Abstract: In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. Simulation results of the developed controller which applied for a highly nonlinear quadrotor helicopter are presented. From the simulation results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort.

Abstract: The experiment was about to study of water jet pumps with different diameters and nozzle-to-throat area ratios. Most experimental studies on water jet pumps mainly carried out to assess the maximum efficiency. But maximum efficiency occurs when the suction lift is relatively small for a given head loss through the pump, which implies, when the suction flow rate is maximum. However, suction lift is inversely proportional to flow rate. But in the field of application there are many cases (such as drainage, dredging, well-pumping and other systems) where suction lift is more important factor than any other for water jet pumps, which gives importance to the assessment of depending factor of suction lift of water jet pumps. Six different jet pumps of two different nominal diameter each of three different nozzle to throat area ratio were made to carry out this experiment. The results revealed that the nozzle-to-throat area ratio was an important parameter to characterize the suction lift of the jet pumps, but nominal diameter had a negligible play role.

Abstract: Duplex stainless steel (DSS) comes under hard to machine material owing to its inherent properties. In this experimental study an attempt has made in turning DSS UNS 31803 (2205) with the objective of minimizing surface roughness and cutting force. The design of experiments and optimization were done using Box–Behnken design (BBD) and Response surface methodology (RSM). The factors and levels considered for experimentation includes cutting speed, feed rate, depth of cut, and tool nose radius in three levels. A second-order response surface models developed for surface roughness and cutting force were used in predicting the response in the design space. The Analysis of variance (ANOVA) and R-Squared value reveals the developed models were significant. The experimental results obtained indicate that feed rate and cutting speed were the more influential factors for surface roughness. Surface roughness increases with increase in the feed rate and cutting speed. For cutting force feed rate and nose radius are the significant factors. In addition the models adequacy was validated using confirmation experiments. The prediction error accounts from -4.07 to 0.55% for surface roughness and -2.47 to 2.52% for cutting force.

Abstract: One of the challenging tasks concerning two wheeled inverted pendulum (TWIP) mobile robot is balancing its tilt to upright position, this is due to its inherently open loop instability. This paper presents an experimental comparison between model based controller and non-model based controllers in balancing the TWIP mobile robot. A Fuzzy Logic Controller (FLC) which is a non-model based controller and a Linear Quadratic Controller (LQR) which is a model-based controller, and the conventional controller, Proportional Integral Derivative (PID) were implemented and compared on a real time TWIP mobile robot. The FLC controller performance has given superior result as compared to LQR and PID in terms of speed response but consumes higher energy.

Abstract: The system in many countries has been undergoing some promising challenges due to various environmental threats and other adverse effect of them. This research paper deals with the application of Life Cycle Analysis (LCA) on casting components (i.e suction flange, delivery flange and back cover) of the 0.5hp monoblock self-priming pump. Evaluation of environmental impacts like global warming potential (CO2), Acidification potential (SO2), Eutrophication potential (PO4), Abiotic depletion fossil (MJ) and Human toxicity potential (DCB) was done for the reference and alternate scenario of the casting components by LCA tool Centrum VoorMilieukunde Leiden (CML) methodologies. The investigation proved that there was a reduction in pollutant emission and environmental impact.

Abstract: Aluminum Flyash Silicon Carbide MMCs are increasingly utilized in Aerospace, Marine and Automobile Engineering. Such applications require materials offering light weight, high strength to weight ratio with required mechanical properties such as strength, toughness, stiffness, resistance to wear, and withstanding high temperature. The applications of Al-Flyash-SiC MMCs are limited due to their poor machinability. In order to overcome the machining difficulty, Hybrid Al-Flyash- SiC metal matrix composites are fabricated. The present study deals with the machining characteristics of Hybrid Al-Flyash-SiC MMC of different volume fractions (5%, 10% & 15%) by weight. The flyash is added in gradual manner and it is evident that the machinability of the Hybrid Al-Flyash- SiC metal improved significantly which was verified using Fuzzy Logic (FL) and Radial basis function (RBF).

Abstract: This paper describes a LabVIEW based data acquisition and measurement for modeling of nonlinear system. LabVIEW is gaining its popularity as a graphical programming language especially for data acquisition and measurement. This is due to the vast array of data acquisition cards and measurement systems, which can be supported by the LabVIEW as well as the relatively easy by which advanced software can be programmed. One area of application of LabVIEW is the measurement of process data for modeling of nonlinear system. From the process data, system modeling is obtained for the nonlinear system by the principle of Sundaresan and Krishnaswamy method

Abstract: This research investigates the heat transfer coefficient as a function of tube position and pressure drop, for in-line tube bank in cross-flow. Experimentation was essentially used to generate log-mean temperature curves and pressure heads upstream and down stream of the test section. The heat transfer and flow parameters such as Nusselt number, Reynolds number, and pressure drop across the bank were calculated. In addition, heat transfer correlations, Nusselt number (Nu) were obtained by power-law curve fitting for each position of the tube in the tube bank. FEMLAB 3.0 was use for numerical simulation and the results obtained compared favourably with that of the experimental results. Numerical results also reveal the important aspects of the local heat transfer and flow features within the tube bank. These characteristics include boundary layer developments between tubes, formation of vortices, local variations of the velocity and temperature distribution.

Abstract: This paper describes the axial vibration analysis of a closed ends rigid cylindrical container containing liquid and gas which separated by a thin circular plate at their interface. The liquid depths inside the container were varied and then the mode of vibration and the natural frequencies were analyzed. The natural frequencies obtained experimentally were compared favorably with those of commercial finite element analysis software, ANSYS. The vibration mode of the liquid-structure interaction of the tank system can be visualized from the software post processing animation/plot. The visualized modes are also consistent with the measurement by the respective experimental transducers. It was found that strong coupling predominantly occur between liquid and structure. In weak coupling conditions, the modes are predominantly gas mode.

Abstract: Present work aims to investigate experimental process and optimize Ra (surface roughness) of HSS T42 using Wire Electrical Discharge Machining (WEDM) process. Fractional factorial design of experiment to conducted experiments and Tan-sigmoid and pureline transfer functional based four layered Back Propagation Artificial Neural Network (BPANN) approach have been applied to develop suitable model which affect Ra at the optimum MRR (Material Removal Rate) by WEDM process parameters i.e., gap voltage (Vg), flush rate (Fr), Pulse on time (Ton), pulse off time (Toff), wire feed (Wf) and wire tension (Wt). The effect of parameters has been statistically analyzed by training data of the best model using Analysis of Variance (ANOVA). The adequacy of the model S1 has been found satisfactory as correlation coefficient (R2) of the training data and adjusted R2adj statistic are found to be 0.972 and 0.971 respectively. The optimization of Ra of HSS T42 has also been done using root mean square error (RMSE) approach.

Abstract: This paper, deals with application of the Secant-Bootstrap Method (SBM) to solve the Closed-form forward kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. This methodology has been utilized to achieve approximate solutions for nonlinear equations of kinematic of Tip-Tilt-Piston (T.T.P) Parallel Manipulator. The SBM is a novel methodology which moderate disadvantage of the traditional numerical techniques. The excellent agreement of the Secant-Homotopy Continuation solutions with the traditional numerical methods such as the Newton–Raphson method could be established without aberration. SBM for the forward kinematic of T.T.P Parallel Manipulator leads to 16 solutions that are eight pairs of reflected configurations with respect to the base plane.

Abstract: In This paper we will present a new methodology for modeling and optimization of maintenance costs, in a different and innovate way, and highlights, management methods based on the process approach, as recommended by the ISO 9000, mainly, this new method get their strategy from the Unity of Value Added (UVA). An application of this hybrid method to calculate maintenance costs is detailed. However, methods of calculating the cost of maintenance by the companies are still in most cases classicals and approximates, our approach can give a new solution and more precise, effectives and operational than others. Actually to be competitive, surely goes by improving the quality of the product or service rendered with rationalizing budgets and expenses allocated to the maintenance function.

Abstract: This paper reports on control studies for Hybrid Thermoelectric Refrigerator (H-TER) system. The system is highly non-linear and exhibits varying model parameters and dead-time, hence the objective of the study is to investigate control strategies that are not based on detailed advance plant knowledge but allow for continuous adaptation of the controller to changing system dynamics. Using the generalized predictive controller (GPC), it is observed that the H-TER system is always stable even in the presence of randomly varying or step disturbance as well as dynamics model. The use of tuning parameters serve to improve system performance and to limit the controller from producing undesirable and unrealistically large, fast varying control signals. An interesting outcome from these studies is that controller design using GPC provides a more systematic approach is choosing the design parameters to achieve the desire performance specifications. However, it is also noted that the effects of non-linearity and varying time delay has not been investigated for this system. Under such situations, the design must involve the choice of prediction and control horizon, assumed to be fixed in this study. Then, it would mean more computation as the matrices involved would considerably increase in dimension.

Abstract: With increasing concerns about energy shortages and environmental protection, research on improving engine fuel economy and reducing exhaust emissions has become a major research focus in combustion and engine development. Also, with conversion a conventional port fuel injection engine to direct injection (DI) and using alternative fuels, air/fuel mixture can be controlled and the engine is allowed to operate with very lean condition. With appropriate control of the air to fuel ratio gradient, the combustion process allows clean and controlled combustion, resulting in future improvement in fuel economy and emission control. In this study, the effects of mixtures of hydrogen and compressed natural gas (CNG) on a spark ignition engine are numerically considered. This article presents the results of a direct-injection engine using methane–hydrogen mixtures containing H2 between 0% and 30% by volume. The result shows that the percentage of hydrogen in the CNG increases the burning velocity of CNG and reduces the optimal ignition timing to obtain the maximum peak pressure of an engine running with a blend of hydrogen and CNG. With hydrogen addition to natural gas, the peak heat release rates increase. For 20% hydrogen, the maximum values at crank angles (CAs) for in-cylinder temperature and heat release rate are achieved at 6° CA, and the maximum temperature is approximately 150 K. also it can be seen that torque and power was increased with adding hydrogen to natural gas and it is about 3%. Port injection gasoline is converted into direct injection by CNG fuel in this engine.