This document discusses kinematic analysis of planar and spatial mechanisms using computational methods in MATLAB. It develops a MATLAB package called MATPACK for numerical analysis of planar and spatial mechanisms. It uses vector notation to analyze planar mechanisms and Denavit-Hartenberg parameters to analyze spatial mechanisms. Results for velocities and accelerations are obtained from MATPACK and compared to theoretical results. The objective is to introduce existing notation and methods to analyze spatial mechanisms using computational tools like MATPACK, AutoCAD, and CATIA.
Refutations on "Debunking the Myths of Influence Maximization: An In-Depth Be...Wei Lu
In a recent SIGMOD paper titled "Debunking the Myths of Influence Maximization: An In-Depth Benchmarking Study", Arora et al. [1] undertake a performance benchmarking study of several well-known algorithms for influence maximization. In the process, they contradict several published results, and claim to have unearthed and debunked several "myths" that existed around the research of influence maximization. It is the goal of this article to examine their claims objectively and critically, and refute the erroneous ones. Our investigation discovers that first, the overall experimental methodology in Arora et al. [1] is flawed and leads to scientifically incorrect conclusions. Second, the paper [1] is riddled with issues specific to a variety of influence maximization algorithms, including buggy experiments, and draws many misleading conclusions regarding those algorithms. Importantly, they fail to appreciate the trade-off between running time and solution quality, and did not incorporate it correctly in their experimental methodology. In this article, we systematically point out the issues present in [1] and refute 11 of their misclaims.
MODELLING ANALYSIS & DESIGN OF DSP BASED NOVEL SPEED SENSORLESS VECTOR CONTRO...IAEME Publication
Unscented Kalman Filter (UKF), which is an update d version of EKF, is proposed as a state estimator for speed sensorless field oriented contr ol of induction motors. UKF state update computations, different from EKF, are derivative fr ee and they do not involve costly calculation of Jacobian matrices. Moreover, variance of each state is not assumed Gaussian, therefore a more realistic approach is provided by UKF. In order to examine the rotor speed (state V) estimation performance of UKF experimentally under varying spe ed conditions, a trapezoidal speed reference command is embedded into the DSP code. EKF rotor speed estimation successfully tracks the trapezoidal path. It has been observed that the est imated states are quite close to the measured ones. The magnitude of the rotor flux justifies that the estimated dq components of the rotor flux are estimated accurately. A number of simulations were carried out to verify the performance of the speed estimation with UKF. These simulated results are confirmed with the experimental results. While obtaining the experimental results, the real time stator voltages and currents are processed in Matlab with the associated EKF and UKF programs.
Refutations on "Debunking the Myths of Influence Maximization: An In-Depth Be...Wei Lu
In a recent SIGMOD paper titled "Debunking the Myths of Influence Maximization: An In-Depth Benchmarking Study", Arora et al. [1] undertake a performance benchmarking study of several well-known algorithms for influence maximization. In the process, they contradict several published results, and claim to have unearthed and debunked several "myths" that existed around the research of influence maximization. It is the goal of this article to examine their claims objectively and critically, and refute the erroneous ones. Our investigation discovers that first, the overall experimental methodology in Arora et al. [1] is flawed and leads to scientifically incorrect conclusions. Second, the paper [1] is riddled with issues specific to a variety of influence maximization algorithms, including buggy experiments, and draws many misleading conclusions regarding those algorithms. Importantly, they fail to appreciate the trade-off between running time and solution quality, and did not incorporate it correctly in their experimental methodology. In this article, we systematically point out the issues present in [1] and refute 11 of their misclaims.
MODELLING ANALYSIS & DESIGN OF DSP BASED NOVEL SPEED SENSORLESS VECTOR CONTRO...IAEME Publication
Unscented Kalman Filter (UKF), which is an update d version of EKF, is proposed as a state estimator for speed sensorless field oriented contr ol of induction motors. UKF state update computations, different from EKF, are derivative fr ee and they do not involve costly calculation of Jacobian matrices. Moreover, variance of each state is not assumed Gaussian, therefore a more realistic approach is provided by UKF. In order to examine the rotor speed (state V) estimation performance of UKF experimentally under varying spe ed conditions, a trapezoidal speed reference command is embedded into the DSP code. EKF rotor speed estimation successfully tracks the trapezoidal path. It has been observed that the est imated states are quite close to the measured ones. The magnitude of the rotor flux justifies that the estimated dq components of the rotor flux are estimated accurately. A number of simulations were carried out to verify the performance of the speed estimation with UKF. These simulated results are confirmed with the experimental results. While obtaining the experimental results, the real time stator voltages and currents are processed in Matlab with the associated EKF and UKF programs.
A New Chaotic System with a Pear-Shaped Equilibrium and Its Circuit Simulation IJECEIAES
This paper reports the finding a new chaotic system with a pear-shaped equilibrium curve and makes a valuable addition to existing chaotic systems with infinite equilibrium points in the literature. The new chaotic system has a total of five nonlinearities. Lyapunov exponents of the new chaotic system are studied for verifying chaos properties and phase portraits of the new system are unveiled. An electronic circuit simulation of the new chaotic system with pear-shaped equilibrium curve is shown using Multisim to check the model feasibility
Debabrata Pal, Aksum University, College of Engineering and Technology Department of Electrical and Computer Engineering Ethiopia, NE Africa, Email:debuoisi@gmail.com,website:www.ijrd.in
International Journal of Computational Engineering Research (IJCER) ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology
Comparative Study of Speed Characteristics of DC Motor with and without Contr...IJMTST Journal
In this paper a dc motor is modeled using transfer function analysis and the speed characteristics are
plotted for dc motor with and without controllers. The difference between load torque and electromagnetic
torque is improved using discrete p, I, d controllers for improving the speed characterics.the best speed
characteristics is obtained using proportional plus derivative controller. These characteristics are obtained by
formulating a relation between speed and torque. The entire simulation is conducted on mat
lab/simulink2013 environment.
Estimating the parameters of a geared DC motor is crucial in terms of its non-linear features. In this paper, parameters of a geared DC motor are estimated genetically. Mathematical model of the DC motor is determined by Kirchhoff’s law and dynamic model of its shafts and gearbox. Parameters of the geared DC motor are initially estimated by MATLAB/SIMULINK. The estimated parameters are defined as initial values for Genetic Algorithm (GA) to minimize the error of the simulated and actual angular trajectory captured by an encoder. The optimal estimated model of the geared DC motor is validated by different voltages as the input of the actual DC motor and its mathematical model. The results and numerical analysis illustrate it can be ascertained that GA is appropriate to estimate the parameters of platforms with non linear characteristics.
Impact analysis of actuator torque degradation on the IRB 120 robot performan...IJECEIAES
Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases.
Short-Term Load Forecasting Using ARIMA Model For Karnataka State Electrical ...IJERDJOURNAL
ABSTRACT: Short-term load forecasting is a key issue for reliable and economic operation of power systems. This paper aims to develop short-term electric load forecasting ARIMA Model for Karnataka Electrical Load pattern based on Stochastic Time Series Analysis. The logical and organised procedures for model development using Autocorrelation Function and Partial Autocorrelation Function make ARIMA Model particularly attractive. The methodology involves Initial Model Development Phase, Parameter Estimation Phase and Forecasting Phase. To confirm the effectiveness, the proposed model is developed and tested using the historical data of Karnataka Electrical Load pattern (2016). The forecasting error of ARIMA Model is computed and results have shown favourable forecasting accuracy.
Finite Element Method (FEM) is a numerical method to obtain an approximate solution for the problems related to engineering and mathematical physics. Copy the link given below and paste it in new browser window to get more information on Finite Element Method (FEM):- http://www.transtutors.com/homework-help/mechanical-engineering/finite-element-method.aspx
A New Chaotic System with a Pear-Shaped Equilibrium and Its Circuit Simulation IJECEIAES
This paper reports the finding a new chaotic system with a pear-shaped equilibrium curve and makes a valuable addition to existing chaotic systems with infinite equilibrium points in the literature. The new chaotic system has a total of five nonlinearities. Lyapunov exponents of the new chaotic system are studied for verifying chaos properties and phase portraits of the new system are unveiled. An electronic circuit simulation of the new chaotic system with pear-shaped equilibrium curve is shown using Multisim to check the model feasibility
Debabrata Pal, Aksum University, College of Engineering and Technology Department of Electrical and Computer Engineering Ethiopia, NE Africa, Email:debuoisi@gmail.com,website:www.ijrd.in
International Journal of Computational Engineering Research (IJCER) ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology
Comparative Study of Speed Characteristics of DC Motor with and without Contr...IJMTST Journal
In this paper a dc motor is modeled using transfer function analysis and the speed characteristics are
plotted for dc motor with and without controllers. The difference between load torque and electromagnetic
torque is improved using discrete p, I, d controllers for improving the speed characterics.the best speed
characteristics is obtained using proportional plus derivative controller. These characteristics are obtained by
formulating a relation between speed and torque. The entire simulation is conducted on mat
lab/simulink2013 environment.
Estimating the parameters of a geared DC motor is crucial in terms of its non-linear features. In this paper, parameters of a geared DC motor are estimated genetically. Mathematical model of the DC motor is determined by Kirchhoff’s law and dynamic model of its shafts and gearbox. Parameters of the geared DC motor are initially estimated by MATLAB/SIMULINK. The estimated parameters are defined as initial values for Genetic Algorithm (GA) to minimize the error of the simulated and actual angular trajectory captured by an encoder. The optimal estimated model of the geared DC motor is validated by different voltages as the input of the actual DC motor and its mathematical model. The results and numerical analysis illustrate it can be ascertained that GA is appropriate to estimate the parameters of platforms with non linear characteristics.
Impact analysis of actuator torque degradation on the IRB 120 robot performan...IJECEIAES
Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases.
Short-Term Load Forecasting Using ARIMA Model For Karnataka State Electrical ...IJERDJOURNAL
ABSTRACT: Short-term load forecasting is a key issue for reliable and economic operation of power systems. This paper aims to develop short-term electric load forecasting ARIMA Model for Karnataka Electrical Load pattern based on Stochastic Time Series Analysis. The logical and organised procedures for model development using Autocorrelation Function and Partial Autocorrelation Function make ARIMA Model particularly attractive. The methodology involves Initial Model Development Phase, Parameter Estimation Phase and Forecasting Phase. To confirm the effectiveness, the proposed model is developed and tested using the historical data of Karnataka Electrical Load pattern (2016). The forecasting error of ARIMA Model is computed and results have shown favourable forecasting accuracy.
Finite Element Method (FEM) is a numerical method to obtain an approximate solution for the problems related to engineering and mathematical physics. Copy the link given below and paste it in new browser window to get more information on Finite Element Method (FEM):- http://www.transtutors.com/homework-help/mechanical-engineering/finite-element-method.aspx
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
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
Analysis of Four-Bar Linkages Model using Regressioninventionjournals
International Journal of Engineering and Science Invention (IJESI) is an international journal intended for professionals and researchers in all fields of computer science and electronics. IJESI publishes research articles and reviews within the whole field Engineering Science and Technology, new teaching methods, assessment, validation and the impact of new technologies and it will continue to provide information on the latest trends and developments in this ever-expanding subject. The publications of papers are selected through double peer reviewed to ensure originality, relevance, and readability. The articles published in our journal can be accessed online.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
2-DOF BLOCK POLE PLACEMENT CONTROL APPLICATION TO:HAVE-DASH-IIBTT MISSILEZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
kinematics of 8-axis robot for material handling applicationsjani parth
Project is to carry out the thorough mathematical kinematic model which includes forward and inverse displacement equation model, and forward and inverse differential or velocity model, by formulating equations relating joint variables with the position and orientation of the end-effector
THREE-DIMENSIONAL STUDY FOR THE RELATIVE POSITIONING OF MECHANICAL ELEMENTS I...meijjournal
ABSTRACT
The great evolution of the data-processing tools during the last years allowed for the development of the computer aided design in the field of mechanical structures. Controlling the clearance in joints between parts, is one of the required objectives to provide accurate relative movements and to minimize geometrical errors. For that purpose, a new method of static study allowing for the computation of the equilibrium positions of various elements in spatial mechanisms constituted by parallel joints and subjected to mechanical loadings is proposed. The isostatic study takes into account the presence of the clearance in the mechanism joints. The method is based to the minimization of the potential energy by means of some algorithms of optimization. The results obtained show the effectiveness of the method.
THREE-DIMENSIONAL STUDY FOR THE RELATIVE POSITIONING OF MECHANICAL ELEMENTS I...meijjournal
The great evolution of the data-processing tools during the last years allowed for the development of the computer aided design in the field of mechanical structures. Controlling the clearance in joints between parts, is one of the required objectives to provide accurate relative movements and to minimize geometrical errors. For that purpose, a new method of static study allowing for the computation of the equilibrium positions of various elements in spatial mechanisms constituted by parallel joints and subjected to mechanical loadings is proposed. The isostatic study takes into account the presence of the clearance in the mechanism joints. The method is based to the minimization of the potential energy by means of some algorithms of optimization. The results obtained show the effectiveness of the method.
Dynamics Behaviour of Multi Storeys Framed Structures by of Iterative Method AM Publications
Dynamics refers to the branch of mechanics that deals with the movement of objects and the forces that drive that movement. Structural analysis which covers the behaviour of structures subjected to dynamic (actions having high acceleration) loading. Dynamic loads include people, wind, waves, traffic, earthquakes, and blasts. Any structure can be subjected to dynamic loading. Dynamic analysis can be used to find dynamic displacements, time history, and the frequency content of the load. One analysis technique for calculating the linear response of structures to dynamic loading is a modal analysis. In modal analysis, we decompose the response of the structure into several vibration modes. A mode is defined by its frequency and shape. Structural engineers call the mode with the shortest frequency (the longest period) the fundamental mode. This paper presents a study on mode shape, inertia force, spring force and deflection of multi storied framed structures by comparison of stodola’s and Holzer method. This study involves in examination of theoretical investigations of multi storied framed structures. Overall four storey multi storied framed structures and two methods were analysed & comparison of all the mode shape, inertia force, spring force and deflection at the critical cross-section with same configuration loading by keeping all other parameters constant. The theoretical data are calculated using code IS 1893, IS 4326, IS 13920. The all storey mass and stiffens are analysed under the cantilever condition. The research project aims to provide which method is most accuracy to find the mode shape, spring force deflection and inertia force. The studies reveal that the theoretical investigations Stodola’s method is most accuracy compare to the Holzer method. The maximum mode shape, spring force, spring deflection and inertia force is 87.29%, 80 %, 89% and 72% is higher the Stodola’s method compare than Holzer method in same configuration.
Scilab Finite element solver for stationary and incompressible navier-stokes ...Scilab
In this paper we show how Scilab can be used to solve Navier-stokes equations, for the incompressible and stationary planar flow. Three examples have been presented and some comparisons with reference solutions are provided.
Analytical transformations software for stationary modes of induction motors...IJECEIAES
A program was developed in the package of symbolic transformations Maple. It provides automatic analytical transformation and derivation of formulas and plotting of the main characteristics of induction motors (IM) in a convenient form for an electrical engineer and student: torque=f(slip) T=f(s), angular speed=f(Torque) ω=f(T), angular speed=f(Current) ω=f(I), current=f(slip) I=f(s); cos(φ) and phase angle (phi) φ for stator currents and rotor currents, and magnetizing circuit, machine efficiency η=f(s) and a number of other characteristics. The calculation is based on the equivalent circuit of IM motors in its different variants: with one cage in the rotor, with two or more cages in the rotor, taking into account the skin effect in the rotor rods and without it. The user can build up the equivalent circuit to the desired configuration. The algorithm of further transformations is based on analytical obtaining of amplitude/frequency and phase/frequency characteristics in the nodes of the equivalent circuits with further calculation by power and slip. Online animation of the graphs with alternate variations of all resistances R and inductances L values of the model is provided. The article contains screenshots of important parts of the programs and illustrates the complete set of graphs.
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
Learn about the cost savings, reduced environmental impact, and minimal disruption associated with trenchless technology. Discover detailed explanations of popular techniques such as pipe bursting, cured-in-place pipe (CIPP) lining, and directional drilling. Understand how these methods can be applied to various types of infrastructure, from residential plumbing to large-scale municipal systems.
Ideal for homeowners, contractors, engineers, and anyone interested in modern plumbing solutions, this guide provides valuable insights into why trenchless pipe repair is becoming the preferred choice for pipe rehabilitation. Stay informed about the latest advancements and best practices in the field.
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.