846 resultados para Cable-Driven Parallel Manipulator
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We report on experiments aimed at comparing the hysteretic response of a Cu-Zn-Al single crystal undergoing a martensitic transition under strain-driven and stress-driven conditions. Strain-driven experiments were performed using a conventional tensile machine while a special device was designed to perform stress-driven experiments. Significant differences in the hysteresis loops were found. The strain-driven curves show reentrant behavior yield point which is not observed in the stress-driven case. The dissipated energy in the stress-driven curves is larger than in the strain-driven ones. Results from recently proposed models qualitatively agree with experiments.
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A general introduction to the problems faced in the shrimp culture due to waste formation and its consequent environmental hazards and production problems of Giant tiger shrimp, Penaeus monodon is highlighted by the author in this thesis. The objective of the present work was to assess the potential of brackish water finfish to improve bottom soil conditions and thereby increase the growth and production of Penaeus monodon. The salient findings of the present study are summarized in chapter 7. This is followed by the references cited in the thesis and list ofpublications originated from the present study.
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It has been shown recently that systems driven with random pulses show the signature of chaos ,even without non linear dynamics.This shows that the relation between randomness and chaos is much closer than it was understood earlier .The effect of random perturbations on synchronization can be also different. In some cases identical random perturbations acting on two different chaotic systems induce synchronizations. However most commonly ,the effect of random fluctuations on the synchronizations of chaotic system is to destroy synchronization. This thesis deals with the effect of random fluctuations with its associated characteristic timescales on chaos and synchronization. The author tries to unearth yet another manifestation of randomness on chaos and sychroniztion. This thesis is organized into six chapters.
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The multifractal dimension of chaotic attractors has been studied in a weakly coupled superlattice driven by an incommensurate sinusoidal voltage as a function of the driving voltage amplitude. The derived multifractal dimension for the observed bifurcation sequence shows different characteristics for chaotic, quasiperiodic, and frequency-locked attractors. In the chaotic regime, strange attractors are observed. Even in the quasiperiodic regime, attractors with a certain degree of strangeness may exist. From the observed multifractal dimensions, the deterministic nature of the chaotic oscillations is clearly identified.
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Self-sustained time-dependent current oscillations under dc voltage bias have been observed in recent experiments on n-doped semiconductor superlattices with sequential resonant tunneling. The current oscillations are caused by the motion and recycling of the domain wall separating low- and high-electric-field regions of the superlattice, as the analysis of a discrete drift model shows and experimental evidence supports. Numerical simulation shows that different nonlinear dynamical regimes of the domain wall appear when an external microwave signal is superimposed on the dc bias and its driving frequency and driving amplitude vary. On the frequency-amplitude parameter plane, there are regions of entrainment and quasiperiodicity forming Arnold tongues. Chaos is demonstrated to appear at the boundaries of the tongues and in the regions where they overlap. Coexistence of up to four electric-field domains randomly nucleated in space is detected under ac+dc driving.
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The motion instability is an important issue that occurs during the operation of towed underwater vehicles (TUV), which considerably affects the accuracy of high precision acoustic instrumentations housed inside the same. Out of the various parameters responsible for this, the disturbances from the tow-ship are the most significant one. The present study focus on the motion dynamics of an underwater towing system with ship induced disturbances as the input. The study focus on an innovative system called two-part towing. The methodology involves numerical modeling of the tow system, which consists of modeling of the tow-cables and vehicles formulation. Previous study in this direction used a segmental approach for the modeling of the cable. Even though, the model was successful in predicting the heave response of the tow-body, instabilities were observed in the numerical solution. The present study devises a simple approach called lumped mass spring model (LMSM) for the cable formulation. In this work, the traditional LMSM has been modified in two ways. First, by implementing advanced time integration procedures and secondly, use of a modified beam model which uses only translational degrees of freedoms for solving beam equation. A number of time integration procedures, such as Euler, Houbolt, Newmark and HHT-α were implemented in the traditional LMSM and the strength and weakness of each scheme were numerically estimated. In most of the previous studies, hydrodynamic forces acting on the tow-system such as drag and lift etc. are approximated as analytical expression of velocities. This approach restricts these models to use simple cylindrical shaped towed bodies and may not be applicable modern tow systems which are diversed in shape and complexity. Hence, this particular study, hydrodynamic parameters such as drag and lift of the tow-system are estimated using CFD techniques. To achieve this, a RANS based CFD code has been developed. Further, a new convection interpolation scheme for CFD simulation, called BNCUS, which is blend of cell based and node based formulation, was proposed in the study and numerically tested. To account for the fact that simulation takes considerable time in solving fluid dynamic equations, a dedicated parallel computing setup has been developed. Two types of computational parallelisms are explored in the current study, viz; the model for shared memory processors and distributed memory processors. In the present study, shared memory model was used for structural dynamic analysis of towing system, distributed memory one was devised in solving fluid dynamic equations.
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Animportant step in the residue number system(RNS) based signal processing is the conversion of signal into residue domain. Many implementations of this conversion have been proposed for various goals, and one of the implementations is by a direct conversion from an analogue input. A novel approach for analogue-to-residue conversion is proposed in this research using the most popular Sigma–Delta analogue-to-digital converter (SD-ADC). In this approach, the front end is the same as in traditional SD-ADC that uses Sigma–Delta (SD) modulator with appropriate dynamic range, but the filtering is doneby a filter implemented usingRNSarithmetic. Hence, the natural output of the filter is an RNS representation of the input signal. The resolution, conversion speed, hardware complexity and cost of implementation of the proposed SD based analogue-to-residue converter are compared with the existing analogue-to-residue converters based on Nyquist rate ADCs
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This paper describes JERIM-320, a new 320-bit hash function used for ensuring message integrity and details a comparison with popular hash functions of similar design. JERIM-320 and FORK -256 operate on four parallel lines of message processing while RIPEMD-320 operates on two parallel lines. Popular hash functions like MD5 and SHA-1 use serial successive iteration for designing compression functions and hence are less secure. The parallel branches help JERIM-320 to achieve higher level of security using multiple iterations and processing on the message blocks. The focus of this work is to prove the ability of JERIM 320 in ensuring the integrity of messages to a higher degree to suit the fast growing internet applications
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This work proposes a parallel genetic algorithm for compressing scanned document images. A fitness function is designed with Hausdorff distance which determines the terminating condition. The algorithm helps to locate the text lines. A greater compression ratio has achieved with lesser distortion
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The towed array electronics is essentially a multichannel real time data acquisition system. The major challenges involved in it are the simultaneous acquisition of data from multiple channels, telemetry of the data over tow cable (several kilometres in some systems) and synchronization with the onboard receiver for accurate reconstruction. A serial protocol is best suited to transmit the data to onboard electronics since number of wires inside the tow cable is limited. The best transmission medium for data over large distances is the optical fibre. In this a two step approach towards the realization of a reliable telemetry scheme for the sensor data using standard protocols is described. The two schemes are discussed in this paper. The first scheme is for conversion of parallel, time-multiplexed multi-sensor data to Ethernet. Existing towed arrays can be upgraded to ethernet using this scheme. Here the last lap of the transmission is by Ethernet over Fibre. For the next generation of towed arrays it is required to digitize and convert the data to ethernet close to the sensor. This is the second scheme. At the heart of this design is the Analog-to-Ethernet node. In addition to a more reliable interface, this helps in easier fault detection and firmware updates in the field for the towed arrays. The design challenges and considerations for incorporating a network of embedded devices within the array are highlighted
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In this thesis, certain continuous time inventory problems with positive service time under local purchase guided by N/T-policy are analysed. In most of the cases analysed, we arrive at stochastic decomposition of system states, that is, the joint distribution of the system states is obtained as the product of marginal distributions of the components. The thesis is divided into ve chapters
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In dieser Arbeit wurde ein räumlich bewegter pneumatischer Mehrachsenprüfstand als spezielle mechanische Variante eines Parallelroboters entwickelt, im Labor aufgebaut und in Rechnersimulationen sowie in Laborexperimenten regelungstechnisch untersucht. Für diesen speziellen Parallelroboter MAP-RTS-6 wurden Regelalgorithmen, die mittels moderner Verfahren der linearen und nichtlinearen Regelungstheorie abgeleitet wurden, hinsichtlich ihrer praktischen Anwendbarkeit, Echtzeitfähigkeit und Qualität entwickelt, implementiert und überprüft. Mit diesen Regelalgorithmen ist der MAP-RTS-6 in der Lage, große räumliche Transienten schnell und präzise nachzufahren. Der MAP-RTS-6 wird in erster Linie als räumlicher Bewegungsmanipulator für große nichtlineare Transienten (Translationen und Rotationen), als räumlicher Vibrationsprüfstand für starre und flexible Prüfkörper unterschiedlicher Konfigurationen und als Mechanismus für die Implementierung und experimentelle Überprüfung unterschiedlicher Regelungs- und Identifikationsalgorithmen und Sicherheitskonzepte verwendet. Die Voraussetzung zum Betrieb des Mehrachsenprüfstands für unterschiedliche redundante Antriebskonfigurationen mit sieben und acht Antrieben MAP-RTS-7 und MAP-RTS-8 wurde in dieser Arbeit geschaffen. Dazu zählen die konstruktive Vorbereitung der Prüfstandsmechanik und Pneumatik zum Anschluss weiterer Antriebe, die Vorbereitung zusätzlicher I/O-Schnittstellen zur Prüfstandselektronik und zum Regelungssystem und die Ableitung von Algorithmen zur analytischen Arbeitsraumüberwachung für redundante Antriebskonfigurationen mit sieben und acht Antrieben.
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This paper describes our plans to evaluate the present state of affairs concerning parallel programming and its systems. Three subprojects are proposed: a survey among programmers and scientists, a comparison of parallel programming systems using a standard set of test programs, and a wiki resource for the parallel programming community - the Parawiki. We would like to invite you to participate and turn these subprojects into true community efforts.
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Neueste Entwicklungen in Technologien für dezentrale Energieversorgungsstrukturen, erneuerbare Energien, Großhandelsenergiemarkt, Mini- und Mikronetze, verteilte Intelligenz, sowie Informations- und Datenübertragungstechnologien werden die zukünftige Energiewelt maßgeblich bestimmen. Die derzeitigen Forschungsbemühungen zur Vernutzung aller dieser Technologien bilden die Voraussetzungen für ein zukünftiges, intelligentes Stromnetz. Dieses neue Konzept gründet sich auf die folgenden Säulen: Die Versorgung erfolgt durch dezentrale Erzeugungsanlagen und nicht mehr durch große zentrale Erzeuger; die Steuerung beeinflusst nicht mehr allein die Versorgung sondern ermöglich eine auch aktive Führung des Bedarf; die Eingabeparameter des Systems sind nicht mehr nur mechanische oder elektrische Kenngrößen sondern auch Preissignale; die erneuerbaren Energieträger sind nicht mehr nur angeschlossen, sondern voll ins Energienetz integriert. Die vorgelegte Arbeit fügt sich in dieses neue Konzept des intelligenten Stromnetz ein. Da das zukünftige Stromnetz dezentral konfiguriert sein wird, ist eine Übergangsphase notwendig. Dieser Übergang benötigt Technologien, die alle diese neue Konzepte in die derzeitigen Stromnetze integrieren können. Diese Arbeit beweist, dass ein Mininetz in einem Netzabschnitt mittlerer Größe als netzschützende Element wirken kann. Hierfür wurde ein neues Energiemanagementsystem für Mininetze – das CMS (englisch: Cluster Management System) – entwickelt. Diese CMS funktioniert als eine von ökonomischorientierte Betriebsoptimierung und wirkt wie eine intelligente Last auf das System ein, reagierend auf Preissignale. Sobald wird durch eine Frequenzsenkung eine Überlastung des Systems bemerkt, ändert das Mininetz sein Verhalten und regelt seine Belastung, um die Stabilisierung des Hauptnetzes zu unterstützen. Die Wirksamkeit und die Realisierbarkeit des einwickelten Konzept wurde mit Hilfe von Simulationen und erfolgreichen Laborversuchen bewiesen.
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In this publication, we report on an online survey that was carried out among parallel programmers. More than 250 people worldwide have submitted answers to our questions, and their responses are analyzed here. Although not statistically sound, the data we provide give useful insights about which parallel programming systems and languages are known and in actual use. For instance, the collected data indicate that for our survey group MPI and (to a lesser extent) C are the most widely used parallel programming system and language, respectively.