Analytical Development of the Forward and Inverse Kinematics of A Robotic Leg...IJERA Editor
This article proposes an analytical development for the inverseand forward kinematics of a robotic leg for robots biologically-inspired in insects. The forward and inverse kinematics is a part of the solution to models of path planning for robotic legs. The method Denavit-Hartenberg was used for the development of forward kinematics. The inverse kinematics was found using the method of inverse transformation matrices. The developed equations’ results were compared tothe results of functions fkine and ikine of the robotics to olbox for Matlab, analyzing numerical and analytic calolution for the inverse kinematics.
Analytical Development of the Forward and Inverse Kinematics of A Robotic Leg...IJERA Editor
This article proposes an analytical development for the inverseand forward kinematics of a robotic leg for robots biologically-inspired in insects. The forward and inverse kinematics is a part of the solution to models of path planning for robotic legs. The method Denavit-Hartenberg was used for the development of forward kinematics. The inverse kinematics was found using the method of inverse transformation matrices. The developed equations’ results were compared tothe results of functions fkine and ikine of the robotics to olbox for Matlab, analyzing numerical and analytic calolution for the inverse kinematics.
Current Compensation with Reduced Rating VSC and A ZIG –ZAG Transformer an A ...IJERA Editor
A reduced rating voltage-source converter with a zig-zag transformer as a distribution static compensator is proposed for power-quality improvement in the three-phase four-wire distribution system. The source voltages in the distribution systems are also experiencing power quality problems, such as harmonics, unbalance, flicker, sag, swell, etc. The distribution static compensator (DSTATCOM) is proposed for compensating power quality problems in the current, and the dynamic voltage restorer (DVR) is used for mitigating the power quality problems in the voltage. The zig-zag transformer is used for the neutral current compensation. Distribution systems are facing severe power-quality (PQ) problems, such as poor voltage regulation, high reactive power and harmonics current burden, load unbalancing, excessive neutral current, etc. The zig-zag transformer is used for providing a path to the zero-sequence current. The DSTATCOM is used to improve the quality of power to the non linear loads. By using both zig-zag transformer and DSTATCOM in the distribution system the rating of the voltage source converter can be reduced. Hence it can be also called reduced rating device. The performance of the DSTATCOM is validated through extensive simulations using MATLAB software with its Simulink and power system block set toolboxes.
Inpainting refers to the art of restoring lost parts of image and reconstructing them based on the background information i.e Image inpainting is the process of reconstructing lost or deteriorated parts of images using information from surrounding areas. In fine art museums, inpainting of degraded paintings is traditionally carried out by professional artists and usually very time consuming.The purpose of inpainting is to reconstruct missing regions in a visually plausible manner so that it seems reasonable to the human eye. There have been several approaches proposed for the same.
This paper gives an overview of different Techniques of Image Inpainting.The proposed work includes the overview of PDE based inpainting algorithm and Texture synthesis based inpainting algorithm. This paper presents a brief survey on comparative study of these two techniques used for Image Inpainting.
Effect of Thermo-Diffusion and Chemical Reaction on Mixed Convective Heat And...IJERA Editor
A finite element study of combined heat and mass transfer flow through a porous medium in a circular cylindrical annulus with Soret and Dufour effects in the presence of heat sources has been analyzed. The coupled velocity, energy, and diffusion equations are solved numerically by using Galerkin- finite element technique. Shear stress, Nusslet number and Sherwood number are evaluated numerically for different values of the governing parameters under consideration and are shown in tabular form.
Wireless Reporting System for Accident Detection at Higher SpeedsIJERA Editor
Speed is one of the basic reasons for vehicle accident. Many lives could have been saved if emergency service
could get accident information and reach in time. Nowadays, GPS has become an integral part of a vehicle
system. This paper proposes to utilize the capability of a GPS receiver to monitor speed of a vehicle and detect
accident basing on monitored speed and send accident location to an Alert Service Center. The GPS will
monitor speed of a vehicle and compare with the previous speed in every second through a Microcontroller
Unit. Whenever the speed will be below the specified speed, it will assume that an accident has occurred. The
system will then send the accident location acquired from the GPS along with the time and the speed by utilizing
the GSM network. This will help to reach the rescue service in time and save the valuable human life.
Dufour and Soret Effects on Convective Heat and Mass Transfer in Non-Darcy Do...IJERA Editor
This paper deals with the MHD convention non-Darcy flow with heat and mass transfer along the vertical surface in a fluid stratified non porous media in the presence of temperature gradients (Soret effects) and concentration gradients (Dufour effects). The differential equations of the governing flow are expand a in terms of perturbation functions as a result we get set of ordinary differential equations of zero,first and second order so the set of equations are solved by using the implicit finite difference scheme. A parametric study of the physical parameters involve in the problem is conducted and a representative set of numerical results are illustrated graphically
Nonlinear Static Analysis Of 3-D RC Framed Asymmetric Building With Lead Rubb...IJERA Editor
Many buildings in the present scenario have irregular configurations both in plan and elevation. This in future may be subjected to devastating earthquakes. So it is also necessary to enhance the seismic performance of asymmetric buildings by using seismic control techniques. In the present study a total of 9 models, asymmetrical in plan (L-shape) are taken for analysis to cover the broader spectrum of low, medium & high rise buildings for the seismic control of the structures using pushover analysis, two different techniques were considered such as lead rubber bearing isolator and masonry infill walls, the analysis has been carried out using SAP2000V15. The results of bare frame and other building models have been compared, the presence of lead rubber base isolator, top story drift get reduced as compared with masonry infill wall. The trend was found to be reversed for high rise buildings especially with the application of isolation systems due to the massive increase in the story displacements suggesting the ineffectiveness of the base isolators for high rise buildings successively the plastic hinge pattern formed after carrying out the pushover analysis was also studied which indicated that structural performance was considerably improved.
Current Compensation with Reduced Rating VSC and A ZIG –ZAG Transformer an A ...IJERA Editor
A reduced rating voltage-source converter with a zig-zag transformer as a distribution static compensator is proposed for power-quality improvement in the three-phase four-wire distribution system. The source voltages in the distribution systems are also experiencing power quality problems, such as harmonics, unbalance, flicker, sag, swell, etc. The distribution static compensator (DSTATCOM) is proposed for compensating power quality problems in the current, and the dynamic voltage restorer (DVR) is used for mitigating the power quality problems in the voltage. The zig-zag transformer is used for the neutral current compensation. Distribution systems are facing severe power-quality (PQ) problems, such as poor voltage regulation, high reactive power and harmonics current burden, load unbalancing, excessive neutral current, etc. The zig-zag transformer is used for providing a path to the zero-sequence current. The DSTATCOM is used to improve the quality of power to the non linear loads. By using both zig-zag transformer and DSTATCOM in the distribution system the rating of the voltage source converter can be reduced. Hence it can be also called reduced rating device. The performance of the DSTATCOM is validated through extensive simulations using MATLAB software with its Simulink and power system block set toolboxes.
Inpainting refers to the art of restoring lost parts of image and reconstructing them based on the background information i.e Image inpainting is the process of reconstructing lost or deteriorated parts of images using information from surrounding areas. In fine art museums, inpainting of degraded paintings is traditionally carried out by professional artists and usually very time consuming.The purpose of inpainting is to reconstruct missing regions in a visually plausible manner so that it seems reasonable to the human eye. There have been several approaches proposed for the same.
This paper gives an overview of different Techniques of Image Inpainting.The proposed work includes the overview of PDE based inpainting algorithm and Texture synthesis based inpainting algorithm. This paper presents a brief survey on comparative study of these two techniques used for Image Inpainting.
Effect of Thermo-Diffusion and Chemical Reaction on Mixed Convective Heat And...IJERA Editor
A finite element study of combined heat and mass transfer flow through a porous medium in a circular cylindrical annulus with Soret and Dufour effects in the presence of heat sources has been analyzed. The coupled velocity, energy, and diffusion equations are solved numerically by using Galerkin- finite element technique. Shear stress, Nusslet number and Sherwood number are evaluated numerically for different values of the governing parameters under consideration and are shown in tabular form.
Wireless Reporting System for Accident Detection at Higher SpeedsIJERA Editor
Speed is one of the basic reasons for vehicle accident. Many lives could have been saved if emergency service
could get accident information and reach in time. Nowadays, GPS has become an integral part of a vehicle
system. This paper proposes to utilize the capability of a GPS receiver to monitor speed of a vehicle and detect
accident basing on monitored speed and send accident location to an Alert Service Center. The GPS will
monitor speed of a vehicle and compare with the previous speed in every second through a Microcontroller
Unit. Whenever the speed will be below the specified speed, it will assume that an accident has occurred. The
system will then send the accident location acquired from the GPS along with the time and the speed by utilizing
the GSM network. This will help to reach the rescue service in time and save the valuable human life.
Dufour and Soret Effects on Convective Heat and Mass Transfer in Non-Darcy Do...IJERA Editor
This paper deals with the MHD convention non-Darcy flow with heat and mass transfer along the vertical surface in a fluid stratified non porous media in the presence of temperature gradients (Soret effects) and concentration gradients (Dufour effects). The differential equations of the governing flow are expand a in terms of perturbation functions as a result we get set of ordinary differential equations of zero,first and second order so the set of equations are solved by using the implicit finite difference scheme. A parametric study of the physical parameters involve in the problem is conducted and a representative set of numerical results are illustrated graphically
Nonlinear Static Analysis Of 3-D RC Framed Asymmetric Building With Lead Rubb...IJERA Editor
Many buildings in the present scenario have irregular configurations both in plan and elevation. This in future may be subjected to devastating earthquakes. So it is also necessary to enhance the seismic performance of asymmetric buildings by using seismic control techniques. In the present study a total of 9 models, asymmetrical in plan (L-shape) are taken for analysis to cover the broader spectrum of low, medium & high rise buildings for the seismic control of the structures using pushover analysis, two different techniques were considered such as lead rubber bearing isolator and masonry infill walls, the analysis has been carried out using SAP2000V15. The results of bare frame and other building models have been compared, the presence of lead rubber base isolator, top story drift get reduced as compared with masonry infill wall. The trend was found to be reversed for high rise buildings especially with the application of isolation systems due to the massive increase in the story displacements suggesting the ineffectiveness of the base isolators for high rise buildings successively the plastic hinge pattern formed after carrying out the pushover analysis was also studied which indicated that structural performance was considerably improved.