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force</title> <meta name="description" content="Search results for: drawbar force"> <meta name="keywords" content="drawbar force"> <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="drawbar force"> <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> 2224</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: drawbar force</h1> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">2074</span> Numerical and Experimental Approach to Evaluate Forming Coil of Electromagnetic Forming Process</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=H.%20G.%20Noh">H. G. Noh</a>, <a href="https://publications.waset.org/abstracts/search?q=H.%20G.%20Park"> H. G. Park</a>, <a href="https://publications.waset.org/abstracts/search?q=B.%20S.%20Kang"> B. S. Kang</a>, <a href="https://publications.waset.org/abstracts/search?q=J.%20Kim"> J. Kim</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Electromagnetic forming process (EMF) is one of high-velocity forming processes using Lorentz force. Advantages of EMF are summarized as improvement of formability, reduction in wrinkling, non-contact forming. In this study, numerical simulations were conducted to determine the practical parameters for EMF process. A 2-D axis-symmetric electromagnetic model was considered based on the spiral type forming coil. In the numerical simulation, RLC circuit coupled with spiral coil was made to consider the design parameters such as system input current and electromagnetic force. In order to deform the sheet in the patter shape die, two types of spiral shape coil were considered to deform the pattern shape sheet. One is a spiral coil that has 6turns with dead zone at centre point. Another is a normal spiral coil without dead zone that has 8 turns. In the electric analysis, input current and magnetic force were compared and then plastic deformation was treated in the mechanical analysis for two coil cases. Deformation behaviour of dead zone coil case has good agreement with pattern shape die. As a result, deformation behaviour could be controlled by giving dead zone at centre of the coil in spiral shape coil case. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=electromagnetic%20forming" title="electromagnetic forming">electromagnetic forming</a>, <a href="https://publications.waset.org/abstracts/search?q=spiral%20coil" title=" spiral coil"> spiral coil</a>, <a href="https://publications.waset.org/abstracts/search?q=Lorentz%20force" title=" Lorentz force"> Lorentz force</a>, <a href="https://publications.waset.org/abstracts/search?q=manufacturing" title=" manufacturing"> manufacturing</a> </p> <a href="https://publications.waset.org/abstracts/7002/numerical-and-experimental-approach-to-evaluate-forming-coil-of-electromagnetic-forming-process" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/7002.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">306</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">2073</span> Experimental Investigation on Tsunami Acting on Bridges</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Iman%20Mazinani">Iman Mazinani</a>, <a href="https://publications.waset.org/abstracts/search?q=Zubaidah%20Ismail"> Zubaidah Ismail</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmad%20Mustafa%20Hashim"> Ahmad Mustafa Hashim</a>, <a href="https://publications.waset.org/abstracts/search?q=Amir%20Reza%20Saba"> Amir Reza Saba</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Two tragic tsunamis that devastated the west coast of Sumatra Island, Indonesia in 2004 and North East Japan in 2011 had damaged bridges to various extents. Tsunamis have resulted in the catastrophic deterioration of infrastructures i.e. coastal structures, utilities and transportation facilities. A bridge structure performs vital roles to enable people to perform activities related to their daily needs and for development. A damaged bridge needs to be repaired expeditiously. In order to understand the effects of tsunami forces on bridges, experimental tests are carried out to measure the characteristics of hydrodynamic force at various wave heights. Coastal bridge models designed at a 1:40 scale are used in a 24.0 m long hydraulic flume with a cross section of 1.5 m by 2.0 m. The horizontal forces and uplift forces in all cases show that forces increase nonlinearly with increasing wave amplitude. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=tsunami" title="tsunami">tsunami</a>, <a href="https://publications.waset.org/abstracts/search?q=bridge" title=" bridge"> bridge</a>, <a href="https://publications.waset.org/abstracts/search?q=horizontal%20force" title=" horizontal force"> horizontal force</a>, <a href="https://publications.waset.org/abstracts/search?q=uplift%20force" title=" uplift force"> uplift force</a> </p> <a href="https://publications.waset.org/abstracts/14510/experimental-investigation-on-tsunami-acting-on-bridges" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/14510.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">305</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">2072</span> Analysis of the Cutting Force with Ultrasonic Assisted Manufacturing of Steel (S235JR)</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Philipp%20Zopf">Philipp Zopf</a>, <a href="https://publications.waset.org/abstracts/search?q=Franz%20Haas"> Franz Haas</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Manufacturing of very hard and refractory materials like ceramics, glass or carbide poses particular challenges on tools and machines. The company Sauer GmbH developed especially for this application area ultrasonic tool holders working in a frequency range from 15 to 60 kHz and superimpose the common tool movement in the vertical axis. This technique causes a structural weakening in the contact area and facilitates the machining. The possibility of the force reduction for these special materials especially in drilling of carbide with diamond tools up to 30 percent made the authors try to expand the application range of this method. To make the results evaluable, the authors decide to start with existing processes in which the positive influence of the ultrasonic assistance is proven to understand the mechanism. The comparison of a grinding process the Institute use to machine materials mentioned in the beginning and steel could not be more different. In the first case, the authors use tools with geometrically undefined edges. In the second case, the edges are geometrically defined. To get valid results of the tests, the authors decide to investigate two manufacturing methods, drilling and milling. The main target of the investigation is to reduce the cutting force measured with a force measurement platform underneath the workpiece. Concerning to the direction of the ultrasonic assistance, the authors expect lower cutting forces and longer endurance of the tool in the drilling process. To verify the frequencies and the amplitudes an FFT-analysis is performed. It shows the increasing damping depending on the infeed rate of the tool. The reducing of amplitude of the cutting force comes along. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=drilling" title="drilling">drilling</a>, <a href="https://publications.waset.org/abstracts/search?q=machining" title=" machining"> machining</a>, <a href="https://publications.waset.org/abstracts/search?q=milling" title=" milling"> milling</a>, <a href="https://publications.waset.org/abstracts/search?q=ultrasonic" title=" ultrasonic"> ultrasonic</a> </p> <a href="https://publications.waset.org/abstracts/69538/analysis-of-the-cutting-force-with-ultrasonic-assisted-manufacturing-of-steel-s235jr" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/69538.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">274</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">2071</span> Kinematic Analysis of Human Gait for Typical Postures of Walking, Running and Cart Pulling</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Nupur%20Karmaker">Nupur Karmaker</a>, <a href="https://publications.waset.org/abstracts/search?q=Hasin%20Aupama%20Azhari"> Hasin Aupama Azhari</a>, <a href="https://publications.waset.org/abstracts/search?q=Abdul%20Al%20Mortuza"> Abdul Al Mortuza</a>, <a href="https://publications.waset.org/abstracts/search?q=Abhijit%20Chanda"> Abhijit Chanda</a>, <a href="https://publications.waset.org/abstracts/search?q=Golam%20Abu%20Zakaria"> Golam Abu Zakaria</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Purpose: The purpose of gait analysis is to determine the biomechanics of the joint, phases of gait cycle, graphical and analytical analysis of degree of rotation, analysis of the electrical activity of muscles and force exerted on the hip joint at different locomotion during walking, running and cart pulling. Methods and Materials: Visual gait analysis and electromyography method has been used to detect the degree of rotation of joints and electrical activity of muscles. In cinematography method an object is observed from different sides and takes its video. Cart pulling length has been divided into frames with respect to time by using video splitter software. Phases of gait cycle, degree of rotation of joints, EMG profile and force analysis during walking and running has been taken from different papers. Gait cycle and degree of rotation of joints during cart pulling has been prepared by using video camera, stop watch, video splitter software and Microsoft Excel. Results and Discussion: During the cart pulling the force exerted on hip is the resultant of various forces. The force on hip is the vector sum of the force Fg= mg, due the body of weight of the person and Fa= ma, due to the velocity. Maximum stance phase shows during cart pulling and minimum shows during running. During cart pulling shows maximum degree of rotation of hip joint, knee: running, and ankle: cart pulling. During walking, it has been observed minimum degree of rotation of hip, ankle: during running. During cart pulling, dynamic force depends on the walking velocity, body weight and load weight. Conclusions: 80% people suffer gait related disease with increasing their age. Proper care should take during cart pulling. It will be better to establish the gait laboratory to determine the gait related diseases. If the way of cart pulling is changed i.e the design of cart pulling machine, load bearing system is changed then it would possible to reduce the risk of limb loss, flat foot syndrome and varicose vein in lower limb. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=kinematic" title="kinematic">kinematic</a>, <a href="https://publications.waset.org/abstracts/search?q=gait" title=" gait"> gait</a>, <a href="https://publications.waset.org/abstracts/search?q=gait%20lab" title=" gait lab"> gait lab</a>, <a href="https://publications.waset.org/abstracts/search?q=phase" title=" phase"> phase</a>, <a href="https://publications.waset.org/abstracts/search?q=force%20analysis" title=" force analysis"> force analysis</a> </p> <a href="https://publications.waset.org/abstracts/42668/kinematic-analysis-of-human-gait-for-typical-postures-of-walking-running-and-cart-pulling" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/42668.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">576</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">2070</span> Effect of Capillary Forces on Wet Granular Avalanches</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ahmed%20Jarray">Ahmed Jarray</a>, <a href="https://publications.waset.org/abstracts/search?q=Vanessa%20Magnanimo"> Vanessa Magnanimo</a>, <a href="https://publications.waset.org/abstracts/search?q=Stefan%20Luding"> Stefan Luding</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Granular avalanches are ubiquitous in nature and occur in numerous industrial processes associated with particulate systems. When a small amount of liquid is added to a pile of particles, pendular bridges form and the particles are attracted by capillary forces, creating complex structure and flow behavior. We have performed an extensive series of experiments to investigate the effect of capillary force and particle size on wet granular avalanches, and we established a methodology that ensures the control of the granular flow in a rotating drum. The velocity of the free surface and the angle of repose of the particles in the rotating drum are determined using particle tracking method. The capillary force between the particles is significantly reduced by making the glass beads hydrophobic via chemical silanization. We show that the strength of the capillary forces between two adjacent particles can be deliberately manipulated through surface modification of the glass beads, thus, under the right conditions; we demonstrate that the avalanche dynamics can be controlled. The results show that the avalanche amplitude decreases when increasing the capillary force. We also find that liquid-induced cohesion increases the width of the gliding layer and the dynamic angle of repose, however, it decreases the velocity of the free surface. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=avalanche%20dynamics" title="avalanche dynamics">avalanche dynamics</a>, <a href="https://publications.waset.org/abstracts/search?q=capillary%20force" title=" capillary force"> capillary force</a>, <a href="https://publications.waset.org/abstracts/search?q=granular%20material" title=" granular material"> granular material</a>, <a href="https://publications.waset.org/abstracts/search?q=granular%20flow" title=" granular flow"> granular flow</a> </p> <a href="https://publications.waset.org/abstracts/69253/effect-of-capillary-forces-on-wet-granular-avalanches" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/69253.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">276</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">2069</span> Model Updating-Based Approach for Damage Prognosis in Frames via Modal Residual Force</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Gholamreza%20Ghodrati%20Amiri">Gholamreza Ghodrati Amiri</a>, <a href="https://publications.waset.org/abstracts/search?q=Mojtaba%20Jafarian%20Abyaneh"> Mojtaba Jafarian Abyaneh</a>, <a href="https://publications.waset.org/abstracts/search?q=Ali%20Zare%20Hosseinzadeh"> Ali Zare Hosseinzadeh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents an effective model updating strategy for damage localization and quantification in frames by defining damage detection problem as an optimization issue. A generalized version of the Modal Residual Force (MRF) is employed for presenting a new damage-sensitive cost function. Then, Grey Wolf Optimization (GWO) algorithm is utilized for solving suggested inverse problem and the global extremums are reported as damage detection results. The applicability of the presented method is investigated by studying different damage patterns on the benchmark problem of the IASC-ASCE, as well as a planar shear frame structure. The obtained results emphasize good performance of the method not only in free-noise cases, but also when the input data are contaminated with different levels of noises. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=frame" title="frame">frame</a>, <a href="https://publications.waset.org/abstracts/search?q=grey%20wolf%20optimization%20algorithm" title=" grey wolf optimization algorithm"> grey wolf optimization algorithm</a>, <a href="https://publications.waset.org/abstracts/search?q=modal%20residual%20force" title=" modal residual force"> modal residual force</a>, <a href="https://publications.waset.org/abstracts/search?q=structural%20damage%20detection" title=" structural damage detection"> structural damage detection</a> </p> <a href="https://publications.waset.org/abstracts/47524/model-updating-based-approach-for-damage-prognosis-in-frames-via-modal-residual-force" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/47524.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">389</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">2068</span> Complementary Mathematical Model for Underwater Vehicles under Load Variation Test Conditions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Erim%20Koyun">Erim Koyun</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper aim to construct a mathematical model for Underwater vehicles under load variation test conditions. Propeller effects on underwater vehicle are investigated. Body with counter rotating propeller model is analyzed by CFD methods, thus forces and moment are obtained. Propeller effects of vehicle’s hydrodynamic performance under load variation conditions will be investigated. Additionally, pressure contour is examined for differences between different load conditions. Axial force equation is established using hydrodynamic coefficients, which contains resistance, thrust, and additional coefficients occurs due to load variations. Additional coefficients helps to express completely axial force on underwater vehicle. When the vehicle accelerates, additional force occurs besides thrust force increment. This is propeller effect on the body. Hence, mathematical model cover this effect. For CFD analysis, the incompressible, three-dimensional, and unsteady Reynolds Averaged Navier-Stokes equations will be used Numerical results is verified with experimental results for verification. The overall goal of this study is to present complementary mathematical model for body with counter rotating propeller. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=counter%20rotating%20propeller" title="counter rotating propeller">counter rotating propeller</a>, <a href="https://publications.waset.org/abstracts/search?q=CFD" title=" CFD"> CFD</a>, <a href="https://publications.waset.org/abstracts/search?q=hydrodynamic%20mathematic%20model" title=" hydrodynamic mathematic model"> hydrodynamic mathematic model</a>, <a href="https://publications.waset.org/abstracts/search?q=hydrodynamics%20analysis" title=" hydrodynamics analysis"> hydrodynamics analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=thrust%20deduction" title=" thrust deduction"> thrust deduction</a> </p> <a href="https://publications.waset.org/abstracts/144832/complementary-mathematical-model-for-underwater-vehicles-under-load-variation-test-conditions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/144832.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">136</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">2067</span> Analysis of Drilling Parameters for Al-Mg2-Si Metal Matrix Composite</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=S.%20Jahangir">S. Jahangir</a>, <a href="https://publications.waset.org/abstracts/search?q=S.%20H.%20I.%20Jaffery"> S. H. I. Jaffery</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Khan"> M. Khan</a>, <a href="https://publications.waset.org/abstracts/search?q=Z.%20Zareef"> Z. Zareef</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Yar"> A. Yar</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Mubashir"> A. Mubashir</a>, <a href="https://publications.waset.org/abstracts/search?q=S.%20Butt"> S. Butt</a>, <a href="https://publications.waset.org/abstracts/search?q=L.%20Ali"> L. Ali </a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this work, drilling responses and behavior of MMC was investigated in Al-Mg2Si composites. For the purpose Al-15% wt. Mg2Si, was selected from the hypereutectic region of Al- Mg2Si phase diagram. Based on hardness and tensile strength, drill bit of appropriate material and morphology was selected. The performance of different drill bits of different morphology and material was studied and analysed using experimental data. For theoretical calculations of axial thrust force and required power calculation, material factor “K” was obtained from different data charts and at the same time cutting forces (drilling forces) were practically obtained using a Peizo electric force dynamometer. These results show the role of reinforcement particles on the machinability of MMCs and provide a useful guide for a better control and optimized drilling parameters for the drilling process. Furthermore, in this work, comparison of MMC with non -reinforced Aluminum Alloy regarding drilling operation was also studied. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=drilling" title="drilling">drilling</a>, <a href="https://publications.waset.org/abstracts/search?q=metal%20matrix%20composite%20%28MMC%29" title=" metal matrix composite (MMC)"> metal matrix composite (MMC)</a>, <a href="https://publications.waset.org/abstracts/search?q=cutting%20forces" title=" cutting forces"> cutting forces</a>, <a href="https://publications.waset.org/abstracts/search?q=thrust%20force" title=" thrust force"> thrust force</a> </p> <a href="https://publications.waset.org/abstracts/38398/analysis-of-drilling-parameters-for-al-mg2-si-metal-matrix-composite" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/38398.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">430</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">2066</span> Sliding Mode Control of Bilateral Teleoperation System with Time Delay</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ahmad%20Forouzantabar">Ahmad Forouzantabar</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammad%20Azadi"> Mohammad Azadi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents sliding mode controller for bilateral teleoperation systems with robotic master and slave under constant communication delays. We extend the passivity-based coordination architecture to enhance position and force tracking in the presence of offset in initial conditions, environmental contacts and unknown parameters such as friction coefficient. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of master and slave robots and improve both position and force tracking. Using the Lyapunov theory, the boundedness of master- slave tracking errors and the stability of the teleoperation system are also guaranteed. Numerical simulations show that proposed controller position and force tracking performances are superior to that of conventional coordination controller tracking performances. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Lyapunov%20stability" title="Lyapunov stability">Lyapunov stability</a>, <a href="https://publications.waset.org/abstracts/search?q=teleoperation%20system" title=" teleoperation system"> teleoperation system</a>, <a href="https://publications.waset.org/abstracts/search?q=time%20delay" title=" time delay"> time delay</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/45830/sliding-mode-control-of-bilateral-teleoperation-system-with-time-delay" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/45830.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">385</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">2065</span> Design and Fabrication of a Programmable Stiffness-Sensitive Gripper for Object Handling</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mehdi%20Modabberifar">Mehdi Modabberifar</a>, <a href="https://publications.waset.org/abstracts/search?q=Sanaz%20Jabary"> Sanaz Jabary</a>, <a href="https://publications.waset.org/abstracts/search?q=Mojtaba%20Ghodsi"> Mojtaba Ghodsi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Stiffness sensing is an important issue in medical diagnostic, robotics surgery, safe handling, and safe grasping of objects in production lines. Detecting and obtaining the characteristics in dwelling lumps embedded in a soft tissue and safe removing and handling of detected lumps is needed in surgery. Also in industry, grasping and handling an object without damaging in a place where it is not possible to access a human operator is very important. In this paper, a method for object handling is presented. It is based on the use of an intelligent gripper to detect the object stiffness and then setting a programmable force for grasping the object to move it. The main components of this system includes sensors (sensors for measuring force and displacement), electrical (electrical and electronic circuits, tactile data processing and force control system), mechanical (gripper mechanism and driving system for the gripper) and the display unit. The system uses a rotary potentiometer for measuring gripper displacement. A microcontroller using the feedback received by the load cell, mounted on the finger of the gripper, calculates the amount of stiffness, and then commands the gripper motor to apply a certain force on the object. Results of Experiments on some samples with different stiffness show that the gripper works successfully. The gripper can be used in haptic interfaces or robotic systems used for object handling. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=gripper" title="gripper">gripper</a>, <a href="https://publications.waset.org/abstracts/search?q=haptic" title=" haptic"> haptic</a>, <a href="https://publications.waset.org/abstracts/search?q=stiffness" title=" stiffness"> stiffness</a>, <a href="https://publications.waset.org/abstracts/search?q=robotic" title=" robotic"> robotic</a> </p> <a href="https://publications.waset.org/abstracts/50696/design-and-fabrication-of-a-programmable-stiffness-sensitive-gripper-for-object-handling" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/50696.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">358</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">2064</span> Modeling and System Identification of a Variable Excited Linear Direct Drive</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Heiko%20Wei%C3%9F">Heiko Weiß</a>, <a href="https://publications.waset.org/abstracts/search?q=Andreas%20Meister"> Andreas Meister</a>, <a href="https://publications.waset.org/abstracts/search?q=Christoph%20Ament"> Christoph Ament</a>, <a href="https://publications.waset.org/abstracts/search?q=Nils%20Dreifke"> Nils Dreifke</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Linear actuators are deployed in a wide range of applications. This paper presents the modeling and system identification of a variable excited linear direct drive (LDD). The LDD is designed based on linear hybrid stepper technology exhibiting the characteristic tooth structure of mover and stator. A three-phase topology provides the thrust force caused by alternating strengthening and weakening of the flux of the legs. To achieve best possible synchronous operation, the phases are commutated sinusoidal. Despite the fact that these LDDs provide high dynamics and drive forces, noise emission limits their operation in calm workspaces. To overcome this drawback an additional excitation of the magnetic circuit is introduced to LDD using additional enabling coils instead of permanent magnets. The new degree of freedom can be used to reduce force variations and related noise by varying the excitation flux that is usually generated by permanent magnets. Hence, an identified simulation model is necessary to analyze the effects of this modification. Especially the force variations must be modeled well in order to reduce them sufficiently. The model can be divided into three parts: the current dynamics, the mechanics and the force functions. These subsystems are described with differential equations or nonlinear analytic functions, respectively. Ordinary nonlinear differential equations are derived and transformed into state space representation. Experiments have been carried out on a test rig to identify the system parameters of the complete model. Static and dynamic simulation based optimizations are utilized for identification. The results are verified in time and frequency domain. Finally, the identified model provides a basis for later design of control strategies to reduce existing force variations. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=force%20variations" title="force variations">force variations</a>, <a href="https://publications.waset.org/abstracts/search?q=linear%20direct%20drive" title=" linear direct drive"> linear direct drive</a>, <a href="https://publications.waset.org/abstracts/search?q=modeling%20and%20system%20identification" title=" modeling and system identification"> modeling and system identification</a>, <a href="https://publications.waset.org/abstracts/search?q=variable%20excitation%20flux" title=" variable excitation flux"> variable excitation flux</a> </p> <a href="https://publications.waset.org/abstracts/58717/modeling-and-system-identification-of-a-variable-excited-linear-direct-drive" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/58717.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">370</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">2063</span> New Modification Negative Stiffness Device with Constant Force-Displacement Characteristic for Seismic Protection of Structures</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Huan%20Li">Huan Li</a>, <a href="https://publications.waset.org/abstracts/search?q=Jianchun%20Li"> Jianchun Li</a>, <a href="https://publications.waset.org/abstracts/search?q=Yancheng%20Li"> Yancheng Li</a>, <a href="https://publications.waset.org/abstracts/search?q=Yang%20Yu"> Yang Yu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> As a seismic protection method of civil and engineering structures, weakening and damping is effective during the elastic region, while it somehow leads to the early yielding of the entire structure accompanying with large excursions and permanent deformations. Adaptive negative stiffness device is attractive for realizing yielding property without changing the stiffness of the primary structure. In this paper, a new modification negative stiffness device (MNSD) with constant force-displacement characteristic is proposed by combining a magnetic negative stiffness spring, a piecewise linear positive spring and a passive damper with a certain adaptive stiffness device. The proposed passive control MNSD preserves no effect under small excitation. When the displacement amplitude increases beyond the pre-defined yielding point, the force-displacement characteristics of the system with MNSD will keep constant. The seismic protection effect of the MNSD is evaluated by employing it to a single-degree-of-freedom system under sinusoidal excitation, and real earthquake waves. By comparative analysis, the system with MNSD performs better on reducing acceleration and displacement response under different displacement amplitudes than the scenario without it and the scenario with unmodified certain adaptive stiffness device. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=negative%20stiffness" title="negative stiffness">negative stiffness</a>, <a href="https://publications.waset.org/abstracts/search?q=adaptive%20stiffness" title=" adaptive stiffness"> adaptive stiffness</a>, <a href="https://publications.waset.org/abstracts/search?q=weakening%20and%20yielding" title=" weakening and yielding"> weakening and yielding</a>, <a href="https://publications.waset.org/abstracts/search?q=constant%20force-displacement%20characteristic" title=" constant force-displacement characteristic"> constant force-displacement characteristic</a> </p> <a href="https://publications.waset.org/abstracts/125646/new-modification-negative-stiffness-device-with-constant-force-displacement-characteristic-for-seismic-protection-of-structures" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/125646.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">159</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">2062</span> Mediating Role of Experiential Value Added by the Sales Force</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Said%20Echchakoui">Said Echchakoui</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper aims to investigate how experiential value added by the salesperson mediates the relationship between perceived salesperson source characteristics and his performance. Structural equation modelling was employed to assess the proposed research model empirically. The empirical results revealed that the three dimensions of experiential value economic benefit, service productivity and enjoyable interaction, mediated the relationship between perceived salesperson source characteristics and his performance. Managerial implications are addressed. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sales%20force" title="sales force">sales force</a>, <a href="https://publications.waset.org/abstracts/search?q=experiential%20added%20value" title=" experiential added value"> experiential added value</a>, <a href="https://publications.waset.org/abstracts/search?q=customer%20perceived%20value" title=" customer perceived value"> customer perceived value</a>, <a href="https://publications.waset.org/abstracts/search?q=performance" title=" performance"> performance</a> </p> <a href="https://publications.waset.org/abstracts/8499/mediating-role-of-experiential-value-added-by-the-sales-force" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/8499.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">433</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">2061</span> Prediction of Rolling Forces and Real Exit Thickness of Strips in the Cold Rolling by Using Artificial Neural Networks</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=M.%20Heydari%20Vini">M. Heydari Vini</a> </p> <p class="card-text"><strong>Abstract:</strong></p> There is a complicated relation between effective input parameters of cold rolling and output rolling force and exit thickness of strips.in many mathematical models, the effect of some rolling parameters have been ignored and the outputs have not a desirable accuracy. In the other hand, there is a special relation among input thickness of strips,the width of the strips,rolling speeds,mandrill tensions and the required exit thickness of strips with rolling force and the real exit thickness of the rolled strip. First of all, in this paper the effective parameters of cold rolling process modeled using an artificial neural network according to the optimum network achieved by using a written program in MATLAB,it has been shown that the prediction of rolling stand parameters with different properties and new dimensions attained from prior rolled strips by an artificial neural network is applicable. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cold%20rolling" title="cold rolling">cold rolling</a>, <a href="https://publications.waset.org/abstracts/search?q=artificial%20neural%20networks" title=" artificial neural networks"> artificial neural networks</a>, <a href="https://publications.waset.org/abstracts/search?q=rolling%20force" title=" rolling force"> rolling force</a>, <a href="https://publications.waset.org/abstracts/search?q=real%20rolled%20thickness%20of%20strips" title=" real rolled thickness of strips"> real rolled thickness of strips</a> </p> <a href="https://publications.waset.org/abstracts/20685/prediction-of-rolling-forces-and-real-exit-thickness-of-strips-in-the-cold-rolling-by-using-artificial-neural-networks" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/20685.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">505</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">2060</span> Providing a Secure Hybrid Method for Graphical Password Authentication to Prevent Shoulder Surfing, Smudge and Brute Force Attack</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Faraji%20Sepideh">Faraji Sepideh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Nowadays, purchase rate of the smart device is increasing and user authentication is one of the important issues in information security. Alphanumeric strong passwords are difficult to memorize and also owners write them down on papers or save them in a computer file. In addition, text password has its own flaws and is vulnerable to attacks. Graphical password can be used as an alternative to alphanumeric password that users choose images as a password. This type of password is easier to use and memorize and also more secure from pervious password types. In this paper we have designed a more secure graphical password system to prevent shoulder surfing, smudge and brute force attack. This scheme is a combination of two types of graphical passwords recognition based and Cued recall based. Evaluation the usability and security of our proposed scheme have been explained in conclusion part. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=brute%20force%20attack" title="brute force attack">brute force attack</a>, <a href="https://publications.waset.org/abstracts/search?q=graphical%20password" title=" graphical password"> graphical password</a>, <a href="https://publications.waset.org/abstracts/search?q=shoulder%20surfing%20attack" title=" shoulder surfing attack"> shoulder surfing attack</a>, <a href="https://publications.waset.org/abstracts/search?q=smudge%20attack" title=" smudge attack"> smudge attack</a> </p> <a href="https://publications.waset.org/abstracts/114367/providing-a-secure-hybrid-method-for-graphical-password-authentication-to-prevent-shoulder-surfing-smudge-and-brute-force-attack" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/114367.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">161</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">2059</span> A Low-Cost of Foot Plantar Shoes for Gait Analysis</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Zulkifli%20Ahmad">Zulkifli Ahmad</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohd%20Razlan%20Azizan"> Mohd Razlan Azizan</a>, <a href="https://publications.waset.org/abstracts/search?q=Nasrul%20Hadi%20Johari"> Nasrul Hadi Johari</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a study on development and conducting of a wearable sensor system for gait analysis measurement. For validation, the method of plantar surface measurement by force plate was prepared. In general gait analysis, force plate generally represents a studies about barefoot in whole steps and do not allow analysis of repeating movement step in normal walking and running. The measurements that were usually perform do not represent the whole daily plantar pressures in the shoe insole and only obtain the ground reaction force. The force plate measurement is usually limited a few step and it is done indoor and obtaining coupling information from both feet during walking is not easily obtained. Nowadays, in order to measure pressure for a large number of steps and obtain pressure in each insole part, it could be done by placing sensors within an insole. With this method, it will provide a method for determine the plantar pressures while standing, walking or running of a shoe wearing subject. Inserting pressure sensors in the insole will provide specific information and therefore the point of the sensor placement will result in obtaining the critical part under the insole. In the wearable shoe sensor project, the device consists left and right shoe insole with ten FSR. Arduino Mega was used as a micro-controller that read the analog input from FSR. The analog inputs were transmitted via bluetooth data transmission that gains the force data in real time on smartphone. Blueterm software which is an android application was used as an interface to read the FSR reading on the shoe wearing subject. The subject consist of two healthy men with different age and weight doing test while standing, walking (1.5 m/s), jogging (5 m/s) and running (9 m/s) on treadmill. The data obtain will be saved on the android device and for making an analysis and comparison graph. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=gait%20analysis" title="gait analysis">gait analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=plantar%20pressure" title=" plantar pressure"> plantar pressure</a>, <a href="https://publications.waset.org/abstracts/search?q=force%20plate" title=" force plate"> force plate</a>, <a href="https://publications.waset.org/abstracts/search?q=earable%20sensor" title=" earable sensor"> earable sensor</a> </p> <a href="https://publications.waset.org/abstracts/13319/a-low-cost-of-foot-plantar-shoes-for-gait-analysis" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/13319.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">453</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">2058</span> Effects of Preparation Caused by Ischemic-Reperfusion along with Sodium Bicarbonate Supplementation on Submaximal Dynamic Force Production</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sara%20Nasiri%20Semnani">Sara Nasiri Semnani</a>, <a href="https://publications.waset.org/abstracts/search?q=Alireza%20Ramzani"> Alireza Ramzani</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Background and Aims: Sodium bicarbonate is a supplementation that used to reduce fatigue and increase power output in short-term training. On the other hand, the Ischemic Reperfusion Preconditioning (IRPC) is an appropriate stimulus to increase the submaximal contractile response. Materials and methods: 9 female student-athletes in double-blind randomized crossover design were three mode, sodium bicarbonate + IRPC, sodium bicarbonate and placebo+ IRPC. Participants moved forward single arm dumbbell hand with a weight of 2 kg can be carried out most frequently. Results: The results showed that plasma lactate concentration and records of sodium bicarbonate + IRPC and sodium bicarbonate conditions were significantly different compared to placebo + IRPC (Respectively p=0.001, p=0/02). Conclusion: According to the research findings, bicarbonate supplementation in IRPC training condition increased force and delay fatigue in submaximal dynamic contraction. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=ischemic%20reperfusion" title="ischemic reperfusion">ischemic reperfusion</a>, <a href="https://publications.waset.org/abstracts/search?q=preconditioning" title=" preconditioning"> preconditioning</a>, <a href="https://publications.waset.org/abstracts/search?q=sodium%20bicarbonate" title=" sodium bicarbonate"> sodium bicarbonate</a>, <a href="https://publications.waset.org/abstracts/search?q=submaximal%20dynamic%20force" title=" submaximal dynamic force"> submaximal dynamic force</a> </p> <a href="https://publications.waset.org/abstracts/89111/effects-of-preparation-caused-by-ischemic-reperfusion-along-with-sodium-bicarbonate-supplementation-on-submaximal-dynamic-force-production" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/89111.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">303</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">2057</span> Relativistic Effects of Rotation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Yin%20Rui">Yin Rui</a>, <a href="https://publications.waset.org/abstracts/search?q=Yin%20Ming"> Yin Ming</a>, <a href="https://publications.waset.org/abstracts/search?q=Wang%20Yang"> Wang Yang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> For a rotational reference frame of the theory of special relativity, the critical radius is defined as the distance from the axis to the point where the tangential velocity is equal to the speed of light, and the critical cylinder as the set of all points separated from the axis by this critical radius. Based on these terms, two relativistic effects of rotation are discovered: (i) the tangential velocity in the region of Outside Critical Cylinder (OCC) is not superluminal due to the existence of space-time exchange; (ii) some of the physical quantities of the rotational body have an opposite mathematic sign at OCC versus those at Inside Critical Cylinder (ICC), which is termed as the Critical Cylindrical Effect (CCE). The laboratory experiments demonstrate that the repulsive force exerted on an anion by electrons will change to an attractive force by the electrons in precession while the anion is at OCC of the precession. Thirty-six screenshots from four experimental videos are provided. Theoretical proofs for both space-time exchange and CCE are then presented. The CCEs of field force are also discussed. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=critical%20radius" title="critical radius">critical radius</a>, <a href="https://publications.waset.org/abstracts/search?q=critical%20cylindrical%20effect" title=" critical cylindrical effect"> critical cylindrical effect</a>, <a href="https://publications.waset.org/abstracts/search?q=special%20relativity" title=" special relativity"> special relativity</a>, <a href="https://publications.waset.org/abstracts/search?q=space-time%20exchange" title=" space-time exchange"> space-time exchange</a> </p> <a href="https://publications.waset.org/abstracts/182875/relativistic-effects-of-rotation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/182875.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">77</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">2056</span> Beyond the “Breakdown” of Karman Vortex Street</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ajith%20Kumar%20S.">Ajith Kumar S.</a>, <a href="https://publications.waset.org/abstracts/search?q=Sankaran%20Namboothiri"> Sankaran Namboothiri</a>, <a href="https://publications.waset.org/abstracts/search?q=Sankrish%20J."> Sankrish J.</a>, <a href="https://publications.waset.org/abstracts/search?q=SarathKumar%20S."> SarathKumar S.</a>, <a href="https://publications.waset.org/abstracts/search?q=S.%20Anil%20Lal"> S. Anil Lal </a> </p> <p class="card-text"><strong>Abstract:</strong></p> A numerical analysis of flow over a heated circular cylinder is done in this paper. The governing equations, Navier-Stokes, and energy equation within the Boussinesq approximation along with continuity equation are solved using hybrid FEM-FVM technique. The density gradient created due to the heating of the cylinder will induce buoyancy force, opposite to the direction of action of acceleration due to gravity, g. In the present work, the flow direction and the direction of buoyancy force are taken as same (vertical flow configuration), so that the buoyancy force accelerates the mean flow past the cylinder. The relative dominance of the buoyancy force over the inertia force is characterized by the Richardson number (Ri), which is one of the parameter that governs the flow dynamics and heat transfer in this analysis. It is well known that above a certain value of Reynolds number, Re (ratio of inertia force over the viscous forces), the unsteady Von Karman vortices can be seen shedding behind the cylinder. The shedding wake patterns could be seriously altered by heating/cooling the cylinder. The non-dimensional shedding frequency called the Strouhal number is found to be increasing as Ri increases. The aerodynamic force coefficients CL and CD are observed to change its value. In the present vertical configuration of flow over the cylinder, as Ri increases, shedding frequency gets increased and suddenly drops down to zero at a critical value of Richardson number. The unsteady vortices turn to steady standing recirculation bubbles behind the cylinder after this critical Richardson number. This phenomenon is well known in literature as "Breakdown of the Karman Vortex Street". It is interesting to see the flow structures on further increase in the Richardson number. On further heating of the cylinder surface, the size of the recirculation bubble decreases without loosing its symmetry about the horizontal axis passing through the center of the cylinder. The separation angle is found to be decreasing with Ri. Finally, we observed a second critical Richardson number, after which the the flow will be attached to the cylinder surface without any wake behind it. The flow structures will be symmetrical not only about the horizontal axis, but also with the vertical axis passing through the center of the cylinder. At this stage, there will be a "single plume" emanating from the rear stagnation point of the cylinder. We also observed the transition of the plume is a strong function of the Richardson number. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=drag%20reduction" title="drag reduction">drag reduction</a>, <a href="https://publications.waset.org/abstracts/search?q=flow%20over%20circular%20cylinder" title=" flow over circular cylinder"> flow over circular cylinder</a>, <a href="https://publications.waset.org/abstracts/search?q=flow%20control" title=" flow control"> flow control</a>, <a href="https://publications.waset.org/abstracts/search?q=mixed%20convection%20flow" title=" mixed convection flow"> mixed convection flow</a>, <a href="https://publications.waset.org/abstracts/search?q=vortex%20shedding" title=" vortex shedding"> vortex shedding</a>, <a href="https://publications.waset.org/abstracts/search?q=vortex%20breakdown" title=" vortex breakdown"> vortex breakdown</a> </p> <a href="https://publications.waset.org/abstracts/27437/beyond-the-breakdown-of-karman-vortex-street" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/27437.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">404</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">2055</span> Strip Size Optimization for Spiral Type Actuator Coil Used in Electromagnetic Flat Sheet Forming Experiment </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=M.%20A.%20Aleem">M. A. Aleem</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20S.%20Awan"> M. S. Awan</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Flat spiral coil for electromagnetic forming system has been modelled in FEMM 4.2 software. Copper strip was chosen as the material for designing the actuator coil. Relationship between height to width ratio (S-factor) of the copper strip and coil’s performance has been studied. Magnetic field intensities, eddy currents, and Lorentz force were calculated for the coils that were designed using six different 'S-factor' values (0.65, 0.75, 1.05, 1.25, 1.54 and 1.75), keeping the cross-sectional area of strip the same. Results obtained through simulation suggest that actuator coil with S-factor ~ 1 shows optimum forming performance as it exerts maximum Lorentz force (84 kN) on work piece. The same coils were fabricated and used for electromagnetic sheet forming experiments. Aluminum 6061 sheets of thickness 1.5 mm have been formed using different voltage levels of capacitor bank. Smooth forming profiles were obtained with dome heights 28, 35 and 40 mm in work piece at 800, 1150 and 1250 V respectively. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=FEM%20modelling" title="FEM modelling">FEM modelling</a>, <a href="https://publications.waset.org/abstracts/search?q=electromagnetic%20forming" title=" electromagnetic forming"> electromagnetic forming</a>, <a href="https://publications.waset.org/abstracts/search?q=spiral%20coil" title=" spiral coil"> spiral coil</a>, <a href="https://publications.waset.org/abstracts/search?q=Lorentz%20force" title=" Lorentz force"> Lorentz force</a> </p> <a href="https://publications.waset.org/abstracts/86282/strip-size-optimization-for-spiral-type-actuator-coil-used-in-electromagnetic-flat-sheet-forming-experiment" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/86282.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">286</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">2054</span> A Comparative Study of Innovative Regions in the World Based on the Theory of Innovation Ecosystem: Cases of the Silicon Valley, Cambridge, Tsukuba and Zhongguancun</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Xinlan%20Zhang">Xinlan Zhang</a>, <a href="https://publications.waset.org/abstracts/search?q=Dandong%20Ge"> Dandong Ge</a>, <a href="https://publications.waset.org/abstracts/search?q=Bingying%20Liu"> Bingying Liu</a>, <a href="https://publications.waset.org/abstracts/search?q=Haoyang%20Liang"> Haoyang Liang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> With the rapid development of technology and urbanization, innovation has become an important driving force for urban development. Since the late 20th Century, a number of cities and regions have emerged in the world with innovation as the main driving force, and many of them are still the most important innovation centers in the world. Based on the perspective of innovation ecosystem theory, this paper compares Silicon Valley in the United States, Cambridge in the United Kingdom, Tsukuba in Japan and Zhongguancun in China to explore the reasons for the success of innovative regions and their respective characteristics, hoping to provide a reference for the development of other innovative cities. The main conclusions of this study are the following; firstly, different countries have different social backgrounds. The development model of innovative regions is closely related to the regional backgrounds. Secondly, the market force and the government power have important significance for the development of the innovation regions. The influence of the government power in the early stage of development is great, and in the latter stage, development is dominated by the market force. In addition, the self-organizing ability of the region has a great impact on the innovation ability of the region. Strong self-organizing ability is conducive to the development of innovation economy. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=contrastive%20study" title="contrastive study">contrastive study</a>, <a href="https://publications.waset.org/abstracts/search?q=development%20model" title=" development model"> development model</a>, <a href="https://publications.waset.org/abstracts/search?q=innovation%20ecosystem" title=" innovation ecosystem"> innovation ecosystem</a>, <a href="https://publications.waset.org/abstracts/search?q=innovative%20regions" title=" innovative regions"> innovative regions</a> </p> <a href="https://publications.waset.org/abstracts/99054/a-comparative-study-of-innovative-regions-in-the-world-based-on-the-theory-of-innovation-ecosystem-cases-of-the-silicon-valley-cambridge-tsukuba-and-zhongguancun" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/99054.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">158</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">2053</span> Interaction Diagrams for Symmetrically Reinforced Concrete Square Sections Under 3 Dimensional Multiaxial Loading Conditions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Androniki-Anna%20Doulgeroglou">Androniki-Anna Doulgeroglou</a>, <a href="https://publications.waset.org/abstracts/search?q=Panagiotis%20Kotronis"> Panagiotis Kotronis</a>, <a href="https://publications.waset.org/abstracts/search?q=Giulio%20Sciarra"> Giulio Sciarra</a>, <a href="https://publications.waset.org/abstracts/search?q=Catherine%20Bouillon"> Catherine Bouillon</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The interaction diagrams are functions that define ultimate states expressed in terms of generalized forces (axial force, bending moment and shear force). Two characteristic states for reinforced concrete (RC) sections are proposed: the first characteristic state corresponds to the yield of the reinforcement bars and the second to the peak values of the generalized forces generalized displacements curves. 3D numerical simulations are then conducted for RC columns and the global responses are compared to experimental results. Interaction diagrams for combined flexion, shear and axial force loading conditions are numerically produced for symmetrically RC square sections for different reinforcement ratios. Analytical expressions of the interaction diagrams are also proposed, satisfying the condition of convexity. Comparison with interaction diagrams from the Eurocode is finally presented for the study cases. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=analytical%20convex%20expressions" title="analytical convex expressions">analytical convex expressions</a>, <a href="https://publications.waset.org/abstracts/search?q=finite%20element%20method" title=" finite element method"> finite element method</a>, <a href="https://publications.waset.org/abstracts/search?q=interaction%20diagrams" title=" interaction diagrams"> interaction diagrams</a>, <a href="https://publications.waset.org/abstracts/search?q=reinforced%20concrete" title=" reinforced concrete"> reinforced concrete</a> </p> <a href="https://publications.waset.org/abstracts/150050/interaction-diagrams-for-symmetrically-reinforced-concrete-square-sections-under-3-dimensional-multiaxial-loading-conditions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/150050.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">147</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">2052</span> Design and Analysis of a Piezoelectric-Based AC Current Measuring Sensor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Easa%20Ali%20Abbasi">Easa Ali Abbasi</a>, <a href="https://publications.waset.org/abstracts/search?q=Akbar%20Allahverdizadeh"> Akbar Allahverdizadeh</a>, <a href="https://publications.waset.org/abstracts/search?q=Reza%20Jahangiri"> Reza Jahangiri</a>, <a href="https://publications.waset.org/abstracts/search?q=Behnam%20Dadashzadeh"> Behnam Dadashzadeh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Electrical current measurement is a suitable method for the performance determination of electrical devices. There are two contact and noncontact methods in this measuring process. Contact method has some disadvantages like having direct connection with wire which may endamage the system. Thus, in this paper, a bimorph piezoelectric cantilever beam which has a permanent magnet on its free end is used to measure electrical current in a noncontact way. In mathematical modeling, based on Galerkin method, the governing equation of the cantilever beam is solved, and the equation presenting the relation between applied force and beam’s output voltage is presented. Magnetic force resulting from current carrying wire is considered as the external excitation force of the system. The results are compared with other references in order to demonstrate the accuracy of the mathematical model. Finally, the effects of geometric parameters on the output voltage and natural frequency are presented. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cantilever%20beam" title="cantilever beam">cantilever beam</a>, <a href="https://publications.waset.org/abstracts/search?q=electrical%20current%20measurement" title=" electrical current measurement"> electrical current measurement</a>, <a href="https://publications.waset.org/abstracts/search?q=forced%20excitation" title=" forced excitation"> forced excitation</a>, <a href="https://publications.waset.org/abstracts/search?q=piezoelectric" title=" piezoelectric"> piezoelectric</a> </p> <a href="https://publications.waset.org/abstracts/78636/design-and-analysis-of-a-piezoelectric-based-ac-current-measuring-sensor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/78636.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">232</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">2051</span> The Associations of Pes Planus Plantaris (Flat Foot) to the Postural Stability of Basketball Student-Athletes Through the Ground Reaction Force Vector (vGRF)</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Def%20Primal">Def Primal</a>, <a href="https://publications.waset.org/abstracts/search?q=Sasanty%20Kusumaningtyas"> Sasanty Kusumaningtyas</a>, <a href="https://publications.waset.org/abstracts/search?q=Ermita%20I.%20Ibrahim"> Ermita I. Ibrahim</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Purpose: The main objective of this study is to determine the pes planus plantaris (flat foot) condition can contribute to the disturbance of postural stability in basketball athletes in static and dynamic activities. Methods: This cross-sectional quantitative analytical retrospective study on 47 subjects of basketball student-athletes identified the foot arch index by extensive footprint area and AMTI (Advanced Mechanical Technology Inc.) Force flat-form (force plate) determined their postural stability. Subjects were conducted in three activities (static, dynamic vertical jump, and dynamic loading response) for ground reaction force (GRF) resultant vectors towards the vertical plane of body mass (W). Results Analytical results obtained that 80.9% of subjects had pes planus plantaris. It shows no significant differences in pes planus plantaris incidence in both sexes subject (p>0.005); however, there are differences in athlete’s exercise period aspect. Athlete students who have practiced strictly for more than four years’ experience over 50% of pes planus plantaris; furthermore, a long period of exercise was believed to stimulate pes planus. The average value of GRF vectors of pes planus plantaris subjects on three different basketball movements shows a significant correlation to postural stability. Conclusions Pes planus plantaris affected almost basketball athletes regarding the length and intensity of exercise performed. The condition significantly contributes to postural stability disturbance on a static condition, dynamic vertical jump, and dynamic vertical jump loading response. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=pes%20planus%20plantaris" title="pes planus plantaris">pes planus plantaris</a>, <a href="https://publications.waset.org/abstracts/search?q=flatfoot" title=" flatfoot"> flatfoot</a>, <a href="https://publications.waset.org/abstracts/search?q=ground%20reaction%20force" title=" ground reaction force"> ground reaction force</a>, <a href="https://publications.waset.org/abstracts/search?q=static%20and%20dynamic%20stability" title=" static and dynamic stability"> static and dynamic stability</a> </p> <a href="https://publications.waset.org/abstracts/153583/the-associations-of-pes-planus-plantaris-flat-foot-to-the-postural-stability-of-basketball-student-athletes-through-the-ground-reaction-force-vector-vgrf" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/153583.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">143</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">2050</span> Optics Meets Microfluidics for Highly Sensitive Force Sensing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Iliya%20Dimitrov%20Stoev">Iliya Dimitrov Stoev</a>, <a href="https://publications.waset.org/abstracts/search?q=Benjamin%20Seelbinder"> Benjamin Seelbinder</a>, <a href="https://publications.waset.org/abstracts/search?q=Elena%20Erben"> Elena Erben</a>, <a href="https://publications.waset.org/abstracts/search?q=Nicola%20Maghelli"> Nicola Maghelli</a>, <a href="https://publications.waset.org/abstracts/search?q=Moritz%20Kreysing"> Moritz Kreysing</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Despite the revolutionizing impact of optical tweezers in materials science and cell biology up to the present date, trapping has so far extensively relied on specific material properties of the probe and local heating has limited applications related to investigating dynamic processes within living systems. To overcome these limitations while maintaining high sensitivity, here we present a new optofluidic approach that can be used to gently trap microscopic particles and measure femtoNewton forces in a contact-free manner and with thermally limited precision. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=optofluidics" title="optofluidics">optofluidics</a>, <a href="https://publications.waset.org/abstracts/search?q=force%20measurements" title=" force measurements"> force measurements</a>, <a href="https://publications.waset.org/abstracts/search?q=microrheology" title=" microrheology"> microrheology</a>, <a href="https://publications.waset.org/abstracts/search?q=FLUCS" title=" FLUCS"> FLUCS</a>, <a href="https://publications.waset.org/abstracts/search?q=thermoviscous%20flows" title=" thermoviscous flows"> thermoviscous flows</a> </p> <a href="https://publications.waset.org/abstracts/147676/optics-meets-microfluidics-for-highly-sensitive-force-sensing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/147676.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">170</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">2049</span> Identification and Force Control of a Two Chambers Pneumatic Soft Actuator</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Najib%20K.%20Dankadai">Najib K. Dankadai</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmad%20%27Athif%20Mohd%20Faudzi"> Ahmad 'Athif Mohd Faudzi</a>, <a href="https://publications.waset.org/abstracts/search?q=Khairuddin%20Osman"> Khairuddin Osman</a>, <a href="https://publications.waset.org/abstracts/search?q=Muhammad%20Rusydi%20Muhammad%20Razif"> Muhammad Rusydi Muhammad Razif</a>, <a href="https://publications.waset.org/abstracts/search?q=IIi%20Najaa%20Aimi%20Mohd%20Nordin"> IIi Najaa Aimi Mohd Nordin</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Researches in soft actuators are now growing rapidly because of their adequacy to be applied in sectors like medical, agriculture, biological and welfare. This paper presents system identification (SI) and control of the force generated by a two chambers pneumatic soft actuator (PSA). A force mathematical model for the actuator was identified experimentally using data acquisition card and MATLAB SI toolbox. Two control techniques; a predictive functional control (PFC) and conventional proportional integral and derivative (PID) schemes are proposed and compared based on the identified model for the soft actuator flexible mechanism. Results of this study showed that both of the proposed controllers ensure accurate tracking when the closed loop system was tested with the step, sinusoidal and multi step reference input through MATLAB simulation although the PFC provides a better response than the PID. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=predictive%20functional%20control%20%28PFC%29" title="predictive functional control (PFC)">predictive functional control (PFC)</a>, <a href="https://publications.waset.org/abstracts/search?q=proportional%20integral%20and%20derivative%20%28PID%29" title=" proportional integral and derivative (PID)"> proportional integral and derivative (PID)</a>, <a href="https://publications.waset.org/abstracts/search?q=soft%20actuator" title=" soft actuator"> soft actuator</a>, <a href="https://publications.waset.org/abstracts/search?q=system%20identification" title=" system identification"> system identification</a> </p> <a href="https://publications.waset.org/abstracts/55153/identification-and-force-control-of-a-two-chambers-pneumatic-soft-actuator" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/55153.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">325</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">2048</span> RBF Neural Network Based Adaptive Robust Control for Bounded Position/Force Control of Bilateral Teleoperation Arms</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Henni%20Mansour%20Abdelwaheb">Henni Mansour Abdelwaheb</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This study discusses the design of a bounded position/force feedback controller developed to ensure position and force tracking for bilateral teleoperation arms operating with variable delay, and actuator saturation. Also, an adaptive robust Radial Basis Function (RBF) neural network is used to estimate the environment torque. The parameters of the environment torque are then sent from the slave site to the master site as a non-power signal to avoid passivity problems. Moreover, a nonlinear function is applied to each controller term as a smooth saturation function, providing a bounded control signal and preserving the system’s actuators. Lastly, the Lyapunov approach demonstrates the global stability of the controlled system, and numerical experiment results further confirm the validity of the presented strategy. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=teleoperation%20manipulators%20system" title="teleoperation manipulators system">teleoperation manipulators system</a>, <a href="https://publications.waset.org/abstracts/search?q=time-varying%20delay" title=" time-varying delay"> time-varying delay</a>, <a href="https://publications.waset.org/abstracts/search?q=actuator%20saturation" title=" actuator saturation"> actuator saturation</a>, <a href="https://publications.waset.org/abstracts/search?q=adaptive%20robust%20rbf%20neural%20network%20approximation" title=" adaptive robust rbf neural network approximation"> adaptive robust rbf neural network approximation</a>, <a href="https://publications.waset.org/abstracts/search?q=uncertainties" title=" uncertainties"> uncertainties</a> </p> <a href="https://publications.waset.org/abstracts/166930/rbf-neural-network-based-adaptive-robust-control-for-bounded-positionforce-control-of-bilateral-teleoperation-arms" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/166930.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">75</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">2047</span> Effects of Position and Cut-Out Lengths on the Axial Crushing Behavior of Aluminum Tubes: Experimental and Simulation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=B.%20K%C3%A4fer">B. Käfer</a>, <a href="https://publications.waset.org/abstracts/search?q=V.%20K.%20Bheemineni"> V. K. Bheemineni</a>, <a href="https://publications.waset.org/abstracts/search?q=H.%20Lammer"> H. Lammer</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Kotnik"> M. Kotnik</a>, <a href="https://publications.waset.org/abstracts/search?q=F.%20O.%20Riemelmoser"> F. O. Riemelmoser</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Axial compression tests are performed on circular tubes made of Aluminum EN AW 6060 (AlMgSi0.5 alloy) in T66 state. All the received tubes have the uniform outer diameter of 40mm and thickness of 1.5mm. Two different lengths 100mm and 200mm are used in the analysis. After performing compression tests on the uniform tube, important crashworthy parameters like peak force, average force, crush efficiency and energy absorption are measured. The present paper has given importance to increase the percentage of crush efficiency without decreasing the value energy absorption of a tube, so a circumferential notch was introduced on the top section of the tube. The effects of position and cut-out lengths of a circumferential notch on the crush efficiency are well explained with relative deformation modes and force-displacement curves. The numerical simulations were carried on the software tool ANSYS/LS-DYNA. It is seen that the numerical results are reasonably good in agreement with the experimental results. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=crash%20box" title="crash box">crash box</a>, <a href="https://publications.waset.org/abstracts/search?q=Notch%20triggering" title=" Notch triggering"> Notch triggering</a>, <a href="https://publications.waset.org/abstracts/search?q=energy%20absorption" title=" energy absorption"> energy absorption</a>, <a href="https://publications.waset.org/abstracts/search?q=FEM%20simulation" title=" FEM simulation "> FEM simulation </a> </p> <a href="https://publications.waset.org/abstracts/1341/effects-of-position-and-cut-out-lengths-on-the-axial-crushing-behavior-of-aluminum-tubes-experimental-and-simulation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/1341.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">459</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">2046</span> Force Sensor for Robotic Graspers in Minimally Invasive Surgery</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Naghmeh%20M.%20Bandari">Naghmeh M. Bandari</a>, <a href="https://publications.waset.org/abstracts/search?q=Javad%20Dargahi"> Javad Dargahi</a>, <a href="https://publications.waset.org/abstracts/search?q=Muthukumaran%20Packirisamy"> Muthukumaran Packirisamy</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Robot-assisted minimally invasive surgery (RMIS) has been widely performed around the world during the last two decades. RMIS demonstrates significant advantages over conventional surgery, e.g., improving the accuracy and dexterity of a surgeon, providing 3D vision, motion scaling, hand-eye coordination, decreasing tremor, and reducing x-ray exposure for surgeons. Despite benefits, surgeons cannot touch the surgical site and perceive tactile information. This happens due to the remote control of robots. The literature survey identified the lack of force feedback as the riskiest limitation in the existing technology. Without the perception of tool-tissue contact force, the surgeon might apply an excessive force causing tissue laceration or insufficient force causing tissue slippage. The primary use of force sensors has been to measure the tool-tissue interaction force in real-time in-situ. Design of a tactile sensor is subjected to a set of design requirements, e.g., biocompatibility, electrical-passivity, MRI-compatibility, miniaturization, ability to measure static and dynamic force. In this study, a planar optical fiber-based sensor was proposed to mount at the surgical grasper. It was developed based on the light intensity modulation principle. The deflectable part of the sensor was a beam modeled as a cantilever Euler-Bernoulli beam on rigid substrates. A semi-cylindrical indenter was attached to the bottom surface the beam at the mid-span. An optical fiber was secured at both ends on the same rigid substrates. The indenter was in contact with the fiber. External force on the sensor caused deflection in the beam and optical fiber simultaneously. The micro-bending of the optical fiber would consequently result in light power loss. The sensor was simulated and studied using finite element methods. A laser light beam with 800nm wavelength and 5mW power was used as the input to the optical fiber. The output power was measured using a photodetector. The voltage from photodetector was calibrated to the external force for a chirp input (0.1-5Hz). The range, resolution, and hysteresis of the sensor were studied under monotonic and harmonic external forces of 0-2.0N with 0 and 5Hz, respectively. The results confirmed the validity of proposed sensing principle. Also, the sensor demonstrated an acceptable linearity (R2 > 0.9). A minimum external force was observed below which no power loss was detectable. It is postulated that this phenomenon is attributed to the critical angle of the optical fiber to observe total internal reflection. The experimental results were of negligible hysteresis (R2 > 0.9) and in fair agreement with the simulations. In conclusion, the suggested planar sensor is assessed to be a cost-effective solution, feasible, and easy to use the sensor for being miniaturized and integrated at the tip of robotic graspers. Geometrical and optical factors affecting the minimum sensible force and the working range of the sensor should be studied and optimized. This design is intrinsically scalable and meets all the design requirements. Therefore, it has a significant potential of industrialization and mass production. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=force%20sensor" title="force sensor">force sensor</a>, <a href="https://publications.waset.org/abstracts/search?q=minimally%20invasive%20surgery" title=" minimally invasive surgery"> minimally invasive surgery</a>, <a href="https://publications.waset.org/abstracts/search?q=optical%20sensor" title=" optical sensor"> optical sensor</a>, <a href="https://publications.waset.org/abstracts/search?q=robotic%20surgery" title=" robotic surgery"> robotic surgery</a>, <a href="https://publications.waset.org/abstracts/search?q=tactile%20sensor" title=" tactile sensor"> tactile sensor</a> </p> <a href="https://publications.waset.org/abstracts/83179/force-sensor-for-robotic-graspers-in-minimally-invasive-surgery" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/83179.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">230</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">2045</span> Drone On-Time Obstacle Avoidance for Static and Dynamic Obstacles</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Herath%20M.%20P.%20C.%20Jayaweera">Herath M. P. C. Jayaweera</a>, <a href="https://publications.waset.org/abstracts/search?q=Samer%20Hanoun"> Samer Hanoun</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Path planning for on-time obstacle avoidance is an essential and challenging task that enables drones to achieve safe operation in any application domain. The level of challenge increases significantly on the obstacle avoidance technique when the drone is following a ground mobile entity (GME). This is mainly due to the change in direction and magnitude of the GME′s velocity in dynamic and unstructured environments. Force field techniques are the most widely used obstacle avoidance methods due to their simplicity, ease of use, and potential to be adopted for three-dimensional dynamic environments. However, the existing force field obstacle avoidance techniques suffer many drawbacks, including their tendency to generate longer routes when the obstacles are sideways of the drone′s route, poor ability to find the shortest flyable path, propensity to fall into local minima, producing a non-smooth path, and high failure rate in the presence of symmetrical obstacles. To overcome these shortcomings, this paper proposes an on-time three-dimensional obstacle avoidance method for drones to effectively and efficiently avoid dynamic and static obstacles in unknown environments while pursuing a GME. This on-time obstacle avoidance technique generates velocity waypoints for its obstacle-free and efficient path based on the shape of the encountered obstacles. This method can be utilized on most types of drones that have basic distance measurement sensors and autopilot-supported flight controllers. The proposed obstacle avoidance technique is validated and evaluated against existing force field methods for different simulation scenarios in Gazebo and ROS-supported PX4-SITL. The simulation results show that the proposed obstacle avoidance technique outperforms the existing force field techniques and is better suited for real-world applications. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=drones" title="drones">drones</a>, <a href="https://publications.waset.org/abstracts/search?q=force%20field%20methods" title=" force field methods"> force field methods</a>, <a href="https://publications.waset.org/abstracts/search?q=obstacle%20avoidance" title=" obstacle avoidance"> obstacle avoidance</a>, <a href="https://publications.waset.org/abstracts/search?q=path%20planning" title=" path planning"> path planning</a> </p> <a href="https://publications.waset.org/abstracts/172301/drone-on-time-obstacle-avoidance-for-static-and-dynamic-obstacles" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/172301.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> 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