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speed</title> <meta name="description" content="Search results for: sliding speed"> <meta name="keywords" content="sliding speed"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler 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id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="sliding speed"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 3172</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: sliding speed</h1> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3172</span> Dry Sliding Wear Behaviour of Ti3SiC2 and the Effect of TiC on Its</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Bendaoudi%20Seif-Eddine">Bendaoudi Seif-Eddine</a>, <a href="https://publications.waset.org/abstracts/search?q=Bounazef%20Mokhtar"> Bounazef Mokhtar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Wear behaviour of Ti3SiC2 coating in contact sliding under dry condition have been investigated on different pressures (0.1-0.8 MPa) at various speeds from 5 to 60 m/s. The ball-on-disc sliding-wear test was performed in ambient air with a relative humidity of 20%. An equation has been proposed to predict wear rates and describe sliding wear caused by Corundum ball on the studied material. The results show how the wear rate, measured by mass loss, varies in the range of (0.6 – 3.8 x E-6 mm3/Nm) with normal sliding distance under various test conditions; it increases with increasing load and rapidly with speed. The influence of TiC impurities on the wear behaviours was also investigated. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=ball-on-disc" title="ball-on-disc">ball-on-disc</a>, <a href="https://publications.waset.org/abstracts/search?q=dry-sliding" title=" dry-sliding"> dry-sliding</a>, <a href="https://publications.waset.org/abstracts/search?q=Ti3SiC2" title=" Ti3SiC2"> Ti3SiC2</a>, <a href="https://publications.waset.org/abstracts/search?q=wear" title=" wear"> wear</a> </p> <a href="https://publications.waset.org/abstracts/44824/dry-sliding-wear-behaviour-of-ti3sic2-and-the-effect-of-tic-on-its" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/44824.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">270</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3171</span> Study of Tribological Behaviour of Al6061/Silicon Carbide/Graphite Hybrid Metal Matrix Composite Using Taguchi's Techniques </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mohamed%20Zakaulla">Mohamed Zakaulla</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20R.%20Anwar%20Khan"> A. R. Anwar Khan </a> </p> <p class="card-text"><strong>Abstract:</strong></p> 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. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=analysis%20of%20variance" title="analysis of variance">analysis of variance</a>, <a href="https://publications.waset.org/abstracts/search?q=dry%20sliding%20wear" title=" dry sliding wear"> dry sliding wear</a>, <a href="https://publications.waset.org/abstracts/search?q=hybrid%20composite" title=" hybrid composite"> hybrid composite</a>, <a href="https://publications.waset.org/abstracts/search?q=orthogonal%20array" title=" orthogonal array"> orthogonal array</a>, <a href="https://publications.waset.org/abstracts/search?q=Taguchi%20technique" title=" Taguchi technique "> Taguchi technique </a> </p> <a href="https://publications.waset.org/abstracts/20916/study-of-tribological-behaviour-of-al6061silicon-carbidegraphite-hybrid-metal-matrix-composite-using-taguchis-techniques" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/20916.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">467</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3170</span> Tribological Performance of Polymer Syntactic Foams in Low-Speed Conditions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=R.%20Narasimha%20Rao">R. Narasimha Rao</a>, <a href="https://publications.waset.org/abstracts/search?q=Ch.%20Sri%20Chaitanya"> Ch. Sri Chaitanya</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Syntactic foams are closed-cell foams with high specific strength and high compression strength. At Low speeds, the wear rate is sensitive to the sliding speeds and other tribological parameters like applied load and the sliding distance. In the present study, the tribological performance of the polymer-based syntactic foams was reported based on the experiments conducted on a pin-on-disc tribometer. The syntactic foams were manufactured with epoxy as the matrix and the cenospheres obtained from the thermal powerplants as the reinforcement. The experiments were conducted at a sliding speed of the 1 m/s. The applied load was varied from 1 kg to 5 kg up to a sliding distance of 3000 m. The wear rate increased with the sliding distance at lower loads. The trend was reversed at higher loads of 5kg. This may be due to the high plastic deformation at the initial stages when higher loads were applied. This was evident with the higher friction constants for the higher loads. The adhesive wear was found to be predominant for lower loads, while the abrasive wear tracks can be seen in micrographs of samples tested under higher loads. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sliding%20speed" title="sliding speed">sliding speed</a>, <a href="https://publications.waset.org/abstracts/search?q=syntactic%20foams" title=" syntactic foams"> syntactic foams</a>, <a href="https://publications.waset.org/abstracts/search?q=tribological%20performance" title=" tribological performance"> tribological performance</a>, <a href="https://publications.waset.org/abstracts/search?q=wear%20rate" title=" wear rate"> wear rate</a> </p> <a href="https://publications.waset.org/abstracts/169677/tribological-performance-of-polymer-syntactic-foams-in-low-speed-conditions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/169677.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">78</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3169</span> Assessment of the High-Speed Ice Friction of Bob Skeleton Runners</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Agata%20Tomaszewska">Agata Tomaszewska</a>, <a href="https://publications.waset.org/abstracts/search?q=Timothy%20Kamps"> Timothy Kamps</a>, <a href="https://publications.waset.org/abstracts/search?q=Stephan%20R.%20Turnock"> Stephan R. Turnock</a>, <a href="https://publications.waset.org/abstracts/search?q=Nicola%20Symonds"> Nicola Symonds</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Bob skeleton is a highly competitive sport in which an athlete reaches speeds up to 40 m/s sliding, head first, down an ice track. It is believed that the friction between the runners and ice significantly contributes to the amount of the total energy loss during a bob skeleton descent. There is only limited available experimental data regarding the friction of bob skeleton runners or indeed steel on the ice at high sliding speeds ( > 20 m/s). Testing methods used to investigate the friction of steel on ice in winter sports have been outlined, and their accuracy and repeatability discussed. A system thinking approach was used to investigate the runner-ice interaction during sliding and create concept designs of three ice tribometers. The operational envelope of the bob skeleton system has been defined through mathematical modelling. Designs of a drum, linear and inertia pin-on-disk tribometers were developed specifically for bob skeleton runner testing with the requirement of reaching up to 40 m/s speed and facilitate fresh ice sliding. The design constraints have been outline and the proposed solutions compared based on the ease of operation, accuracy and the development cost. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=bob%20skeleton" title="bob skeleton">bob skeleton</a>, <a href="https://publications.waset.org/abstracts/search?q=ice%20friction" title=" ice friction"> ice friction</a>, <a href="https://publications.waset.org/abstracts/search?q=high-speed%20tribometers" title=" high-speed tribometers"> high-speed tribometers</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20friction" title=" sliding friction"> sliding friction</a> </p> <a href="https://publications.waset.org/abstracts/72268/assessment-of-the-high-speed-ice-friction-of-bob-skeleton-runners" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/72268.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">261</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3168</span> Sliding Mode Speed Controller of Photovoltaic Pumping System </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Kessal%20Abdelhalim">Kessal Abdelhalim</a>, <a href="https://publications.waset.org/abstracts/search?q=Zebiri%20Fouad"> Zebiri Fouad</a>, <a href="https://publications.waset.org/abstracts/search?q=Rahmani%20Lazhar"> Rahmani Lazhar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents an analysis by which the dynamic performances of a permanent magnet brushless DC (PMBLDC) motor is controlled through a hysteresis current loop and an outer speed loop with different controllers. The dynamics of the photovoltaic pumping drive system with sliding mode speed controllers are presented. The proposed structure is constituted of photovoltaic generator associated to DC-DC converter controlled by fuzzy logic to ensure the maximum power point tracking. The PWM signals are generated by the interaction of the motor speed closed-loop system and the current hysteresis. The motor reference current is compared with the motor speed feedback signal. The considered model has been implemented in Matlab/Simpower environment. The results show the effectiveness of the proposed method to increase the performance of the water pumping system. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=photovoltaic" title="photovoltaic">photovoltaic</a>, <a href="https://publications.waset.org/abstracts/search?q=permanent%20magnet%20brushless%20DC%20%28PMBLDC%29%20motor" title=" permanent magnet brushless DC (PMBLDC) motor"> permanent magnet brushless DC (PMBLDC) motor</a>, <a href="https://publications.waset.org/abstracts/search?q=MPPT" title=" MPPT"> MPPT</a>, <a href="https://publications.waset.org/abstracts/search?q=speed%20control" title=" speed control"> speed control</a>, <a href="https://publications.waset.org/abstracts/search?q=fuzzy" title=" fuzzy"> fuzzy</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a> </p> <a href="https://publications.waset.org/abstracts/15928/sliding-mode-speed-controller-of-photovoltaic-pumping-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/15928.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">676</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3167</span> Wet Sliding Wear and Frictional Behavior of Commercially Available Perspex</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=S.%20Reaz%20Ahmed">S. Reaz Ahmed</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20S.%20Kaiser"> M. S. Kaiser</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The tribological behavior of commercially used Perspex was evaluated under dry and wet sliding condition using a pin-on-disc wear tester with different applied loads ranging from 2.5 to 20 N. Experiments were conducted with varying sliding distance from 0.2 km to 4.6 km, wherein the sliding velocity was kept constant, 0.64 ms<sup>-1</sup>. The results reveal that the weight loss increases with applied load and the sliding distance. The nature of the wear rate was very similar in both the sliding environments in which initially the wear rate increased very rapidly with increasing sliding distance and then progressed to a slower rate. Moreover, the wear rate in wet sliding environment was significantly lower than that under dry sliding condition. The worn surfaces were characterized by optical microscope and SEM. It is found that surface modification has significant effect on sliding wear performance of Perspex. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Perspex" title="Perspex">Perspex</a>, <a href="https://publications.waset.org/abstracts/search?q=wear" title=" wear"> wear</a>, <a href="https://publications.waset.org/abstracts/search?q=friction" title=" friction"> friction</a>, <a href="https://publications.waset.org/abstracts/search?q=SEM" title=" SEM"> SEM</a> </p> <a href="https://publications.waset.org/abstracts/73593/wet-sliding-wear-and-frictional-behavior-of-commercially-available-perspex" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/73593.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">272</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3166</span> Observation of Critical Sliding Velocity</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Visar%20Baxhuku">Visar Baxhuku</a>, <a href="https://publications.waset.org/abstracts/search?q=Halil%20Demolli"> Halil Demolli</a>, <a href="https://publications.waset.org/abstracts/search?q=Alishukri%20Shkodra"> Alishukri Shkodra</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents the monitoring of vehicle movement, namely the developing of speed of vehicles during movement in a certain twist. The basic geometry data of twist are measured with the purpose of calculating the slide in border speed. During the research, measuring developed speed of passenger vehicles for the real conditions of the road surface, dry road with average damage, was realised. After setting values, the analysis was done in function security of movement in twist. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=critical%20sliding%20velocity" title="critical sliding velocity">critical sliding velocity</a>, <a href="https://publications.waset.org/abstracts/search?q=moving%20velocity" title=" moving velocity"> moving velocity</a>, <a href="https://publications.waset.org/abstracts/search?q=curve" title=" curve"> curve</a>, <a href="https://publications.waset.org/abstracts/search?q=passenger%20vehicles" title=" passenger vehicles"> passenger vehicles</a> </p> <a href="https://publications.waset.org/abstracts/8578/observation-of-critical-sliding-velocity" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/8578.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">420</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3165</span> The Influence of Ice Topography on Sliding over Ice</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ernests%20Jansons">Ernests Jansons</a>, <a href="https://publications.waset.org/abstracts/search?q=Karlis%20Agris%20Gross"> Karlis Agris Gross</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Winter brings snow and ice in the Northern Europe and with it the need to move safely over ice. It has been customary to select an appropriate material surface for movement over ice, but another way to influence the interaction with ice is to modify the ice surface. The objective of this work was to investigate the influence of ice topography on initiating movement over ice and on sliding velocity over ice in the laboratory and real-life conditions. The ice was prepared smooth, scratched or with solidified ice-droplets to represent the surface of ice after ice rain. In the laboratory, the coefficient of friction and the sliding velocity were measured, but the sliding velocity measured at the skeleton push-start facility. The scratched ice surface increased the resistance to movement and also showed the slowest sliding speed. Sliding was easier on the smooth ice and ice covered with frozen droplets. The contact surface was measured to determine the effect of contact area with sliding. Results from laboratory tests will be compared to loading under heavier loads to show the influence of load on sliding over different ice surfaces. This outcome provides a useful indicator for pedestrians and road traffic on the safety of movement over different ice surfaces as well as a reference for those involved with winter sports. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=contact%20area" title="contact area">contact area</a>, <a href="https://publications.waset.org/abstracts/search?q=friction" title=" friction"> friction</a>, <a href="https://publications.waset.org/abstracts/search?q=ice%20topography" title=" ice topography"> ice topography</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20velocity" title=" sliding velocity"> sliding velocity</a> </p> <a href="https://publications.waset.org/abstracts/91177/the-influence-of-ice-topography-on-sliding-over-ice" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/91177.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">240</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3164</span> Contact Temperature of Sliding Surfaces in AISI 316 Austenitic Stainless Steel During PIN on Disk Dry Wear Testing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Dler%20Abdullah%20Ahmed">Dler Abdullah Ahmed</a>, <a href="https://publications.waset.org/abstracts/search?q=Zozan%20Ahmed%20Mohammed"> Zozan Ahmed Mohammed</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This study looked into contact surface temperature during a pin-on-disk test. Friction and wear between sliding surfaces raised the temperature differential between the contact surface and ambient temperatures Tdiff. Tdiff was significantly influenced by wear test variables. Tdiff rose with the increase of sliding speed and applied load while dropped with the increase in ambient temperature. The highest Tdiff was 289°C during the tests at room temperature and 2.5 m/s sliding speed, while the minimum was only 24 °C during the tests at 400°C and 0.5 m/s. However, the maximum contact temperature Tmax was found during tests conducted at high ambient temperatures. The Tmax was estimated based on the theoretical equation. The comparison of experimental and theoretical Tmax data revealed good agreement. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=pin%20on%20disk%20test" title="pin on disk test">pin on disk test</a>, <a href="https://publications.waset.org/abstracts/search?q=contact%20temperature" title=" contact temperature"> contact temperature</a>, <a href="https://publications.waset.org/abstracts/search?q=wear" title=" wear"> wear</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20surface" title=" sliding surface"> sliding surface</a>, <a href="https://publications.waset.org/abstracts/search?q=friction" title=" friction"> friction</a>, <a href="https://publications.waset.org/abstracts/search?q=ambient%20temperature" title=" ambient temperature"> ambient temperature</a> </p> <a href="https://publications.waset.org/abstracts/185244/contact-temperature-of-sliding-surfaces-in-aisi-316-austenitic-stainless-steel-during-pin-on-disk-dry-wear-testing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/185244.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">81</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3163</span> Speed Power Control of Double Field Induction Generator</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ali%20Mausmi">Ali Mausmi</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmed%20Abbou"> Ahmed Abbou</a>, <a href="https://publications.waset.org/abstracts/search?q=Rachid%20El%20Akhrif"> Rachid El Akhrif</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This research paper aims to reduce the chattering phenomenon due to control by sliding mode control applied on a wind energy conversion system based on the doubly fed induction generator (DFIG). Our goal is to offset the effect of parametric uncertainties and come as close as possible to the dynamic response solicited by the control law in the ideal case and therefore force the active and reactive power generated by the DFIG to accurately follow the reference values which are provided to it. The simulation results using Matlab / Simulink demonstrate the efficiency and performance of the proposed technique while maintaining the simplicity of control by first order sliding mode. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=control%20of%20speed" title="control of speed">control of speed</a>, <a href="https://publications.waset.org/abstracts/search?q=correction%20of%20the%20equivalent%20command" title=" correction of the equivalent command"> correction of the equivalent command</a>, <a href="https://publications.waset.org/abstracts/search?q=induction%20generator" title=" induction generator"> induction generator</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a> </p> <a href="https://publications.waset.org/abstracts/74909/speed-power-control-of-double-field-induction-generator" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/74909.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">377</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3162</span> Fast Terminal Sliding Mode Controller For Quadrotor UAV</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Vahid%20Tabrizi">Vahid Tabrizi</a>, <a href="https://publications.waset.org/abstracts/search?q=Reza%20GHasemi">Reza GHasemi</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmadreza%20Vali">Ahmadreza Vali</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents robust nonlinear control law for a quadrotor UAV using fast terminal sliding mode control. Fast terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Then, in reaching phase for removing chattering and producing smooth control signal, continuous approximation idea is used. Simulation results show that the proposed algorithm is robust against parameter uncertainty and has better performance than conventional sliding mode for controlling a quadrotor UAV. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=quadrotor%20UAV" title="quadrotor UAV">quadrotor UAV</a>, <a href="https://publications.waset.org/abstracts/search?q=fast%20terminal%20sliding%20mode" title=" fast terminal sliding mode"> fast terminal sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=second%20order%20sliding%20mode%20t" title=" second order sliding mode t"> second order sliding mode t</a> </p> <a href="https://publications.waset.org/abstracts/16258/fast-terminal-sliding-mode-controller-for-quadrotor-uav" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/16258.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">547</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3161</span> Sliding Mode Control of a Bus Suspension System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mujde%20Turkkan">Mujde Turkkan</a>, <a href="https://publications.waset.org/abstracts/search?q=Nurkan%20Yagiz"> Nurkan Yagiz</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The vibrations, caused by the irregularities of the road surface, are to be suppressed via suspension systems. In this paper, sliding mode control for a half bus model with air suspension system is presented. The bus is modelled as five degrees of freedom (DoF) system. The mathematical model of the half bus is developed using Lagrange Equations. For time domain analysis, the bus model is assumed to travel at certain speed over the bump road. The numerical results of the analysis indicate that the sliding mode controllers can be effectively used to suppress the vibrations and to improve the ride comfort of the busses. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=active%20suspension%20system" title="active suspension system">active suspension system</a>, <a href="https://publications.waset.org/abstracts/search?q=air%20suspension" title=" air suspension"> air suspension</a>, <a href="https://publications.waset.org/abstracts/search?q=bus%20model" title=" bus model"> bus model</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a> </p> <a href="https://publications.waset.org/abstracts/51152/sliding-mode-control-of-a-bus-suspension-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/51152.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">387</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3160</span> Frictional Behavior of Glass Epoxy and Aluminium Particulate Glass Epoxy Composites Sliding against Smooth Stainless Steel Counterface</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Pujan%20Sarkar">Pujan Sarkar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Frictional behavior of glass epoxy and Al particulate glass-epoxy composites sliding against mild steel are investigated experimentally at normal atmospheric condition. Glass epoxy (0 wt% Al) and 5, 10 and 15 wt% Al particulate filled glass-epoxy composites are fabricated in conventional hand lay-up technique followed by light compression moulding process. A pin on disc type friction apparatus is used under dry sliding conditions. Experiments are carried out at a normal load of 5-50 N, and sliding speeds of 0.5-5.0 m/s for a fixed duration. Variations of friction coefficient with sliding time at different loads and speeds for all the samples are considered. Results show that the friction coefficient is influenced by sliding time, normal loads, sliding speeds, and wt% of Al content. In general, with respect to time, friction coefficient increases initially with a lot of fluctuations for a certain duration. After that, it becomes stable for the rest of the experimental time. With the increase of normal load, friction coefficient decreases at all speed levels and for all the samples whereas, friction coefficient increases with the increase of sliding speed at all normal loads for glass epoxy and 5 wt% Al content glass-epoxy composites. But for 10 and 15 wt%, Al content composites at all loads, reverse trend of friction coefficient has been recorded. Under different tribological conditions, the suitability of composites in respect of wt% of Al content is noted, and 5 wt% Al content glass-epoxy composite reports as the lowest frictional material at all loads compared to other samples. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Al%20powder" title="Al powder">Al powder</a>, <a href="https://publications.waset.org/abstracts/search?q=composite" title=" composite"> composite</a>, <a href="https://publications.waset.org/abstracts/search?q=epoxy" title=" epoxy"> epoxy</a>, <a href="https://publications.waset.org/abstracts/search?q=friction" title=" friction"> friction</a>, <a href="https://publications.waset.org/abstracts/search?q=glass%20fiber" title=" glass fiber"> glass fiber</a> </p> <a href="https://publications.waset.org/abstracts/114202/frictional-behavior-of-glass-epoxy-and-aluminium-particulate-glass-epoxy-composites-sliding-against-smooth-stainless-steel-counterface" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/114202.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">126</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3159</span> Using the Cluster Computing to Improve the Computational Speed of the Modular Exponentiation in RSA Cryptography System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Te-Jen%20Chang">Te-Jen Chang</a>, <a href="https://publications.waset.org/abstracts/search?q=Ping-Sheng%20Huang"> Ping-Sheng Huang</a>, <a href="https://publications.waset.org/abstracts/search?q=Shan-Ten%20Cheng"> Shan-Ten Cheng</a>, <a href="https://publications.waset.org/abstracts/search?q=Chih-Lin%20Lin"> Chih-Lin Lin</a>, <a href="https://publications.waset.org/abstracts/search?q=I-Hui%20Pan"> I-Hui Pan</a>, <a href="https://publications.waset.org/abstracts/search?q=Tsung-%20Hsien%20Lin"> Tsung- Hsien Lin</a> </p> <p class="card-text"><strong>Abstract:</strong></p> RSA system is a great contribution for the encryption and the decryption. It is based on the modular exponentiation. We call this system as “a large of numbers for calculation”. The operation of a large of numbers is a very heavy burden for CPU. For increasing the computational speed, in addition to improve these algorithms, such as the binary method, the sliding window method, the addition chain method, and so on, the cluster computer can be used to advance computational speed. The cluster system is composed of the computers which are installed the MPICH2 in laboratory. The parallel procedures of the modular exponentiation can be processed by combining the sliding window method with the addition chain method. It will significantly reduce the computational time of the modular exponentiation whose digits are more than 512 bits and even more than 1024 bits. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cluster%20system" title="cluster system">cluster system</a>, <a href="https://publications.waset.org/abstracts/search?q=modular%20exponentiation" title=" modular exponentiation"> modular exponentiation</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20window" title=" sliding window"> sliding window</a>, <a href="https://publications.waset.org/abstracts/search?q=addition%20chain" title=" addition chain"> addition chain</a> </p> <a href="https://publications.waset.org/abstracts/9093/using-the-cluster-computing-to-improve-the-computational-speed-of-the-modular-exponentiation-in-rsa-cryptography-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/9093.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">522</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3158</span> Sliding Mode MRAS Observer for Optimized Backstepping Control of Induction Motor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Chaouch%20Souad">Chaouch Souad</a>, <a href="https://publications.waset.org/abstracts/search?q=Abdou%20Latifa"> Abdou Latifa</a>, <a href="https://publications.waset.org/abstracts/search?q=Larbi%20Chrifi%20Alaoui"> Larbi Chrifi Alaoui</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper deals with sensorless backstepping control of induction motor using MRAS technique associated to sliding mode approach. A high order genetic algorithm structure is used to approximate a control law designed by the Backstepping technique, and to find the best parameters globally optimized. However, the Backstepping control approach is unsuitable for high performance applications because the need of a speed sensor for increased accuracy and the absence of any error decay mechanism. In this paper a nonlinear observer, obtained by combining sliding mode structure and model reference adaptive system (MRAS), is designed for the rotor flux and rotor speed estimations. To validate the proposed method, the results are presented for showing the improved drive characteristics and performances. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Backstepping%20Control" title="Backstepping Control">Backstepping Control</a>, <a href="https://publications.waset.org/abstracts/search?q=Induction%20Motor" title=" Induction Motor"> Induction Motor</a>, <a href="https://publications.waset.org/abstracts/search?q=Genetic%20Algorithm" title=" Genetic Algorithm"> Genetic Algorithm</a>, <a href="https://publications.waset.org/abstracts/search?q=Sliding%20Mode%20observer" title=" Sliding Mode observer"> Sliding Mode observer</a> </p> <a href="https://publications.waset.org/abstracts/23501/sliding-mode-mras-observer-for-optimized-backstepping-control-of-induction-motor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/23501.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">731</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3157</span> Sliding Mode Control of Variable Speed Wind Energy Conversion Systems</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Zine%20Souhila%20Rached">Zine Souhila Rached</a>, <a href="https://publications.waset.org/abstracts/search?q=Mazari%20Benyounes%20Bouzid"> Mazari Benyounes Bouzid</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohamed%20Amine"> Mohamed Amine</a>, <a href="https://publications.waset.org/abstracts/search?q=Allaoui%20Tayeb"> Allaoui Tayeb</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Wind energy has many advantages, it does not pollute and it is an inexhaustible source. However, its high cost is a major constraint, especially on the less windy sites. The purpose of wind energy systems is to maximize energy efficiency, and extract maximum power from the wind speed. In other words, having a power coefficient is maximum and therefore the maximum power point tracking. In this case, the MPPT control becomes important.To realize this control, strategy conventional proportional and integral (PI) controller is usually used. However, this strategy cannot achieve better performance. This paper proposes a robust control of a turbine which optimizes its production, that is improve the quality and energy efficiency, namely, a strategy of sliding mode control. The proposed sliding mode control strategy presents attractive features such as robustness to parametric uncertainties of the turbine; the proposed sliding mode control approach has been simulated on three-blade wind turbine. The simulation result under Matlab\Simulink has validated the performance of the proposed MPPT strategy. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=wind%20turbine" title="wind turbine">wind turbine</a>, <a href="https://publications.waset.org/abstracts/search?q=maximum%20power%20point%20tracking" title=" maximum power point tracking"> maximum power point tracking</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=energy%20conversion%20systems" title=" energy conversion systems"> energy conversion systems</a> </p> <a href="https://publications.waset.org/abstracts/21686/sliding-mode-control-of-variable-speed-wind-energy-conversion-systems" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/21686.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">611</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3156</span> Mechanical Tension Control of Winding Systems for Paper Webs</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Glaoui%20Hachemi">Glaoui Hachemi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a scheme based on multi-input multi output Fuzzy Sliding Mode control (MIMO-FSMC) for linear speed regulation of winding system is proposed. Once the uncoupled model of the winding system was obtained, a smooth control function with a threshold was selected to indicate how far away the case was from the sliding surface. nevertheless, this control function depends closely on the higher bound of the uncertainties, which generates overlap. So, this size has to be chosen with broad care to obtain high performances. Usually, the upper bound of uncertainties is difficult to know before motor operation, so, a Fuzzy Sliding Mode controller is investigated to resolve this problem, a simple Fuzzy inference mechanism is used to decrease the chattering phenomenon by simple adjustments. A simulation study is achieved and that the indicate fuzzy sliding mode controllers have great potential for use as an alternative to the conventional sliding mode control. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Winding%20system" title="Winding system">Winding system</a>, <a href="https://publications.waset.org/abstracts/search?q=induction%20machine" title=" induction machine"> induction machine</a>, <a href="https://publications.waset.org/abstracts/search?q=Mechanical%20%20tension" title=" Mechanical tension"> Mechanical tension</a>, <a href="https://publications.waset.org/abstracts/search?q=Proportional-integral%20%28PI%29" title=" Proportional-integral (PI)"> Proportional-integral (PI)</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=Fuzzy%20%20logic" title=" Fuzzy logic"> Fuzzy logic</a> </p> <a href="https://publications.waset.org/abstracts/160448/mechanical-tension-control-of-winding-systems-for-paper-webs" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/160448.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">95</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3155</span> Cross Coupling Sliding Mode Synchronization Control of Dual-Driving Feed System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hong%20Lu">Hong Lu</a>, <a href="https://publications.waset.org/abstracts/search?q=Wei%20Fan"> Wei Fan</a>, <a href="https://publications.waset.org/abstracts/search?q=Yongquan%20Zhang"> Yongquan Zhang</a>, <a href="https://publications.waset.org/abstracts/search?q=Junbo%20Zhang"> Junbo Zhang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> A cross coupling sliding synchronization control strategy is proposed for the dual-driving feed system. This technology will minimize the position error oscillation and achieve the precise synchronization performance in the high speed and high precision drive system, especially some high speed and high precision machine. Moreover, a cross coupling compensation matrix is provided to offset the mismatched disturbance and the disturbance observer is established to eliminate the chattering phenomenon. Performance comparisons of proposed dual-driving cross coupling sliding mode control (CCSMC), normal cross coupling control （CCC） strategy with PID control, and electronic virtual main shaft control (EVMSC) strategy with SMC control are investigated by simulation and a dual-driving control system; the results show the effectiveness of the proposed control scheme. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cross%20coupling%20matrix" title="cross coupling matrix">cross coupling matrix</a>, <a href="https://publications.waset.org/abstracts/search?q=dual%20motors" title=" dual motors"> dual motors</a>, <a href="https://publications.waset.org/abstracts/search?q=synchronization%20control" title=" synchronization control"> synchronization control</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a> </p> <a href="https://publications.waset.org/abstracts/40647/cross-coupling-sliding-mode-synchronization-control-of-dual-driving-feed-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/40647.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">365</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3154</span> PID Sliding Mode Control with Sliding Surface Dynamics based Continuous Control Action for Robotic Systems</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Wael%20M.%20Elawady">Wael M. Elawady</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohamed%20F.%20Asar"> Mohamed F. Asar</a>, <a href="https://publications.waset.org/abstracts/search?q=Amany%20M.%20Sarhan"> Amany M. Sarhan</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper adopts a continuous sliding mode control scheme for trajectory tracking control of robot manipulators with structured and unstructured uncertain dynamics and external disturbances. In this algorithm, the equivalent control in the conventional sliding mode control is replaced by a PID control action. Moreover, the discontinuous switching control signal is replaced by a continuous proportional-integral (PI) control term such that the implementation of the proposed control algorithm does not require the prior knowledge of the bounds of unknown uncertainties and external disturbances and completely eliminates the chattering phenomenon of the conventional sliding mode control approach. The closed-loop system with the adopted control algorithm has been proved to be globally stable by using Lyapunov stability theory. Numerical simulations using the dynamical model of robot manipulators with modeling uncertainties demonstrate the superiority and effectiveness of the proposed approach in high speed trajectory tracking problems. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=PID" title="PID">PID</a>, <a href="https://publications.waset.org/abstracts/search?q=robot" title=" robot"> robot</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=uncertainties" title=" uncertainties"> uncertainties</a> </p> <a href="https://publications.waset.org/abstracts/31108/pid-sliding-mode-control-with-sliding-surface-dynamics-based-continuous-control-action-for-robotic-systems" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/31108.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">508</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3153</span> Sliding Mode Control of the Power of Doubly Fed Induction Generator for Variable Speed Wind Energy Conversion System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ahmed%20Abbou">Ahmed Abbou</a>, <a href="https://publications.waset.org/abstracts/search?q=Ali%20Mousmi"> Ali Mousmi</a>, <a href="https://publications.waset.org/abstracts/search?q=Rachid%20El%20Akhrif"> Rachid El Akhrif</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This research paper aims to reduce the chattering phenomenon due to control by sliding mode control applied on a wind energy conversion system based on the doubly fed induction generator (DFIG). Our goal is to offset the effect of parametric uncertainties and come as close as possible to the dynamic response solicited by the control law in the ideal case and therefore force the active and reactive power generated by the DFIG to accurately follow the reference values which are provided to it. The simulation results using Matlab / Simulink demonstrate the efficiency and performance of the proposed technique while maintaining the simplicity of control by first order sliding mode. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=correction%20of%20the%20equivalent%20command" title="correction of the equivalent command">correction of the equivalent command</a>, <a href="https://publications.waset.org/abstracts/search?q=DFIG" title=" DFIG"> DFIG</a>, <a href="https://publications.waset.org/abstracts/search?q=induction%20machine" title=" induction machine"> induction machine</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20controller" title=" sliding mode controller"> sliding mode controller</a> </p> <a href="https://publications.waset.org/abstracts/63503/sliding-mode-control-of-the-power-of-doubly-fed-induction-generator-for-variable-speed-wind-energy-conversion-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/63503.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">416</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3152</span> Applying Sliding Autonomy for a Human-Robot Team on USARSim</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Fang%20Tang">Fang Tang</a>, <a href="https://publications.waset.org/abstracts/search?q=Jacob%20Longazo"> Jacob Longazo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes a sliding autonomy approach for coordinating a team of robots to assist the human operator to accomplish tasks while adapting to new or unexpected situations by requesting help from the human operator. While sliding autonomy has been well studied in the context of controlling a single robot. Much work needs to be done to apply sliding autonomy to a multi-robot team, especially human-robot team. Our approach aims at a hierarchical sliding control structure, with components that support human-robot collaboration. We validated our approach in the USARSim simulation and demonstrated that the human-robot team's overall performance can be improved under the sliding autonomy control. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sliding%20autonomy" title="sliding autonomy">sliding autonomy</a>, <a href="https://publications.waset.org/abstracts/search?q=multi-robot%20team" title=" multi-robot team"> multi-robot team</a>, <a href="https://publications.waset.org/abstracts/search?q=human-robot%20collaboration" title=" human-robot collaboration"> human-robot collaboration</a>, <a href="https://publications.waset.org/abstracts/search?q=USARSim" title=" USARSim"> USARSim</a> </p> <a href="https://publications.waset.org/abstracts/27177/applying-sliding-autonomy-for-a-human-robot-team-on-usarsim" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/27177.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">545</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3151</span> Static Output Feedback Control of a Two-Wheeled Inverted Pendulum Using Sliding Mode Technique</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Yankun%20Yang">Yankun Yang</a>, <a href="https://publications.waset.org/abstracts/search?q=Xinggang%20Yan"> Xinggang Yan</a>, <a href="https://publications.waset.org/abstracts/search?q=Konstantinos%20Sirlantzis"> Konstantinos Sirlantzis</a>, <a href="https://publications.waset.org/abstracts/search?q=Gareth%20Howells"> Gareth Howells</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a static output feedback sliding mode control method to regulate a two-wheeled inverted pendulum system with considerations of matched and unmatched uncertainties. A sliding surface is designed and the associated sliding motion stability is analysed based on the reduced-order dynamics. A static output sliding mode control law is synthesised to drive the system to the sliding surface and maintain a sliding motion afterwards. The nonlinear bounds on the uncertainties are employed in the stability analysis and control design to improve the robustness. The simulation results demonstrate the effectiveness of the proposed control. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=two-wheeled%20inverted%20pendulum" title="two-wheeled inverted pendulum">two-wheeled inverted pendulum</a>, <a href="https://publications.waset.org/abstracts/search?q=output%20feedback%20sliding%20mode%20control" title=" output feedback sliding mode control"> output feedback sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20systems" title=" nonlinear systems"> nonlinear systems</a>, <a href="https://publications.waset.org/abstracts/search?q=robotics" title=" robotics"> robotics</a> </p> <a href="https://publications.waset.org/abstracts/139281/static-output-feedback-control-of-a-two-wheeled-inverted-pendulum-using-sliding-mode-technique" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/139281.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">249</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3150</span> Study of the Tribological Behavior of a Pin on Disc Type of Contact</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=S.%20Djebali">S. Djebali</a>, <a href="https://publications.waset.org/abstracts/search?q=S.%20Larbi"> S. Larbi</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Bilek"> A. Bilek </a> </p> <p class="card-text"><strong>Abstract:</strong></p> The present work aims at contributing to the study of the complex phenomenon of wear of pin on disc contact in dry sliding friction between two material couples (bronze/steel and unsaturated polyester virgin and charged with graphite powder/steel). The work consists of the determination of the coefficient of friction, the study of the influence of the tribological parameters on this coefficient and the determination of the mass loss and the wear rate of the pin. This study is also widened to the highlighting of the influence of the addition of graphite powder on the tribological properties of the polymer constituting the pin. The experiments are carried out on a pin-disc type tribometer that we have designed and manufactured. Tests are conducted according to the standards DIN 50321 and DIN EN 50324. The discs are made of annealed XC48 steel and quenched and tempered XC48 steel. The main results are described here after. The increase of the normal load and the sliding speed causes the increase of the friction coefficient, whereas the increase of the percentage of graphite and the hardness of the disc surface contributes to its reduction. The mass loss also increases with the normal load. The influence of the normal load on the friction coefficient is more significant than that of the sliding speed. The effect of the sliding speed decreases for large speed values. The increase of the amount of graphite powder leads to a decrease of the coefficient of friction, the mass loss and the wear rate. The addition of graphite to the UP resin is beneficial; it plays the role of solid lubricant. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=bronze" title="bronze">bronze</a>, <a href="https://publications.waset.org/abstracts/search?q=friction%20coefficient" title=" friction coefficient"> friction coefficient</a>, <a href="https://publications.waset.org/abstracts/search?q=graphite" title=" graphite"> graphite</a>, <a href="https://publications.waset.org/abstracts/search?q=mass%20loss" title=" mass loss"> mass loss</a>, <a href="https://publications.waset.org/abstracts/search?q=polyester" title=" polyester"> polyester</a>, <a href="https://publications.waset.org/abstracts/search?q=steel" title=" steel"> steel</a>, <a href="https://publications.waset.org/abstracts/search?q=wear%20rate" title=" wear rate"> wear rate</a> </p> <a href="https://publications.waset.org/abstracts/49238/study-of-the-tribological-behavior-of-a-pin-on-disc-type-of-contact" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/49238.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">345</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3149</span> Comparative Study between Direct Torque Control and Sliding Mode Control of Sensorless Induction Machine</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Fouad%20Berrabah">Fouad Berrabah</a>, <a href="https://publications.waset.org/abstracts/search?q=Saad%20Salah"> Saad Salah</a>, <a href="https://publications.waset.org/abstracts/search?q=Zaamouche%20Fares"> Zaamouche Fares </a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the Direct Torque Control (DTC) Control and the Sliding Mode Control for induction motor are presented and compared. The performance of the two control schemes is evaluated in terms of torque and current ripple, and transient response to variations of the torque , speed and robustness, trajectory tracking. In order to identify the more suitable solution for any application, both techniques are analyzed mathematically and simulation results are compared which advantages and drawbacks are discussed. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=induction%20motor" title="induction motor">induction motor</a>, <a href="https://publications.waset.org/abstracts/search?q=DTC-%20MRAS%20control" title=" DTC- MRAS control"> DTC- MRAS control</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=robustness" title=" robustness"> robustness</a>, <a href="https://publications.waset.org/abstracts/search?q=trajectory%20tracking" title=" trajectory tracking"> trajectory tracking</a> </p> <a href="https://publications.waset.org/abstracts/24357/comparative-study-between-direct-torque-control-and-sliding-mode-control-of-sensorless-induction-machine" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/24357.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">596</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3148</span> An Experimental Study of Automotive Drum Brake Vibrations</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Nouby%20Ghazaly">Nouby Ghazaly</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The present paper investigates experimentally the effect coefficient of friction at different operation conditions on the variation of the brake temperature, brake force, and brake vibration with the braking time. All the experimental tests were carried out using brake dynamometer which designed and constructed in Vehicle Dynamic Laboratory. The results indicate that the brake temperature increases with the increase of the normal force and sliding speed especially with the increase of the braking time. The normal force has the effect on increasing the brake force. On the contrary, the vehicle speed has the effect on decreasing the brake force. Both the normal force and sliding speed affect the brake vibration according to the friction behavior. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=brake%20dynamometer" title="brake dynamometer">brake dynamometer</a>, <a href="https://publications.waset.org/abstracts/search?q=coefficient%20of%20friction" title=" coefficient of friction"> coefficient of friction</a>, <a href="https://publications.waset.org/abstracts/search?q=drum%20brake%20vibrations" title=" drum brake vibrations"> drum brake vibrations</a>, <a href="https://publications.waset.org/abstracts/search?q=friction%20behavior" title=" friction behavior"> friction behavior</a> </p> <a href="https://publications.waset.org/abstracts/54502/an-experimental-study-of-automotive-drum-brake-vibrations" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/54502.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">311</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3147</span> Second Order MIMO Sliding Mode Controller for Nonlinear Modeled Wind Turbine</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Alireza%20Toloei">Alireza Toloei</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmad%20R.%20Saffary"> Ahmad R. Saffary</a>, <a href="https://publications.waset.org/abstracts/search?q=Reza%20Ghasemi"> Reza Ghasemi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Due to the growing need for energy and limited fossil resources, the use of renewable energy, particularly wind is strongly favored. We all wind energy can’t be saved. Betz law, 59% of the total kinetic energy of the wind turbine is extracting. Therefore turbine control to achieve maximum performance and maintain stable conditions seem necessary. In this article, we plan for a horizontal axis wind turbine variable-speed variable-pitch nonlinear controller to obtain maximum output power. The model presented in this article, including a wide range of wind turbines are horizontal axis. However, the parameters used in this model is from Vestas V29 225 kW wind turbine. We designed second order sliding mode controller, which was robust in the face of changes in wind speed and it eliminated chattering by using of super twisting algorithm. Finally, using MATLAB software to simulate the results we considered the accuracy of the simulation results. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=non%20linear%20controller" title="non linear controller">non linear controller</a>, <a href="https://publications.waset.org/abstracts/search?q=robust" title=" robust"> robust</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=kinetic%20energy" title=" kinetic energy"> kinetic energy</a> </p> <a href="https://publications.waset.org/abstracts/15508/second-order-mimo-sliding-mode-controller-for-nonlinear-modeled-wind-turbine" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/15508.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">499</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3146</span> Thermal and Starvation Effects on Lubricated Elliptical Contacts at High Rolling/Sliding Speeds</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Vinod%20Kumar">Vinod Kumar</a>, <a href="https://publications.waset.org/abstracts/search?q=Surjit%20Angra"> Surjit Angra</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The objective of this theoretical study is to develop simple design formulas for the prediction of minimum film thickness and maximum mean film temperature rise in lightly loaded high-speed rolling/sliding lubricated elliptical contacts incorporating starvation effect. Herein, the reported numerical analysis focuses on thermoelastohydrodynamically lubricated rolling/sliding elliptical contacts, considering the Newtonian rheology of lubricant for wide range of operating parameters, namely load characterized by Hertzian pressure (PH = 0.01 GPa to 0.10 GPa), rolling speed (>10 m/s), slip parameter (S varies up to 1.0), and ellipticity ratio (k = 1 to 5). Starvation is simulated by systematically reducing the inlet supply. This analysis reveals that influences of load, rolling speed, and level of starvation are significant on the minimum film thickness. However, the maximum mean film temperature rise is strongly influenced by slip in addition to load, rolling speed, and level of starvation. In the presence of starvation, reduction in minimum film thickness and increase in maximum mean film temperature are observed. Based on the results of this study, empirical relations are developed for the prediction of dimensionless minimum film thickness and dimensionless maximum mean film temperature rise at the contacts in terms of various operating parameters. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=starvation" title="starvation">starvation</a>, <a href="https://publications.waset.org/abstracts/search?q=lubrication" title=" lubrication"> lubrication</a>, <a href="https://publications.waset.org/abstracts/search?q=elliptical%20contact" title=" elliptical contact"> elliptical contact</a>, <a href="https://publications.waset.org/abstracts/search?q=traction" title=" traction"> traction</a>, <a href="https://publications.waset.org/abstracts/search?q=minimum%20film%20thickness" title=" minimum film thickness"> minimum film thickness</a> </p> <a href="https://publications.waset.org/abstracts/50277/thermal-and-starvation-effects-on-lubricated-elliptical-contacts-at-high-rollingsliding-speeds" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/50277.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">392</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3145</span> Wear and Fraction Behavior of Porcelain Coated with Polyurethane/SiO2 Coating Layer</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ching%20Yern%20Chee">Ching Yern Chee</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Various loading of nano silica is added into polyurethane (PU) and then coated on porcelain substrate. The wear and friction properties of the porcelain substrates coated with polyurethane/nano silica nano composite coatings were investigated using the reciprocating wear testing machine. The friction and wear test of polyurethane/nano silica coated porcelain substrate was studied at different sliding speed and applied load. It was found that the optimum composition of nano silica is 3 wt% which gives the lowest friction coefficient and wear rate in all applied load ranges and sliding speeds. For 3 wt% nano silica filled PU coated porcelain substrate, the increment of sliding speed caused higher wear rates but lower frictions coefficient. Besides, the friction coefficient of nano silica filled PU coated porcelain substrate decreased but the wear rate increased with the applied load. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=porcelain" title="porcelain">porcelain</a>, <a href="https://publications.waset.org/abstracts/search?q=nanocomposite%20coating" title=" nanocomposite coating"> nanocomposite coating</a>, <a href="https://publications.waset.org/abstracts/search?q=morphology" title=" morphology"> morphology</a>, <a href="https://publications.waset.org/abstracts/search?q=friction" title=" friction"> friction</a>, <a href="https://publications.waset.org/abstracts/search?q=wear%20behavior" title=" wear behavior"> wear behavior</a> </p> <a href="https://publications.waset.org/abstracts/16997/wear-and-fraction-behavior-of-porcelain-coated-with-polyurethanesio2-coating-layer" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/16997.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">528</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3144</span> Backstepping Sliding Mode Control </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Othmane%20Boughazi">Othmane Boughazi</a>, <a href="https://publications.waset.org/abstracts/search?q=Abdelmadjid%20Boumedienne"> Abdelmadjid Boumedienne</a>, <a href="https://publications.waset.org/abstracts/search?q=Hachemi%20Glaoui"> Hachemi Glaoui</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This work treats the modeling and simulation of non-linear system behavior of an induction motor using backstepping sliding mode control. First, the direct field oriented control IM is derived. Then, a sliding for direct field oriented control is proposed to compensate the uncertainties, which occur in the control.Finally, the study of Backstepping sliding controls strategy of the induction motor drive. Our non linear system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=induction%20motor" title="induction motor">induction motor</a>, <a href="https://publications.waset.org/abstracts/search?q=proportional-integral" title=" proportional-integral"> proportional-integral</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=backstepping%20sliding%20mode%20control" title=" backstepping sliding mode control"> backstepping sliding mode control</a> </p> <a href="https://publications.waset.org/abstracts/15027/backstepping-sliding-mode-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/15027.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">486</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">3143</span> Fuzzy Logic Based Sliding Mode Controller for a New Soft Switching Boost Converter</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Azam%20Salimi">Azam Salimi</a>, <a href="https://publications.waset.org/abstracts/search?q=Majid%20Delshad"> Majid Delshad</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a modified design of a sliding mode controller based on fuzzy logic for a New ZVThigh step up DC-DC Converter . Here a proportional - integral (PI)-type current mode control is employed and a sliding mode controller is designed utilizing fuzzy algorithm. Sliding mode controller guarantees robustness against all variations and fuzzy logic helps to reduce chattering phenomenon due to sliding controller, in that way efficiency increases and error, voltage and current ripples decreases. The proposed system is simulated using MATLAB / SIMULINK. This model is tested under variations of input and reference voltages and it was found that in comparison with conventional sliding mode controllers they perform better. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=switching%20mode%20power%20supplies" title="switching mode power supplies">switching mode power supplies</a>, <a href="https://publications.waset.org/abstracts/search?q=DC-DC%20converters" title=" DC-DC converters"> DC-DC converters</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=robustness" title=" robustness"> robustness</a>, <a href="https://publications.waset.org/abstracts/search?q=fuzzy%20control" title=" fuzzy control"> fuzzy control</a>, <a href="https://publications.waset.org/abstracts/search?q=current%20mode%20control" title=" current mode control"> current mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=non-linear%20behavior" title=" non-linear behavior"> non-linear behavior</a> </p> <a href="https://publications.waset.org/abstracts/28763/fuzzy-logic-based-sliding-mode-controller-for-a-new-soft-switching-boost-converter" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/28763.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">538</span> </span> </div> </div> <ul class="pagination"> <li class="page-item disabled"><span class="page-link">&lsaquo;</span></li> <li class="page-item active"><span class="page-link">1</span></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=sliding%20speed&page=2">2</a></li> <li class="page-item"><a class="page-link" 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