General Solution for the Dynamic Modeling of Parallel Robots

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures. Categories (2), (3).     

The Influence of Surfactant on the Surface Characterization of Celestite in Spherical Oil Agglomeration

This study investigates the relationship between the critical surface tension of wetting of celestite and agglomeration recovery as well as the zeta potential in dependence of pH and amount of collector (Na‐Oleate). For this purpose, effects of pH and collector amount on the agglomeration recovery are investigated and zeta potential measurements and Fourier Transform Infrared Spectrophotometer (FTIR) analyses are carried out to determine the adsorption type of Na‐Oleate on celestite surface. The sessile drop technique is used for the measurement of contact angle and determination of the critical surface tension of wetting (Y_C) of celestite. The maximum agglomeration recovery is obtained at pH 7. The critical surface tension of wetting of celestite is very close to the surface tension of kerosene, which is 25.95 mN/m. Furthermore, at the optimum Na‐Oleate amount of 10 kg/ton, the critical surface tension of wetting of celestite is approximately equal to the surface tension of kerosene.     

Effect of the percentage carbon equivalent on the nodule characteristics,density and modulus of elasticity of ductile cast iron

Successful melting and Mg treatment were conducted using a vortex unit which produced spheroidal graphite (SG) Fe ingots having a percentage carbon equivalent (%CE) ranging from 3.782 to 5.240. Microstructure examination revealed graphite nodules embedded in a white matrix (unetched condition). The variation of %CE proved to have a pronounced effect on the nodule characteristics. The nodule count showed a maximum value at %CE of 4.613. For metal-mould ingots it reached a value of 1584 nodules mm^–2, while for sand-mould ingots it reached a value of 970 nodules mm^–2. Nodule size was found to be inversely proportional to the nodule count for both sand- and metal-mould ingots. The nodularity of all ingots was, in general, higher than 95%. The density of SG Fe was found to decrease gradually (at %CE=3.782) from 7242 to 6969 kg m^–3. The modulus of elasticity (E) showed a boat-like curve having minimum values of 189 and 192 GPa for the sand and metal moulds, respectively.     

Optical properties of evaporated Ge20Se80−x Tl x thin films

Chalcogenide glasses with composition Ge₂₀Se_80–x Tl _x (x=10, 15, 20, 25, 35%) have been prepared by the usual melt-quenching technique. Thin films of the mentioned compositions have been prepared by the electron beam evaporation. In addition, another set taken from the composition ofX=30 at % with different thicknesses (d=14.7, 30.0, 56.5, 70.0, 101.0, 180.0 nm) have been taken into consideration. The X-ray diffraction (XRD) analysis revealed the amorphous nature of the prepared films. It was found that, in contrast to the optical gap (E _op), both the extent of the band tailing (B), and the band gap (E _e) increase with increasing thallium content. In other side,E _op showed thickness independency. The refractive index (n) showed obvious dependence on both composition and thickness also on the energy of the incident radiation.     

Electronic data acquisition forms in construction management

Effective management of construction projects depends on good access to and control of data, especially data pertaining to cost and schedule control functions. However, the proper design and development of automated mechanisms have not had the facility to acquire and store quality data in a timely manner. The purpose of this paper, then, is to discuss a prototype, automated data acquisition system that was developed to support an integrated project management system. The data acquisition system is composed of an integrated set of electronic forms used in conjunction with a bar coding data-entry tool.     

Evaluation of a proper controller performance for maximum-power point tracking of a stand-alone PV system

In this paper the implementation of a suggested stand-alone PV system, for maximum-power point tracking (MPPT), is carried out. Also, this paper presents a comparative study, through experimental work, between the conventional PI controller and the fuzzy logic controller (FLC) under different atmospheric conditions. The implemented system with both the PI controller and the FLC gives a good maximum-power operation of the PV array, but the tracking capability for different optimum operating points is better and faster for the case of using the FLC compared to the case of using the PI controller.     

Structural Characterization of Different Asphaltenes of Kuwaiti Origin

Asphaltenes obtained by precipitation from crude Kuwaiti oils have been analyzed by proton magnetic resonance (¹H-NMR), carbon-13 nuclear magnetic resonance (¹³C-NMR) and Infrared (IR) spectral techniques. The molecular weight and elemental analysis were also determined. These combined analytical data were used for the characterization of these Kuwaiti oils. The asphaltenes molecular weights range from approximately 4200-6500 with an H/C ratio of 0.91-1.1 with an average 45-71% aromatic carbons. The average side chain length was of 4-6 carbons. It can also be concluded that the asphaltenes under investigation contain 5-9 sets of condensed aromatic rings joined together by bridges of alkyl chains or other hetero atoms and the average number of each of these sets of condensed aromatic rings is nearly 7. There are a number of alicyclic rings and condensed alicyclic rings in asphaltene. The IR spectra showed main molecular groups including OH, NH, SH, C=O and aliphatic and aromatic C-H's.     

Sediment Concentration and Its Prediction by Perceptron Kalman Filtering Procedure

Predictions of the discharge and the associated sediment concentration are very useful ingredients in any water resources reservoir design, planning, maintenance, and operation. Although there are many empirical relationships between the discharge and sediment concentration amounts, they need estimation of model parameters. Generally, parameter estimations are achieved through the regression method (RM), which has several restrictive assumptions. Such models are locally valid and their structures and parameter values are questionable from region to others. This paper proposes a new approach for sediment concentration prediction provided that there are measurements of discharge and sediment concentration. The basis of the methodology is a dynamic transitional model between successive time instances based on two variables, namely, discharge and sediment concentration measurements. The transition matrix elements are estimated from the measurements through a special form of the artificial neural networks as perceptrons. The sediment concentration predictions from discharge measurements are achieved through a perceptron Kalman filtering (PKF) technique. In the meantime, this technique also provides temporal predictions. A certain portion of the measurement sequence is employed for the model parameter estimations through training and the remaining part is used for the model verification. Detailed comparisons between RM and PKF approaches are presented and, finally, it is shown that the latter model works dynamically by simulating the observation scatter diagram in the best possible manner with smaller prediction errors. The application of the methodology is performed for the discharge and sediment concentration measurements obtained from the Mississippi River basin at St. Louis, Missouri. It is found that the PKF methodology has smaller average relative, root-mean-square, and absolute errors than RM. Furthermore, graphical representation, such as the scatter and frequency diagrams, indicated that the PKF approach has superiority over the RM.