This document presents a new method for detecting isomorphism in kinematic chains. It involves assigning a joint-joint matrix (JJM) to each chain and comparing characteristic polynomials and structural invariants derived from the JJM matrices. Several examples are provided applying the method to pairs of chains to determine if they are isomorphic or not. The method is shown to reliably detect isomorphism and is presented as a simple, efficient approach capable of handling kinematic chains of varying complexity.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
This is a talk presented at CASA 2009, and published here: http://onlinelibrary.wiley.com/doi/10.1002/cav.292/abstract . It describes the force density method and it's application to skin sliding simulation.
Application of Numerical and Experimental Simulations for the Vibrating Syste...IJERD Editor
In this work,there may be some requirements of finding out the coupling loss factors of system component.It becomes difficult to exactly know the coupling loss factor by looking at the behavior of the system. For this purpose, the numerical solution developed in this work. Initially, one need to extract the displacement, velocity and energy profiles of the system which has got the components installed for which the coupling loss factor need to be determined. Then the numerical simulations can be run for different coupling loss factor of the vibrating system and the coupling loss factor can be found when the simulation results match with the experimental measurements. In this paper the experimentation is carried out i for the model a)Pre-design application of the work developed. b) Post design application of the work developed. The numerical results converge very well towards the experimental results as the coupling loss factor in simulation is varied towards the actual value. Similarly, for the second approach the experimental results converge towards the simulation results of 0.15 as the coupling loss factor of the damper that is installed on the system is varied towards 0.15.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
This is a talk presented at CASA 2009, and published here: http://onlinelibrary.wiley.com/doi/10.1002/cav.292/abstract . It describes the force density method and it's application to skin sliding simulation.
Application of Numerical and Experimental Simulations for the Vibrating Syste...IJERD Editor
In this work,there may be some requirements of finding out the coupling loss factors of system component.It becomes difficult to exactly know the coupling loss factor by looking at the behavior of the system. For this purpose, the numerical solution developed in this work. Initially, one need to extract the displacement, velocity and energy profiles of the system which has got the components installed for which the coupling loss factor need to be determined. Then the numerical simulations can be run for different coupling loss factor of the vibrating system and the coupling loss factor can be found when the simulation results match with the experimental measurements. In this paper the experimentation is carried out i for the model a)Pre-design application of the work developed. b) Post design application of the work developed. The numerical results converge very well towards the experimental results as the coupling loss factor in simulation is varied towards the actual value. Similarly, for the second approach the experimental results converge towards the simulation results of 0.15 as the coupling loss factor of the damper that is installed on the system is varied towards 0.15.
Modeling of the damped oscillations of the viscous beams structures with swiv...eSAT Journals
Abstract
Mechanic studies realized on the two dimensional beams structures with swivel joints show that in statics, the vertical displacement is
continuous, but the rotation is discontinuous at the node where there is a swivel joint. Moreover, in dynamics, many authors do not
usually take into account the friction effect, modeling of these structures. We propose in this paper, a modeling of the beams structures
with swivel joints which integrates viscosity effects in dynamics. Hence this work we will present the formulation of motion equations
of such structures and the modal analysis method which is used to solve these equations.
Keywords: Beams, Swivel joint, Viscosity, Vibration, Modal Method.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Thesummaryabout fuzzy control parameters selected based on brake driver inten...IJRES Journal
In this paper, the brake driving intention identification parameters based on the fuzzy control are
summarized and analyzed, the necessary parameters based on the fuzzy control of the brake driving intention
recognition are found out, and I pointed out the commonly corrupt parameters, and through the relevant
parameters , I establish the corresponding driving intention model.
International Journal of Research in Engineering and Science is an open access peer-reviewed international forum for scientists involved in research to publish quality and refereed papers. Papers reporting original research or experimentally proved review work are welcome. Papers for publication are selected through peer review to ensure originality, relevance, and readability.
Modeling and Analysis of peritoneal dialysis piping setIJRES Journal
With the number of end-stage renal disease (ESRD) patient population continues to increase. However ESRD patients rely on renal replacement therapy (renal transplantation and dialysis) to maintain a normal life. Design of a peritoneal dialysis tubing set, using three-dimensional design software SolidWorks; and dialysis the tubing set in SolidWorks flow simulation.
Multi resolution defect transformation of the crack under different anglesIJRES Journal
It is used to analyze the crack of different angles by the method of finite element. In the same material, the same crack is applied different angles, crack with 15 degree Angle differences, and applying Ⅰ type load on the material. The effective elastic modulus under the different angles of crack are obtained by finite element. With comparative judgment method, it provides the relationship between the modulus of elasticity and crack different angles, and a method crack material defects of transformation. On based on the transformation of energy equivalent principle, there are a lot of crack defects of materials for different degrees of defects, so as to simplify the material crack, provide a simple way for material fatigue analysis.
Design and research of CNC platform based on CAN busIJRES Journal
The conventional CNC systems mostly adopt closed design in the structure and function, so the
product is not compatible with each other Open CNC system based on CAN bus solves this problem.The
advancement of CAD and CAM technology based on CAN bus can make CAD / CAM system generate
NC code which directly control machine tool to achieve automated production . CAN bus networking
communication connect dispersed CNC machine tools,so that you can lower cost to achieve directly digital
control with DNC. The design are required to complete a open three-axis CNC platform based on CAN bus.
Required to have openness, each CNC system collects real-time data which is uploaded to a central control
room, then the host computer produce control instructions after co-synthesis process. In addition, each module
has a strong independence NC which can also be used in other systems. In all,the system has reliable,
responsive, cheap performance and so on.
International Journal of Research in Engineering and Science is an open access peer-reviewed international forum for scientists involved in research to publish quality and refereed papers. Papers reporting original research or experimentally proved review work are welcome. Papers for publication are selected through peer review to ensure originality, relevance, and readability.
Review: Nonlinear Techniques for Analysis of Heart Rate VariabilityIJRES Journal
Heart rate variability (HRV) is a measure of the balance between sympathetic mediators of heart
rate that is the effect of epinephrine and norepinephrine released from sympathetic nerve fibres acting on the
sino-atrial and atrio-ventricular nodes which increase the rate of cardiac contraction and facilitate conduction at
the atrio-ventricular node and parasympathetic mediators of heart rate that is the influence of acetylcholine
released by the parasympathetic nerve fibres acting on the sino-atrial and atrio-ventricular nodes leading to a
decrease in the heart rate and a slowing of conduction at the atrio-ventricular node. Sympathetic mediators
appear to exert their influence over longer time periods and are reflected in the low frequency power(LFP) of
the HRV spectrum (between 0.04Hz and 0.15 Hz).Vagal mediators exert their influence more quickly on the
heart and principally affect the high frequency power (HFP) of the HRV spectrum (between 0.15Hz and 0.4
Hz). Thus at any point in time the LFP:HFP ratio is a proxy for the sympatho- vagal balance. Thus HRV is a
valuable tool to investigate the sympathetic and parasympathetic function of the autonomic nervous system.
Study of HRV enhance our understanding of physiological phenomenon, the actions of medications and disease
mechanisms but large scale prospective studies are needed to determine the sensitivity, specificity and predictive
values of heart rate variability regarding death or morbidity in cardiac and non-cardiac patients. This paper
presents the linear and nonlinear to analysis the HRV.
Identification of isomorphism and detection of distinct mechanism of kinemati...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Identification of isomorphism and detection of distinct mechanism of kinemati...eSAT Journals
Abstract The problem of isomorphism among kinematic chains and of these derived mechanisms has been a hot area of research being done from last several years. The researchers so far have proposed many methods which are mainly based on characteristic polynomial and on some code based method to test the isomorphism among kinematic chains. In the present communication a new structural invariant based on link-link path distance (shortest) has been developed for a kinematic chain. Each link of kinematic chain is assigned as a unique label using the invariant. The set of link labels are combined in the form a numerical label of kinematic chain, called kinematic chain label (KCL). KCL is proposed as unique identifier for detection of isomorphism among kinematic chains, and also used to find distinct mechanism of a kinematic chain. Method is tested on several cases of single degree of freedom plannar kinematic chain successfully with simple joints. Keywords: - Isomorphism, Kinematic chains, Mechanism, Invarient labeling, Distinct mechanism, path distance matrix.
Modeling of the damped oscillations of the viscous beams structures with swiv...eSAT Journals
Abstract
Mechanic studies realized on the two dimensional beams structures with swivel joints show that in statics, the vertical displacement is
continuous, but the rotation is discontinuous at the node where there is a swivel joint. Moreover, in dynamics, many authors do not
usually take into account the friction effect, modeling of these structures. We propose in this paper, a modeling of the beams structures
with swivel joints which integrates viscosity effects in dynamics. Hence this work we will present the formulation of motion equations
of such structures and the modal analysis method which is used to solve these equations.
Keywords: Beams, Swivel joint, Viscosity, Vibration, Modal Method.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Thesummaryabout fuzzy control parameters selected based on brake driver inten...IJRES Journal
In this paper, the brake driving intention identification parameters based on the fuzzy control are
summarized and analyzed, the necessary parameters based on the fuzzy control of the brake driving intention
recognition are found out, and I pointed out the commonly corrupt parameters, and through the relevant
parameters , I establish the corresponding driving intention model.
International Journal of Research in Engineering and Science is an open access peer-reviewed international forum for scientists involved in research to publish quality and refereed papers. Papers reporting original research or experimentally proved review work are welcome. Papers for publication are selected through peer review to ensure originality, relevance, and readability.
Modeling and Analysis of peritoneal dialysis piping setIJRES Journal
With the number of end-stage renal disease (ESRD) patient population continues to increase. However ESRD patients rely on renal replacement therapy (renal transplantation and dialysis) to maintain a normal life. Design of a peritoneal dialysis tubing set, using three-dimensional design software SolidWorks; and dialysis the tubing set in SolidWorks flow simulation.
Multi resolution defect transformation of the crack under different anglesIJRES Journal
It is used to analyze the crack of different angles by the method of finite element. In the same material, the same crack is applied different angles, crack with 15 degree Angle differences, and applying Ⅰ type load on the material. The effective elastic modulus under the different angles of crack are obtained by finite element. With comparative judgment method, it provides the relationship between the modulus of elasticity and crack different angles, and a method crack material defects of transformation. On based on the transformation of energy equivalent principle, there are a lot of crack defects of materials for different degrees of defects, so as to simplify the material crack, provide a simple way for material fatigue analysis.
Design and research of CNC platform based on CAN busIJRES Journal
The conventional CNC systems mostly adopt closed design in the structure and function, so the
product is not compatible with each other Open CNC system based on CAN bus solves this problem.The
advancement of CAD and CAM technology based on CAN bus can make CAD / CAM system generate
NC code which directly control machine tool to achieve automated production . CAN bus networking
communication connect dispersed CNC machine tools,so that you can lower cost to achieve directly digital
control with DNC. The design are required to complete a open three-axis CNC platform based on CAN bus.
Required to have openness, each CNC system collects real-time data which is uploaded to a central control
room, then the host computer produce control instructions after co-synthesis process. In addition, each module
has a strong independence NC which can also be used in other systems. In all,the system has reliable,
responsive, cheap performance and so on.
International Journal of Research in Engineering and Science is an open access peer-reviewed international forum for scientists involved in research to publish quality and refereed papers. Papers reporting original research or experimentally proved review work are welcome. Papers for publication are selected through peer review to ensure originality, relevance, and readability.
Review: Nonlinear Techniques for Analysis of Heart Rate VariabilityIJRES Journal
Heart rate variability (HRV) is a measure of the balance between sympathetic mediators of heart
rate that is the effect of epinephrine and norepinephrine released from sympathetic nerve fibres acting on the
sino-atrial and atrio-ventricular nodes which increase the rate of cardiac contraction and facilitate conduction at
the atrio-ventricular node and parasympathetic mediators of heart rate that is the influence of acetylcholine
released by the parasympathetic nerve fibres acting on the sino-atrial and atrio-ventricular nodes leading to a
decrease in the heart rate and a slowing of conduction at the atrio-ventricular node. Sympathetic mediators
appear to exert their influence over longer time periods and are reflected in the low frequency power(LFP) of
the HRV spectrum (between 0.04Hz and 0.15 Hz).Vagal mediators exert their influence more quickly on the
heart and principally affect the high frequency power (HFP) of the HRV spectrum (between 0.15Hz and 0.4
Hz). Thus at any point in time the LFP:HFP ratio is a proxy for the sympatho- vagal balance. Thus HRV is a
valuable tool to investigate the sympathetic and parasympathetic function of the autonomic nervous system.
Study of HRV enhance our understanding of physiological phenomenon, the actions of medications and disease
mechanisms but large scale prospective studies are needed to determine the sensitivity, specificity and predictive
values of heart rate variability regarding death or morbidity in cardiac and non-cardiac patients. This paper
presents the linear and nonlinear to analysis the HRV.
Identification of isomorphism and detection of distinct mechanism of kinemati...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Identification of isomorphism and detection of distinct mechanism of kinemati...eSAT Journals
Abstract The problem of isomorphism among kinematic chains and of these derived mechanisms has been a hot area of research being done from last several years. The researchers so far have proposed many methods which are mainly based on characteristic polynomial and on some code based method to test the isomorphism among kinematic chains. In the present communication a new structural invariant based on link-link path distance (shortest) has been developed for a kinematic chain. Each link of kinematic chain is assigned as a unique label using the invariant. The set of link labels are combined in the form a numerical label of kinematic chain, called kinematic chain label (KCL). KCL is proposed as unique identifier for detection of isomorphism among kinematic chains, and also used to find distinct mechanism of a kinematic chain. Method is tested on several cases of single degree of freedom plannar kinematic chain successfully with simple joints. Keywords: - Isomorphism, Kinematic chains, Mechanism, Invarient labeling, Distinct mechanism, path distance matrix.
Investigation of auto-oscilational regimes of the system by dynamic nonlinear...IJECEIAES
The paper proposes a method for the analysis and synthesis of self-oscillations in the form of a finite, predetermined number of terms of the Fourier series in systems reduced to single-loop, with one element having a nonlinear static characteristic of an arbitrary shape and a dynamic part, which is the sum of the products of coordinates and their derivatives. In this case, the nonlinearity is divided into two parts: static and dynamic nonlinearity. The solution to the problem under consideration consists of two parts. First, the parameters of self-oscillations are determined, and then the parameters of the nonlinear dynamic part of the system are synthesized. When implementing this procedure, the calculation time depends on the number of harmonics considered in the first approximation, so it is recommended to choose the minimum number of them in calculations. An algorithm for determining the self-oscillating mode of a control system with elements that have dynamic nonlinearity is proposed. The developed method for calculating self-oscillations is suitable for solving various synthesis problems. The generated system of equations can be used to synthesize the parameters of both linear and nonlinear parts. The advantage is its versatility.
RESISTANCE DISTANCE METHOD FOR DETERMINATION OF ISOMORPHISM AMONG PLANAR KINE...IAEME Publication
The detection of isomorphism among kinematic chains and their derived mechanism has been a hot area of research for last several years. In the present communication a resistance distance based computerized method is proposed and it is tested for planar kinematic chains up to ten links. In this
method the kinematic chains are represented in the form of resistance graph and from that graph a laplacian matrix is generated which is further transformed into a resistance distance matrix.
The Bound of Reachable Sets Estimation for Neutral Markovian Jump Systems wit...AI Publications
The problem of finding an bound of reachable sets for neutral markovian jump systems with bounded peak disturbances is studied in this paper. Up to now, the result related to the bound of reachable sets was rarely proposed for neutral markovian jump systems. Based on the modified Lyapunov-Krasovskii type functional and linear matrix inequality technology, we obtain some delay-dependent results expressed in the form of matrix inequalities containing only one non-convex scalar. Numerical examples are given to illustrate our theoretical results.
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
Solving the Kinematics of Welding Robot Based on ADAMSIJRES Journal
To solve the problem of angle coupling of the welding robot kinematics equations, we build the 3D
model of the welding robot plus kinematics equations via using method of D-H, and taking PUMA560 robot as
the study target and using ADAMS software as the simulating tool, through this we achieve the displacement
curve along x, y and z axis. Because of the similar of the result of simulating and one of the positive kinematics
equations, this paper verifies the correctness of its 3D model. Based on this, this paper uses the analytic method
to deduce the welding robot inverse kinematics equation. This paper only use the derivation method to solve the
problem of the coupling between angles and deduce the formulas of each angle. And this method could be the
basis of the welding robot trajectory planning.
International Journal of Engineering Inventions (IJEI) provides a multidisciplinary passage for researchers, managers, professionals, practitioners and students around the globe to publish high quality, peer-reviewed articles on all theoretical and empirical aspects of Engineering and Science.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
Oscillatory Stability Prediction Using PSO Based Synchronizing and Damping To...journalBEEI
This paper presents the assessment of stability domains for the angle stability condition of the power system using Particle Swarm Optimization (PSO) technique. An efficient optimization method using PSO for synchronizing torque coefficients Ksand damping torque coefficients Kd to identify the angle stability condition on multi-machine system. In order to accelerate the determination of angle stability, PSO is proposed to be implemented in this study. The application of the proposed algorithm has been justified as the most accurate with lower computation time as compared to other optimization techniques such as Evolutionary Programming (EP) and Artificial Immune System (AIS). Validation with respect to eigenvalues determination, Least Square (LS) method and minimum damping ratio ξmin confirmed that the proposed technique is feasible to solve the angle stability problems.
Inertia identification based on adaptive interconnected Observer of Permanent...IJRES Journal
In order to achieve the inertia identification of permanent magnet synchronous motor, this paper
presents an adaptive inter connected observer based on model reference adaptive and Rhomberg observer to
observe the inertia of permanent magnet synchronous motor and build the simulation model in MATLAB. By the
simulation analysis, the observer can identify the moment of inertia of permanent magnet synchronous motor
accurately, at the same time has good robustness.
Power system transient stability margin estimation using artificial neural ne...elelijjournal
This paper presents a methodology for estimating the normalized transient stability margin by using the multilayered perceptron (MLP) neural network. The complex relationship between the input variables and output variables is established by using the neural networks. The nonlinear mapping relation between the normalized transient stability margin and the operating conditions of the power system is established by using the MLP neural network. To obtain the training set of the neural network the potential energy boundary surface (PEBS) method along with time domain simulation method is used. The proposed method is applied on IEEE 9 bus system and the results shows that the proposed method provides fast and accurate tool to assess online transient stability.
Effect of pitch and nominal diameter on load distribution and efficiency in m...eSAT Journals
Abstract Lead screws are the devices which are used for power transmission or to have linear motion. It is theoretically assumed that applied load is evenly distributed among the thread pair in contact. However, practically it is observed that load is not uniformly distributed among threads. The first thread carries the maximum load and later the load on each thread reduces. Numerous studies have been carried out for analytical calculation of the load distribution using spring stiffness method. But these studies are for screw and nut combination. Not much study has been done to find load distribution on threads of a lead screw. The maximum load acting on one thread is an important parameter in lead screw design. The load decides the fatigue life of the screw and nut. To have better life of threads, the load distribution should be uniform to have fewer loads on single thread. The load is also important to know the deflection of thread which affects the positional accuracy of the lead screw drives. This paper focuses on analyzing mathematically the various thread parameters which affects the load distribution in threads and the corresponding effect on efficiency. The spring model method proposed in [1], [4] has different constant coefficient which are depending on thread geometry and material. If there are n numbers of threads in contact, there will be (n-1) number of equations in (n-1) unknowns. These are linear difference equations and can be solved by matrix elimination method. The results obtained from analytical solution are validated with the FEM (Finite Elements Method) results. Keywords: Lead Screws, Load Distribution, Thread Parameters, Efficiency, Linear Drives
Exploratory study on the use of crushed cockle shell as partial sand replacem...IJRES Journal
The increasing demand for natural river sand supply for the use in construction industry along
with the issue of environmental problem posed by the dumping of cockle shell, a by-product from cockle
business have initiated research towards producing a more environmental friendly concrete. This research
explores the potential use of cockle shell as partial sand replacement in concrete production. Cockle shell used
in this experimental work were crushed to smaller size almost similar to sand before mixed in concrete. A total
of six concrete mixtures were prepared with varying the percentages of cockle shell viz. 0%, 5%, 10%, 15%,
20% and 25%. All the specimens were subjected to continuous water curing. The compressive strength test was
conducted at 28 days in accordance to BS EN 12390. Finding shows that integration of suitable content of
crushed cockle shell of 10% as partial sand replacement able to enhance the compressive strength of concrete.
Adopting crushed cockle shell as partial sand replacement in concrete would reduce natural river sand
consumption as well as reducing the amount of cockle shell disposed as waste.
Congenital Malaria: Correlation of Umbilical Cord Plasmodium falciparum Paras...IJRES Journal
The vertical (trans-placental) transmission of the parasite Plasmodium falciparum from
pregnant mother to fetus during gestational period was investigated in a clinical research involving 43 full term
pregnant women in selected Hospitals in Jimeta Yola, Adamawa State Nigeria. During the observational study,
parasitemia was determined by light microscopic examination of umbilical and maternal peripheral blood film
for the presence of the trophozoites of Plasmodium falciparum. Correlational analysis was then carried on the
result obtained at p<0.05.><0.05) was established between maternal peripheral blood and umbilical cord
blood parasitemia with Pearson’s correlation coefficient of 0.762. Thus, in a malaria endemic area like Yola,
Adamawa State, Nigeria, with a stable transmission of parasite, there is a high probability of vertical
transmission of Plasmodium falciparum parasite from mother to fetus during gestation that can be followed by
the presentation of the symptoms of malaria by the newborn and other malaria related complications. Families
are advised to consistently sleep under appropriately treated insecticide mosquito net to avoid mosquito bite and
subsequent infestation.
Dynamic Modeling for Gas Phase Propylene Copolymerization in a Fluidized Bed ...IJRES Journal
A two-phase model is proposed for describing the dynamics of a fluidized bed reactor used for
polypropylene production. In the proposed model, the fluidized bed is divided into an emulsion and bubble
phase where the flow of gas is considered to be plug flow through the bubbles and perfectly mixed through the
emulsion phase. Similar previous models, consider the reaction in the emulsion phase only. In this work the
contribution of reaction in the bubble phase is considered and its effect on the overall polypropylene production
is investigated the kinetic model is combined with hydrodynamic model in order to develop a comprehensive
model for gas-phase propylene copolymerization reactor. Simulation profiles of the proposed model were
compared with those of well mixed model for the emulsion phase temperature. The simulated temperature
profile showed a lower rate of change compared to the previously reported models due to lower polymerization
rate. Model simulation showed that about 13% of the produced polymer comes from the bubble phase and this
considerable amount of polymerization in the bubbles should not be neglected in any modeling attempt.
Study and evaluation for different types of Sudanese crude oil propertiesIJRES Journal
Sudanese crude oil is regarded as one of the sweet types of crude in the world, Sulphur containing
compounds are un desirable in petroleum because they de activate the catalyst during the refining processes and
are the main source of acid rains and environmental pollution.(Mark Cullen 2001),Since it contains considerable
amount of salts and acids, it negatively impact the production facilities and transportation lines with corrosive
materials. However it suffers other problems in flow properties represented by the high viscosity and high
percentage of wax. Samples were collected after the initial and final treatment at CPF, and tested for
physical and chemical properties.wax content is in the range 23-31 weight % while asphalting content is about
0.1 weight% . Resin content is 13-7 weight % and deposits are 0.01 weight%. The carbon number distribution in
the crude is in the range 7-35 carbon atoms. The pour point vary between 39°C-42°C and the boiling point is in
the range 70 °C - 533 °C.
A Short Report on Different Wavelets and Their StructuresIJRES Journal
This article consists of basics of wavelet analysis required for understanding of and use of wavelet
theory. In this article we briefly discuss about HAAR wavelet transform their space and structures.
A Case Study on Academic Services Application Using Agile Methodology for Mob...IJRES Journal
Recently, Mobile Cloud Computing reveals many modern development areas in the Information
Technology industry. Several software engineering frameworks and methodologies have been developed to
provide solutions for deploying cloud computing resources on mobile application development. Agile
methodology is one of the most commonly used methodologies in the field. This paper presents the MCCAS a
Web and Mobile application that provide feature for the Palestinian higher education/academic institutions. An
Agile methodology was used in the development of the MCCAS but in parallel with emphasis on Cloud
computing resources deployment. Also many related issues is discussed such as how software engineering
modern methodologies (advances) influenced the development process.
Wear Analysis on Cylindrical Cam with Flexible RodIJRES Journal
Firstly, the kinetic equation of spatial cylindrical cam with flexible rod has been established. Then, an
accurate cylindrical cam mechanism model has been established based on the spatial modeling software
Solidworks. The dynamic effect of flexible rod on mechanical system was studied in detail based on the
mechanical system dynamics analytical software Adams, and Archard wear model is used to predict the wear of
the cam. We used Ansys to create finite element model of the cam link, extracted the first five order mode to
export into Adams. The simulation results show that the dynamic characteristics of spatial cylindrical cam
mechanical system with flexible rod is closed to ideal mechanism. During the cam rotate one cycle, the collision
in the linkage with a clearance occurs in some special location, others still keep a continuous contact, and the
prediction of wear loss is smaller than rigid body.
DDOS Attacks-A Stealthy Way of Implementation and DetectionIJRES Journal
Cloud Computing is a new paradigm provides various host service [paas, saas, Iaas over the internet.
According to a self-service,on-demand and pay as you use business model,the customers will obtain the cloud
resources and services.It is a virtual shared service.Cloud Computing has three basic abstraction layers System
layer(Virtual Machine abstraction of a server),Platform layer(A virtualized operating system, database and
webserver of a server and Application layer(It includes Web Applications).Denial of Service attack is an attempt
to make a machine or network resource unavailable to the intended user. In DOS a user or organization is
deprived of the services of a resource they would normally expect to have.A Successful DOS attack is a highly
noticeable event impacting the entire online user base.DOS attack is found by First Mathematical Metrical
Method (Rate Controlling,Timing Window,Worst Case and Pattern Matching)DOS attack not only affect the
Quality of the service and also affect the performance of the server. DDOS attacks are launched from Botnet-A
large Cluster of Connected device(cellphone,pc or router) infected with malware that allow remote control by an
attacker. Intruder using SIPDAS in DDOS to perform attack.SIPDAS attack strategies are detected using Heap
Space Monitoring Algorithm.
An improved fading Kalman filter in the application of BDS dynamic positioningIJRES Journal
Aiming at the poor dynamic performance and low navigation precision of traditional fading
Kalman filter in BDS dynamic positioning, an improved fading Kalman filter based on fading factor vector is
proposed. The fading factor is extended to a fading factor vector, and each element of the vector corresponds to
each state component. Based on the difference between the actual observed quantity and the predicted one, the
value of the vector is changed automatically. The memory length of different channel is changed in real time
according to the dynamic property of the corresponding state component. The actual observation data of BDS is
used to test the algorithm. The experimental results show that compared with the traditional fading Kalman filter
and the method of the third references, the positioning precision of the algorithm is improved by 46.3% and
23.6% respectively.
Positioning Error Analysis and Compensation of Differential Precision WorkbenchIJRES Journal
Positioning error is a widely problem exists in mechanism, the important factors affecting machining
precision. In order to reduce the error caused by positioning problem processing, based on the differential
workbench as the research object, using the method of theoretical analysis and experimental verification, the
analysis of positioning error mechanism and source of complete differential precision workbench error
compensation, improve the accuracy of the device, provides a method for the application of modern machine
tools. table.
Status of Heavy metal pollution in Mithi river: Then and NowIJRES Journal
The Mithi River runs through the heart of suburban Mumbai. Its path of flow has been severely
damaged due to industrialization and urbanization. The quality of water has been deteriorating ever since. The
Municipal and industrial effluents are discharged in unchecked amounts. The municipal discharge comprises
untreated domestic and sewage wastes whereas the industries are majorly discharge chemicals and other toxic
effluents which are responsible in increasing the metal load of the river. In the current study, the water is
analysed for heavy metals- Copper, Cadmium, Chromium, Lead and Nickel. It also includes a brief
understanding on the fluctuations that have occurred in the heavy metal pollution, through the compilation of
studies carried out in the area previously.
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GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...
C0110916
1. International Journal of Research in Engineering and Science (IJRES)
ISSN (Online): 2320-9364, ISSN (Print): 2320-9356
www.ijres.org Volume 1 Issue 1 ǁ May. 2013 ǁ PP.09-16
www.ijres.org 9 | Page
Isomorphism In Kinematic Chains
Dr.Ali Hasan
Asstt.Professor, Department of Mechanical Engineering, F/O- Engineering & Technology, Jamia Millia Islamia
University, Delhi-110025,India,
ABSTRACT :The present work deals with the problem of detection of isomorphism which is frequently
encountered in structural synthesis of kinematic chains. A new method based on theoretic approach, easy to
compute and reliable is suggested in this paper. It is capable of detecting isomorphism in all types of planer
kinematic chains.
I. INTRODUCTION
Over the past several years much work has been reported in the literature on the structural analysis and
synthesis of mechanisms [1-29]. Motives behind these studies range from the desire for an orderly classification
system, to studies of mechanism degree of freedom to the hope of identifying the mechanisms. Methods for the
recognition and identification of a given mechanism’s kinematic structure can be divided into two main
categories, graphical methods based on the visual inspection of various forms of simplified systematic diagrams
and numerical methods many of which are based on the theory of graphs. However, even with the current
numerical methods no efficient generalized method is known which will characterize the given mechanisms by
inspection.
In this paper , a new method to detect isomorphism in mechanisms kinematic chains is presented by
comparing the sum of absolute polynomial coefficient values [JJMP∑ ] and maximum absolute polynomial
coefficient [JJMPmax] of Joint-Joint [JJM]matrix.
II. PROPOSED TEST-BASIS
The kinematic chains are complex chains of combination of binary, ternary and other higher order
links. These links are joined together by simple pin joints. It is the assembly of link/pair combination to form
one or more closed circuits. While considering structural equivalence it is essential to consider type of
links/joints and layout of the links in the assembly. An identification number is assigned to links. Thus a binary
link has a value of two, ternary three, quarter nary four and so on. Link values are used to assigned values to
[JJM] matrix and these are utilized to identify layout of the kinematic chains.
For detecting isomorphism in kinematic chains a [JJM] matrix is determined and characteristic polynomials
[JJMP], composite structural invariants [JJMP∑] and [JJMPmax] of [JJM] matrix are compared.
III. THE JOINT-JOINT [JJM] MATRIX.
One possible symbolism for the topology or connectivity of kinematic chain is the link-link form of the
incidence matrix, more properly referred to as the Joint-Joint [JJM] matrix. Once the joints of the chain have
been numbered from 1 to n, the [JJM] matrix is defined as a square matrix of the order n, each row and each
column representing the joint with the corresponding number. The elements of the matrix are then entered as
either zero or type of the link, depending on the absence or presence of a direct kinematic connection between
the joints corresponding to that row and column.
IV. STRUCTURAL INVARIANTS [JJMP∑] and [JJMPmax]
Polynomial coefficient values are the characteristic invariants for the chains and mechanisms. Many
investigators have reported co-spectral graph (non-isomorphic graph having same eigen spectrum). But these
eigen spectra (eigen values or polynomial coefficient values) have been determined from (0, 1) adjacency
matrices. The proposed [JJM] matrix provides same set of polynomials of the co-spectral kinematic graph. To
make this [JJM] matrix polynomial spectrum as a powerful single number characteristic index, new composite
= Degree of link or type of link, if joint i is directly connected to joint j
=0, if joint i is not directly connected to joint j
Jij =
------(1)
2. Isomorphism In Kinematic Chains
www.ijres.org 10 | Page
invariants are proposed. These indices are [JJMP∑] and [JJMPmax] of [JJM] matrix. The polynomial values of
[JJM] matrix are obtained using MATLAB. It is hoped that these invariants are capable of characterizing all
kinematic chains and mechanisms uniquely.
V. ISOMORPHISM
Two basic kinematic chains will be isomorphic if and only if, both the composite invariants [JJMP∑] and
[JJMPmax] are identical respectively. If any set of structural invariants of one matrix of a chain does not match
the corresponding set of structural invariant of the other chain, the two chains will be non-isomorphic. In other
words, the two basic kinematic chains will be isomorphic if and only if the characteristic polynomial equations
are identical other wise non-isomorphic.
Theorem: Two kinematic chains are isomorphic to each other, have identical characteristic polynomials for
their associated [JJM] matrices.
VI. APPLICATIONS
EXAMPLE 1: The first example concerns three kinematic chains with 12 bars, 16 joints, one degree of
freedom as shown in Fig.1, 2 and 3. The task is to examine whether these three chains are isomorphic. The
[JJM] matrices for these chains are represented by J1, J2 and J3 respectively.
The characteristic polynomial for chain 1 = 0.0000, 0.0000, -0.0000, -0.0000 0.0000 , 0.0000 , -0.0001,
-0.0004 , 0.0016 , 0.0109 , -0.0056, -0.1239 , -0.1243, 0.4736, 0.7954 , -0.4396 , -1.0219
The characteristic polynomial for chain 2 = 0.0000 , 0.0000, -0.0000, -0.0000 , 0.0000 , 0.0000, -
0.0001, -0.0004 , 0.0016, 0.0109 , -0.0056 , -0.1239, -0.1243 , 0.4736, 0.7954, -0.4396 , -1.0219,
The characteristic polynomial for chain 3 = 0.0000 , 0.0000 , -0.0000, -0.0000 , 0.0000 , 0.0000 , -
0.0001, -0.0004 , 0.0016 , 0.0108, -0.0059, -0.1238, -0.1160 , 0.5008, 0.8031 , -0.5288 , -1.1287
The values of composite invariant
For chain 1: [JJMP∑] = 2.9971e+010 , [JJMPmax] =1.0219e+010
For chain 2: [JJMP∑] = 2.9971e+010, [JJMPmax] =1.0219e+010
For chain 3: [JJMP∑] = 3.2201e+010, [JJMPmax] =1.1287e+010
Our method reports that chain 1 and 2 are isomorphic as the set of values of [JJMP∑] and [JJMPmax] are same
for both the kinematic chain 1 and 2 respectively. Similarly, our method reports that kinemaic chains 1 and 3
are non-isomorphic as the values of structural invariants [JJMP∑] and [JJMPmax] are different for kinematic
chain 1 and 3 respectively. Note that by using another method eigen vector [19] and artificial neural network
[24], the same conclusion is obtained.
EXAMPLE 2 (Multidegree freedom chains): The second example concerns two kinemtic chains with 10
bars, 12 joints, three degree of freedom as shown in Fig.4 and Fig.5. The task is to examine whether these two
chains are isomorphic. The [JJM] matrices for these chains are represented by J4 and J5 respectively.
The characteristic polynomial for chain 4 = 0.0000, -0.0000, -0.0001, -0.0002, 0.0063, 0.0170, -0.1055, -
0.3730, 0.4376, 2.1856, 0.0372, -3.5938, -1.6171
The characteristic polynomial for chain 5 = poly(J6) = 0.0000 , 0 , -0.0001 , -0.0002 , 0.0058 , 0.0161, -
0.0965, -0.3525 , 0.4307 , 2.2696 , 0.1572 , -2.9393 , 0.7465.
The values of composite invariant
For chain 4: [JJMP∑] = 8.3734e+006 , [JJMPmax] =3.5938e+006
For chain 5: [JJMP∑] = 7.0147e+006 , [JJMPmax] = 2.9393e+006
Our method reports that chain 4 and 5 are non-isomorphic as the set of values of [JJMP∑] and [JJMPmax] are
different for both the kinematic chains. Note that by using other method summation polynomials [25], the same
conclusion is obtained.
EXAMPLE 3: The third example concerns another example of two kinematic chains with 10 bars, 13 joints,
single freedom as shown in Fig.6 and Fig.7. The task is to examine whether these two chains are isomorphic.
The [JJM] matrices for these chains are represented by J6 and J7 respectively.
The characteristic polynomial for chain 6 = 0.0000 , 0 , -0.0000 , -0.0000, 0.0012 , 0.0026, -0.0324, -
0.0947 , 0.2944 , 1.0537, -0.6359, -3.5648, -1.3812 , 0.4952.
The characteristic polynomial for chain 7 = 0.0000 , -0.0000 , -0.0000 , -0.0000 , 0.0012, 0.0026 , -0.0324, -
0.0947, 0.2944, 1.0537 , -0.6359, -3.5648, -1.3812 , 0.4952.
The values of composite invariant
For chain 6: [JJMP∑] = 7.5562e+007, [JJMPmax] = 3.5648e+007
For chain 7: [JJMP∑] = 7.5562e+007 , [JJMPmax] = 3.5648e+007
3. Isomorphism In Kinematic Chains
www.ijres.org 11 | Page
Our method reports that chain 6 and 7 are isomorphic as the set of values of [JJMP∑] and [JJMPmax] are same
for both the kinematic chains. Note that by using another method artificial neural network [24], the same
conclusion is obtained.
EXAMPLE 4: The fourth example concerns two kinematic chains with 6 bars, 7 joints, one freedom as shown
in Fig.8 and Fig.9. The task is to examine whether these two chains are isomorphic. The [JJM] matrices for
these chains are represented by J8 and J9 respectively.
The characteristic polynomial for chain 8 = 0.0010, -0.0000, -0.0700, -0.1080, 0.9010, 0.9720, -3.1680,
0.0000
The characteristic polynomial for chain 9 = 0.0010 , -0.0000 , -0.0670, -0.0990 , 1.0640 , 2.2470 , -
2.1500, -3.3000
The values of composite invariant
For chain 8: [JJMP∑] = 5.2200e+003 , [JJMPmax] =3.1680e+003
For chain 9: [JJMP∑] = 8.9280e+003 , [JJMPmax] = 3.3000e+003
Our method reports that chain 8 and 9 are non-isomorphic as the set of values of [JJMP∑] and [JJMPmax] are
different for both the kinematic chains. Note that by using another method s distance matrix [2], and summation
polynomials [25], the same conclusion is obtained.
VII. CONCLUSION
In this paper, a simple, efficient and reliable method to identify isomorphism is proposed. By this
method, the isomorphism of mechanisms kinematic chains can easily be identified. It incorporates all features of
the chain and as such violation of the isomorphism test is rather difficult. In this method, the characteristic
polynomials, composite structural invariants [JJMP∑] and [JJMPmax] of [JJM] matrix of the kinematic chain.
The advantage is that they are very easy to compute using MATLAB software. It is not essential to determine
both the composite invariants to compare two chains, only in case the [JJMP∑] is same then it is needed to
determine [JJMPmax]for both kinematic chains. The [JJM] matrices can be written with very little effort, even
by mere inspection of the chain. The proposed test is quite general in nature and can be used to detect
isomorphism of not only planar kinematic chains of one degree of freedom, but also kinematic chains of multi
degree of freedom. The characteristic polynomials and composite structural invariants are very informative and
from them valuable information regarding topology of kinematic chains can be predicted. According to this
method, we can find that the [JJM] matrix is a map of mechanism kinematic chains and characteristic
polynomials and other characteristic invariants may reflect some nature and inner property of the mechanism.
The inner relation between characteristic value and mechanism kinematic chain need further study.
6. Isomorphism In Kinematic Chains
www.ijres.org 14 | Page
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Fig.3: Twelve bar chain, single freedom
7. Isomorphism In Kinematic Chains
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i
j
g
f
e
d
c
b a
h
3
7
12
11
10
9
8
6
5
4
2
1
Fig.4: Ten bar chain, three freedom
j
i
h
g
f
ed
c
b
a
12
11
10
8
7
6
4
3
2
1
Fig.5: Ten bar chain, three freedom
5
9
i
h
f
e
d
c
b
a
7
13
12
11
10
9
8
6
5
4
3
2 1
Fig.6: Ten bar chain, single freedom
j
g
i
h
g
f
e
d
c
b
5
13
11
10
9
8
7
6
4
3
2
1
Fig.7: Ten bar chain, single freedom
12
j a
f
e
d
b
a
7
6
5
4
32
Fig.9: Six bar chain, single freedom
1
c
f
e
d
c
7
3
2
1
6
4
5
Fig.8: Six bar chain, single freedom
b
a
8. Isomorphism In Kinematic Chains
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