A study was undertaken to investigate the effects of crumb rubber on the strength and mechanical behaviour of Rubberized cement soil (RCS). In the present investigation, 26 groups of soil samples were prepared at five different percentages of crumb rubber content, four different percentages of cement content and two different finenesses of crumb rubber particle. Compressive strength tests were carried out at the curing age of 7 days, 14 days, 28 days and 90 days. The test results indicated that the inclusion of crumb rubber within cement soil leads to a decrease in the compressive strength and stiffness and improves the cement soil’s brittle behaviour to a more ductile one. A reduction of up to 31% in the compressive strength happened in the 20% crumb content group. The compressive strength increases with the increase in the cement content. And the enlargement of cement content is more efficient at low cement content.
The drainage consolidation method has been efficiently used to deal with soft ground improvement. Nowadays, it has been suggested to use a new sand soil which is a composite of sand and recycled glass waste. The permeability performance of glass-sand soil was explored to judge the feasibility of glass-sand soil backfilled in the drainage consolidation of sand-drained ground. For comparison purposes, different mix proportions of recycled glass waste, fineness modulus, and glass particle size were analyzed to certify the impact on the permeability coefficient and the degree of consolidation. The numerical results show that adding a proper amount of recycled glass waste could promote the permeability performance of glass-sand soil, and the glasssand soil drain could be consolidated more quickly than a sand drain. Experiments showed that glass-sand soil with the a 20% mix of recycled glass waste reveals the optimum performance of permeability.
Programming frameworks  are application generators with the following components: library of software modules (building blocks out of which the system is constructed), a method for designing new modules that can be appended to the above mentioned library, a pattern according to which ready modules can be assembled into a complete system jointly exerting control over it and realizing the task at hand. The presented transition function based formalism can be applied to specifying programming frameworks for robot controllers executing very diverse tasks. The paper deals with systems consisting of multiple embodied agents, influencing the environment through e#27;ectors, gathering information from the environment through sensors and communicating with other agents through communication channels. The presented code patterns pertain to behavioural agents. The formalism was instrumental in the design of MRROC++ robot programming framework, which has been used for producing controllers of single and two manipulator systems performing diverse tasks. The formalism introduces rigor into the discussion of the structure of embodied agent controllers. It is used as the means for the specification of the functions of the components of the control system and the structure of the communication links between them. This structures the implementation of a programming framework, and that in turn makes the coding of specific controllers much easier, both from the point of view of dealing with the hardware configuration of the system and the specific task that has to be executed.
An analytical expression for the standard deviation of Total Harmonic Distortion (THD) estimation is derived. It applies to the case where the estimator uses sine fitting. It is shown that, in common circumstances, it is inversely proportional to the actual value of THD, the signal-to-noise ratio and the square root of the number of samples. The proposed expression is validated both with numerical simulations and an experimental setup using a Monte Carlo procedure.
This Article investigates how the European Court of Human Rights becomes competent to make decisions in cases concerning (or taking roots in) “historical situations” preceding the ratiﬁ cation of the European Convention by a given Member State or even the enactment of the Convention. “Historical situations” refer to events that occurred in the period of Second World War or shortly thereafter. In all such cases, the preliminary question arises whether the Court is competent temporally (ratione temporis) to deal with the application. This group of cases concerned usually allegations touching upon the right to life and the right to property. The Court had to decide if the allegation in question related to a temporally closed event (making the Court not competent) or rather to a continuous violation (where the Court could adjudicate). A speciﬁ c set of legal questions arose vis-à-vis the right to life, ﬁ rst of all that of the autonomy of the procedural obligation to conduct an eﬃ cient investigation. The Strasbourg case law did not provide a clear answer. However, following two crucial judgements rendered by the Grand Chamber, the Court has established an interesting legal framework. Article analyses also two other situations having a historical dimension: bringing to justice those accused of war crimes or other crimes under international law (in light of the alleged conﬂ ict with the principle of nullum crimes sine lege) and pursuing authors of pro-Nazi statements or speech denying the reality of Nazi atrocities.
This paper is an overview of the application potential and design challenges of micro air vehicles (MAVs), defined as small enough to be practical for a single-person transport and use. Four types of MAVs are considered: 1) fixed-wing, 2) rotarywing, 3) ornithopters (bird-like flapping) and 4) entomopters (insect-like flapping). In particular, advantages of a propeller-driven delta wing configuration for type 1 are discussed. Some detail is also given for type 4, the least understood of the four, including a new concept of manoeuvre control for such MAVs. The paper concludes with a brief prognostic of the future of each MAV type.
In the present study, Ti6Al4V titanium alloy plates were joined using robotic laser welding method. Pre- and post-weld heat treatments were applied to laser welded joints. After welding stress relieving, solution heat treatment and ageing were also applied to preheated laser welded samples. Effects of heat treatment conditions on microstructural characteristics and mechanical properties of robotic laser welded joints were studied. Aged samples were found to be made of coarsened grains compared to microstructures of non-aged samples. There were increases in ductility and impact toughness of samples applied to ageing increased, while hardness and tensile strength of non-aged samples were higher. The highest value for tensile strength and for impact toughness in welded samples have been identified as 840 MPa and 27 J, respectively. Fractures in tensile test samples and base metal impact test samples took place in the form of ductile fracture, while laser welded impact test samples had fractures in the mode of intergranular fractures with either a quasi-cleavage type or tear ridges. EDS analysis carried out for all heat treatment conditions and welding parameters demonstrated that major element losses were not observed in base metal, HAZ and weld metal.
The Bulletin of the Polish Academy of Sciences: Technical Sciences (Bull.Pol. Ac.: Tech.) is published bimonthly by the Division IV Engineering Sciences of the Polish Academy of Sciences, since the beginning of the existence of the PAS in 1952. The journal is peer‐reviewed and is published both in printed and electronic form. It is established for the publication of original high quality papers from multidisciplinary Engineering sciences with the following topics preferred: Artificial and Computational Intelligence, Biomedical Engineering and Biotechnology, Civil Engineering, Control, Informatics and Robotics, Electronics, Telecommunication and Optoelectronics, Mechanical and Aeronautical Engineering, Thermodynamics, Material Science and Nanotechnology, Power Systems and Power Electronics. Journal Metrics: JCR Impact Factor 2018: 1.361, 5 Year Impact Factor: 1.323, SCImago Journal Rank (SJR) 2017: 0.319, Source Normalized Impact per Paper (SNIP) 2017: 1.005, CiteScore 2017: 1.27, The Polish Ministry of Science and Higher Education 2017: 25 points. Abbreviations/Acronym: Journal citation: Bull. Pol. Ac.: Tech., ISO: Bull. Pol. Acad. Sci.-Tech. Sci., JCR Abbrev: B POL ACAD SCI-TECH Acronym in the Editorial System: BPASTS.
This paper presents a simplified modeling, simulation and Experimental analysis of permanent magnet brushless dc motors (PMBLDC) for sensorless operation. This model provides a mechanism for monitoring and controlling of voltage, current, Speer and torque. The sensorless scheme employs direct back emf based zero crossing detection for controlling the dynamic characteristics.
This paper proposes a practical tuning of closed loops with model based predictive control. The data assumed to be known from the process is the result of the bump test commonly applied in industry and known in engineering as step response data. A simplified context is assumed such that no prior know-how is required from the plant operator. The relevance of this assumption is very realistic in the context of first time users, both for industrial operators and as educational competence of first hand student training. A first order plus dead time is approximated and the controller parameters immediately follow by heuristic rules. Analysis has been performed in simulation on representative dynamics with guidelines for the various types of processes. Three single-input-single-output experimental setups have been used with no expert users available in different locations – both educational and industrial – these setups are representative for practical cases: a variable time delay dominant system, a non-minimum phase system and an open loop unstable system. Furthermore, in a multivariable control context, a train of separation columns has been tested for control in simulation, followed by experimental tests on a laboratory system with similar dynamics, i.e. a sextuple coupled water tank system. The results indicate the proposed methodology is suitable for hands-on tuning of predictive control loops with some limitations on performance and multivariable process control.
The most important feature of bells is their sound. Its clarity and beauty depend, first of all, on the bell’s geometry - particularly the shape of its profile, but also on the quality of alloy used to its cast. Hence, if the melting and pouring parameters could influence the alloy’s properties, what influence they would have on the frequencies of bell’s tone. In the article authors present their own approaches to find answers on that and more questions.