This document summarizes a research paper that proposes a modified particle swarm optimization (MPSO) method to identify the parameters of a slider-crank mechanism driven by a field-oriented PM synchronous motor. The MPSO method considers a "distance" term in the fitness function to avoid local optima. Dynamic formulations of the slider-crank mechanism are presented with one independent variable. Experimental results validate that the MPSO identification method can accurately determine the slider-crank mechanism parameters.
Measuring Axle Weight of Moving Vehicle Based on Particle Swarm OptimizationIJRES Journal
The dynamic tire forces are the important factor influencing weigh-in-motion of vehicle. This paper presents a method to separate the dynamic tire forces contained in axle-weight signal. On the basis of analyzing the characteristic of axle-weight signal, the model of axle-weight signal and the objective function are constructed. After introducing the principle of particle swarm optimization (PSO), an improved PSO is employed to estimate the unknown parameters of the objective function. According to the obtained estimates of parameters, the dynamic tire forces contained in axle-weight signal are reconstructed. Subtract the reconstructed dynamic tire forces from the axle-weight signal, and get the estimate of axle weight of moving vehicle. Simulation and field experiments are conducted to demonstrate the performance of the proposed method.
Optimal Control for Torpedo Motion based on Fuzzy-PSO Advantage TechnicalTELKOMNIKA JOURNAL
The torpedo is a nonlinear object which is very difficult to control. Via to manage the rudder angle yaw, the diving plane angle, and the fin shake reduction, the torpedo yaw horizontal, the depth vertical and roll damping of the system are controlled accurately and steadily. In this paper, the particle swarm optimization is used to correct the imprecision of architecture fuzzy parameters. The coverage width of membership function and the overlap degree influence of neighboring membership functions are considered in the method to adjust dynamically from the system errors. Thereby optimizing the control signal and enhancing the torpedo motion quality. The proposed method results in a better performance compared to the other control method such as adaptive fuzzy-neural that proved effective of the proposed controller.
Compilation and Verification of FatigueLoad Spectrum ofHighSpeed Maglev Vehic...IJRES Journal
The purpose of this study was to construct the fatigue test load spectrum for use in the high speed
maglev vehicleswing rod.Based on the measured load spectrum of the high speed maglev vehicle running
gear,the relatively poor condition and location of the swing rod was determined, according to the statistics and
analysis the load data of swing rod. With the rain-flow cycle quantile extrapolation, a high degree confidence
load spectrum was obtained in view of the differential damage among the different tests. The eight level
one-dimensional load spectrum after mean equivalent processing was established, by applying the Goodman to
correct mean stress effect on the fatigue strength and life; The stresses under the loadswere calculated using the
ANSYSsimulation.The fatigue life obtained from the programmed load spectrum is compared with that
calculated from measured load data using Miner theory,and the accuracy and validation of the programmed
load spectrum for thehigh speed maglev vehicleswing rodwere verified.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This document summarizes an approach for mobile robot control using an integral backstepping approach. It begins by introducing mobile robots and their applications, as well as existing control approaches. It then presents the dynamic model of a unicycle-type mobile robot. Next, it describes the proposed control architecture, which uses a kinematic controller for the outer loop and an integral PI/backstepping controller for the dynamic model. Finally, it outlines the design of the nonlinear PI-based backstepping controller, including the error functions, Lyapunov functions, and virtual control inputs. The goal is to improve robustness when dynamic parameters are unknown.
A two-stage closed-form planetary gear train dynamic model is presented with 3 sentences:
The model considers translational and rotational displacements of all components in both stages of the gear train. Natural frequencies and vibration modes are determined by formulating the dynamic equations into a matrix form and calculating the eigenvalues and eigenvectors. Parameter effects like planet number and coupling stiffness on natural modes are analyzed to better understand the vibration characteristics.
The document describes a new adaptive treadmill control strategy that allows the treadmill speed to be controlled by the user's intended walking speed. It analyzes the center of pressure formula and simulation results to identify the ratio of reaction forces yF and zF (denoted as ,y zR ) as a key index related to intended walking speed. An experiment is conducted where subjects walk on a treadmill while viewing a virtual reality shopping scene. Force plate data is used to model the relationship between ,y zR and treadmill velocity V, and least squares regression is used to calibrate the model. The results show the treadmill speed can be smoothly controlled to match the user's intended speed.
This document summarizes research on optimizing operating power in bicycles using non-circular chain rings. It reviews several studies that have investigated different types of non-circular chain rings, including Q-rings, oval rings, and ovate rings, and their effects on pedaling kinematics, forces, and efficiency. One study used musculoskeletal modeling and found a non-circular chain ring shape that could increase average crank power by 2.9% compared to a circular chain ring. However, another study found that a new proposed non-circular chain ring design did not improve performance over a standard circular chain ring during high-intensity cycling.
Improvement of vehicle ride comfort using geneticalgorithm optimization and p...ahmedgeweda
This document presents a study that aims to improve vehicle ride comfort using genetic algorithm optimization and a PI controller. The following key points are discussed:
1. A 7 degree-of-freedom full vehicle model is developed in MATLAB SIMULINK to study ride comfort.
2. A genetic algorithm is used to optimize the values of spring stiffness and damping coefficients for the front and rear passive suspension at different velocities.
3. A proportional-integral controller is also implemented to study its effect on ride comfort.
4. Comparisons of body acceleration and sprung mass displacement are made between the optimized suspension parameters, model with PI controller, and passive suspension system to evaluate ride performance improvements.
Measuring Axle Weight of Moving Vehicle Based on Particle Swarm OptimizationIJRES Journal
The dynamic tire forces are the important factor influencing weigh-in-motion of vehicle. This paper presents a method to separate the dynamic tire forces contained in axle-weight signal. On the basis of analyzing the characteristic of axle-weight signal, the model of axle-weight signal and the objective function are constructed. After introducing the principle of particle swarm optimization (PSO), an improved PSO is employed to estimate the unknown parameters of the objective function. According to the obtained estimates of parameters, the dynamic tire forces contained in axle-weight signal are reconstructed. Subtract the reconstructed dynamic tire forces from the axle-weight signal, and get the estimate of axle weight of moving vehicle. Simulation and field experiments are conducted to demonstrate the performance of the proposed method.
Optimal Control for Torpedo Motion based on Fuzzy-PSO Advantage TechnicalTELKOMNIKA JOURNAL
The torpedo is a nonlinear object which is very difficult to control. Via to manage the rudder angle yaw, the diving plane angle, and the fin shake reduction, the torpedo yaw horizontal, the depth vertical and roll damping of the system are controlled accurately and steadily. In this paper, the particle swarm optimization is used to correct the imprecision of architecture fuzzy parameters. The coverage width of membership function and the overlap degree influence of neighboring membership functions are considered in the method to adjust dynamically from the system errors. Thereby optimizing the control signal and enhancing the torpedo motion quality. The proposed method results in a better performance compared to the other control method such as adaptive fuzzy-neural that proved effective of the proposed controller.
Compilation and Verification of FatigueLoad Spectrum ofHighSpeed Maglev Vehic...IJRES Journal
The purpose of this study was to construct the fatigue test load spectrum for use in the high speed
maglev vehicleswing rod.Based on the measured load spectrum of the high speed maglev vehicle running
gear,the relatively poor condition and location of the swing rod was determined, according to the statistics and
analysis the load data of swing rod. With the rain-flow cycle quantile extrapolation, a high degree confidence
load spectrum was obtained in view of the differential damage among the different tests. The eight level
one-dimensional load spectrum after mean equivalent processing was established, by applying the Goodman to
correct mean stress effect on the fatigue strength and life; The stresses under the loadswere calculated using the
ANSYSsimulation.The fatigue life obtained from the programmed load spectrum is compared with that
calculated from measured load data using Miner theory,and the accuracy and validation of the programmed
load spectrum for thehigh speed maglev vehicleswing rodwere verified.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This document summarizes an approach for mobile robot control using an integral backstepping approach. It begins by introducing mobile robots and their applications, as well as existing control approaches. It then presents the dynamic model of a unicycle-type mobile robot. Next, it describes the proposed control architecture, which uses a kinematic controller for the outer loop and an integral PI/backstepping controller for the dynamic model. Finally, it outlines the design of the nonlinear PI-based backstepping controller, including the error functions, Lyapunov functions, and virtual control inputs. The goal is to improve robustness when dynamic parameters are unknown.
A two-stage closed-form planetary gear train dynamic model is presented with 3 sentences:
The model considers translational and rotational displacements of all components in both stages of the gear train. Natural frequencies and vibration modes are determined by formulating the dynamic equations into a matrix form and calculating the eigenvalues and eigenvectors. Parameter effects like planet number and coupling stiffness on natural modes are analyzed to better understand the vibration characteristics.
The document describes a new adaptive treadmill control strategy that allows the treadmill speed to be controlled by the user's intended walking speed. It analyzes the center of pressure formula and simulation results to identify the ratio of reaction forces yF and zF (denoted as ,y zR ) as a key index related to intended walking speed. An experiment is conducted where subjects walk on a treadmill while viewing a virtual reality shopping scene. Force plate data is used to model the relationship between ,y zR and treadmill velocity V, and least squares regression is used to calibrate the model. The results show the treadmill speed can be smoothly controlled to match the user's intended speed.
This document summarizes research on optimizing operating power in bicycles using non-circular chain rings. It reviews several studies that have investigated different types of non-circular chain rings, including Q-rings, oval rings, and ovate rings, and their effects on pedaling kinematics, forces, and efficiency. One study used musculoskeletal modeling and found a non-circular chain ring shape that could increase average crank power by 2.9% compared to a circular chain ring. However, another study found that a new proposed non-circular chain ring design did not improve performance over a standard circular chain ring during high-intensity cycling.
Improvement of vehicle ride comfort using geneticalgorithm optimization and p...ahmedgeweda
This document presents a study that aims to improve vehicle ride comfort using genetic algorithm optimization and a PI controller. The following key points are discussed:
1. A 7 degree-of-freedom full vehicle model is developed in MATLAB SIMULINK to study ride comfort.
2. A genetic algorithm is used to optimize the values of spring stiffness and damping coefficients for the front and rear passive suspension at different velocities.
3. A proportional-integral controller is also implemented to study its effect on ride comfort.
4. Comparisons of body acceleration and sprung mass displacement are made between the optimized suspension parameters, model with PI controller, and passive suspension system to evaluate ride performance improvements.
IRJET - Design of Gyroscopes for Stabilizing Two-WheelerIRJET Journal
The document describes a research project to design gyroscopes for stabilizing two-wheel vehicles. It discusses incorporating gyroscopes that generate counteracting torque to balance a tilting two-wheeler. The researchers designed, modeled, and fabricated gyroscopes and tested their ability to stabilize a two-wheeler model under different loads. Calculations are shown for determining gyroscope speed, counteracting torque required for stabilization, and the center of gravity of the vehicle.
IRJET - Review of Suspension System for a Race CarIRJET Journal
This document reviews suspension systems for race cars. It summarizes 15 previous research papers on race car suspension design. The key findings are that double wishbone suspension systems are best for race cars to maintain optimal wheel contact and handling. Simulation software can be used to optimize suspension geometry and components to reduce weight while ensuring strength. Forces extracted from dynamic simulations can then be applied to components in static analysis to evaluate stress and durability. An optimized suspension design starts with kinematic analysis, applies loads from modeling, and uses results to validate component design.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
Energy-Efficient Driving in the Portuguese Rail Operation (MSc. Dissertation ...João Vieira
The main share of energy consumption in railways consists of traction energy, i.e., energy required to move the trains. The amount of energy consumed is much influenced by the way the train is driven within schedule. As each driver has its own driving style and since the deduction of the energy-efficient driving strategy is not trivial, there are now available Driving Advice Systems to assist drivers in choosing the most energy-efficient actions.
The aim of this study was to develop an energy-efficient driving model in order to derive, for a given route and running time, an energy-efficient speed profile. The driving model was used to build efficient driving strategies for regional and inter-regional rail services in the Douro line. The model’s energy saving potential evaluation was done by using a train-running simulator in order to compare the driver’s actions and speed profiles of real cases with the most efficient driving strategies for the same situations. The simulation results point to an energy saving potential between 11 and 15%, just by changing the driving style.
Finally, a Driver Advice System prototype was developed, in order to assist the driver in adopting an efficient driving strategy. The prototype has been developed for the Android platform, to be implemented in a low-cost equipment, such as a tablet, equipped with GPS receiver.
The document summarizes the analysis and optimization of steering components for a human-powered vehicle (HPV). It describes the goals of reducing component weights by 60-80% while maintaining a safety factor above 1.5. The methodology included understanding load paths, applying finite element analysis to evaluate stresses, and iteratively modifying designs. All components met safety factor goals except the steering plate, which fell just short at 1.46. The optimizations achieved weight reductions but did not fully meet all initial percentage targets.
COMPARISON OF RESPONSE TO UNBALANCE OF OVERHUNG ROTOR SYSTEM FOR DIFFERENT SU...IAEME Publication
Rotor unbalance is most common fault found in the rotating machines. Methods
are adopted to analyze the position of unbalance and to bring its effect into acceptablelimit. Vibration analysis is the most common technique used to analyze the rotor
system. Research have been performed on rotor supported atboth ends, however lessstudy has been done for overhung rotor. In this paper the response of overhung rotoron isotropic support and anisotropic support subject tounbalance has been presented.and equations aresolved using MATLAB programming. The effect of unbalancehas been studied on thebode plot. Forward and Reverse whirl are observed through Campbell diagram andmode shapes are plotted.
Attitude Control of Quadrotor Using PD Plus Feedforward Controller on SO(3)IJECEIAES
This paper proposes a simple scheme of Proportional-Derivative (PD) plus Feedforward controller on SO(3) to control the attitude of a quadrotor. This controller only needs the measurement of angular velocity to calculate the exponential coordinates of the rotation matrix. With rotation matrix as an error variable of the controller, the simulation shows that the controller is able to drive the attitude of the quadrotor from hovering condition to desired attitude and from an attitude condition goes to the hovering condition, despite the system is disturbed. When the system is convergent, the rotation error matrix will be a 3 3 identity matrix.
An efficient sensitivity analysis method for modified geometry of Macpherson ...yarmohammadisadegh
The main purpose of this paper is to propose a new method for designing Macpherson suspension based on the influence of the most important parameters on behavior of the vehicle. The formulation of dynamic analysis of Macpherson suspension system is developed using the suspension members as the modified links in order to achieve the desired kinematic behavior. The mechanical system is replaced with an equivalent constrained links and then kinematic laws are utilized to obtain the new modified geometry of Macpherson suspension. The equivalent mechanism of Macpherson suspension increased the speed of analysis and reduced its complexity. The ADAMS/CAR software is utilized to simulate a full vehicle, Renault Logan car, in order to analyze the accuracy of modified geometry model. An experimental 4-poster test rig is considered for validating both ADAMS/CAR simulation and analytical geometry model. This paper introduces a new method for designing suspension, based on the Sobol indices in terms of Pearson correlation which determines the importance of each member on the behavior of vehicle suspension. Pearson correlation coefficient is applied to analyze the sensitivity of each suspension member according to vehicle objective functions such as sprung mass acceleration, etc. Besides this matter, the estimation of Pearson correlation coefficient between variables is analyzed in this method. It is understood that the Pearson correlation coefficient is an efficient method for analyzing the vehicle suspension which leads to a better design of Macpherson suspension system.
The document presents the results of an experimental investigation into the performance of a laboratory screw jack. Various tests were conducted by applying different loads between 450N and 100N to the screw jack. For each load, the mechanical advantage, velocity ratio, and mechanical efficiency were calculated. The results showed that the mechanical efficiency of the screw jack was always less than 50% since the mechanical advantage and velocity ratio were less than half. Frictional forces in the screw and base contributed to the efficiency not remaining constant across different loads.
This document summarizes a thesis that used the GPOPS-II optimization software to solve an optimal control problem of configuring four small spacecraft into a tetrahedral formation in space. The problem minimized mass by determining the optimal thrust profile for each spacecraft to ascend from an initial circular orbit to a terminal reference orbit while forming a tetrahedron of defined size and shape constraints. It was found that approximately 163 kg of fuel was needed for one spacecraft and 654 kg total for the four spacecraft to achieve the desired formation configuration. The document outlines the problem description, modeling methods, solution approach in MATLAB, and results from solving the problem incrementally with increasing complexity.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
Modal Space Controller for Hydraulically Driven Six Degree of Freedom Paralle...Dr. Amarjeet Singh
This paper presents the Modal space decoupled control for a hydraulically driven parallel mechanism has been presented. The approach is based on singular values decomposition to the properties of joint-space inverse mass matrix, and mapping of the control and feedback variables from the joint space to the decoupling modal space. The method transformed highly coupled six-input six-output dynamics into six independent single-input single-output (SISO) 1 DOF hydraulically driven mechanical systems. The novelty in this method is that the signals including control errors, control outputs and pressure feedbacks are transformed into decoupled modal space and also the proportional gains and dynamic pressure feedback are tuned in modal space. The results indicate that the conventional controller can only attenuate the resonance peaks of the lower eigenfrequencies of six rigid modes properly, and the peaking points of other relative higher eigenfrequencies are over damped, The further results show that it is very effective to design and tune the system in modal space and that the bandwidth increased substantially except surge (x) and sway (y) motions, each degree of freedom can be almost tuned independently and their bandwidths can be increased near to the undamped eigenfrequencies.
This document describes the design and analysis of a planar positioning stage based on a redundantly actuated parallel linkage. The positioning stage has three degrees of freedom (x-y-θ) and uses a 3-PRPR linkage with six actuators. The document analyzes the kinematics and workspace of the linkage. It describes the procedure for static analysis to calculate the actuated joint torques. The positioning stage could enable high-precision motion with a compact design and improved stiffness compared to serial linkages. It is proposed for potential use in micro-scale applications.
Car Dynamics using Quarter Model and Passive Suspension, Part VI: Sprung-mass...IOSR Journals
1) The document investigates the step response of a 2 DOF quarter-car model with passive suspension using MATLAB.
2) It derives the mathematical models for the sprung-mass displacement and acceleration in response to a 100mm step road disturbance.
3) The simulations show that increasing the suspension damping coefficient decreases the overshoot and settling time of the sprung-mass displacement response, but increases the maximum acceleration. Suspension stiffness has little effect on the maximum acceleration.
The active suspension system with hydraulic actuator for half car model analy...eSAT Publishing House
This document describes the design and simulation of an active suspension system with a hydraulic actuator for a half car model. A PID controller is designed and tuned using three different methods - heuristic tuning, Ziegler-Nichols tuning, and iterative learning algorithm tuning. The half car model and hydraulic actuator are modeled and simulated in MATLAB Simulink. Simulation results show that the PID controller tuned with the iterative learning algorithm provides the best ride quality performance compared to the other tuning methods or a passive suspension, reducing the body displacement under various road disturbances.
Linear Static and Dynamic Analysis of Rocket Engine Testing Bench Structure u...IJERA Editor
1) The document presents a finite element analysis of a rocket engine test bench structure conducted by researchers at PUC-Minas.
2) Static and dynamic analyses were performed using Nastran software to evaluate the structure's response to simulated engine tests. Three load scenarios were considered to account for potential misalignments.
3) The critical load case involved an applied load of 5 kN at a 5 degree angle, which produced the highest stresses and displacements. The first 20 natural frequencies of the structure were also determined.
4) The analyses found that the test bench structure would be able to withstand the expected loads from prototype engines up to 5 kN of thrust, with maximum stresses and displacements within acceptable limits
A PARTICLE SWARM OPTIMIZATION ALGORITHM BASED ON UNIFORM DESIGNIJDKP
The Particle Swarm Optimization (PSO) Algorithm is one of swarm intelligence optimization algorithms.
Usually the population’s values of PSO algorithm are random which leads to random distribution of
search quality and search velocity. This paper presents PSO based on uniform design (UD). UD is widely
used in various applications and introduced to generate an initial population, in which the population
members are scattered uniformly over the search space. In evolution, UD is also introduced to replace
some worse individuals. Based on abovementioned these technologies a Particle Swarm Optimization
Algorithm based on Uniform Design (PSO-UD) algorithm is proposed. At last, the performance of PSOUD
algorithm is tested and compared. Tests show that the PSO-UD algorithm faster than standard PSO
algorithm with random populations.
This study designed and tested a passive lower leg exoskeleton with a linear damper parallel to the ankle joint. The goal was to reduce joint torques during landing and make landing safer. A computational model was used to aid in device design. Subjects were tested dropping from 0.71m while wearing the exoskeleton with no, low, or high damping. Results showed the low damping decreased peak ankle torque by 12% and high damping decreased it by 30% compared to no damping, indicating the device reduced joint torques during landing.
This document summarizes the kinematics analysis of a 3-UPU (universal-prismatic-universal) parallel robot. Each of the robot's three legs consists of two universal joints connected by a prismatic joint. The document establishes recursive matrix relations for solving the inverse kinematics problem given the position of the mobile platform. Simulation graphs are generated for the input displacements, velocities, and accelerations. The kinematics analysis determines the nine independent variables that define the robot's configuration based on vector-loop equations relating the joint parameters and platform position.
Modeling, simulation & dynamic analysis of four bar planarIAEME Publication
This document discusses modeling, simulating, and analyzing the dynamic forces of a four-bar planar mechanism using CATIA V5 software. The document begins with an introduction to four-bar mechanisms and their importance. It then describes the mathematical modeling of displacement, velocity, and acceleration analysis of four-bar linkages. Next, it explains how to model a four-bar mechanism using different CATIA tools. The document presents results of the simulation in CATIA including graphs of link angle, speed, and acceleration over time. It concludes that CATIA allows simulation of link motion at different positions and validation of analytical equations, providing a valuable tool for mechanism analysis and design optimization.
This document presents a project on designing a novel quick return mechanism composed of a generalized Oldham coupling and slider-crank mechanism. It includes sections on the abstract, introduction, literature review, existing systems, problem identification, proposed system, methodology, cost estimation, results and discussion, references, and conclusion. The project aims to develop a more compact and dynamically balanced alternative to conventional quick return linkages used in machines like shapers. The design is validated through kinematic simulation and experimental testing, with results showing the proposed mechanism is feasible and achieves reasonable accuracy.
IRJET - Design of Gyroscopes for Stabilizing Two-WheelerIRJET Journal
The document describes a research project to design gyroscopes for stabilizing two-wheel vehicles. It discusses incorporating gyroscopes that generate counteracting torque to balance a tilting two-wheeler. The researchers designed, modeled, and fabricated gyroscopes and tested their ability to stabilize a two-wheeler model under different loads. Calculations are shown for determining gyroscope speed, counteracting torque required for stabilization, and the center of gravity of the vehicle.
IRJET - Review of Suspension System for a Race CarIRJET Journal
This document reviews suspension systems for race cars. It summarizes 15 previous research papers on race car suspension design. The key findings are that double wishbone suspension systems are best for race cars to maintain optimal wheel contact and handling. Simulation software can be used to optimize suspension geometry and components to reduce weight while ensuring strength. Forces extracted from dynamic simulations can then be applied to components in static analysis to evaluate stress and durability. An optimized suspension design starts with kinematic analysis, applies loads from modeling, and uses results to validate component design.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
Energy-Efficient Driving in the Portuguese Rail Operation (MSc. Dissertation ...João Vieira
The main share of energy consumption in railways consists of traction energy, i.e., energy required to move the trains. The amount of energy consumed is much influenced by the way the train is driven within schedule. As each driver has its own driving style and since the deduction of the energy-efficient driving strategy is not trivial, there are now available Driving Advice Systems to assist drivers in choosing the most energy-efficient actions.
The aim of this study was to develop an energy-efficient driving model in order to derive, for a given route and running time, an energy-efficient speed profile. The driving model was used to build efficient driving strategies for regional and inter-regional rail services in the Douro line. The model’s energy saving potential evaluation was done by using a train-running simulator in order to compare the driver’s actions and speed profiles of real cases with the most efficient driving strategies for the same situations. The simulation results point to an energy saving potential between 11 and 15%, just by changing the driving style.
Finally, a Driver Advice System prototype was developed, in order to assist the driver in adopting an efficient driving strategy. The prototype has been developed for the Android platform, to be implemented in a low-cost equipment, such as a tablet, equipped with GPS receiver.
The document summarizes the analysis and optimization of steering components for a human-powered vehicle (HPV). It describes the goals of reducing component weights by 60-80% while maintaining a safety factor above 1.5. The methodology included understanding load paths, applying finite element analysis to evaluate stresses, and iteratively modifying designs. All components met safety factor goals except the steering plate, which fell just short at 1.46. The optimizations achieved weight reductions but did not fully meet all initial percentage targets.
COMPARISON OF RESPONSE TO UNBALANCE OF OVERHUNG ROTOR SYSTEM FOR DIFFERENT SU...IAEME Publication
Rotor unbalance is most common fault found in the rotating machines. Methods
are adopted to analyze the position of unbalance and to bring its effect into acceptablelimit. Vibration analysis is the most common technique used to analyze the rotor
system. Research have been performed on rotor supported atboth ends, however lessstudy has been done for overhung rotor. In this paper the response of overhung rotoron isotropic support and anisotropic support subject tounbalance has been presented.and equations aresolved using MATLAB programming. The effect of unbalancehas been studied on thebode plot. Forward and Reverse whirl are observed through Campbell diagram andmode shapes are plotted.
Attitude Control of Quadrotor Using PD Plus Feedforward Controller on SO(3)IJECEIAES
This paper proposes a simple scheme of Proportional-Derivative (PD) plus Feedforward controller on SO(3) to control the attitude of a quadrotor. This controller only needs the measurement of angular velocity to calculate the exponential coordinates of the rotation matrix. With rotation matrix as an error variable of the controller, the simulation shows that the controller is able to drive the attitude of the quadrotor from hovering condition to desired attitude and from an attitude condition goes to the hovering condition, despite the system is disturbed. When the system is convergent, the rotation error matrix will be a 3 3 identity matrix.
An efficient sensitivity analysis method for modified geometry of Macpherson ...yarmohammadisadegh
The main purpose of this paper is to propose a new method for designing Macpherson suspension based on the influence of the most important parameters on behavior of the vehicle. The formulation of dynamic analysis of Macpherson suspension system is developed using the suspension members as the modified links in order to achieve the desired kinematic behavior. The mechanical system is replaced with an equivalent constrained links and then kinematic laws are utilized to obtain the new modified geometry of Macpherson suspension. The equivalent mechanism of Macpherson suspension increased the speed of analysis and reduced its complexity. The ADAMS/CAR software is utilized to simulate a full vehicle, Renault Logan car, in order to analyze the accuracy of modified geometry model. An experimental 4-poster test rig is considered for validating both ADAMS/CAR simulation and analytical geometry model. This paper introduces a new method for designing suspension, based on the Sobol indices in terms of Pearson correlation which determines the importance of each member on the behavior of vehicle suspension. Pearson correlation coefficient is applied to analyze the sensitivity of each suspension member according to vehicle objective functions such as sprung mass acceleration, etc. Besides this matter, the estimation of Pearson correlation coefficient between variables is analyzed in this method. It is understood that the Pearson correlation coefficient is an efficient method for analyzing the vehicle suspension which leads to a better design of Macpherson suspension system.
The document presents the results of an experimental investigation into the performance of a laboratory screw jack. Various tests were conducted by applying different loads between 450N and 100N to the screw jack. For each load, the mechanical advantage, velocity ratio, and mechanical efficiency were calculated. The results showed that the mechanical efficiency of the screw jack was always less than 50% since the mechanical advantage and velocity ratio were less than half. Frictional forces in the screw and base contributed to the efficiency not remaining constant across different loads.
This document summarizes a thesis that used the GPOPS-II optimization software to solve an optimal control problem of configuring four small spacecraft into a tetrahedral formation in space. The problem minimized mass by determining the optimal thrust profile for each spacecraft to ascend from an initial circular orbit to a terminal reference orbit while forming a tetrahedron of defined size and shape constraints. It was found that approximately 163 kg of fuel was needed for one spacecraft and 654 kg total for the four spacecraft to achieve the desired formation configuration. The document outlines the problem description, modeling methods, solution approach in MATLAB, and results from solving the problem incrementally with increasing complexity.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
Modal Space Controller for Hydraulically Driven Six Degree of Freedom Paralle...Dr. Amarjeet Singh
This paper presents the Modal space decoupled control for a hydraulically driven parallel mechanism has been presented. The approach is based on singular values decomposition to the properties of joint-space inverse mass matrix, and mapping of the control and feedback variables from the joint space to the decoupling modal space. The method transformed highly coupled six-input six-output dynamics into six independent single-input single-output (SISO) 1 DOF hydraulically driven mechanical systems. The novelty in this method is that the signals including control errors, control outputs and pressure feedbacks are transformed into decoupled modal space and also the proportional gains and dynamic pressure feedback are tuned in modal space. The results indicate that the conventional controller can only attenuate the resonance peaks of the lower eigenfrequencies of six rigid modes properly, and the peaking points of other relative higher eigenfrequencies are over damped, The further results show that it is very effective to design and tune the system in modal space and that the bandwidth increased substantially except surge (x) and sway (y) motions, each degree of freedom can be almost tuned independently and their bandwidths can be increased near to the undamped eigenfrequencies.
This document describes the design and analysis of a planar positioning stage based on a redundantly actuated parallel linkage. The positioning stage has three degrees of freedom (x-y-θ) and uses a 3-PRPR linkage with six actuators. The document analyzes the kinematics and workspace of the linkage. It describes the procedure for static analysis to calculate the actuated joint torques. The positioning stage could enable high-precision motion with a compact design and improved stiffness compared to serial linkages. It is proposed for potential use in micro-scale applications.
Car Dynamics using Quarter Model and Passive Suspension, Part VI: Sprung-mass...IOSR Journals
1) The document investigates the step response of a 2 DOF quarter-car model with passive suspension using MATLAB.
2) It derives the mathematical models for the sprung-mass displacement and acceleration in response to a 100mm step road disturbance.
3) The simulations show that increasing the suspension damping coefficient decreases the overshoot and settling time of the sprung-mass displacement response, but increases the maximum acceleration. Suspension stiffness has little effect on the maximum acceleration.
The active suspension system with hydraulic actuator for half car model analy...eSAT Publishing House
This document describes the design and simulation of an active suspension system with a hydraulic actuator for a half car model. A PID controller is designed and tuned using three different methods - heuristic tuning, Ziegler-Nichols tuning, and iterative learning algorithm tuning. The half car model and hydraulic actuator are modeled and simulated in MATLAB Simulink. Simulation results show that the PID controller tuned with the iterative learning algorithm provides the best ride quality performance compared to the other tuning methods or a passive suspension, reducing the body displacement under various road disturbances.
Linear Static and Dynamic Analysis of Rocket Engine Testing Bench Structure u...IJERA Editor
1) The document presents a finite element analysis of a rocket engine test bench structure conducted by researchers at PUC-Minas.
2) Static and dynamic analyses were performed using Nastran software to evaluate the structure's response to simulated engine tests. Three load scenarios were considered to account for potential misalignments.
3) The critical load case involved an applied load of 5 kN at a 5 degree angle, which produced the highest stresses and displacements. The first 20 natural frequencies of the structure were also determined.
4) The analyses found that the test bench structure would be able to withstand the expected loads from prototype engines up to 5 kN of thrust, with maximum stresses and displacements within acceptable limits
A PARTICLE SWARM OPTIMIZATION ALGORITHM BASED ON UNIFORM DESIGNIJDKP
The Particle Swarm Optimization (PSO) Algorithm is one of swarm intelligence optimization algorithms.
Usually the population’s values of PSO algorithm are random which leads to random distribution of
search quality and search velocity. This paper presents PSO based on uniform design (UD). UD is widely
used in various applications and introduced to generate an initial population, in which the population
members are scattered uniformly over the search space. In evolution, UD is also introduced to replace
some worse individuals. Based on abovementioned these technologies a Particle Swarm Optimization
Algorithm based on Uniform Design (PSO-UD) algorithm is proposed. At last, the performance of PSOUD
algorithm is tested and compared. Tests show that the PSO-UD algorithm faster than standard PSO
algorithm with random populations.
This study designed and tested a passive lower leg exoskeleton with a linear damper parallel to the ankle joint. The goal was to reduce joint torques during landing and make landing safer. A computational model was used to aid in device design. Subjects were tested dropping from 0.71m while wearing the exoskeleton with no, low, or high damping. Results showed the low damping decreased peak ankle torque by 12% and high damping decreased it by 30% compared to no damping, indicating the device reduced joint torques during landing.
This document summarizes the kinematics analysis of a 3-UPU (universal-prismatic-universal) parallel robot. Each of the robot's three legs consists of two universal joints connected by a prismatic joint. The document establishes recursive matrix relations for solving the inverse kinematics problem given the position of the mobile platform. Simulation graphs are generated for the input displacements, velocities, and accelerations. The kinematics analysis determines the nine independent variables that define the robot's configuration based on vector-loop equations relating the joint parameters and platform position.
Modeling, simulation & dynamic analysis of four bar planarIAEME Publication
This document discusses modeling, simulating, and analyzing the dynamic forces of a four-bar planar mechanism using CATIA V5 software. The document begins with an introduction to four-bar mechanisms and their importance. It then describes the mathematical modeling of displacement, velocity, and acceleration analysis of four-bar linkages. Next, it explains how to model a four-bar mechanism using different CATIA tools. The document presents results of the simulation in CATIA including graphs of link angle, speed, and acceleration over time. It concludes that CATIA allows simulation of link motion at different positions and validation of analytical equations, providing a valuable tool for mechanism analysis and design optimization.
This document presents a project on designing a novel quick return mechanism composed of a generalized Oldham coupling and slider-crank mechanism. It includes sections on the abstract, introduction, literature review, existing systems, problem identification, proposed system, methodology, cost estimation, results and discussion, references, and conclusion. The project aims to develop a more compact and dynamically balanced alternative to conventional quick return linkages used in machines like shapers. The design is validated through kinematic simulation and experimental testing, with results showing the proposed mechanism is feasible and achieves reasonable accuracy.
This document discusses modal analysis of rotating structures using active magnetic bearings. It begins by introducing modal analysis and its importance for analyzing high-speed rotating machinery. It then describes the experimental setup which uses active magnetic bearings to both levitate and excite a test rotor. Natural frequencies and mode shapes are identified for the free-free rotor both with and without bearing stiffness. Introducing bearing stiffness is found to increase natural frequencies and introduce additional modes. The document concludes by explaining how the active magnetic bearings can be used to artificially excite the rotor to measure its frequency response functions and identify its dynamic characteristics.
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.
This document presents an adaptive Kalman filter for estimating human body orientation using micro-sensors. The filter uses quaternions to represent orientation to avoid singularities. It includes motion acceleration in the state vector to compensate for interference of body motion on gravity measurements. Additionally, it adapts the process noise covariance based on sensor signal variations to optimize performance under human motion. Experiments showed this algorithm had less error than existing methods and that including motion compensation and adaptive mechanisms improved accuracy of human motion capture.
The Effect of Arm Stiffness on the Elasto-Kinematic Properties of Single-Axle...theijes
The paper is focused on the stiffness analysis of the longitudinal arm of single-axle suspension on elastokinematic behaviour of the vehicle axle which is highly important when considering the handling characteristics related tovehicle safety.The elasto-kinematic behaviour of the axle determines the course of the geometrical parameters of wheel suspension, the toe angle and camber as the function of wheel movement during force loading. This paper presents the complex MBS (Multi-Body Simulation)model of the wheel suspension with nonlinear characteristics of rubber-metal bushings. The model also comprises force elements such as springs, shock absorbers, stops and the transverse stabilizer. The model of flexible arm is implemented in the MBS model using the Craig-Bampton method, which represents a flexible body based on the synthesis of its own modal shapes. Subsequently,elasto-kinematic simulations are performed with the help ofthe computational system Hyperwork. The computational part of the paper presents the results of the elasto-kinematic behaviour of wheel axle for the flexible arm with different sheet metal thicknesses (2, 3 and 4 mm) and different materials (steel and aluminium alloy AlSi7Mg). Individual calculation models are compared to each other and also to the model of suspension with therigidarm. Elasto-kinematic analyses are also validated by the measurement inthe testing stage.
Aplanning algorithm offive-axis feedrate interpolation based on drive and jer...IJRES Journal
CNC technology marks the core of modern manufacturing, and CNC interpolation module is one of the most important numerical control technology modules. Avery important feature of the CNC is to implement the feed rate that consists in producing the set points based on a NC program. In the high speed machining, the feed rate is restricted by the velocity, acceleration, and jerk. And the NURBS curve is a free curve, due to the many advantages of NURBS curves, it can be well applied to the CNC feed rate interpolation. The algorithm can get more smooth feed rate curves, which makes better use of kinematical characteristics of the machine. Finally, according to each machine axis capability, one can use the feed rate control method which is verified by simulation analysis and processing to test this method. The results show that the algorithm can effectively control the speed, acceleration and jerk.
This document summarizes multi-objective optimization of a Tricept parallel manipulator using an evolutionary algorithm. It discusses using a particle swarm optimization (PSO) technique to optimize the manipulator's conditioning index, workspace volume, and global conditioning index (GCI) simultaneously. The methodology involves calculating inverse kinematics and the Jacobian to determine performance parameters. Single-objective PSO is used to optimize the conditioning index alone. Results show the minimum conditioning index and corresponding design variables. PSO also optimizes the workspace volume alone. A multi-objective PSO with a weighted sum strategy then optimizes all parameters simultaneously, showing their relationships and validating results against single-objective optimization.
ANALYSIS OF FRICTION INDUCED VIBRATION DURING ENGAGEMENT OF CLUTCHESIAEME Publication
Safety aspect in automotive engineering is of prime importance and given priority in design and development of vehicle. This vehicle development needs to meet safety requirement. Braking system along with good suspension systems, good handling and safe cornering, is one of the most critical system in the vehicle. The objective of this work is to design, analyze and investigate the temperature distribution of rotor disc during braking operation using suitable numerical tools. The numerical study uses the finite element analysis techniques to predict the temperature distribution on the full and ventilated brake disc. This analysis is further used to identify the critical temperature of the rotor by varying geometric design of the disc. The analysis also gives us, the heat flux distribution for the disc rotors with various groove patterns.
This document describes the design and analysis of a planar positioning stage based on a redundantly actuated parallel linkage with six degrees of freedom (three translations and three rotations). The kinematics and workspace analysis of the linkage are presented. A static analysis method to calculate the actuator torques required for a given end-effector force and trajectory is also described. MATLAB programs were developed to analyze the workspace and perform the static analysis. The results show that the redundant actuation can help improve the workspace characteristics and prevent singular configurations compared to non-redundant parallel manipulators. The stage design has potential applications in micro-positioning.
Slider Crank Mechanism for Four bar linkageijsrd.com
the slider crank mechanism is a particular four bar linkage configuration that exhibits both linear and rotational motion simultaneously. This mechanism is frequently utilized in undergraduate engineering courses to investigate machine kinematics and resulting dynamic forces. The position, velocity, acceleration and shaking forces generated by a slider crank mechanism during operation can be determined analytically. Certain factors are often neglected from analytical calculations, causing results to differ from experimental data. The study of these slight variances produces useful insight. The following report details the successful design, fabrication and testing of a pneumatically powered slider crank mechanism for the purpose of classroom demonstration and experimentation. Transducers mounted to the mechanism record kinematic and dynamic force data during operation, which can then be compared to analytical values. The mechanism is capable of operating in balanced and unbalanced configurations so that the magnitude of shaking forces can be compared. The engine was successfully manufactured and operates as intended. Data recorded by the device's accelerometers is comparable to calculated values of acceleration and shaking force.
This document discusses using an Extended Kalman Filter (EKF) for sensorless state estimation of a Permanent Magnet Synchronous Motor (PMSM). It presents the mathematical model of a PMSM and describes a vector control system structure using field oriented control with a dual closed-loop for speed and current control. Simulation results show the EKF can accurately estimate motor speed without sensors, with only a slight lag during transients compared to actual measured speed. The EKF achieves precise position and speed estimation of the PMSM against parameter variations.
Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560IOSR Journals
Current industrial robots are made very heavy to achieve high Stiffness
which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the
required energy to move the system. The requirement for higher speed and better system performance makes it
necessary to consider a new generation of light weight manipulators as an alternative to today's massive
inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities
and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much
more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such
systems.This project presents the flexibility and Kineto - Elasto dynamic analysis of robot manipulator
considering deflection. Based on the distributed parameter method, the generalized motion equations of robot
manipulator with flexible links are derived. The final formulation of the motion equations is used to model
general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be
used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path
trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory
(Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot
arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is
inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths
trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic
compensation. These torque variations are included in the robotic programming for getting the accurate endeffect
or’s path trajectory
The performance evaluation is one of most important issues in the analysis and design of parallel manipulators.
Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it’s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures.
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Load speed regulation in compliant mechanical transmission systems using feed...ISA Interchange
The problem of controlling the load speed of a mechanical transmission system consisting of a belt- pulley and gear-pair is considered. The system is modeled as two inertia (motor and load) connected by a compliant transmission. If the transmission is assumed to be rigid, then using either the motor or load speed feedback provides the same result. However, with transmission compliance, due to belts or long shafts, the stability characteristics and performance of the closed-loop system are quite different when either motor or load speed feedback is employed. We investigate motor and load speed feedback schemes by utilizing the singular perturbation method. We propose and discuss a control scheme that utilizes both motor and load speed feedback, and design an adaptive feedforward action to reject load torque disturbances. The control algorithms are implemented on an experimental platform that is typically used in roll-to-roll manufacturing and results are shown and discussed.
Neural Network Approach to Railway Stand Lateral SKEW Controlcsandit
This document discusses using neural networks to control the lateral skew of a railway wheel set on an experimental railway stand (roller rig). It first describes the roller rig setup and issues with previous control methods using state feedback and cascade PID control. It then discusses using neural networks for adaptive identification and control of the lateral skew. Specifically, it examines using linear neural units and quadratic neural units trained with real-time recurrent learning or backpropagation through time. The results of applying these various neural network approaches to identify and control the lateral skew of the roller rig are analyzed.
Signature PSO: A novel inertia weight adjustment using fuzzy signature for LQ...journalBEEI
Particle swarm optimization (PSO) is an optimization algorithm that is simple and reliable to complete optimization. The balance between exploration and exploitation of PSO searching characteristics is maintained by inertia weight. Since this parameter has been introduced, there have been several different strategies to determine the inertia weight during a train of the run. This paper describes the method of adjusting the inertia weights using fuzzy signatures called signature PSO. Some parameters were used as a fuzzy signature variable to represent the particle situation in a run. The implementation to solve the tuning problem of linear quadratic regulator (LQR) control parameters is also presented in this paper. Another weight adjustment strategy is also used as a comparison in performance evaluation using an integral time absolute error (ITAE). Experimental results show that signature PSO was able to give a good approximation to the optimum control parameters of LQR in this case.
Improvement in Quality of Power by PI Controller Hybrid PSO using STATCOMIRJET Journal
The document discusses using a hybrid particle swarm optimization (PSO) technique with a PI controller and STATCOM device to improve power quality and reduce costs. Voltage sags are a key power quality issue that are mitigated. The system is modeled in MATLAB Simulink. Simulation results show that using PSO to optimize the PI controller parameters and STATCOM operation leads to better voltage regulation and an improved inertia weight, demonstrating enhanced power quality and reduced costs.
Dynamics and control of a robotic arm having four linksAmin A. Mohammed
This document presents the dynamics modeling and control of a 4 degree-of-freedom robotic arm. It first derives the dynamic model of the robotic arm using the Euler-Lagrange approach. It then describes implementing two control approaches for position control of the arm joints: PID control and feedback linearization control. Simulation results show that PID control coupled with a differential evolution algorithm and feedback linearization control improve the robotic arm's performance. Increasing the arm link masses is found to not affect PID position control performance but require higher control torques.
Similar to Identifying the Slider-Crank Mechanism System by the MPSO Method (20)
‘Six Sigma Technique’ A Journey Through its Implementationijtsrd
The manufacturing industries all over the world are facing tough challenges for growth, development and sustainability in today’s competitive environment. They have to achieve apex position by adapting with the global competitive environment by delivering goods and services at low cost, prime quality and better price to increase wealth and consumer satisfaction. Cost Management ensures profit, growth and sustainability of the business with implementation of Continuous Improvement Technique like Six Sigma. This leads to optimize Business performance. The method drives for customer satisfaction, low variation, reduction in waste and cycle time resulting into a competitive advantage over other industries which did not implement it. The main objective of this paper ‘Six Sigma Technique A Journey Through Its Implementation’ is to conceptualize the effectiveness of Six Sigma Technique through the journey of its implementation. Aditi Sunilkumar Ghosalkar "‘Six Sigma Technique’: A Journey Through its Implementation" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64546.pdf Paper Url: https://www.ijtsrd.com/other-scientific-research-area/other/64546/‘six-sigma-technique’-a-journey-through-its-implementation/aditi-sunilkumar-ghosalkar
Edge Computing in Space Enhancing Data Processing and Communication for Space...ijtsrd
Edge computing, a paradigm that involves processing data closer to its source, has gained significant attention for its potential to revolutionize data processing and communication in space missions. With the increasing complexity and data volume generated by modern space missions, traditional centralized computing approaches face challenges related to latency, bandwidth, and security. Edge computing in space, involving on board processing and analysis of data, offers promising solutions to these challenges. This paper explores the concept of edge computing in space, its benefits, applications, and future prospects in enhancing space missions. Manish Verma "Edge Computing in Space: Enhancing Data Processing and Communication for Space Missions" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64541.pdf Paper Url: https://www.ijtsrd.com/computer-science/artificial-intelligence/64541/edge-computing-in-space-enhancing-data-processing-and-communication-for-space-missions/manish-verma
Dynamics of Communal Politics in 21st Century India Challenges and Prospectsijtsrd
Communal politics in India has evolved through centuries, weaving a complex tapestry shaped by historical legacies, colonial influences, and contemporary socio political transformations. This research comprehensively examines the dynamics of communal politics in 21st century India, emphasizing its historical roots, socio political dynamics, economic implications, challenges, and prospects for mitigation. The historical perspective unravels the intricate interplay of religious identities and power dynamics from ancient civilizations to the impact of colonial rule, providing insights into the evolution of communalism. The socio political dynamics section delves into the contemporary manifestations, exploring the roles of identity politics, socio economic disparities, and globalization. The economic implications section highlights how communal politics intersects with economic issues, perpetuating disparities and influencing resource allocation. Challenges posed by communal politics are scrutinized, revealing multifaceted issues ranging from social fragmentation to threats against democratic values. The prospects for mitigation present a multifaceted approach, incorporating policy interventions, community engagement, and educational initiatives. The paper conducts a comparative analysis with international examples, identifying common patterns such as identity politics and economic disparities. It also examines unique challenges, emphasizing Indias diverse religious landscape, historical legacy, and secular framework. Lessons for effective strategies are drawn from international experiences, offering insights into inclusive policies, interfaith dialogue, media regulation, and global cooperation. By scrutinizing historical epochs, contemporary dynamics, economic implications, and international comparisons, this research provides a comprehensive understanding of communal politics in India. The proposed strategies for mitigation underscore the importance of a holistic approach to foster social harmony, inclusivity, and democratic values. Rose Hossain "Dynamics of Communal Politics in 21st Century India: Challenges and Prospects" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64528.pdf Paper Url: https://www.ijtsrd.com/humanities-and-the-arts/history/64528/dynamics-of-communal-politics-in-21st-century-india-challenges-and-prospects/rose-hossain
Assess Perspective and Knowledge of Healthcare Providers Towards Elehealth in...ijtsrd
Background and Objective Telehealth has become a well known tool for the delivery of health care in Saudi Arabia, and the perspective and knowledge of healthcare providers are influential in the implementation, adoption and advancement of the method. This systematic review was conducted to examine the current literature base regarding telehealth and the related healthcare professional perspective and knowledge in the Kingdom of Saudi Arabia. Materials and Methods This systematic review was conducted by searching 7 databases including, MEDLINE, CINHAL, Web of Science, Scopus, PubMed, PsycINFO, and ProQuest Central. Studies on healthcare practitioners telehealth knowledge and perspectives published in English in Saudi Arabia from 2000 to 2023 were included. Boland directed this comprehensive review. The researchers examined each connected study using the AXIS tool, which evaluates cross sectional systematic reviews. Narrative synthesis was used to summarise and convey the data. Results Out of 1840 search results, 10 studies were included. Positive outlook and limited knowledge among providers were seen across trials. Healthcare professionals like telehealth for its ability to improve quality, access, and delivery, save time and money, and be successful. Age, gender, occupation, and work experience also affect health workers knowledge. In Saudi Arabia, healthcare professionals face inadequate expert assistance, patient privacy, internet connection concerns, lack of training courses, lack of telehealth understanding, and high costs while performing telemedicine. Conclusions Healthcare practitioners telehealth perceptions and knowledge were examined in this systematic study. Its collection of concerned experts different personal attitudes and expertise would help enhance telehealths implementation in Saudi Arabia, develop its healthcare delivery alternative, and eliminate frequent problems. Badriah Mousa I Mulayhi | Dr. Jomin George | Judy Jenkins "Assess Perspective and Knowledge of Healthcare Providers Towards Elehealth in Saudi Arabia: A Systematic Review" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64535.pdf Paper Url: https://www.ijtsrd.com/medicine/other/64535/assess-perspective-and-knowledge-of-healthcare-providers-towards-elehealth-in-saudi-arabia-a-systematic-review/badriah-mousa-i-mulayhi
The Impact of Digital Media on the Decentralization of Power and the Erosion ...ijtsrd
The impact of digital media on the distribution of power and the weakening of traditional gatekeepers has gained considerable attention in recent years. The adoption of digital technologies and the internet has resulted in declining influence and power for traditional gatekeepers such as publishing houses and news organizations. Simultaneously, digital media has facilitated the emergence of new voices and players in the media industry. Digital medias impact on power decentralization and gatekeeper erosion is visible in several ways. One significant aspect is the democratization of information, which enables anyone with an internet connection to publish and share content globally, leading to citizen journalism and bypassing traditional gatekeepers. Another aspect is the disruption of conventional media industry business models, as traditional organizations struggle to adjust to the decrease in advertising revenue and the rise of digital platforms. Alternative business models, such as subscription models and crowdfunding, have become more prevalent, leading to the emergence of new players. Overall, the impact of digital media on the distribution of power and the weakening of traditional gatekeepers has brought about significant changes in the media landscape and the way information is shared. Further research is required to fully comprehend the implications of these changes and their impact on society. Dr. Kusum Lata "The Impact of Digital Media on the Decentralization of Power and the Erosion of Traditional Gatekeepers" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64544.pdf Paper Url: https://www.ijtsrd.com/humanities-and-the-arts/political-science/64544/the-impact-of-digital-media-on-the-decentralization-of-power-and-the-erosion-of-traditional-gatekeepers/dr-kusum-lata
Online Voices, Offline Impact Ambedkars Ideals and Socio Political Inclusion ...ijtsrd
This research investigates the nexus between online discussions on Dr. B.R. Ambedkars ideals and their impact on social inclusion among college students in Gurugram, Haryana. Surveying 240 students from 12 government colleges, findings indicate that 65 actively engage in online discussions, with 80 demonstrating moderate to high awareness of Ambedkars ideals. Statistically significant correlations reveal that higher online engagement correlates with increased awareness p 0.05 and perceived social inclusion. Variations across colleges and a notable effect of college type on perceived social inclusion highlight the influence of contextual factors. Furthermore, the intersectional analysis underscores nuanced differences based on gender, caste, and socio economic status. Dr. Kusum Lata "Online Voices, Offline Impact: Ambedkar's Ideals and Socio-Political Inclusion - A Study of Gurugram District" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64543.pdf Paper Url: https://www.ijtsrd.com/humanities-and-the-arts/political-science/64543/online-voices-offline-impact-ambedkars-ideals-and-sociopolitical-inclusion--a-study-of-gurugram-district/dr-kusum-lata
Problems and Challenges of Agro Entreprenurship A Studyijtsrd
Noting calls for contextualizing Agro entrepreneurs problems and challenges of the agro entrepreneurs and for greater attention to the Role of entrepreneurs in agro entrepreneurship research, we conduct a systematic literature review of extent research in agriculture entrepreneurship to overcome the study objectives of complications of agro entrepreneurs through various factors, Development of agriculture products is a key factor for the overall economic growth of agro entrepreneurs Agro Entrepreneurs produces firsthand large scale employment, utilizes the labor and natural resources, This research outlines the problems of Weather and Soil Erosions, Market price fluctuation, stimulates labor cost problems, reduces concentration of Price volatility, Dependency on Intermediaries, induces Limited Bargaining Power, and Storage and Transportation Costs. This paper mainly devoted to highlight Problems and challenges faced for the sustainable of Agro Entrepreneurs in India. Vinay Prasad B "Problems and Challenges of Agro Entreprenurship - A Study" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64540.pdf Paper Url: https://www.ijtsrd.com/other-scientific-research-area/other/64540/problems-and-challenges-of-agro-entreprenurship--a-study/vinay-prasad-b
Comparative Analysis of Total Corporate Disclosure of Selected IT Companies o...ijtsrd
Disclosure is a process through which a business enterprise communicates with external parties. A corporate disclosure is communication of financial and non financial information of the activities of a business enterprise to the interested entities. Corporate disclosure is done through publishing annual reports. So corporate disclosure through annual reports plays a vital role in the life of all the companies and provides valuable information to investors. The basic objectives of corporate disclosure is to give a true and fair view of companies to the parties related either directly or indirectly like owner, government, creditors, shareholders etc. in the companies act, provisions have been made about mandatory and voluntary disclosure. The IT sector in India is rapidly growing, the trend to invest in the IT sector is rising and employment opportunities in IT sectors are also increasing. Therefore the IT sector is expected to have fair, full and adequate disclosure of all information. Unfair and incomplete disclosure may adversely affect the entire economy. A research study on disclosure practices of IT companies could play an important role in this regard. Hence, the present research study has been done to study and review comparative analysis of total corporate disclosure of selected IT companies of India and to put forward overall findings and suggestions with a view to increase disclosure score of these companies. The researcher hopes that the present research study will be helpful to all selected Companies for improving level of corporate disclosure through annual reports as well as the government, creditors, investors, all business organizations and upcoming researcher for comparative analyses of level of corporate disclosure with special reference to selected IT companies. Dr. Vaibhavi D. Thaker "Comparative Analysis of Total Corporate Disclosure of Selected IT Companies of India" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64539.pdf Paper Url: https://www.ijtsrd.com/other-scientific-research-area/other/64539/comparative-analysis-of-total-corporate-disclosure-of-selected-it-companies-of-india/dr-vaibhavi-d-thaker
The Impact of Educational Background and Professional Training on Human Right...ijtsrd
This study investigated the impact of educational background and professional training on human rights awareness among secondary school teachers in the Marathwada region of Maharashtra, India. The key findings reveal that higher levels of education, particularly a master’s degree, and fields of study related to education, humanities, or social sciences are associated with greater human rights awareness among teachers. Additionally, both pre service teacher training and in service professional development programs focused on human rights education significantly enhance teacher’s knowledge, skills, and competencies in promoting human rights principles in their classrooms. Baig Ameer Bee Mirza Abdul Aziz | Dr. Syed Azaz Ali Amjad Ali "The Impact of Educational Background and Professional Training on Human Rights Awareness among Secondary School Teachers" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64529.pdf Paper Url: https://www.ijtsrd.com/humanities-and-the-arts/education/64529/the-impact-of-educational-background-and-professional-training-on-human-rights-awareness-among-secondary-school-teachers/baig-ameer-bee-mirza-abdul-aziz
A Study on the Effective Teaching Learning Process in English Curriculum at t...ijtsrd
“One Language sets you in a corridor for life. Two languages open every door along the way” Frank Smith English as a foreign language or as a second language has been ruling in India since the period of Lord Macaulay. But the question is how much we teach or learn English properly in our culture. Is there any scope to use English as a language rather than a subject How much we learn or teach English without any interference of mother language specially in the classroom teaching learning scenario in West Bengal By considering all these issues the researcher has attempted in this article to focus on the effective teaching learning process comparing to other traditional strategies in the field of English curriculum at the secondary level to investigate whether they fulfill the present teaching learning requirements or not by examining the validity of the present curriculum of English. The purpose of this study is to focus on the effectiveness of the systematic, scientific, sequential and logical transaction of the course between the teachers and the learners in the perspective of the 5Es programme that is engage, explore, explain, extend and evaluate. Sanchali Mondal | Santinath Sarkar "A Study on the Effective Teaching Learning Process in English Curriculum at the Secondary Level of West Bengal" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd62412.pdf Paper Url: https://www.ijtsrd.com/humanities-and-the-arts/education/62412/a-study-on-the-effective-teaching-learning-process-in-english-curriculum-at-the-secondary-level-of-west-bengal/sanchali-mondal
The Role of Mentoring and Its Influence on the Effectiveness of the Teaching ...ijtsrd
This paper reports on a study which was conducted to investigate the role of mentoring and its influence on the effectiveness of the teaching of Physics in secondary schools in the South West Region of Cameroon. The study adopted the convergent parallel mixed methods design, focusing on respondents in secondary schools in the South West Region of Cameroon. Both quantitative and qualitative data were collected, analysed separately, and the results were compared to see if the findings confirm or disconfirm each other. The quantitative analysis found that majority of the respondents 72 of Physics teachers affirmed that they had more experienced colleagues as mentors to help build their confidence, improve their teaching, and help them improve their effectiveness and efficiency in guiding learners’ achievements. Only 28 of the respondents disagreed with these statements. With majority respondents 72 agreeing with the statements, it implies that in most secondary schools, experienced Physics teachers act as mentors to build teachers’ confidence in teaching and improving students’ learning. The interview qualitative data analysis summarized how secondary school Principals use meetings with mentors and mentees to promote mentorship in the school milieu. This has helped strengthen teachers’ classroom practices in secondary schools in the South West Region of Cameroon. With the results confirming each other, the study recommends that mentoring should focus on helping teachers employ social interactions and instructional practices feedback and clarity in teaching that have direct measurable impact on students’ learning achievements. Andrew Ngeim Sumba | Frederick Ebot Ashu | Peter Agborbechem Tambi "The Role of Mentoring and Its Influence on the Effectiveness of the Teaching of Physics in Secondary Schools in the South West Region of Cameroon" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64524.pdf Paper Url: https://www.ijtsrd.com/management/management-development/64524/the-role-of-mentoring-and-its-influence-on-the-effectiveness-of-the-teaching-of-physics-in-secondary-schools-in-the-south-west-region-of-cameroon/andrew-ngeim-sumba
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This study primarily focuses on the design of a high side buck converter using an Arduino microcontroller. The converter is specifically intended for use in DC DC applications, particularly in standalone solar PV systems where the PV output voltage exceeds the load or battery voltage. To evaluate the performance of the converter, simulation experiments are conducted using Proteus Software. These simulations provide insights into the input and output voltages, currents, powers, and efficiency under different state of charge SoC conditions of a 12V,70Ah rechargeable lead acid battery. Additionally, the hardware design of the converter is implemented, and practical data is collected through operation, monitoring, and recording. By comparing the simulation results with the practical results, the efficiency and performance of the designed converter are assessed. The findings indicate that while the buck converter is suitable for practical use in standalone PV systems, its efficiency is compromised due to a lower output current. Chan Myae Aung | Dr. Ei Mon "Design Simulation and Hardware Construction of an Arduino-Microcontroller Based DC-DC High-Side Buck Converter for Standalone PV System" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64518.pdf Paper Url: https://www.ijtsrd.com/engineering/mechanical-engineering/64518/design-simulation-and-hardware-construction-of-an-arduinomicrocontroller-based-dcdc-highside-buck-converter-for-standalone-pv-system/chan-myae-aung
Sustainable Energy by Paul A. Adekunte | Matthew N. O. Sadiku | Janet O. Sadikuijtsrd
Energy becomes sustainable if it meets the needs of the present without compromising the ability of future generations to meet their own needs. Some of the definitions of sustainable energy include the considerations of environmental aspects such as greenhouse gas emissions, social, and economic aspects such as energy poverty. Generally far more sustainable than fossil fuel are renewable energy sources such as wind, hydroelectric power, solar, and geothermal energy sources. Worthy of note is that some renewable energy projects, like the clearing of forests to produce biofuels, can cause severe environmental damage. The sustainability of nuclear power which is a low carbon source is highly debated because of concerns about radioactive waste, nuclear proliferation, and accidents. The switching from coal to natural gas has environmental benefits, including a lower climate impact, but could lead to delay in switching to more sustainable options. “Carbon capture and storage” can be built into power plants to remove the carbon dioxide CO2 emissions, but this technology is expensive and has rarely been implemented. Leading non renewable energy sources around the world is fossil fuels, coal, petroleum, and natural gas. Nuclear energy is usually considered another non renewable energy source, although nuclear energy itself is a renewable energy source, but the material used in nuclear power plants is not. The paper addresses the issue of sustainable energy, its attendant benefits to the future generation, and humanity in general. Paul A. Adekunte | Matthew N. O. Sadiku | Janet O. Sadiku "Sustainable Energy" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64534.pdf Paper Url: https://www.ijtsrd.com/engineering/electrical-engineering/64534/sustainable-energy/paul-a-adekunte
Concepts for Sudan Survey Act Implementations Executive Regulations and Stand...ijtsrd
This paper aims to outline the executive regulations, survey standards, and specifications required for the implementation of the Sudan Survey Act, and for regulating and organizing all surveying work activities in Sudan. The act has been discussed for more than 5 years. The Land Survey Act was initiated by the Sudan Survey Authority and all official legislations were headed by the Sudan Ministry of Justice till it was issued in 2022. The paper presents conceptual guidelines to be used for the Survey Act implementation and to regulate the survey work practice, standardizing the field surveys, processing, quality control, procedures, and the processes related to survey work carried out by the stakeholders and relevant authorities in Sudan. The conceptual guidelines are meant to improve the quality and harmonization of geospatial data and to aid decision making processes as well as geospatial information systems. The established comprehensive executive regulations will govern and regulate the implementation of the Sudan Survey Geomatics Act in all surveying and mapping practices undertaken by the Sudan Survey Authority SSA and state local survey departments for public or private sector organizations. The targeted standards and specifications include the reference frame, projection, coordinate systems, and the guidelines and specifications that must be followed in the field of survey work, processes, and mapping products. In the last few decades, there has been a growing awareness of the importance of geomatics activities and measurements on the Earths surface in space and time, together with observing and mapping the changes. In such cases, data must be captured promptly, standardized, and obtained with more accuracy and specified in much detail. The paper will also highlight the current situation in Sudan, the degree to which survey standards are used, the problems encountered, and the errors that arise from not using the standards and survey specifications. Kamal A. A. Sami "Concepts for Sudan Survey Act Implementations - Executive Regulations and Standards" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd63484.pdf Paper Url: https://www.ijtsrd.com/engineering/civil-engineering/63484/concepts-for-sudan-survey-act-implementations--executive-regulations-and-standards/kamal-a-a-sami
Towards the Implementation of the Sudan Interpolated Geoid Model Khartoum Sta...ijtsrd
The discussions between ellipsoid and geoid have invoked many researchers during the recent decades, especially during the GNSS technology era, which had witnessed a great deal of development but still geoid undulation requires more investigations. To figure out a solution for Sudans local geoid, this research has tried to intake the possibility of determining the geoid model by following two approaches, gravimetric and geometrical geoid model determination, by making use of GNSS leveling benchmarks at Khartoum state. The Benchmarks are well distributed in the study area, in which, the horizontal coordinates and the height above the ellipsoid have been observed by GNSS while orthometric heights were carried out using precise leveling. The Global Geopotential Model GGM represented in EGM2008 has been exploited to figure out the geoid undulation at the benchmarks in the study area. This is followed by a fitting process, that has been done to suit the geoid undulation data which has been computed using GNSS leveling data and geoid undulation inspired by the EGM2008. Two geoid surfaces were created after the fitting process to ensure that they are identical and both of them could be counted for getting the same geoid undulation with an acceptable accuracy. In this respect, statistical operation played an important role in ensuring the consistency and integrity of the model by applying cross validation techniques splitting the data into training and testing datasets for building the geoid model and testing its eligibility. The geometrical solution for geoid undulation computation has been utilized by applying straightforward equations that facilitate the calculation of the geoid undulation directly through applying statistical techniques for the GNSS leveling data of the study area to get the common equation parameters values that could be utilized to calculate geoid undulation of any position in the study area within the claimed accuracy. Both systems were checked and proved eligible to be used within the study area with acceptable accuracy which may contribute to solving the geoid undulation problem in the Khartoum area, and be further generalized to determine the geoid model over the entire country, and this could be considered in the future, for regional and continental geoid model. Ahmed M. A. Mohammed. | Kamal A. A. Sami "Towards the Implementation of the Sudan Interpolated Geoid Model (Khartoum State Case Study)" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd63483.pdf Paper Url: https://www.ijtsrd.com/engineering/civil-engineering/63483/towards-the-implementation-of-the-sudan-interpolated-geoid-model-khartoum-state-case-study/ahmed-m-a-mohammed
Activating Geospatial Information for Sudans Sustainable Investment Mapijtsrd
Sudan is witnessing an acceleration in the processes of development and transformation in the performance of government institutions to raise the productivity and investment efficiency of the government sector. The development plans and investment opportunities have focused on achieving national goals in various sectors. This paper aims to illuminate the path to the future and provide geospatial data and information to develop the investment climate and environment for all sized businesses, and to bridge the development gap between the Sudan states. The Sudan Survey Authority SSA is the main advisor to the Sudan Government in conducting surveying, mappings, designing, and developing systems related to geospatial data and information. In recent years, SSA made a strategic partnership with the Ministry of Investment to activate Geospatial Information for Sudans Sustainable Investment and in particular, for the preparation and implementation of the Sudan investment map, based on the directives and objectives of the Ministry of Investment MI in Sudan. This paper comes within the framework of activating the efforts of the Ministry of Investment to develop technical investment services by applying techniques adopted by the Ministry and its strategic partners for advancing investment processes in the country. Kamal A. A. Sami "Activating Geospatial Information for Sudan's Sustainable Investment Map" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd63482.pdf Paper Url: https://www.ijtsrd.com/engineering/information-technology/63482/activating-geospatial-information-for-sudans-sustainable-investment-map/kamal-a-a-sami
Educational Unity Embracing Diversity for a Stronger Societyijtsrd
In a rapidly changing global landscape, the importance of education as a unifying force cannot be overstated. This paper explores the crucial role of educational unity in fostering a stronger and more inclusive society through the embrace of diversity. By examining the benefits of diverse learning environments, the paper aims to highlight the positive impact on societal strength. The discussion encompasses various dimensions, from curriculum design to classroom dynamics, and emphasizes the need for educational institutions to become catalysts for unity in diversity. It highlights the need for a paradigm shift in educational policies, curricula, and pedagogical approaches to ensure that they are reflective of the diverse fabric of society. This paper also addresses the challenges associated with implementing inclusive educational practices and offers practical strategies for overcoming barriers. It advocates for collaborative efforts between educational institutions, policymakers, and communities to create a supportive ecosystem that promotes diversity and unity. Mr. Amit Adhikari | Madhumita Teli | Gopal Adhikari "Educational Unity: Embracing Diversity for a Stronger Society" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64525.pdf Paper Url: https://www.ijtsrd.com/humanities-and-the-arts/education/64525/educational-unity-embracing-diversity-for-a-stronger-society/mr-amit-adhikari
Integration of Indian Indigenous Knowledge System in Management Prospects and...ijtsrd
The diversity of indigenous knowledge systems in India is vast and can vary significantly between different communities and regions. Preserving and respecting these knowledge systems is crucial for maintaining cultural heritage, promoting sustainable practices, and fostering cross cultural understanding. In this paper, an overview of the prospects and challenges associated with incorporating Indian indigenous knowledge into management is explored. It is found that IIKS helps in management in many areas like sustainable development, tourism, food security, natural resource management, cultural preservation and innovation, etc. However, IIKS integration with management faces some challenges in the form of a lack of documentation, cultural sensitivity, language barriers legal framework, etc. Savita Lathwal "Integration of Indian Indigenous Knowledge System in Management: Prospects and Challenges" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd63500.pdf Paper Url: https://www.ijtsrd.com/management/accounting-and-finance/63500/integration-of-indian-indigenous-knowledge-system-in-management-prospects-and-challenges/savita-lathwal
DeepMask Transforming Face Mask Identification for Better Pandemic Control in...ijtsrd
The COVID 19 pandemic has highlighted the crucial need of preventive measures, with widespread use of face masks being a key method for slowing the viruss spread. This research investigates face mask identification using deep learning as a technological solution to be reducing the risk of coronavirus transmission. The proposed method uses state of the art convolutional neural networks CNNs and transfer learning to automatically recognize persons who are not wearing masks in a variety of circumstances. We discuss how this strategy improves public health and safety by providing an efficient manner of enforcing mask wearing standards. The report also discusses the obstacles, ethical concerns, and prospective applications of face mask detection systems in the ongoing fight against the pandemic. Dilip Kumar Sharma | Aaditya Yadav "DeepMask: Transforming Face Mask Identification for Better Pandemic Control in the COVID-19 Era" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd64522.pdf Paper Url: https://www.ijtsrd.com/engineering/electronics-and-communication-engineering/64522/deepmask-transforming-face-mask-identification-for-better-pandemic-control-in-the-covid19-era/dilip-kumar-sharma
Streamlining Data Collection eCRF Design and Machine Learningijtsrd
Efficient and accurate data collection is paramount in clinical trials, and the design of Electronic Case Report Forms eCRFs plays a pivotal role in streamlining this process. This paper explores the integration of machine learning techniques in the design and implementation of eCRFs to enhance data collection efficiency. We delve into the synergies between eCRF design principles and machine learning algorithms, aiming to optimize data quality, reduce errors, and expedite the overall data collection process. The application of machine learning in eCRF design brings forth innovative approaches to data validation, anomaly detection, and real time adaptability. This paper discusses the benefits, challenges, and future prospects of leveraging machine learning in eCRF design for streamlined and advanced data collection in clinical trials. Dhanalakshmi D | Vijaya Lakshmi Kannareddy "Streamlining Data Collection: eCRF Design and Machine Learning" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-8 | Issue-1 , February 2024, URL: https://www.ijtsrd.com/papers/ijtsrd63515.pdf Paper Url: https://www.ijtsrd.com/biological-science/biotechnology/63515/streamlining-data-collection-ecrf-design-and-machine-learning/dhanalakshmi-d
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(𝐓𝐋𝐄 𝟏𝟎𝟎) (𝐋𝐞𝐬𝐬𝐨𝐧 𝟏)-𝐏𝐫𝐞𝐥𝐢𝐦𝐬
𝐃𝐢𝐬𝐜𝐮𝐬𝐬 𝐭𝐡𝐞 𝐄𝐏𝐏 𝐂𝐮𝐫𝐫𝐢𝐜𝐮𝐥𝐮𝐦 𝐢𝐧 𝐭𝐡𝐞 𝐏𝐡𝐢𝐥𝐢𝐩𝐩𝐢𝐧𝐞𝐬:
- Understand the goals and objectives of the Edukasyong Pantahanan at Pangkabuhayan (EPP) curriculum, recognizing its importance in fostering practical life skills and values among students. Students will also be able to identify the key components and subjects covered, such as agriculture, home economics, industrial arts, and information and communication technology.
𝐄𝐱𝐩𝐥𝐚𝐢𝐧 𝐭𝐡𝐞 𝐍𝐚𝐭𝐮𝐫𝐞 𝐚𝐧𝐝 𝐒𝐜𝐨𝐩𝐞 𝐨𝐟 𝐚𝐧 𝐄𝐧𝐭𝐫𝐞𝐩𝐫𝐞𝐧𝐞𝐮𝐫:
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Level 3 NCEA - NZ: A Nation In the Making 1872 - 1900 SML.pptHenry Hollis
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From the NZ Wars to Liberals,
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How to Download & Install Module From the Odoo App Store in Odoo 17Celine George
Custom modules offer the flexibility to extend Odoo's capabilities, address unique requirements, and optimize workflows to align seamlessly with your organization's processes. By leveraging custom modules, businesses can unlock greater efficiency, productivity, and innovation, empowering them to stay competitive in today's dynamic market landscape. In this tutorial, we'll guide you step by step on how to easily download and install modules from the Odoo App Store.
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How to Manage Reception Report in Odoo 17Celine George
A business may deal with both sales and purchases occasionally. They buy things from vendors and then sell them to their customers. Such dealings can be confusing at times. Because multiple clients may inquire about the same product at the same time, after purchasing those products, customers must be assigned to them. Odoo has a tool called Reception Report that can be used to complete this assignment. By enabling this, a reception report comes automatically after confirming a receipt, from which we can assign products to orders.
Identifying the Slider-Crank Mechanism System by the MPSO Method
1. International Journal of Trend in
International Open Access Journal
ISSN No: 2456
@ IJTSRD | Available Online @ www.ijtsrd.com
Identifying the Slider-Crank Mechanism System by the
Chin Wen Chuang
Department of Electrical Engineering
ABSTRACT
This paper mainly proposes an efficient modified
particle swarm optimization (MPSO) method, to
identify a slider-crank mechanism driven by a f
oriented PM synchronous motor, dynamic
formulations of a slider-crank mechanism have been
successfully formulated with only one independent
variable. The parameters of many industrial machines
are difficult to obtain if these machines cannot be
taken apart. In system identification, we adopt the
MPSO method to find parameters of the slider
mechanism. This new algorithm is added with
“distance” term in the traditional PSO’s fitness
function to avoid converging to a local optimum. It is
found that the MPSO method can obtain optimal high
quality solution, high calculation efficiency, and its
feasibility and effectiveness. Finally, the comparisons
of numerical simulations and experimental results
prove that the MPSO identification method for the
slider-crank mechanism is feasible.
Keyword: Slider-crank mechanism, Modified particle
searm optimization.
I. INTRODUCTION
A slider-crank mechanism is widely used in gasoline
and diesel engines, and has been studied extensively
in the past three decades. The responses of the system
found by Viscomi and Ayre [1] are to be dependent
upon the five parameters as the length, mass,
damping, external piston force and frequency.
steady-state responses of the flexible connecting rod
of a slider-crank mechanism with time
boundary effect were obtained by Fung [2]. A slider
crank mechanism with constantly rotating speed was
controlled by Fung et al. [3]. The mathematical model
of the coupled mechanism of a slider
mechanism was obtained by Lin et al. [4]
system is actuated by a field-oriented control
permanent magnet (PM) synchronous servomotor.
International Journal of Trend in Scientific Research and Development (IJTSRD)
International Open Access Journal | www.ijtsrd.com
ISSN No: 2456 - 6470 | Volume - 2 | Issue – 6 | Sep
www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct 2018
Crank Mechanism System by the
Wen Chuang, Kuan Yu Chen, Yi Hua Su
Department of Electrical Engineering, I-Shou University
Kaohsiung, Taiwan
This paper mainly proposes an efficient modified
particle swarm optimization (MPSO) method, to
crank mechanism driven by a field-
oriented PM synchronous motor, dynamic
crank mechanism have been
successfully formulated with only one independent
variable. The parameters of many industrial machines
are difficult to obtain if these machines cannot be
apart. In system identification, we adopt the
MPSO method to find parameters of the slider-crank
mechanism. This new algorithm is added with
“distance” term in the traditional PSO’s fitness
function to avoid converging to a local optimum. It is
the MPSO method can obtain optimal high-
quality solution, high calculation efficiency, and its
feasibility and effectiveness. Finally, the comparisons
of numerical simulations and experimental results
prove that the MPSO identification method for the
crank mechanism, Modified particle
crank mechanism is widely used in gasoline
and diesel engines, and has been studied extensively
responses of the system
found by Viscomi and Ayre [1] are to be dependent
upon the five parameters as the length, mass,
damping, external piston force and frequency. The
state responses of the flexible connecting rod
time-dependent
boundary effect were obtained by Fung [2]. A slider-
crank mechanism with constantly rotating speed was
controlled by Fung et al. [3]. The mathematical model
of the coupled mechanism of a slider-crank
mechanism was obtained by Lin et al. [4], where the
oriented control
permanent magnet (PM) synchronous servomotor.
However, the dynamic formulations of a slider
mechanism with one degree-of
than one independent variable in the past resear
[3-4]. In this study, the dynamic formulation is
expressed by only one independent variable of
rotation angle. Moreover, its dynamic responses are
compared well with the experimental results.
Particle swarm optimization (PSO) is a stochastic
population based optimization approach, and was first
published by Kennedy and Eberhart in 1995 [5
PSO has been shown to be an efficient, roust and
simple optimization algorithm. Most studies of the
PSO are empirical with only a few theoretical
analyses that concentrate on understanding particle
trajectories. A large amount of research has been
proposed to improve the performance of PSO. From
these studies, much effort has been invested to obtain
a better understanding of its convergence properties.
These studies concentrated mostly on a better
understanding of the basic PSO control parameters,
namely the acceleration coefficients, inertia weight,
velocity clamping, and swarm size [7
paper, a modified PSO algorithm is proposed to
improve the searching ability and prevent from being
trapped in a local optimum. The main difference of
the MPSO from the PSO is its fitness function
considers the “distance” to avoid converging to a local
optimum. From these empirical studies it can be
concluded that the MPSO is sensitive to control
parameter choices, specifically the inertia weight,
acceleration coefficients and velocity clamping.
However, wrong initialization of these parameters
may lead to divergent or cyclic behavior.
This study successfully demonstrates
formulation can give a wonderful interpretation
slider-crank mechanism in comparison with the
experimental results. Furthermore, a new identified
method using the MPSO is proposed, and it is
Research and Development (IJTSRD)
www.ijtsrd.com
6 | Sep – Oct 2018
Oct 2018 Page: 181
MPSO Method
However, the dynamic formulations of a slider-crank
of –freedom have more
than one independent variable in the past researches
4]. In this study, the dynamic formulation is
expressed by only one independent variable of
rotation angle. Moreover, its dynamic responses are
compared well with the experimental results.
Particle swarm optimization (PSO) is a stochastic
on based optimization approach, and was first
published by Kennedy and Eberhart in 1995 [5-6].
PSO has been shown to be an efficient, roust and
simple optimization algorithm. Most studies of the
PSO are empirical with only a few theoretical
oncentrate on understanding particle
trajectories. A large amount of research has been
proposed to improve the performance of PSO. From
these studies, much effort has been invested to obtain
a better understanding of its convergence properties.
es concentrated mostly on a better
understanding of the basic PSO control parameters,
namely the acceleration coefficients, inertia weight,
velocity clamping, and swarm size [7-9]. In this
paper, a modified PSO algorithm is proposed to
g ability and prevent from being
trapped in a local optimum. The main difference of
the MPSO from the PSO is its fitness function
considers the “distance” to avoid converging to a local
optimum. From these empirical studies it can be
O is sensitive to control
parameter choices, specifically the inertia weight,
acceleration coefficients and velocity clamping.
However, wrong initialization of these parameters
may lead to divergent or cyclic behavior.
This study successfully demonstrates that the dynamic
wonderful interpretation of a
crank mechanism in comparison with the
experimental results. Furthermore, a new identified
method using the MPSO is proposed, and it is
2. International Journal of Trend in Scientific Research and
@ IJTSRD | Available Online @ www.ijtsrd.com
confirmed that the method can perfectly sea
parameters of the slider-crank mechanism driven by a
servomotor through the numerical simulations and
experimental results.
II. DYNAMICS FORMULATION OF A
SLIDER-CRANK MECHANISM
A slider-crank mechanism is a single looped
mechanism with a very simple construction shown in
Fig.1(a) and the experimental equipment of a slider
crank mechanism is shown in Fig. 1(b). It consists of
three parts: a rigid disk, which is driven by a
servomotor, a connecting rod and a slider.
Figure1 (a) shows the physical model of a slider
mechanism, where the mass center and the radius
the rigid diskare denoted as point “O” and length “
”, respectively. And “l ” is denoted as the length of
the connected rod AB . The angle is between
and the X-axis, while the angle is between the rod
AB and the X-axis. In OXY plane, the
positions of gravity centers of rigid disk, connected
rod, and slider, respectively, are as follows:
00 11 cgcg , yx
sin
2
1
,cos
2
1
cos 22 lylrx cgcg
.0coscos 33 cgcg , ylθrx
The mechanism has a constrained condition as
follows
.sinsin lr
The angle can be found from Eq. (4) as
.sinsin 1
θ
l
r
In the kinematic analysis, taking the first and second
derivates of the displacement of slider
to time, the speed and acceleration of slider
follows
sinsin lrxB
.cossincossin 22
llrrxB
Similarly, the angular velocity and acceleration
are obtained as follows
cos
cos
l
r
cos
cossinsincoscoscos
2
2
l
rrr
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confirmed that the method can perfectly searches the
crank mechanism driven by a
servomotor through the numerical simulations and
DYNAMICS FORMULATION OF A
CRANK MECHANISM
crank mechanism is a single looped
construction shown in
Fig.1(a) and the experimental equipment of a slider-
crank mechanism is shown in Fig. 1(b). It consists of
three parts: a rigid disk, which is driven by a
servomotor, a connecting rod and a slider.
of a slider-crank
mechanism, where the mass center and the radius of
” and length “ r
” is denoted as the length of
is between OA
is between the rod
axis. In OXY plane, the geometric
ers of rigid disk, connected
rod, and slider, respectively, are as follows:
(1)
(2)
(3)
The mechanism has a constrained condition as
(4)
can be found from Eq. (4) as
(5)
In the kinematic analysis, taking the first and second
B with respect
to time, the speed and acceleration of slider B are as
(6)
(7)
and acceleration
(8)
.
(9)
A machine model of a PM synchronous motor can be
described in a rotor rotating by [10] as follows:
dsqqsq wpiRv
qsddsd wpiRv
Where
,qqq iL
.fdmdddd ILiL
In the above equations, dv and
stator voltages, di and qi are the
currents, dL and qL are the d
d and q are the d and q axis stator flux linkages,
and sR and sw are the stator resistance and inverter
frequency, respectively. In Eq. (13),
equivalent d -axis magnetizing current, and
d -axis mutual inductance. The electric torque is
,)(
2
3
qdqdqfdmdm iiLLiILp
and the equation for the motor dynamics is
.rmrmme JB
In Eq (14), p is the number of pole pairs,
load torque, mB is the damping coefficient,
rotor speed and mJ is the moment of inertia. The basic
principle in controlling a PM synchronous motor
drive is based on field orientation. The flux position in
the qd coordinates can be determined by the shaft
position sensor because the magnetic flux g
from the rotor permanent magnetic is fixed in relation
to the rotor shaft position. In Eqs. (13
d -axis flux linkage d is fixed since
constant for a surface-mounted PM synchronous
motor, and the electromagnetic torque
proportional to qi , which is determined by closed
control. The rotor flux is produced in the
only, and the current vector is generated in the
for the field-oriented control. As the generated motor
torque is linearly proportional to the
the d axis rotor flux is constant in Eq. (14), the
maximum torque per ampere can be achieved.
With the implementation of field
PM synchronous motor drive system can be
simplified to a control system block diagram, as
shown in Fig. 2, in which
,*
qte iK
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A machine model of a PM synchronous motor can be
described in a rotor rotating by [10] as follows:
(10)
(11)
(12)
(13)
and qv are the d and q axis
are the d and q axis stator
and q axis inductances,
axis stator flux linkages,
are the stator resistance and inverter
frequency, respectively. In Eq. (13), fdI is the
axis magnetizing current, and mdL is the
axis mutual inductance. The electric torque is
(14)
and the equation for the motor dynamics is
(15)
is the number of pole pairs, m is the
is the damping coefficient, r is the
is the moment of inertia. The basic
principle in controlling a PM synchronous motor
drive is based on field orientation. The flux position in
coordinates can be determined by the shaft-
position sensor because the magnetic flux generated
from the rotor permanent magnetic is fixed in relation
to the rotor shaft position. In Eqs. (13-14), if 0di the
is fixed since mdL and fdI are
mounted PM synchronous
motor, and the electromagnetic torque e is then
, which is determined by closed-loop
control. The rotor flux is produced in the d axis
only, and the current vector is generated in the q axis
oriented control. As the generated motor
torque is linearly proportional to the q axis current as
axis rotor flux is constant in Eq. (14), the
maximum torque per ampere can be achieved.
With the implementation of field-oriented control, the
PM synchronous motor drive system can be
simplified to a control system block diagram, as
(16)
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,
2
3
fdmdt IPLK
,
1
)(
mm
p
BsJ
sH
where *
qi is the torque current command. By
substituting (16) into (15), the following applied
torque can be obtained as follows:
rmrmqtm BJiK
Where
m
c
r
r
c
m
mmM
2
3
3
23 sincoscos2ˆ
sincossin
sincos
cos
3
cos
3
1cossinˆ
3
3
3
2
3
3
4
224
2
4
2
2
2
2
2
c
r
m
c
r
c
r
c
lr
c
r
c
l
rmN
,cos1sinˆ
c
r
rFFiKF EBqt
222
sinrlc .
The system becomes an initial value problem and can
be directly integrated by using the fourth
Runge-Kutta method.
III. IDENTIFICATIONS OF THE SYSTEM
A. Particle swarm optimization
Birds (particles) flocking optimizes a certain
function in a PSO system. Each agent knows its best
value so far (pbest) and its position. This information
is analogy of personal experiences of each agent.
Moreover, each agent knows the best value so fa
the group (gbest) among pbests. This information is
analogy of knowledge of how the other agents around
them have performed. The PSO concept [5
of changing the velocity of each particle toward its
pbest and gbest locations. In the PSO, eac
moves to a new position according to new velocity
and the previous positions of the particle. This is
compared with the best position generated by
previous particles in the fitness function, and the best
one is kept; so each particle accelerates
direction of not only the local best solution but also
the global best position. If a particle discovers a new
probable solution, other particles will move closer to
it to explore the region more completely in the
process.
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(17)
(18)
is the torque current command. By
substituting (16) into (15), the following applied
(19)
where m is the torque applied in the direction of
and the variables r and r are the angular speed and
acceleration of the disk, respectively.
According to Ref. [3], the dynamic equation of the
slider-crank mechanism can be concluded to be
FNM ˆ,ˆˆ
mJrmr
c
l
mrmm
2
1
2
2
2
22
32
2
1
cos
3
1
sin
,cos
2
1
sin1cossinsin
2
sincos
2
2
23
2
2
2
3
3
3
2
2
3
3
grmB
c
r
rm
c
r
m
c
r
m
The system becomes an initial value problem and can
the fourth order
IDENTIFICATIONS OF THE SYSTEM
a certain objective
function in a PSO system. Each agent knows its best
so far (pbest) and its position. This information
of personal experiences of each agent.
knows the best value so far in
pbests. This information is
other agents around
The PSO concept [5-6] consists
of changing the velocity of each particle toward its
pbest and gbest locations. In the PSO, each particle
moves to a new position according to new velocity
and the previous positions of the particle. This is
compared with the best position generated by
previous particles in the fitness function, and the best
one is kept; so each particle accelerates in the
direction of not only the local best solution but also
the global best position. If a particle discovers a new
probable solution, other particles will move closer to
it to explore the region more completely in the
In general, there are three attributes, current position
jx , current velocity jv and past best position
for particles in the search space to present their
features. Each particle in the swarm is iteratively
updated according to the aforementioned attributes.
For example [5-9], the jth particle is represented as xj
= (xj,1, xj,2,…, xj,g) in the g-
best previous position of the jth particle is recorded
and represented as pbestj = (pbestj,1
pbestj,g). The index of best particle among all
particles in the group is represented by the gbestg.
The rate of the position change (velocity) for particle j
is represented as vj = (vj,1, vj,2,…, vj,g). The
modified velocity and position of
calculated using the current velocity and distance
from pbestj,g to gbestj,g as shown in the following
formulas [9]:
(()1
)(
,
)1(
,
t
gj
t
gj pbestRandcvwv
)(() )(
,
)(
,
*
2
t
gj
t
gj xgbestRandc ,
.)1(
,
)(
,
)1(
,
t
gj
t
gj
t
gj vxx
mgnj ,,2,1;,,2,1
where n is the number of particles in a group; m is the
number of members in a particle; t is the pointer of
iterations (generations); )(
,
t
gjv
particle j at iteration t, min
gV
Development (IJTSRD) ISSN: 2456-6470
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is the torque applied in the direction of r ,
are the angular speed and
acceleration of the disk, respectively.
According to Ref. [3], the dynamic equation of the
crank mechanism can be concluded to be
(20)
cos
2
cossin 2
2
2
2
c
r
c
r
three attributes, current position
and past best position jpbest ,
for particles in the search space to present their
features. Each particle in the swarm is iteratively
updated according to the aforementioned attributes.
9], the jth particle is represented as xj
-dimensional space. The
best previous position of the jth particle is recorded
and represented as pbestj = (pbestj,1, pbestj,2,…,
pbestj,g). The index of best particle among all
particles in the group is represented by the gbestg.
The rate of the position change (velocity) for particle j
is represented as vj = (vj,1, vj,2,…, vj,g). The
modified velocity and position of each particle can be
calculated using the current velocity and distance
from pbestj,g to gbestj,g as shown in the following
))(
,
)(
,
t
gj
t
gj xpbest
(21)
of particles in a group; m is the
number of members in a particle; t is the pointer of
is the velocity of the
max)(
,
min
g
t
gj Vv ; w is the
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inertia weighting factor; 1c , 2c are the acceleration
constants; Rand(), Rand*() are random numbers
between 0 and 1; )(
,
t
gjx is the current position of
particle j atiteration t; pbestj is the pbest of particle j;
gbestg is the gbest of the group g.
In the above procedures, the parameter
determine the resolution or fitness, with which regions
are searched between the present position and the
target position. If max
gV is too high, particles might fly
past good solutions. If max
gV is too low, particles may
not explore sufficiently beyond local solutions.
The constants 1c and 2c represent the weighting of
the stochastic acceleration terms that pull each
particle toward pbest and gbest positions. Low values
allow particles to roam far from the target regions
before being tugged back. On the other hand, high
values result in abrupt movement toward or past target
regions.
Suitable selection of inertia weighting factor
provides a balance between global and local
explorations, thus requiring less iteration on average
to find a sufficiently optimal solution. As originally
developed, w often decreases linearly from about 0.9
to 0.4 during a run. In general, the inertia weighting
factor w is set according to the following equation [6
7]:
iter
iter
ww
ww
max
minmax
max
where maxiter is the maximum number of iterations
(generations), and iter is the current number of
iterations.
B. Modified particle swarm optimization
The main point of the MPSO differs from the PSO is
to consider the “distance” in its fitness function to
avoid converging to a local optimum. Assign a rank
(i.e., the number place 1, 2, 3, …, etc.)
calculated error of each new individual,
PSk ,,1 , PS is the population size. A combined
population with PS2 individuals is formed.
previously developed statistic methods, the concept of
“distance” is added to the fitness function to prevent
from being trapped in a local minimum. The fitness
score of the kth individual is modified by [11
kkk RDREF , PSk 2,,1 .
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are the acceleration
constants; Rand(), Rand*() are random numbers
is the current position of
particle j atiteration t; pbestj is the pbest of particle j;
In the above procedures, the parameter max
gV
determine the resolution or fitness, with which regions
between the present position and the
is too high, particles might fly
is too low, particles may
not explore sufficiently beyond local solutions.
represent the weighting of
the stochastic acceleration terms that pull each
particle toward pbest and gbest positions. Low values
allow particles to roam far from the target regions
he other hand, high
values result in abrupt movement toward or past target
Suitable selection of inertia weighting factor w
provides a balance between global and local
explorations, thus requiring less iteration on average
to find a sufficiently optimal solution. As originally
often decreases linearly from about 0.9
eral, the inertia weighting
is set according to the following equation [6-
(22)
is the maximum number of iterations
is the current number of
Modified particle swarm optimization
The main point of the MPSO differs from the PSO is
to consider the “distance” in its fitness function to
avoid converging to a local optimum. Assign a rank
1, 2, 3, …, etc.) kRE tothe
calculated error of each new individual, kv ,
is the population size. A combined
individuals is formed. Unlike
developed statistic methods, the concept of
“distance” is added to the fitness function to prevent
in a local minimum. The fitness
is modified by [11-12]
(23)
where is an adaptive decay scale,
and min is set as0.005 in this
kD assigned to the kth individual, where
distance from the individual to the current best
solution vector, and is given by
bestkk vvD
where kv is the vector of the kth individual in the
combined population, and v
solution vector.
An adaptive scheme is defined as [11]
maxminmax /)( gR
(,)(
(,)(
)1(
min
min
Fg
Fg
g
and
min)1( g ; if )( g
where is the step size; minF
of fitness functions; R is the regulating scale and is
set as1.25 in this paper, and
allowable number of iterations
Individuals will be ranked in ascending according to
their fitness scores by a sorting algorithm. The PS
individuals are transcribed along with their fitness for
the next generation. If the new
include the current best solution,
must be replaced with the last individual in the new
population. In addition, a gradually decreased decay
scale can satisfy a successive statistic searching
process by first using the diversification (
explore more regions, and then the intensification
(smaller ) to exploit the neighborhood of an elite
solution. The current best solution (point A) for a
minimum fitness problem as shown in the Fig. 3 may
not reach the global optimum [11
three electable solutions exist. Generally, solutions
with slightly better fitness (point
the solution trapped into the
more attractive solution(point G) is relatively far
away from point A, but it nears the global optimal. To
prevent prematurity, point G with slightly worse
fitness than C, it needs a higher
That is, a higher kRD is awarded toa longer
Development (IJTSRD) ISSN: 2456-6470
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is an adaptive decay scale, max is set as 0.7
paper. kRD is the rank of
assigned to the kth individual, where kD is the
distance from the individual to the current best
, and is given by
(24)
is the vector of the kth individual in the
bestv is the current best
An adaptive scheme is defined as [11]
(25)
)1()(
)1()(
min
min
gFg
gFg
(26)
min (27)
min is the minimum value
is the regulating scale and is
set as1.25 in this paper, and maxg is the maximum
allowable number of iterations.
Individuals will be ranked in ascending according to
by a sorting algorithm. The PS
along with their fitness for
the new population does not
include the current best solution, the best solution
must be replaced with the last individual in the new
population. In addition, a gradually decreased decay
scale can satisfy a successive statistic searching
process by first using the diversification (bigger ) to
more regions, and then the intensification
) to exploit the neighborhood of an elite
solution. The current best solution (point A) for a
minimum fitness problem as shown in the Fig. 3 may
optimum [11-12], and there are
three electable solutions exist. Generally, solutions
fitness (point C or B) prevailed, so
valley prematurely. The
more attractive solution(point G) is relatively far
t nears the global optimal. To
, point G with slightly worse
a higher rank to be selected.
is awarded toa longer kD .
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Stopping Criteria: Stopping criteria is given in the
following order:
1. Maximum allowable number of iterations reached.
2. Number of iterations reached without improving
the current best solution.
Fig. 4 shows the flow chart of the proposed algorithm
C. Parameter identifications
How to define the fitness function is the key point of
the MPSO, since the fitness function is a figure of
merit, and could be computed by using any domain
knowledge. In this paper, we adopt the fitness
function as follows [13-14]:
n
i
iEparametersF
1
2
)(
)()( ii
i xxE
where n is the total number of samples and
calculated error of the i th sampling time,
solution by using the fourth-order Runge
method to solve the dynamic Equations (31) for the
PM synchronous servomotor drive coupled with a
slider-crank mechanism with the parameters identified
from these two methods, and
( )i
x is the displacement
measured experimentally at the i th sampling time.
IV. SIMULATIONS AND EXPERIMENTAL
RESULTS
A block diagram of the computer control system for
the PM synchronous servomotor drive coupled with a
slider-crank mechanism is shown in Fig. 5(a) and the
experimental equipments of a slider-crank mechanism
of computer control system is shown in Fig. 5(b). The
control algorithm is implemented using a Pentium
computer and the control software is LABVIEW. The
PM synchronous servomotor is implemented by
MITSUBISHI HC-KFS43 series. The specifications
are shown as follows: Rated output 400 (W), Rated
torque 1.3 (Nm), Rated rotation speed 3000 (rpm) and
Rated current 2.3 (A). The servo is implemented by
MITSUBISHI MR-J2S-40A1. The control system is
Sine-wave PWM control, which is a current control
system. In order to measure the angle and angular
speed of the disk and the position and velocity of the
slider B, the interface of the device is implemented by
motion control card PCI-7342. It can measure the
angle of the disk and the position of slider B at the
same time.
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criteria is given in the
allowable number of iterations reached.
of iterations reached without improving
proposed algorithm.
define the fitness function is the key point of
the MPSO, since the fitness function is a figure of
merit, and could be computed by using any domain
knowledge. In this paper, we adopt the fitness
(28)
(29)
is the total number of samples and iE
is the
th sampling time,
*( )i
x is a
r Runge-Kutta
method to solve the dynamic Equations (31) for the
PM synchronous servomotor drive coupled with a
crank mechanism with the parameters identified
is the displacement
th sampling time.
SIMULATIONS AND EXPERIMENTAL
A block diagram of the computer control system for
the PM synchronous servomotor drive coupled with a
mechanism is shown in Fig. 5(a) and the
crank mechanism
of computer control system is shown in Fig. 5(b). The
control algorithm is implemented using a Pentium
computer and the control software is LABVIEW. The
ous servomotor is implemented by
KFS43 series. The specifications
are shown as follows: Rated output 400 (W), Rated
torque 1.3 (Nm), Rated rotation speed 3000 (rpm) and
Rated current 2.3 (A). The servo is implemented by
. The control system is
wave PWM control, which is a current control
system. In order to measure the angle and angular
speed of the disk and the position and velocity of the
slider B, the interface of the device is implemented by
7342. It can measure the
angle of the disk and the position of slider B at the
The main parameters of a slider
servomotor used in the numerical simulations and the
experiments are as follows
kgm 232.01 , kgm 332.02
kgm 600.03 , mr 030.0 ,
ml 217.0 , NFB 100.0 ,
NFE 000.0 , Aiq 400.0 ,
ANmKt /5652.0 , 10700.6Jm
./10430.1 2
radNmsBm
The physical model of the slider
driven by a servomotor. In the parameter
identification, we utilize the MPSO and PSO methods
to identify the 5 parameters
simultaneously, and the fitness function is described
as Eq. (20). The identified results are given in Table
1.
Figure 6 shows the displacement errors of the slider
crank mechanism by both the PSO and MPSO
methods. Furthermore, their
all about ± 0.2 m . Figure 7 shows the convergence
characteristics in PSO and MPSO methods of the
slider-crank mechanism system. It is seen from Fig. 7
that the proposed MPSO method is superior to the
PSO method.
V. CONCLUSION
The dynamic formulations of a slider
mechanism driven by a field
synchronous motor have been successfully formulated
with only one independent variable. Furthermore, the
main objective of this study is to utilize PSO and
MPSO methods to identify a
driven by a servomotor. According to the
between identified results and displacement errors, it
is found that MPSO method has the best matching
with the experimental results.
It is concluded that the implementations of MPSO are
different from the PSO in five aspects. Firstly, its
fitness function considers the distance to avoid
converging to a local optimum. Secondly, for the
MPSO, vectors with good enough fitness scores
would be used as candidates
Thirdly, it has the advantage of the MPSO to conquer
various constraints without using the fitness function
with penalties, and can perform better. Fourthly, the
solution is coded with a decimal representation
saves computer memory. Finely,
Development (IJTSRD) ISSN: 2456-6470
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The main parameters of a slider-crank mechanism and
servomotor used in the numerical simulations and the
kg ,
,
25
10 Nms
,
of the slider-crank mechanism
driven by a servomotor. In the parameter
identification, we utilize the MPSO and PSO methods
1m 、 2m 、 3m 、 r andl
simultaneously, and the fitness function is described
as Eq. (20). The identified results are given in Table
Figure 6 shows the displacement errors of the slider-
both the PSO and MPSO
displacement errors are
. Figure 7 shows the convergence
characteristics in PSO and MPSO methods of the
crank mechanism system. It is seen from Fig. 7
that the proposed MPSO method is superior to the
The dynamic formulations of a slider-crank
mechanism driven by a field-oriented PM
synchronous motor have been successfully formulated
with only one independent variable. Furthermore, the
main objective of this study is to utilize PSO and
a slider-crank mechanism
driven by a servomotor. According to the comparisons
identified results and displacement errors, it
is found that MPSO method has the best matching
It is concluded that the implementations of MPSO are
different from the PSO in five aspects. Firstly, its
fitness function considers the distance to avoid
converging to a local optimum. Secondly, for the
MPSO, vectors with good enough fitness scores
to create new solutions.
Thirdly, it has the advantage of the MPSO to conquer
without using the fitness function
can perform better. Fourthly, the
solution is coded with a decimal representation, and
saves computer memory. Finely, the gradually
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decaying parameters can satisfy a successive statistic
searching process by first using the
(bigger parameters) to reserve the larger attractive
region. Then, the intensification (smaller p
used to search the small neighborhood
solution.
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International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456
www.ijtsrd.com | Volume – 2 | Issue – 6 | Sep-Oct 2018
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X
l
R
B
A
2
m3
m
E
F
bb
XF l
Fig. 1(a) The physical model of a slider
mechanism.
Fig. 1(b) The experimental equipments of a slider
crank mechanism
Fig. 1 The slider-crank mechanism
Development (IJTSRD) ISSN: 2456-6470
Oct 2018 Page: 186
Krause, P. C., Analysis of Electric Machinery
Hill) , 1986.
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“Nonconvex Economic Dispatch by Integrated
icial Intelligence”, IEEE Transactions on
Power systems, Vol. 16, No. 2, pp. 307-311, 2001.
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Improved Tabu Search for Economic Dispatch
With Multiple Minima”, IEEE Transactions on
Power systems, Vol. 17, No. 1, pp. 108-112, 2002.
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Wen Hysteretic Nonlinear Model Based on
Genetic Algorithm”, Intelligent Processing
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Coded Genetic Algorithm”,
Sensors and Actuators , Vol.132, pp.643-650,
Gear box
Y
r
O 1
m
PM synchronous
motor
physical model of a slider-crank
mechanism.
Fig. 1(b) The experimental equipments of a slider-
crank mechanism
crank mechanism
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Fig.2 Simplified control block diagram
Fig.3 The concept of distances.
Step 1
Step 5
Step 4
Step 3
Step 2
Data Collection
Initialization
- particle : including m1, m2, m3, r, l
- parameter of PSO : c1 , c2 , w, R, ρmin, ρ
Production of initial population
Termination
Position Change
Evaluation Calculate Error and Distance
- Rank and Sort the Error and Distance
- Evaluate the Fitness Function
- Find the gbest and pbest
Calculate velocity and position
Converge in optimum
reach max. iteration number ? No
Yes
End
- Generate the new particle
- update all parameter mentioned in Step2
Fig.4 The flow chart of the MPSO.
(a)
Voltage
Current
Command
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Fig.2 Simplified control block diagram
3 The concept of distances.
ρmax
Production of initial population
Calculate Error and Distance
Calculate velocity and position
Converge in optimum
Step 3
Fig.4 The flow chart of the MPSO.
(b)
Fig.5 The experimental setup. (a) Computer control
system block diagram; (b) The experimental
equipments of a slider-crank mechanism of
Computer control system.
Fig. 6 The comparisons in displacement
between the PSO and MPSO methods.
Fig. 7 Comparison of convergence characteristics
in PSO and MPSO methods of the slider
mechanism system.
Motor
sSynchronou
PM
Development (IJTSRD) ISSN: 2456-6470
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5 The experimental setup. (a) Computer control
system block diagram; (b) The experimental
crank mechanism of
Computer control system.
Fig. 6 The comparisons in displacement errors
between the PSO and MPSO methods.
Fig. 7 Comparison of convergence characteristics
in PSO and MPSO methods of the slider-crank
mechanism system.
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Table 1. The identified parameters of the numerical simulations.
Parameter kgm1
Feasible domain 1~000.0
The actual value 232.0
The identified value of the
PSO method
0.311
The identified value of the
MPSO method
234.0
International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456
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Table 1. The identified parameters of the numerical simulations.
kg kgm2
kgm3 r
000.1 000.1~000.0 000.1~000.0 ~000.0
232 332.0 600.0 030.0
0.311 0.304 0.752 0.024
234 331.0 603.0 030.0
International Journal of Trend in Scientific Research and Development (IJTSRD) ISSN: 2456-6470
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Table 1. The identified parameters of the numerical simulations.
m ml
100.0~ 000.1~000.0
030 217.0
0.024 0.325
030 216.0