moreover, two features ranked
based roulette wheel selection including select the fronts and choose
solutions from the fronts, are utilized. The proposed solving
methodology is validated using several examples taken from the
specialized literature. The performance of our approach shows that
NRGA algorithm is able to generate true and well distributed Pareto
optimal solutions.
Abstract: The paper presents the virtual model of the active
suspension system used for improving the dynamic behavior of a
motor vehicle. The study is focused on the design of the control
system, the purpose being to minimize the effect of the road
disturbances (which are considered as perturbations for the control
system). The analysis is performed for a quarter-car model, which
corresponds to the suspension system of the front wheel, by using the
DFC (Design for Control) software solution EASY5 (Engineering
Analysis Systems) of MSC Software. The controller, which is a PIDbased
device, is designed through a parametric optimization with the
Matrix Algebra Tool (MAT), considering the gain factors as design
variables, while the design objective is to minimize the overshoot of
the indicial response.