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1.
Forward displacement solutions are presented for a class of spatial parallel manipulators. In particular, considered are manipulators consisting of a platform supported through passive spherical joints by three branches, each branch having three-revolute joints forming its main arm. Solutions are described for arbitrary main-arm layouts and for all possible cases of redundant (nine, eight, and seven sensors) and non-redundant (six sensors) sensing of branch main-arm joint displacements. It is demonstrated that closed-form forward displacement solutions can be found for all cases of redundant sensing. Furthermore, it is shown that a closed-form solution can be obtained for one of the two possible cases of non-redundant sensing of the main-arm joint displacements. The only case of joint displacement sensing not allowing a closed-form forward displacement solution is two joints sensed per branch, a case that can be expressed as a 16th-order polynomial of a single variable. Due to the importance of having efficient and failure-safe solutions for the forward displacement problem, it is suggested that appropriate redundancy in displacement sensing should be an important consideration in the design of parallel manipulation devices. © 1994 John Wiley & Sons, Inc. 相似文献
2.
Surfactant-aided gravity drainage is an improved oil recovery technique for water-invaded zone in fractured carbonate reservoirs, which are mostly oil-wet or mixed-wet rocks. The re-infiltration mechanism in water-invaded zone has a considerable effect on oil vertical movement in gravity drainage processes. In this work, a mechanistic understanding of re-infiltration in surfactant-aided gravity drainage, in comparison to oil–water gravity drainage is presented using an experimentally and numerically validated model. A column model is constructed from three matrix blocks. These blocks are separated from each other by horizontal fractures. A storage tank is considered on top of the model to store depleted oil from matrix blocks. The stacked-blocks model for re-infiltration is validated and verified to simulate water and chemical flooding using a mesh independency study and experimental flooding data in a composite core experiment. Using this model, several analyses are performed to investigate effects of rock and fluid properties, rock saturation functions, wettability alteration, surfactant adsorption, and capillary continuity on re-infiltration. 相似文献
3.
A case study validation of a knowledge-based approach for the selection of requirements engineering techniques 总被引:2,自引:1,他引:1
Requirements engineering (RE) is a critical phase in the software engineering process and plays a vital role in ensuring the
overall quality of a software product. Recent research has shown that industry increasingly recognizes the importance of good
RE practices and the use of appropriate RE techniques. However, due to the large number of RE techniques, requirements engineers
find it challenging to select suitable techniques for a particular project. Unfortunately, technique selection based on personal
experience has limitations with regards to the scope, effectiveness and suitability of the RE techniques for the project at
hand. In this paper, a Knowledge-based Approach for the Selection of Requirements Engineering Techniques (KASRET) is proposed
that helps during RE techniques selection. This approach has three major features. First, a library of requirements techniques
was developed which includes detailed knowledge about RE techniques. Second, KASRET integrates advantages of different knowledge
representation schemata and reasoning mechanisms. Thus, KASRET provides mechanisms for the management of knowledge about requirements
techniques and support for RE process development. Third, as a major decision support mechanism, an objective function evaluates
the overall ability and cost of RE techniques, which is helpful for the selection of RE techniques. This paper makes not only
a contribution to RE but also to research and application of knowledge management and decision support in process development.
A case study using an industrial project shows the support of KASRET for RE techniques selection.
相似文献
Behrouz H. FarEmail: |
4.
Behrouz Parsa Moghaddam José António Tenreiro Machado 《Journal of scientific computing》2017,71(3):1351-1374
This paper proposes accurate and robust algorithms for approximating variable order fractional derivatives of arbitrary order. The proposed schemes are based on finite difference approximations. We compare the performance of algorithms by introducing a new formulation of experimental convergence order. Two initial value problems are considered and solved by means of the proposed methods. Numerical results are provided justifying the usefulness of the proposed methods. 相似文献
5.
Amir Movafeghi Yahaghi Effat Rokrok Behrouz Mirzapour Mahdi 《Russian Journal of Nondestructive Testing》2020,56(4):361-368
Russian Journal of Nondestructive Testing - The location of reinforcement bar in concrete, the bar corrosion, diameter and the depth below the surface are important factors in the evaluation of the... 相似文献
6.
Mohammad Saied Andalib Mehdi Tavakolan Behrouz Gatmiri 《International Journal of Project Management》2018,36(4):600-611
Project valuation, as a decision-making tool for initiating investments in projects, should be able to value project flexibilities and incorporate reasonable risk preferences of relevant decision makers. Real options valuation methods are the available approaches for valuing project flexibilities, whereas they have shortcomings in considering managers’ reasonable risk preferences in project decisions. Therefore, researchers have suggested approximating the perspective on risk of real options methods and practitioners in project management. This study proposes a fair real options valuation for project-based environments by a behavioral economic approach, which adopts binomial lattice method, Monte-Carlo simulation, and cumulative prospect theory. The results show that behavioral factors such as ‘risk attitude’ and ‘loss aversion’ should be accepted in project investment decisions while limited to an acceptable amount depending on the project conditions (e.g. uniqueness of decision-making scenarios). This research contributes to the project management domain by enhancing project investment decisions that include project flexibilities. 相似文献
7.
Seismic performance evaluation of steel moment resisting frames through incremental dynamic analysis 总被引:2,自引:0,他引:2
Earthquake hazards effect significant damage to structures and cause widespread failure throughout buildings. Moment resisting frames are widely used as lateral resisting systems when sufficient ductility is to be met. Generally three types of moment resisting frames are designed in practice namely Special, Intermediate and Ordinary Moment Frames, each of which has certain level of ductility. Comparative studies on the seismic performance of these three different types of structure are performed in this study. Analytical models of connections are employed including panel zone and beam to column joint model. Incremental dynamic analysis is then utilized to assess the structural dynamic behavior of the frames and to generate required data for performance based evaluations. Maximum annual probability of exceeding different limit states may reveal the superiority of a ductile structure in which a greater behavior factor is employed. Special moment resisting frames are expected to perform better once a certain level of ductility is to be met but the amount of superiority may be the subject of investigation especially from a performance based design standpoint. 相似文献
8.
It has been shown previously that sulfur volatiles produced byAllium plants affect the behavior of their specialist phytophages and of their specialist entomophages. The action of these compounds in protecting the leek mothAcrolepiopsis assectella against generalist entomophages was studied in comparison to the proposed original defensive role of these compounds against generalist herbivorous insects. Two ants species,Formica selysi andF. fusca, were used as generalist predators. Six behavioral criteria of the predatory behavior of the ants were studied in presence of the last-instar caterpillars (C5). C5 reared on artificial diets with or without leek components were tested, as well as C5 soaked in frass of leek-reared caterpillars or disulfide solutions. In addition, the response of the ants to pure chemicals found in leek was studied using honey solutions with or without sulfur compounds. The sulfur allelochemicals ofAllium plants have a negative action on predatory ants. Interestingly, the nonvolatile precursors of sulfur volatiles ofAllium plants seem to have a protective role for their phytophagous insects against generalist entomophages. 相似文献
9.
Behrouz Sabour Kheirollah Mehrani Azadeh Mehrani Mohammad Hassan Peyrovi 《Journal of Inorganic and Organometallic Polymers and Materials》2013,23(5):1183-1188
MCM-48 nanoporous silica were prepared by the sol–gel method and functionalized by pyridine using a silane agent. With the aid of pyridines on the surface, the nanoporous material was used as a support for immobilization of metalloporphyrin. The formation of this material was confirmed by infrared spectroscopy, X-ray powder diffraction, transmission electron microscopy, inductively coupled plasma atomic emission spectroscopy analysis and specific surface area measurement. The application of this metalloporphyrin-immobilized MCM-48 was investigated as a heterogeneous catalyst in cyclohexene oxidation. Various parameters such as solvent and time were optimized. Also the effect of nanoporous structure on the efficiency of the catalyst was investigated by comparing the results with the same composite using nonporous silica (SiO2). The result showed that the MCM-48 immobilized metalloporphyrin is a better catalyst for cyclohexene oxidation, which can be attributed to its nanoporous structure. The nanoporous structure increases the surface area of MCM-48 and leads to more metalloporphyrin immobilization. 相似文献
10.
Dipyridamole recognition and controlled release by uniformly sized molecularly imprinted nanospheres
Mehdi Esfandyari-Manesh Mehran Javanbakht Fatemeh Atyabi Ali Mohammadi Somayeh Mohammadi Behrouz Akbari-Adergani Rassoul Dinarvand 《Materials science & engineering. C, Materials for biological applications》2011,31(8):1692-1699
We used novel synthetic conditions of precipitation polymerization to obtain uniformly sized molecularly imprinted nanospheres of dipyridamole for application in the design of new drug delivery systems. In addition, the morphology, drug release, and binding properties of molecularly imprinted polymers (MIPs) were studied, and the effects of morphology on other properties were investigated. The MIPs prepared by acetonitrile/chloroform (19:1, v/v) were uniformly sized nanospheres with an average mean diameter of approximately 88 nm at a wetted state, 50 nm at a dry state, and a polydispersity index of 0.062. The imprinted nanospheres showed excellent binding properties and had 62.7% of template binding compared with 17.1% of its blank polymer. The imprinted nanospheres with 67.5 (mg template/of polymer) of binding capacity had better imprinting efficiency than the 50.5% of binding capacity shown by irregularly shaped MIP particles that were prepared by chloroform. The molecular binding abilities of imprinted nanospheres in human serum were evaluated by HPLC analysis (binding about 77% of dipyridamole). Results from release experiments of MIPs showed a very slow, controlled, and satisfactory release of dipyridamole. The loaded drug was released up to 99% in 17 days for nanospheres and 22 days for irregularly shaped particles. 相似文献