Abstract: In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.
Abstract: This paper is proposed the dynamic simulation of
small power induction motor based on Mathematical modeling. The
dynamic simulation is one of the key steps in the validation of the
design process of the motor drive systems and it is needed for
eliminating inadvertent design mistakes and the resulting error in the
prototype construction and testing. This paper demonstrates the
simulation of steady-state performance of induction motor by
MATLAB Program Three phase 3 hp induction motor is modeled
and simulated with SIMULINK model.
Abstract: The present work deals with the structural analysis of
turbine blades and modeling of turbine blades. A common failure
mode for turbine machines is high cycle of fatigue of compressor and
turbine blades due to high dynamic stresses caused by blade vibration
and resonance within the operation range of the machinery. In this
work, proper damping system will be analyzed to reduce the
vibrating blade. The main focus of the work is the modeling of under
platform damper to evaluate the dynamic analysis of turbine-blade
vibrations. The system is analyzed using Bond graph technique. Bond
graph is one of the most convenient ways to represent a system from
the physical aspect in foreground. It has advantage of putting together
multi-energy domains of a system in a single representation in a
unified manner. The bond graph model of dry friction damper is
simulated on SYMBOLS-shakti® software. In this work, the blades
are modeled as Timoshenko beam. Blade Vibrations under different
working conditions are being analyzed numerically.
Abstract: A dynamic software risk assessment model is
presented. Analogies between dynamic financial analysis and
software risk assessment models are established and based on these
analogies it suggested that dynamic risk model for software projects
is the way to move forward for the risk assessment of software
project. It is shown how software risk assessment change during
different phases of a software project and hence requires a dynamic
risk assessment model to capture these variations. Further evolution
of dynamic financial analysis models is discussed and mapped to the
evolution of software risk assessment models.
Abstract: At very high speeds, bubbles form in the underwater vehicles because of sharp trailing edges or of places where the local pressure is lower than the vapor pressure. These bubbles are called cavities and the size of the cavities grows as the velocity increases. A properly designed cavitator can induce the formation of a single big cavity all over the vehicle. Such a vehicle travelling in the vaporous cavity is called a supercavitating vehicle and the present research work mainly focuses on the dynamic modeling of such vehicles. Cavitation of the fins is also accounted and the effect of the same on trajectory is well explained. The entire dynamics has been developed using the state space approach and emphasis is given on the effect of size and angle of attack of the cavitator. Control law has been established for the motion of the vehicle using Non-linear Dynamic Inverse (NDI) with cavitator as the control surface.
Abstract: A mathematical model for the hydrodynamics of a
surface water treatment pilot plant was developed and validated by
the determination of the residence time distribution (RTD) for the
main equipments of the unit. The well known models of ideal/real
mixing, ideal displacement (plug flow) and (one-dimensional axial)
dispersion model were combined in order to identify the structure
that gives the best fitting of the experimental data for each equipment
of the pilot plant. RTD experimental results have shown that pilot
plant hydrodynamics can be quite well approximated by a
combination of simple mathematical models, structure which is
suitable for engineering applications. Validated hydrodynamic
models will be further used in the evaluation and selection of the
most suitable coagulation-flocculation reagents, optimum operating
conditions (injection point, reaction times, etc.), in order to improve
the quality of the drinking water.
Abstract: Modeling and vibration of a flexible link manipulator
with tow flexible links and rigid joints are investigated which can
include an arbitrary number of flexible links. Hamilton principle and
finite element approach is proposed to model the dynamics of
flexible manipulators. The links are assumed to be deflection due to
bending. The association between elastic displacements of links is
investigated, took into account the coupling effects of elastic motion
and rigid motion. Flexible links are treated as Euler-Bernoulli beams
and the shear deformation is thus abandoned. The dynamic behavior
due to flexibility of links is well demonstrated through numerical
simulation. The rigid-body motion and elastic deformations are
separated by linearizing the equations of motion around the rigid
body reference path. Simulation results are shown on for both
position and force trajectory tracking tasks in the presence of varying
parameters and unknown dynamics remarkably well. The proposed
method can be used in both dynamic simulation and controller
design.
Abstract: The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonomous underwater vehicle. The CDM is an algebraic approach in which the characteristic polynomial and the controller are synthesized simultaneously. Particularly, a coefficient diagram (comparable to Bode diagram) is used effectively to convey pertinent design information and as a measure of trade-off between stability, response speed and robustness. In the polynomial ring, Kharitonov polynomials are employed to analyze the robustness of the controller due to parametric uncertainties.
Abstract: Attitude control of aerospace system with liquid containers may face to a problem associate with fuel sloshing. The sloshing phenomena can degrade the stability of control system and in the worst case, interaction between the attitude control system and fuel vibration leading to resonance. In this paper, a full process of nonlinear dynamic modeling of an aerospace launch vehicle with fuel sloshing is given. Then, a new control system based on model reference adaptive filter is proposed and its algorithm is extracted. This controller implemented on the main attitude control system. Finally, numerical simulation of nonlinear model and control system is carried out to examine the performance of the new controller. Results of simulations show that the inconvenient effects of the fuel sloshing by augmenting this control system are reduced and attitude control system performs, satisfactorily.
Abstract: Fluids are used for heat transfer in many engineering
equipments. Water, ethylene glycol and propylene glycol are some
of the common heat transfer fluids. Over the years, in an attempt to
reduce the size of the equipment and/or efficiency of the process,
various techniques have been employed to improve the heat transfer
rate of these fluids. Surface modification, use of inserts and
increased fluid velocity are some examples of heat transfer
enhancement techniques. Addition of milli or micro sized particles
to the heat transfer fluid is another way of improving heat transfer
rate. Though this looks simple, this method has practical problems
such as high pressure loss, clogging and erosion of the material of
construction. These problems can be overcome by using nanofluids,
which is a dispersion of nanosized particles in a base fluid.
Nanoparticles increase the thermal conductivity of the base fluid
manifold which in turn increases the heat transfer rate. In this work,
the heat transfer enhancement using aluminium oxide nanofluid has
been studied by computational fluid dynamic modeling of the
nanofluid flow adopting the single phase approach.
Abstract: Addition of milli or micro sized particles to the heat
transfer fluid is one of the many techniques employed for improving
heat transfer rate. Though this looks simple, this method has
practical problems such as high pressure loss, clogging and erosion
of the material of construction. These problems can be overcome by
using nanofluids, which is a dispersion of nanosized particles in a
base fluid. Nanoparticles increase the thermal conductivity of the
base fluid manifold which in turn increases the heat transfer rate.
Nanoparticles also increase the viscosity of the basefluid resulting in
higher pressure drop for the nanofluid compared to the base fluid. So
it is imperative that the Reynolds number (Re) and the volume
fraction have to be optimum for better thermal hydraulic
effectiveness. In this work, the heat transfer enhancement using
aluminium oxide nanofluid using low and high volume fraction
nanofluids in turbulent pipe flow with constant wall temperature has
been studied by computational fluid dynamic modeling of the
nanofluid flow adopting the single phase approach. Nanofluid, up till
a volume fraction of 1% is found to be an effective heat transfer
enhancement technique. The Nusselt number (Nu) and friction factor
predictions for the low volume fractions (i.e. 0.02%, 0.1 and 0.5%)
agree very well with the experimental values of Sundar and Sharma
(2010). While, predictions for the high volume fraction nanofluids
(i.e. 1%, 4% and 6%) are found to have reasonable agreement with
both experimental and numerical results available in the literature.
So the computationally inexpensive single phase approach can be
used for heat transfer and pressure drop prediction of new nanofluids.
Abstract: In this paper, we analyze the problem of quasiballistic electron transport in ultra small of mercury -cadmiumtelluride (Hg0.8Cd0.2Te -MCT) n+-n- n+ devices from hydrodynamic point view. From our study, we note that, when the size of the active layer is low than 0.1μm and for low bias application( ( ≥ 9mV), the quasi-ballistic transport has an important effect.
Abstract: Complexity, as a theoretical background has made it
easier to understand and explain the features and dynamic behavior
of various complex systems. As the common theoretical background
has confirmed, borrowing the terminology for design from the
natural sciences has helped to control and understand urban
complexity. Phenomena like self-organization, evolution and
adaptation are appropriate to describe the formerly inaccessible
characteristics of the complex environment in unpredictable bottomup
systems. Increased computing capacity has been a key element in
capturing the chaotic nature of these systems.
A paradigm shift in urban planning and architectural design has
forced us to give up the illusion of total control in urban
environment, and consequently to seek for novel methods for
steering the development. New methods using dynamic modeling
have offered a real option for more thorough understanding of
complexity and urban processes. At best new approaches may renew
the design processes so that we get a better grip on the complex
world via more flexible processes, support urban environmental
diversity and respond to our needs beyond basic welfare by liberating
ourselves from the standardized minimalism.
A complex system and its features are as such beyond human
ethics. Self-organization or evolution is either good or bad. Their
mechanisms are by nature devoid of reason. They are common in
urban dynamics in both natural processes and gas. They are features
of a complex system, and they cannot be prevented. Yet their
dynamics can be studied and supported.
The paradigm of complexity and new design approaches has been
criticized for a lack of humanity and morality, but the ethical
implications of scientific or computational design processes have not
been much discussed. It is important to distinguish the (unexciting)
ethics of the theory and tools from the ethics of computer aided
processes based on ethical decisions. Urban planning and architecture
cannot be based on the survival of the fittest; however, the natural
dynamics of the system cannot be impeded on grounds of being
“non-human".
In this paper the ethical challenges of using the dynamic models
are contemplated in light of a few examples of new architecture and
dynamic urban models and literature. It is suggested that ethical
challenges in computational design processes could be reframed
under the concepts of responsibility and transparency.
Abstract: Modeling of a heterogeneous industrial fixed bed
reactor for selective dehydrogenation of heavy paraffin with Pt-Sn-
Al2O3 catalyst has been the subject of current study. By applying
mass balance, momentum balance for appropriate element of reactor
and using pressure drop, rate and deactivation equations, a detailed
model of the reactor has been obtained. Mass balance equations have
been written for five different components. In order to estimate
reactor production by the passage of time, the reactor model which is
a set of partial differential equations, ordinary differential equations
and algebraic equations has been solved numerically.
Paraffins, olefins, dienes, aromatics and hydrogen mole percent as
a function of time and reactor radius have been found by numerical
solution of the model. Results of model have been compared with
industrial reactor data at different operation times. The comparison
successfully confirms validity of proposed model.
Abstract: The so-called all-pass filter circuits are commonly
used in the field of signal processing, control and measurement.
Being connected to capacitive loads, these circuits tend to loose their
stability; therefore the elaborate analysis of their dynamic behavior is
necessary. The compensation methods intending to increase the
stability of such circuits are discussed in this paper, including the socalled
lead-lag compensation technique being treated in detail. For
the dynamic modeling, a two-port network model of the all-pass filter
is being derived. The results of the model analysis show, that
effective lead-lag compensation can be achieved, alone by the
optimization of the circuit parameters; therefore the application of
additional electric components are not needed to fulfill the stability
requirement.
Abstract: The distressing flood scenarios that occur in
recent years at the surrounding areas of Sarawak River have
left damages of properties and indirectly caused disruptions of
productive activities. This study is meant to reconstruct a 100-year
flood event that took place in this river basin. Sarawak River Subbasin
was chosen and modeled using the one-dimensional
hydrodynamic modeling approach using InfoWorks River Simulation
(RS), in combination with Geographical Information System (GIS).
This produces the hydraulic response of the river and its floodplains
in extreme flooding conditions. With different parameters introduced
to the model, correlations of observed and simulated data are
between 79% – 87%. Using the best calibrated model, flood
mitigation structures are imposed along the sub-basin. Analysis is
done based on the model simulation results. Result shows that the
proposed retention ponds constructed along the sub-basin provide the
most efficient reduction of flood by 34.18%.
Abstract: Modeling of the dynamic behavior and motion are
renewed interest in the improved tractive performance of an
intelligent air-cushion tracked vehicle (IACTV). This paper presents
a new dynamical model for the forces on the developed small scale
intelligent air-cushion tracked vehicle moving over swamp peat. The
air cushion system partially supports the 25 % of vehicle total weight
in order to make the vehicle ground contact pressure 7 kN/m2. As the
air-cushion support system can adjust automatically on the terrain, so
the vehicle can move over the terrain without any risks. The springdamper
system is used with the vehicle body to control the aircushion
support system on any undulating terrain by making the
system sinusoidal form. Experiments have been carried out to
investigate the relationships among tractive efficiency, slippage,
traction coefficient, load distribution ratio, tractive effort, motion
resistance and power consumption in given terrain conditions.
Experiment and simulation results show that air-cushion system
improves the vehicle performance by keeping traction coefficient of
71% and tractive efficiency of 62% and the developed model can
meet the demand of transport efficiency with the optimal power
consumption.
Abstract: In this paper a stochastic scenario-based model predictive control applied to molten salt storage systems in concentrated solar tower power plant is presented. The main goal of this study is to build up a tool to analyze current and expected future resources for evaluating the weekly power to be advertised on electricity secondary market. This tool will allow plant operator to maximize profits while hedging the impact on the system of stochastic variables such as resources or sunlight shortage.
Solving the problem first requires a mixed logic dynamic modeling of the plant. The two stochastic variables, respectively the sunlight incoming energy and electricity demands from secondary market, are modeled by least square regression. Robustness is achieved by drawing a certain number of random variables realizations and applying the most restrictive one to the system. This scenario approach control technique provides the plant operator a confidence interval containing a given percentage of possible stochastic variable realizations in such a way that robust control is always achieved within its bounds. The results obtained from many trajectory simulations show the existence of a ‘’reliable’’ interval, which experimentally confirms the algorithm robustness.
Abstract: Plasmodium vivax malaria differs from P. falciparum malaria in that a person suffering from P. vivax infection can suffer relapses of the disease. This is due the parasite being able to remain dormant in the liver of the patients where it is able to re-infect the patient after a passage of time. During this stage, the patient is classified as being in the dormant class. The model to describe the transmission of P. vivax malaria consists of a human population divided into four classes, the susceptible, the infected, the dormant and the recovered. The effect of a time delay on the transmission of this disease is studied. The time delay is the period in which the P. vivax parasite develops inside the mosquito (vector) before the vector becomes infectious (i.e., pass on the infection). We analyze our model by using standard dynamic modeling method. Two stable equilibrium states, a disease free state E0 and an endemic state E1, are found to be possible. It is found that the E0 state is stable when a newly defined basic reproduction number G is less than one. If G is greater than one the endemic state E1 is stable. The conditions for the endemic equilibrium state E1 to be a stable spiral node are established. For realistic values of the parameters in the model, it is found that solutions in phase space are trajectories spiraling into the endemic state. It is shown that the limit cycle and chaotic behaviors can only be achieved with unrealistic parameter values.