A Climbing Robot based on Under Pressure Adhesion for the Inspection of Concrete Walls

Size: px
Start display at page:

Download "A Climbing Robot based on Under Pressure Adhesion for the Inspection of Concrete Walls"

Transcription

1 A Clmbng Robot based on Under Pressure Adheson for the Inspecton of Concrete Walls K. Berns, C. Hllenbrand, Robotcs Research Lab, Department of Computer Scence, Techncal Unversty of Kaserslautern P.O. Box 3049 Kaserslautern, Germany http//agrosy.nformatk.un-kl..de Emal Abstract-- The nspecton of large concrete walls wth autonomous systems s stll an unsolved problem. One of the man dffcultes s the development of a very flexble platform, whch s able to move at horzontal and vertcal surfaces. The platform also has to overcome small obstacles and cracks. In ths paper a prototype of a clmbng robot wll be presented. Keywords-- Clmbng robot, mechatroncs concept, concrete wall nspecton As adheson prncples for the locomoton on a concrete wall only under pressure can be used. In the followng the requrements mposed on a clmbng robot for the nspecton of concrete walls are gven. Then based a thermo dynamcal model of adheson prncples rules for the mechatronc desgn of such a machne are derved. The sensor system necessary to support the locomoton and the basc control behavour s ntroduced. At the end of the paper frst tests wth the machne are descrbed. I. MOTIATION A very nterestng applcaton area for clmbng robots s the nspecton of concrete walls lke brdges, coolng towers or dams. E.g. almost 90% of all motorway brdges n Germany are made from renforced concrete or prestressed concrete. The total number of these brdges s , the total length s 1197 km. The averaged age s 33 years. To mantan the stablty, safety of traffc and durablty of these brdges regular nspectons are prescrbed by law. In Germany the test procedures and nspecton ntervals are fxed n the German standard DIN Accordng to ths standard nspectons have to be performed every three years, man nspectons have to be performed every sx years and nspectons after specal occurrences have to be performed after earthquakes, crashes wth vehcles, fres and other unusual stresses. To perform the nspecton tasks complcated access devces are needed at the moment (see fg.1). When scannng lterature for these knds of applcatons one can fnd dfferent types of clmbng robots wth dfferent adheson prncples. The 3 man classes whch can be dstngushed by ther locomoton ablty are [1]: wheeled-drven or chan-drven machnes, legged locomoton, locomoton based on arms and grppers. Fgure 1: Devce to access undersdes of brdges. II. REQUIREMENTS FOR A CLIMBING ROBOT For applcatons as descrbed above, the vehcle should be able to move horzontally, vertcally and over sde on slghtly bended surfaces (radus 5 m). For the nspecton task t s necessary to move contnuously (not possble wth sldng frame mechansms). The machne should also be able to drve over steps of up to 2cm and a wdth of 2 cm. It should carry a maxmum payload of 10kg and

2 reach a speed of 10 m/mn. The total weght of the machne should not exceed 30kg. Based on the requred moblty the robot should have a turnng cycle of less than 0.5 m and the dameter should not exceed 0.8m. For the use of such a machne a safety cable must be fxed on the robot. Ths safety cable can also be used for energy supply. Because normally an operator s not able to drve the machne from a base staton usng a joystck the machne must be autonomous n a way that the selecton of control behavors s done by tself. III. THEORETICAL BACKGROUND FOR THE DESIGN Based on the frst law of thermodynamcs we dervate the followng equaton whch descrbes the relaton between the change of pressure n a chamber and the volume of the chamber, the area of leakage and the flow rate area to the system whch generates the under pressure. In the equaton p represents the pressure, A L s the area of the leakage, A s the area of flow rate, and s the volume of the chamber. The terms p a -p s the dfference between the pressure outsde the chamber; p-p R s the dfference between the chamber pressure and the pressure generated by the under pressure system. κrt p& = 2ρ [ A p p A p p ] L a R Fgure 2: Smulaton of the 7 chamber system clmbng robot when movng on a vertcal wall over a crack. The gray areas show those chambers whch lost under pressure. It was calculated that n stuaton III, and I the robot s fallng down. The 7 chambers are connected to a under pressure reservor, n whch the vacuum engne s nstalled. As vacuum engne a vacuum cleaner motor s used, whch s able generate a maxmum under pressure of 250 mbar and maxmum volume flow of 0.05m 3 /s (see fg.3). It was calculated that for our above descrbed robot an under pressure of 100 mbar s adequate to hold the machne on vertcal walls as well as upsde down. Wth the help of thermodynamcs smulaton t was shown that the under pressure s changed durng 10ms to normal pressure when a crack s crossed wth a leakage area of 2cm 2. Therefore a one chamber system s not adequate for such type of clmbng robot. More chambers make the robot more robust regardng the roughness of the surface but at the same tme ncrease the techncal effort for ts constructon. As a compromse a 7 chamber system as shown n fg. 2 s selected. Fgure 3: Mechancal desgn of the under pressure system. The 7 chambers are connected to a reservor of 50l volume. In fg. 4 we calculate the necessary under pressure of the reservor n 4 dfferent smulatons. The calculatons are done based on the estmaton that the robot has a weght of 20 kg (no payload s consdered), and the gven dmensons of the robot. The robot s movng over a crack. Those chambers whch are over the crack loose under pressure. In stuaton III the under pressure whch s necessary to hold the machne on the wall, can not be generated by the under pressure system.

3 large leakage area are closed. One can see that the under pressure of the reservor s nearly constant. Fgure 4: The necessary reservor under pressure when movng over a crack n the drecton shown above. The stuatons I to I are those shown n fgure 2. Up to now a testbed s constructed (see fg.5) to verfy the results whch are calculated n our dynamc smulaton. Fgure 5: The testbed to examne the under pressure systems and the seals of the clmbng robot. As shown n fg. 2 there are several stuaton n whch the under pressure system s not able to generate the necessary under pressure of about 20mbar. Because all chambers are connected to each other va the reservor chamber the under pressure n the chambers and the reservor must be control va valves. In stuatons n whch the leakage area s very low the vacuum engne generates a very hgh under pressure, whch makes the movement of the clmbng machne mpossble. Therefore, one valve s used to adapt the under pressure n the reservor to the normal pressure. Each ndvdual chamber s equpped wth a valve, whch s used to close the connecton to the reservor n case the leakage area s large. In fg. 6 the behavour of the under pressure of the reservor and each chambers s shown when the robot moves over a crack and valves of those chambers wth a Fgure 6: Under pressure over tme of the chamber 1, 2 and the reservor. In (A) a large leakage area crosses chamber 1. The under pressure of the reservor s decreased tll the valve of chamber 1 s nearly closed. Because the valves are not totally closed the control can detect (wth the help of an under pressure sensor) f the leakage area s reduced n a way that the under pressure system s able to generate an adequate under pressure (100mbar for the robot descrbed above). In (B) the leakage area crossed chamber 2 and 6. Also n ths stuaton the reservor under pressure s not changed. In fg. 7 the closed-loop control s presented for the whole under pressure system. The control consders the nformaton of the system dentfcaton unt. Ths unt estmates the leakage area based on the valve areas and the measured pressures nsde the chambers. The strategy of the closed-loop control s to keep the under pressure of each chamber as hgh as possble under consderaton of the maxmum power of the vacuum engne. In normal stuaton (very small leakage areas) the under pressure s set to 100mbar wth the help of a PID controller. Open loop control Closed loop control plant Fgure 7: Closed loop control system for the under pressure system. Based on the strategy of surmountng a crack there exst dfferent stuatons n whch the clmbng robot wll fall down or reman on the wall. Fg. 8 shows a possble

4 strategy to overcome a crack of a wdth of 2cm and a depth of 2cm. The drven wheels are placed n the corners of the trangular. The forces whch hold the machne on the wall and whch are generated by the under pressure n the chambers can be summarzed to a force vector n a specfc poston (red dot n fg.8). In ths poston there s no torque around the mddle axs of the robot. Only f ths pont s nsde the trangular bounded by the drven wheels the robot s able to move over the crack. Therefore, t s necessary to detect cracks or obstacles 1m ahead to select an adequate moton strategy. For more nformaton about the theoretcal background see [2]. Fgure 8: Optmal strategy of moton to overcome a crack. On the left fgure only 2 chambers are generatng the adheson. After rotatng the robot n the worst case 3 chambers are stll generatng the under pressure. devaton of 2 degree per mnute. As accelerometers ADXL105 from Analog Devce are used. The output of the accelerometer s the sum of dfferent actve forces. There are the gravty force, the acceleraton of the robot and centrfugal forces. If the robot s not movng, only the gravty force s actve. If the robot s movng wth a constant velocty the gravty force and the centrfugal force s actve. It s very mportant to detect the correct drecton of gravty for a vehcle whch s drvng at vertcal planes as ths gves the drecton of the locomoton. Addtonally the accelerometer values can be ntegrated to determne the velocty n the navgaton frame. More precse nformaton about the velocty can be calculated from the odometre measurements. If the robot s movng on vertcal surface the robot can slp n drecton of the gravty force. The dstance of slppng can be determned by a dead reckonng. The developed dead reckonng wheel s shown n fgure 10. I. BASIC SENSOR SYSTEM For the above descrbed closed-loop control of the under pressure of the chambers as well as for the selecton of a moton strategy several sensors are used. The under pressure s measured by the pressure sensor FPM- 120PGR of the company Fujkura. Ths sensor has a resoluton of 0.1mbar whch s suffcent for the control. Even f there s a good adheson t possble for the robot to slp or rotate. For the detecton of those stuatons an nertal system and a dead reckonng wheel are developed. The nertal sensor system conssts of three accelerometers and smple pezo gyroscopes [5]. In fg. 9 the three bg components are the pezoelectrc vbratng gyroscope Seres EN called Gyrostar from Murata, whch are placed orthographcally. After calbratng the offset and ntegratng the measure value, the sensor has a Fgure 10: The dead reckonng wheel The passve wheel conssts of a rotaton unt nsde of the cylnder. The stck pontng out of the cylnder s connected wth a lnear bearng to adjust rough surface levels. At ts end a wheel s mounted on the center of the rotaton unt. The angle of the rotaton unt and the rotaton of the wheel are measured. The calculaton algorthm s based on followng equatons: Fgure 9: The nertal sensor system

5 n = 1 n ( ) x W = d * cos ϕ = 1 ( ) y W = d * sn ϕ These equatons are calculatng the poston of the wheel (Index w - contact pont of the wheel to surface). The nput s the torson of the cylnder ϕ and the drven dstance of the wheel d. Ths calculaton s a sequence based on the last calculated values. Ths output must be converted to the poston of the sensor (Index s): x = x * cos ϕ y ( ) L ( ) L S W * S = yw * sn ϕ * Insde ths equaton L s the dstance between the center of the cylnder and the contact pont of the wheel on the surface. Wth a buld up test assembly experments were carry out. The path whch the sensor had to measure was a rectangle wth edge dstance of 2 and 2 meter. The measured devaton was less than 10 mm. The results are acceptable for a dead reckonng measure system. Based on the sensors descrbed above the determnaton of the poston and the orentaton wth an accuracy of 1cm n each drecton and 1 n each rotaton axs was possble. Also slppng can be detect by ths sensor system.. SUMMARY In ths paper the theoretcal background for the adheson of our clmbng machne and the control concept s presented. It s shown that a mult-chamber system must be used to ensure safety whle clmbng on concrete walls. The mult-chamber adheson system was realzed wth one reservor chamber, n whch the vacuum engne s nstalled. The reservor s connected va valves to the 7 under pressure chambers, whch hold the machne on the wall. It was shown that by controllng the valves t s possble even f half of the chambers have normal pressure the machne can stll move on a vertcal wall. In normal stuaton (wthout cracks or obstacles) the under pressure n each chamber can be controlled n a way that on one hand safety and on the other hand a contnuous moton wth a fxed velocty can be guaranteed. gravty forces can be used for safer navgaton. At the moment several tests wth our test-platform are done. In parallel an omn-wheel, a manpulator arm and an nspecton sensor system are developed [3][4]. At the moment dams and brdges are envsaged to be target structures to be nspected by our robot system. In future several other structures lke coolng towers, tunnels and others, preferably the ones made from renforced and prestressed concrete, could be also nspected by our system. REFERENCE [1] K. Berns, C. Hllenbrand, T. Luksch Clmbng robots for commercal applcatons, Clawar 2003, Catana, Italy, 2003 [2] H. Hetzler Physkalsche Modellerung und Smulatonsuntersuchung zur Regelung enes radgetrebenen, sch mt Unterdruckkammern haltenden Kletterroboters, Studenarbet, FZI, Karlsruhe March [3] K. Berns, C. Hllenbrand A Clmbng Robot for Inspecton Tasks n Cvl, 1 st Internatonal Workshop on Advances n Serves Robotcs (ASCER) Bardolno, Italy, 2003 [4] F. Wese, J. Köhnen, H. Wggenhauser, C. Hllenbrand, K. Berns: Non Destructve Sensors for Inspecton of Concrete Structures wth a Clmbng Robot, Clawar 2001, Karlsruhe, Germany, 2001 [5] O. Cosmo, Entwcklung enes nertalen Messsystems zur Lage und Bewegungsbestmmung be gewchtsoptmerten Servcerobotern, Dplomarbet Forschungstentrum Informatk, Karlsruhe, Germany Also the basc sensor system s ntroduce whch s on one hand sde necessary for the close-loop control and on the other sde for the determnaton of the poston and the orentaton of the robot. It was shown that the knowledge of the orentaton of the robot manly accordng to the

A Prediction of Reliability of Suction Valve in Reciprocating Compressor

A Prediction of Reliability of Suction Valve in Reciprocating Compressor Purdue Unversty Purdue e-pubs nternatonal Compressor Engneerng Conference School of Mechancal Engneerng 1996 A Predcton of Relablty of Sucton Valve n Recprocatng Compressor W. H. You Samsung Electroncs

More information

Product Information. Long-stroke gripper PFH-mini

Product Information. Long-stroke gripper PFH-mini Product Informaton PFH-mn PFH-mn Loadable. Flexble. Relable. PFH-klen long-stroke grpper 2-fnger parallel grpper wth large jaw stroke for large parts and / or a broad range of parts Feld of applcaton clean

More information

Product Information. Radial gripper PRG 52

Product Information. Radial gripper PRG 52 Product Informaton PRG More flexble More powerful. Slm. PRG unversal grpper 180 radal grpper wth powerful 1-shft slotted lnk gear and oval pston. Feld of applcaton For areas of applcaton whch, n addton

More information

Product Information. Gripper for small components MPG 50

Product Information. Gripper for small components MPG 50 Product Informaton MPG 50 MPG Precse. Compact. Relable. MPG grpper for small components 2-fnger parallel grpper wth smooth roller gudes of the base jaws Feld of applcaton Grppng and movng of small to medum-szed

More information

Product Information. Gripper for small components MPG 80

Product Information. Gripper for small components MPG 80 Product Informaton MPG 80 MPG Precse. Compact. Relable. MPG grpper for small components 2-fnger parallel grpper wth smooth roller gudes of the base jaws Feld of applcaton Grppng and movng of small to medum-szed

More information

ADDITIONAL INSTRUCTIONS FOR ISU SYNCHRONIZED SKATING TECHNICAL CONTROLLERS AND TECHNICAL SPECIALISTS

ADDITIONAL INSTRUCTIONS FOR ISU SYNCHRONIZED SKATING TECHNICAL CONTROLLERS AND TECHNICAL SPECIALISTS A ADDITIONAL INSTRUCTIONS FOR ISU SYNCHRONIZED SKATING TECHNICAL CONTROLLERS AND TECHNICAL SPECIALISTS DIFFICULTY GROUPS OF FEATURES 1 DEFINITIONS: Change of Rotaton: Refers to TURNS or LINKING STEPS rotatng

More information

Dynamic Analysis of the Discharge Valve of the Rotary Compressor

Dynamic Analysis of the Discharge Valve of the Rotary Compressor Purdue Unversty Purdue e-pubs Internatonal Compressor Engneerng Conference School of Mechancal Engneerng 8 Dynamc Analyss of the Dscharge Valve of the Rotary Compressor Bo Huang Shangha Htach Electrcal

More information

Product Information. Gripper for small components MPG 32

Product Information. Gripper for small components MPG 32 Product Informaton MPG 32 MPG Precse. Compact. Relable. MPG grpper for small components 2-fnger parallel grpper wth smooth roller gudes of the base jaws Feld of applcaton Grppng and movng of small to medum-szed

More information

Product Information. Gripper for small components MPG-plus

Product Information. Gripper for small components MPG-plus Product Informaton Grpper for small components MPG-plus MPG-plus Grpper for small components More powerful. Faster. Longer fngers. MPG-plus grpper for small components 2-fnger parallel grpper wth smooth

More information

Gripping force, O.D. gripping. MPZ 20 / 4 bar MPZ 20 / 6 bar. MPZ 20-AS / 4 bar MPZ 20-AS / 6 bar. Gripping force, I.D. gripping

Gripping force, O.D. gripping. MPZ 20 / 4 bar MPZ 20 / 6 bar. MPZ 20-AS / 4 bar MPZ 20-AS / 6 bar. Gripping force, I.D. gripping SCHUNK Grppers pneumatc 3-Fnger Centrc Grppers Small Components Grpper Grppng force, O.D. grppng Fnger load Grppng force 50 MPZ 20 / 4 bar MPZ 20 / 6 bar MPZ 20-AS / 4 bar MPZ 20-AS / 6 bar 40 30 20 10

More information

Product Information. Long-stroke gripper PSH 42

Product Information. Long-stroke gripper PSH 42 Product Informaton PSH 42 PSH Compact. Flexble. Fully encapsulated. PSH long-stroke grpper 2-fnger parallel grpper wth long jaw stroke and drt-resstant round gudance Feld of applcaton n contamnated work

More information

Product Information. Long-stroke gripper PHL

Product Information. Long-stroke gripper PHL Product Informaton PHL PHL Flexble. Precse. Powerful. PHL long-stroke grpper 2-fnger parallel grpper wth large jaw stroke for large parts and / or a broad range of parts Feld of applcaton Optmum standard

More information

Evaluation of a Center Pivot Variable Rate Irrigation System

Evaluation of a Center Pivot Variable Rate Irrigation System Evaluaton of a Center Pvot Varable Rate Irrgaton System Ruxu Su Danel K. Fsher USDA-ARS Crop Producton Systems Research Unt, Stonevlle, Msssspp Abstrat: Unformty of water dstrbuton of a varable rate center

More information

Product Information. Universal gripper PZN-plus

Product Information. Universal gripper PZN-plus Product Informaton Unversal grpper PZN-plus PZN-plus Unversal grpper Relable. Robust. Flexble. PZN-plus unversal grpper Unversal 3-Fnger Centrc Grpper wth hgh grppng force and maxmum moments due to mult-tooth

More information

Study on coastal bridge under the action of extreme wave

Study on coastal bridge under the action of extreme wave Study on coastal brdge under the acton of extreme wave Bo Huang Bng Zhu Jawe Zhang School of Cvl Engneerng, Southwest Jaotong Unversty, Chengdu 610031, Chna Abstract In order to research the catastrophc

More information

Reduced drift, high accuracy stable carbon isotope ratio measurements using a reference gas with the Picarro 13 CO 2 G2101-i gas analyzer

Reduced drift, high accuracy stable carbon isotope ratio measurements using a reference gas with the Picarro 13 CO 2 G2101-i gas analyzer Reduced drft, hgh accuracy stable carbon sotope rato measurements usng a reference gas wth the Pcarro 13 CO 2 G2101- gas analyzer Chrs Rella, Ph.D. Drector of Research & Development Pcarro, Inc., Sunnyvale,

More information

Product Information. Gripper for small components MPG-plus 40

Product Information. Gripper for small components MPG-plus 40 Product Informaton MPG-plus 40 MPG-plus More powerful. Faster. Longer fngers. MPG-plus grpper for small components 2-fnger parallel grpper wth smooth roller gudes of the base jaws Feld of applcaton Grppng

More information

Mechanical Engineering Journal

Mechanical Engineering Journal 56789 Bulletn of the JSME Mechancal Engneerng Journal Vol., o., 6 Measurement of three-dmensonal orentaton of golf club head wth one camera Wataru KIMIZUKA* and Masahde OUKI* * DULOP SPORTS CO. LTD. Waknohama-cho

More information

Product Information. Gripper for small components MPG-plus 32

Product Information. Gripper for small components MPG-plus 32 Product Informaton MPG-plus 32 MPG-plus More powerful. Faster. Longer fngers. MPG-plus grpper for small components 2-fnger parallel grpper wth smooth roller gudes of the base jaws Feld of applcaton Grppng

More information

Product Information. Long-stroke gripper PHL 63

Product Information. Long-stroke gripper PHL 63 Product Informaton PHL Flexble. Precse. Powerful. PHL 2-fnger parallel grpper wth long jaw stroke for large parts and/or a broad range of parts Feld of applcaton Optmum standard soluton for many felds

More information

An intro to PCA: Edge Orientation Estimation. Lecture #09 February 15 th, 2013

An intro to PCA: Edge Orientation Estimation. Lecture #09 February 15 th, 2013 An ntro to PCA: Edge Orentaton Estmaton Lecture #09 February 15 th, 2013 Revew: Edges Convoluton wth an edge mask estmates the partal dervatves of the mage surface. The Sobel edge masks are: " #!1 0 1!2

More information

Numerical Study of Occupants Evacuation from a Room for Requirements in Codes

Numerical Study of Occupants Evacuation from a Room for Requirements in Codes Numercal Study of Occupants Evacuaton from a Room for Requrements n Codes HL MU JH SUN Unversty of Scence and Technology of Chna State Key Laboratory of Fre Scence Hefe 2300326, CHINA muhl@mal.ustc.edu.cn

More information

Product Information. Long-stroke gripper PHL 40

Product Information. Long-stroke gripper PHL 40 Product Informaton PHL Flexble. Precse. Powerful. PHL 2-fnger parallel grpper wth long jaw stroke for large parts and/or a broad range of parts Feld of applcaton Optmum standard soluton for many felds

More information

Fully encapsulated. Reliable. Precise. DPZ-plus Sealed Gripper

Fully encapsulated. Reliable. Precise. DPZ-plus Sealed Gripper DPZ-plus Fully encapsulated. Relable. Precse. DPZ-plus Sealed Grpper Despte the hgh moment load of the base jaws, ths sealed 3-fnger centrc grpper satsfes the requrements of IP67 and does not permt any

More information

Journal of Chemical and Pharmaceutical Research, 2014, 6(5): Research Article

Journal of Chemical and Pharmaceutical Research, 2014, 6(5): Research Article Avalable onlne www.jocpr.com Journal of Chemcal and Pharmaceutcal Research, 204, 6(5): 520-526 Research Artcle ISS : 0975-7384 CODE(USA) : JCPRC5 Dgtal Electrcal Resstance Tomography System and ts Expermental

More information

Product Information. Universal gripper PGN-plus 80

Product Information. Universal gripper PGN-plus 80 Product Informaton PGN-plus 80 PGN-plus Relable. Robust. Flexble. PGN-plus unversal grpper Unversal 2-Fnger Parallel Grpper wth large grppng force and hgh maxmum moments due to mult-tooth gudance. Feld

More information

Product Information. Long-stroke gripper PHL 50

Product Information. Long-stroke gripper PHL 50 Product Informaton PHL 50 PHL Flexble. Precse. Powerful. PHL long-stroke grpper 2-fnger parallel grpper wth large jaw stroke for large parts and / or a broad range of parts Feld of applcaton Optmum standard

More information

Product Information. Universal gripper PGN-plus 160

Product Information. Universal gripper PGN-plus 160 Product Informaton PGN-plus 160 PGN-plus Relable. Robust. Flexble. PGN-plus unversal grpper Unversal 2-Fnger Parallel Grpper wth large grppng force and hgh maxmum moments due to mult-tooth gudance. Feld

More information

Evolutionary Sets of Safe Ship Trajectories: Evaluation of Individuals

Evolutionary Sets of Safe Ship Trajectories: Evaluation of Individuals Internatonal Journal on Marne Navgaton and Safety of Sea Transportaton Volume 6 Number 3 September 2012 Evolutonary Sets of Safe Shp Trajectores: Evaluaton of Indvduals R. Szlapczynsk Gdansk Unversty of

More information

Engineering Analysis of Implementing Pedestrian Scramble Crossing at Traffic Junctions in Singapore

Engineering Analysis of Implementing Pedestrian Scramble Crossing at Traffic Junctions in Singapore Engneerng Analyss of Implementng Pedestran Scramble Crossng at Traffc Junctons n Sngapore Dr. Lm Wee Chuan Eldn Department of Chemcal & Bomolecular Engneerng, Natonal Unversty of Sngapore, 4 Engneerng

More information

Product Information. Universal gripper PGN-plus 200

Product Information. Universal gripper PGN-plus 200 Product Informaton PGN-plus 200 PGN-plus Relable. Robust. Flexble. PGN-plus unversal grpper Unversal 2-Fnger Parallel Grpper wth large grppng force and hgh maxmum moments due to mult-tooth gudance. Feld

More information

Aerator Performance in Reducing Phenomenon of Cavitation in Supercritical Flow in Steep Channel Bed

Aerator Performance in Reducing Phenomenon of Cavitation in Supercritical Flow in Steep Channel Bed Engneerng Internatonal Conference UNNES Conservaton 13 Proceedng Aerator Performance n Reducng Phenomenon of Cavtaton n Supercrtcal Flow n Steep Channel Bed Yer Sutopo 1, Bud Wgnyosukarto, Istarto, dan

More information

Experimental And Numerical Investigation Of The Flow Analysis Of The Water-Saving Safety Valve

Experimental And Numerical Investigation Of The Flow Analysis Of The Water-Saving Safety Valve Expermental And Numercal Investgaton Of The Flow Analyss Of The Water-Savng Safety Valve Muhammed Safa KAMER s PhD Student n Department of Mechancal Engneerng n Kahramanmaras Sutcu Imam Unversty, Turkey.

More information

Stability Analysis for the Design of 5000-Tonnes Offshore Work Barge

Stability Analysis for the Design of 5000-Tonnes Offshore Work Barge Internatonal Journal of Engneerng and echnology Volume No. 9, September, Stablty Analyss for the Desgn of 5-onnes Offshore Work arge Ntonye Samson a, Ezenwa Ogbonnaya b, uve Ejabefo a a Department of arne

More information

Product Information. Universal gripper PGN-plus 40

Product Information. Universal gripper PGN-plus 40 Product Informaton PGN-plus Relable. Robust. Flexble. PGN-plus unversal grpper Unversal 2-Fnger Parallel Grpper wth large grppng force and hgh maxmum moments due to mult-tooth gudance. Feld of applcaton

More information

Terminating Head

Terminating Head Termnatng Head 58246-1 Instructon Sheet for MTA- 100 Receptacle Connectors 408-6929 Usng Dscrete Wre 07 APR 11 Locatng Pawl Feed Slde Tool Base Wre Inserter Adjuster (Inserton Rod) Mass Termnaton Assembly

More information

Product Information. Universal gripper PZN-plus 40

Product Information. Universal gripper PZN-plus 40 Product Informaton PZN-plus 40 PZN-plus Relable. Robust. Flexble. PZN-plus unversal grpper Unversal 3-Fnger Centrc Grpper wth hgh grppng force and maxmum moments due to mult-tooth gudance Feld of applcaton

More information

High Speed 128-bit BCD Adder Architecture Using CLA

High Speed 128-bit BCD Adder Architecture Using CLA Hgh Speed 128-bt BCD Archtecture Usng CLA J.S.V.Sa Prasanth 1, Y.Yamn Dev 2 PG Student [VLSI&ES], Dept. of ECE, Swamy Vvekananda Engneerng College, Kalavara, Andhrapradesh, Inda 1 Assstant Professor, Dept.

More information

Monitoring Physical Activity from Active Transport. Dr Russell G. Thompson Institute of Transport Studies Monash University

Monitoring Physical Activity from Active Transport. Dr Russell G. Thompson Institute of Transport Studies Monash University Montorng Physcal Actvty from Actve Transport Dr Russell G. Thompson Insttute of Transport Studes Monash Unversty Australan Health Gudelnes Put together at least 30 mnutes of moderatentensty physcal actvty

More information

International Journal of Engineering and Technology, Vol. 8, No. 5, October Model Systems. Yang Jianjun and Li Wenjin

International Journal of Engineering and Technology, Vol. 8, No. 5, October Model Systems. Yang Jianjun and Li Wenjin Internatonal Journal of Engneerng and Technology, Vol. 8, No. 5, October 2016 1 Relablty Optmzaton Desgn of Submarne Free-Runnng Model Systems Yang Janjun and L Wenjn Abstract Wth regard to the relablty

More information

Response based sea state estimation for onboard DSS Safe and Efficient Marine Operations

Response based sea state estimation for onboard DSS Safe and Efficient Marine Operations Response based sea state estmaton for onboard DSS Safe and Effcent Marne Operatons Ulrk Dam Nelsen AMOS Workshop, NTNU, Trondhem, 13 th and 14 th November, 2014 Contents Introducton: Context Montorng and

More information

Mass Spectrometry. Fundamental GC-MS. GC-MS Interfaces

Mass Spectrometry. Fundamental GC-MS. GC-MS Interfaces Mass Spectrometry Fundamental GC-MS GC-MS Interfaces Wherever you see ths symbol, t s mportant to access the on-lne course as there s nteractve materal that cannot be fully shown n ths reference manual.

More information

Product Information. Universal gripper PGN-plus 300

Product Information. Universal gripper PGN-plus 300 Product Informaton PGN-plus 300 PGN-plus Relable. Robust. Flexble. PGN-plus unversal grpper Unversal 2-Fnger Parallel Grpper wth large grppng force and hgh maxmum moments due to mult-tooth gudance. Feld

More information

PARAMETER OPTIMIZATION OF SEA WATERWAY SYSTEM DREDGED TO THE

PARAMETER OPTIMIZATION OF SEA WATERWAY SYSTEM DREDGED TO THE ARCHIVES OF TRANSPORT ISSN (prnt): 0866-9546 Volume 40, Issue 4, 2016 e-issn (onlne): 2300-8830 DOI: 10.5604/08669546.1225461 PARAMETER OPTIMIZATION OF SEA WATERWAY SYSTEM DREDGED TO THE SPECIFIED DEPTH

More information

Pneumatic level indicator Unitel

Pneumatic level indicator Unitel Pneumatc level ndcator Untel Reference ponter for easy consumpton montorng Zero correcton possble Page 28 pplcaton For contnuous level measurement n tanks contanng fuel ol, desel fuel and ranwater. For

More information

Wheels. Wheels 2. Wheels 4. Wheels 3. Wheels 5. Wheels 6

Wheels. Wheels 2. Wheels 4. Wheels 3. Wheels 5. Wheels 6 Wheels 1 Wheels 2 Introductory Queston Wheels The lght turns green and you re n a hurry. Wll your car accelerate faster f you skd your wheels and burn rubber or f you just barely avod skddng your wheels?

More information

A Study on Parametric Wave Estimation Based on Measured Ship Motions

A Study on Parametric Wave Estimation Based on Measured Ship Motions 1 A Study on Parametrc Wave Estmaton Based on Measured Shp Motons Ulrk Dam NIELSEN * and Tosho ISEKI ** Abstract The paper studes parametrc wave estmaton based on the wave buoy analogy, and data and results

More information

Proceedings of the ASME nd International Conference on Ocean, Offshore and Arctic Engineering OMAE2013 June 9-14, 2013, Nantes, France

Proceedings of the ASME nd International Conference on Ocean, Offshore and Arctic Engineering OMAE2013 June 9-14, 2013, Nantes, France Proceedngs of the ASME nd Internatonal Conference on Ocean, Offshore and Arctc Engneerng OMAE June 9-,, Nantes, France OMAE-6 ROLL DAMPING COEFFICIENTS ASSESSMENT AND COMPARISON FOR ROUND BILGE AND HARD

More information

Open Access Research on the Dynamic Vibration Control of Underwater Robot

Open Access Research on the Dynamic Vibration Control of Underwater Robot Send Orders for Reprnts to reprnts@benthamscence.ae he Open Automaton and Control Systems Journal, 205, 7, 23-236 23 Open Access Research on the Dynamc Vbraton Control of Underwater Robot L-ya Wang and

More information

Product Information. Universal gripper PZN-plus 64

Product Information. Universal gripper PZN-plus 64 Product Informaton Unversal grpper PZN-plus 64 PZN-plus Unversal grpper Relable. Robust. Flexble. PZN-plus unversal grpper Unversal 3-Fnger Centrc Grpper wth hgh grppng force and maxmum moments due to

More information

FK240 FLAT SOLAR COLLECTORS ROOF-TOP INSTALLATION FOR WORCESTER SOLAR SYSTEMS

FK240 FLAT SOLAR COLLECTORS ROOF-TOP INSTALLATION FOR WORCESTER SOLAR SYSTEMS FK240 FLAT SOLAR COLLECTORS ROOF-TOP INSTALLATION FOR WORCESTER SOLAR SYSTEMS G INSTALLATION INSTRUCTIONS About ths manual Ths nstallaton manual contans mportant nformaton for the safe and approprate nstallaton

More information

SOME OBSERVATIONS ON THE CO-ORDINATION DIAPHRAGMATIC AND RIB MOVEMENT IN RESPIRATION

SOME OBSERVATIONS ON THE CO-ORDINATION DIAPHRAGMATIC AND RIB MOVEMENT IN RESPIRATION Thorax (199),, 65. SOME OBSERVATONS ON THE CO-ORDNATON DAPHRAGMATC AND RB MOVEMENT N RESPRATON BY HERBERT HERXHEMER Surgcal Unt, Unversty College Hosptal, London Daphragm and ntercostal muscles together

More information

RCBC Newsletter. September Richmond County Baseball Club. Inside this issue: Johnny Ray Memorial Classic. RCBC on You Tube

RCBC Newsletter. September Richmond County Baseball Club. Inside this issue: Johnny Ray Memorial Classic. RCBC on You Tube September 2016 Rchmond County Baseball Club 1400 Travs Ave. Staten Island, NY 10314 RCBC Newsletter If you have any nterestng nfo or news you would lke ncluded n a future newsletter, please emal to jm@rcbclub.com.

More information

Applications on openpdc platform at Washington State University

Applications on openpdc platform at Washington State University Applcatons on openpdc platform at Washngton State Unversty Chuanln Zhao Ebrahm Rezae Man V. Venkatasubramanan Washngton State Unversty Pullman WA WSU projects OMS - Oscllaton Montorng System Stand-alone

More information

Research and Application of Work Roll Contour Technology on Thin Gauge Stainless Steel in Hot Rolling

Research and Application of Work Roll Contour Technology on Thin Gauge Stainless Steel in Hot Rolling Send Orders for Reprnts to reprnts@benthamscence.ae The Open Mechancal Engneerng Journal, 215, 9, 111-116 111 Open Access Research and Applcaton of Work Roll Contour Technology on Thn Gauge Stanless Steel

More information

arxiv: v1 [cs.ne] 3 Jul 2017

arxiv: v1 [cs.ne] 3 Jul 2017 Modelng preference tme n mddle dstance trathlons Iztok Fster, 1 Andres Iglesas, 2 Suash Deb, 3, 4 Dušan Fster, 5 and Iztok Fster Jr. 6 1 Unversty of Marbor, Faculty of Electrcal Engneerng and Computer

More information

NEW PRODUCTS Petzl - Pascale Tournaire

NEW PRODUCTS Petzl - Pascale Tournaire NEW PRODUCTS 2016 Petzl - Pascale Tournare CONTENTS HELMET nfo ELIA METEOR ELIOS KIT VIA FERRATA REVERSO 4 VERSO ROPE nfo PUSH 9 mm PUSH 200 9 mm CLUB 10 mm CLUB 200 10 mm HELMETS BELAY DEVICES ROPES CARABINERS

More information

Product Information. Universal gripper PGN-plus-P 100

Product Information. Universal gripper PGN-plus-P 100 Product Informaton PGN-plus-P 100 PGN-plus-P Relable. Robust. Flexble. PGN-plus-P unversal grpper Unversal 2-Fnger Parallel Grpper wth permanent lubrcaton, large grppng force and hgh maxmum moments thanks

More information

Physical and Geological Studies of the Proposed Bridge-tunnel Crossing of Hampton Roads near Craney Island

Physical and Geological Studies of the Proposed Bridge-tunnel Crossing of Hampton Roads near Craney Island College of Wllam and Mary W&M ScholarWorks Reports 8-97 Physcal and Geologcal Studes of the Proposed Brdge-tunnel Crossng of ampton Roads near Craney sland C. S. Fang Vrgna nsttute of Marne Scence B. J.

More information

MANUAL ROAD BIKE PURE CYCLING. Your bicycle and this manual comply with the safety requirements of the EN ISO standard.

MANUAL ROAD BIKE PURE CYCLING. Your bicycle and this manual comply with the safety requirements of the EN ISO standard. PURE CYCLING MANUAL ROAD BIKE 1 13 14 2 3 4 a 15 16 5 6 7 8 9 10 11 12 e d c b 17 18 19 20 21 22 23 24 25! Your bcycle and ths manual comply wth the safety requrements of the EN ISO 4210-2 standard.! Attenton!

More information

Pedestrian Facilities Planning on Tianjin New Area program

Pedestrian Facilities Planning on Tianjin New Area program Avalable onlne at www.scencedrect.com ScenceDrect Proceda - Socal and Behavoral Scenc es 96 ( 2013 ) 683 692 13th COTA Internatonal Conference of Transportaton Professonals (CICTP 2013) Pedestran Facltes

More information

Contractor's Material and Test Certificate for Underground Piping

Contractor's Material and Test Certificate for Underground Piping UNDERGROUND PPNG 13-97 Contractors Materal and Test Certfcate for Underground Ppng PROCEDURE Upon completon of work, nspecton and tests shall be made by the contractors representatve and wtnessed by an

More information

ITRS 2013 Silicon Platforms + Virtual Platforms = An explosion in SoC design by Gary Smith

ITRS 2013 Silicon Platforms + Virtual Platforms = An explosion in SoC design by Gary Smith ITRS 2013 Slcon Platforms + Vrtual Platforms = An exploson n SoC desgn by Gary Smth 2013 2013 Gary Gary Smth Smth EDA, EDA, Inc. Inc. All All Rghts Rghts Reserved. Reserved. 1 The Fve Desgn Constrants

More information

A comparison study on the deck house shape of high speed planing crafts for air resistance reduction

A comparison study on the deck house shape of high speed planing crafts for air resistance reduction csnak, 2014 Int. J. Nav. Archt. Ocean Eng. (2014) 6:867~875 http://dx.do.org/10.2478/ijnaoe-2013-0218 pissn: 2092-6782, eissn: 2092-6790 A comparson study on the deck house shape of hgh speed planng crafts

More information

Decomposition guide Technical report on decomposition

Decomposition guide Technical report on decomposition June 2013 Decomposton gude Techncal report on decomposton Erasmus MC Start date of project: 20 Aprl 2012 Duraton: 36 months 1 Table of contents Abstract... 4 Acknowledgements... 5 Introducton... 6 Part

More information

GAS-LIQUID INTERFACIAL AREA IN OXYGEN ABSORPTION INTO OIL-IN-WATER EMULSIONS

GAS-LIQUID INTERFACIAL AREA IN OXYGEN ABSORPTION INTO OIL-IN-WATER EMULSIONS AS-LIQUID INTERFACIAL AREA IN OXYEN ABSORPTION INTO OIL-IN-WATER EMULSIONS ómez-díaz, D. a, omes, N. b, Texera, J.A. b, Belo, I. b a Department of Chemcal Engneerng, Unversty of Santago de Compostela,

More information

NEUTRAL AND OFFENSIVE ZONE TEAM PLAY

NEUTRAL AND OFFENSIVE ZONE TEAM PLAY JACQUES MARTIN ASSOCIATE COACH QUEBEC NORDIQUES NEUTRAL AND OFFENSIVE ZONE TEAM PLAY Attack Optons: The topc of attack optons really s the applcaton of the "read and react" dea. Players on the attack have

More information

RADIAL STIFFNESS OF A BICYCLE WHEEL AN ANALYTICAL STUDY

RADIAL STIFFNESS OF A BICYCLE WHEEL AN ANALYTICAL STUDY ADIAL TIFFE OF A BICYCLE WHEEL - A AALYTICAL TUDY José aría ínguez Dpto. de Físca Aplcada II Facultad de Cenca y Tecnología Unversdad del País Vasco Aptdo. 644 488 Blbao PAI Emal: osemara.mnguez@ehu.es

More information

Internal Wave Maker for Navier-Stokes Equations in a Three-Dimensional Numerical Model

Internal Wave Maker for Navier-Stokes Equations in a Three-Dimensional Numerical Model Journal of Coastal Research SI 64 511-515 ICS2011 (Proceedngs) Poland ISSN 0749-0208 Internal Wave Maker for Naver-Stokes Equatons n a Three-Dmensonal Numercal Model T. Ha, J.W. Lee and Y.-S. Cho Dept.

More information

OPTIMIZATION OF PRESSURE HULLS OF COMPOSITE MATERIALS

OPTIMIZATION OF PRESSURE HULLS OF COMPOSITE MATERIALS OPTIMIZATION OF PRESSURE HULLS OF COMPOSITE MATERIALS J.Franco a, A.Corz a*.a.peña b a Materal Composte Group. Unversdad de Cadz. Avda/Ramon Puyol s/n. 11205 Algecras (Span) *alcorz@caltech.es b Calpe

More information

MODEL : LDF7810WW/ LDF7810BB/ LDF7810ST LDF7811WW/LDF7811BB / LDF7811ST LDS5811WW/ LDS5811BB/ LDS5811ST LDF6810WW/LDF6810BB / LDF6810ST

MODEL : LDF7810WW/ LDF7810BB/ LDF7810ST LDF7811WW/LDF7811BB / LDF7811ST LDS5811WW/ LDS5811BB/ LDS5811ST LDF6810WW/LDF6810BB / LDF6810ST _/ / _ III IRL III" Dshwasher MODEL : LDF7810WW/ LDF7810BB/ LDF7810ST LDF7811WW/LDF7811BB / LDF7811ST LDS5811WW/ LDS5811BB/ LDS5811ST LDF6810WW/LDF6810BB / LDF6810ST Please read ths manual carefully Retan

More information

Ergonomics Design on Bottom Curve Shape of Shoe-Last Based on Experimental Contacting Pressure Data

Ergonomics Design on Bottom Curve Shape of Shoe-Last Based on Experimental Contacting Pressure Data Ergonomcs Desgn on Bottom Curve Shape of Shoe-Last Based on Expermental Contactng Pressure Data 1 L Zaran, 2 Sh Ka *1Correspondng Author Wenzhou Vocatonal and Techncal College, lzr_101@sna.com 2 Wenzhou

More information

AMP-O-MATIC* Side-Feed Stripper-Crimper III Machine No [ ] customer manual TOOLING ASSISTANCE CENTER

AMP-O-MATIC* Side-Feed Stripper-Crimper III Machine No [ ] customer manual TOOLING ASSISTANCE CENTER AMP-O-MATIC* Sde-Feed Strpper-Crmper III Machne No. 1320895-[ ] Customer Manual 409-10012 28 DEC 11 SAFETY A. PRECAUTIONS READ THIS FIRST!............................ 2 customer manual 1. INTRODUCTION.......................................................

More information

Peak Field Approximation of Shock Wave Overpressure Based on Sparse Data

Peak Field Approximation of Shock Wave Overpressure Based on Sparse Data Peak Feld Approxmaton of Shock Wave Overpressure Based on Sparse Data Yongl Zhang, Taln Han, Yuqun Chen, Enku Zhang, and Xuan Lu Abstract To obtan the shock wave feld dstrbuton, two knds of calber weapons

More information

Keywords: Ordered regression model; Risk perception; Collision risk; Port navigation safety; Automatic Radar Plotting Aid; Harbor pilot.

Keywords: Ordered regression model; Risk perception; Collision risk; Port navigation safety; Automatic Radar Plotting Aid; Harbor pilot. Modelng perceved collson rsk n port water navgaton Hoong Chor Chn Assocate Professor, Department of Cvl Engneerng, Natonal Unversty of Sngapore, Engneerng Drve, EA #07-03, Sngapore 7576 Emal: cvechc@nus.edu.sg

More information

Investigation on Rudder Hydrodynamics for 470 Class Yacht

Investigation on Rudder Hydrodynamics for 470 Class Yacht Proceedngs Investgaton on Rudder Hydrodynamcs for 470 Class Yacht She Ln 1,, Yong Ma, *, Wetao Zheng, Song Zhang 1,, Xaoshan Le 1, and Yangyng He 1, 1 Graduate School of Wuhan Sports Unversty, Wuhan 430079,

More information

LSSVM Model for Penetration Depth Detection in Underwater Arc Welding Process

LSSVM Model for Penetration Depth Detection in Underwater Arc Welding Process ISS 1746-7659, England, UK Journal of Informaton and Computng Scence Vol. 5, o. 4, 2010, pp. 271-278 LSSVM Model for Penetraton Depth Detecton n Underwater Arc Weldng Process WeMn Zhang 1, 2, GuoRong Wang

More information

Development of Accident Modification Factors for Rural Frontage Road Segments in Texas

Development of Accident Modification Factors for Rural Frontage Road Segments in Texas Development of Accdent Modfcaton Factors for Rural Frontage Road Segments n Texas Domnque Lord* Zachry Department of Cvl Engneerng & Center for Transportaton Safety Texas Transportaton Insttute Texas A&M

More information

The woman in Figure 10 is taking a deep breath. This action helps

The woman in Figure 10 is taking a deep breath. This action helps 3.2 The Gas Laws Secton 3.2 1 FOCUS Key Concepts What causes gas pressure n a closed contaner? What factors affect gas pressure? How are the temperature, volume, and pressure of a gas related? Vocabulary

More information

M.H.Ahn, K.J.Lee Korea Advance Institute of Science and Technology 335 Gwahak-ro, Yuseong-gu, Daejeon , Republic of Korea

M.H.Ahn, K.J.Lee Korea Advance Institute of Science and Technology 335 Gwahak-ro, Yuseong-gu, Daejeon , Republic of Korea The Methodology on Exposure Dose Evaluaton Modelng Related to Arbtrary Accdent n the Temporary Storage Faclty for Low and Intermedate Level Waste - 9133 M.H.Ahn, K.J.Lee Korea Advance Insttute of Scence

More information

For models: 660 EF/EFO

For models: 660 EF/EFO Installaton Instructons Gas converson kts For models: 660 EF/EFO Part no. 660NGKIT/660LPKIT Warnng: Ths kt must be nstalled by a qualfed nstaller n accordance wth these nstructons and all applcable codes

More information

Spherical solutions of an underwater explosion bubble

Spherical solutions of an underwater explosion bubble 89 Sphercal solutons of an underwater exploson bubble Andrew B. Wardlaw, Jr. Naval Surface Warfare Center, Code 423, Indan Head Dvson, Indan Head, MD 20640-5035, USA E-mal: 423@uwtech.h.navy.ml Hans U.

More information

Numerical Analysis of Rapid Gas Decompression in Pure Nitrogen using 1D and 3D Transient Mathematical Models of Gas Flow in Pipes

Numerical Analysis of Rapid Gas Decompression in Pure Nitrogen using 1D and 3D Transient Mathematical Models of Gas Flow in Pipes Internatonal Journal of Chemcal and Bologcal Engneerng 6 01 Numercal Analyss of Rapd as Decompresson n Pure Ntrogen usng 1D and 3D Transent Mathematcal Models of as Flow n Ppes Evgeny Burlutsky Abstract

More information

Piston Ring Assembly for a New Natural Gas Vehicle Symmetrical Multistage Wobble-Plate Compressor

Piston Ring Assembly for a New Natural Gas Vehicle Symmetrical Multistage Wobble-Plate Compressor Pston Rng Assembly for a New Natural Gas Vehcle Symmetrcal Multstage Wobble-Plate Compressor Andrl Arafat, Zar Asrar Ahmad, Ardyansyah Syahrom, Nor Ilham Mohd Anon, Md. Nor Musa, Anullotf Abdul-Latf, Wan

More information

English Premier League (EPL) Soccer Matches Prediction using An Adaptive Neuro-Fuzzy Inference System (ANFIS) for

English Premier League (EPL) Soccer Matches Prediction using An Adaptive Neuro-Fuzzy Inference System (ANFIS) for Englsh Premer League (EPL) Soccer Matches Predcton usng An Adaptve Neuro-Fuzzy Inference System (ANFIS) for Amadn, F. I 1 and Ob, J.C. 2 Department of Computer Scence, Unversty of Benn, Benn Cty. Ngera.

More information

1.1 Noise maps: initial situations. Rating environmental noise on the basis of noise maps. Written by Henk M.E. Miedema TNO Hieronymus C.

1.1 Noise maps: initial situations. Rating environmental noise on the basis of noise maps. Written by Henk M.E. Miedema TNO Hieronymus C. TIP4-CT-2005-516420 Page 1 of 34 DELIVERABLE D 1.5 CONTRACT N PROJECT N ACRONYM TITLE TIP4-CT-2005-516420 FP6-516420 QCITY Quet Cty Transport Subproject 1 Nose mappng & modellng Work Package 1.1 Nose maps:

More information

Available energy assessment in water supply systems

Available energy assessment in water supply systems Avalable energy assessment n water supply systems Helena Ramos, Dída Covas 2, Luz Araujo 3, Mara Mello 4 Professor, Cvl Eng. Dept., Insttuto Superor Técnco, Av. Rovsco Pas, 49- Lsbon, Portugal (Tel: +35

More information

GUIDANCE ON PRODUCT EMISSIONS BY LABORATORY TESTING THE EPHECT EXPERIENCE

GUIDANCE ON PRODUCT EMISSIONS BY LABORATORY TESTING THE EPHECT EXPERIENCE GUIDANCE ON PRODUCT EMISSIONS BY LABORATORY TESTING THE EPHECT EXPERIENCE John Bartzs, Evangelos Tols, George Efthmou (UOWM) Peder Wolkoff (NRCWE) Maranne Stranger, Frederck Maes, Eddy Goelen (VITO) Gabrela

More information

CS 2750 Machine Learning. Lecture 4. Density estimation. CS 2750 Machine Learning. Announcements

CS 2750 Machine Learning. Lecture 4. Density estimation. CS 2750 Machine Learning. Announcements CS 75 Machne Learnng Lecture 4 ensty estmaton Mlos Hauskrecht mlos@cs.ptt.edu 539 Sennott Square CS 75 Machne Learnng Announcements Homework ue on Wednesday before the class Reports: hand n before the

More information

'!' CORDOVA BRANDON GREEN

'!' CORDOVA BRANDON GREEN STERLNG HWY FOREST SERVCE- REGON TEN CHUGACH NATONAL FOREST CORDOVA RANGER DSTRCT PLANS FOR PROPOSED CONSTRUCTON SAND ROAD TRAL PARKNG AREA LEGAL DESCRPTON T. 16 S., R. 2 W., COPPER RVER MERDAN SHEET NDEX

More information

Investigating sailing styles and boat set-up on the performance of a hydrofoiling Moth dinghy

Investigating sailing styles and boat set-up on the performance of a hydrofoiling Moth dinghy Investgatng salng styles and boat set-up on the performance of a hydrofolng Moth dnghy Abstract M W Fndlay, S R Turnock Flud-Structure Interactons Research Group, School of Engneerng Scences, Unversty

More information

Bourdon tube pressure gauges for industrial applications EN 837-1

Bourdon tube pressure gauges for industrial applications EN 837-1 Pressure gauges Bourdon tube for ndustral applcatons EN 837-1 For machne and plant engneerng Robust steel or stanless steel housng Many customsed versons avalable A Page 386 Applcaton For gaseous and lqud

More information

ENERGY SAVING IN THE HYDRAULIC CIRCUIT FOR AGRICULTURAL TRACTORS: FOCUS ON THE POWER SUPPLY GROUP.

ENERGY SAVING IN THE HYDRAULIC CIRCUIT FOR AGRICULTURAL TRACTORS: FOCUS ON THE POWER SUPPLY GROUP. ENERGY SAVING IN THE HYDRAULIC CIRCUIT OR AGRICULTURAL TRACTORS: OCUS ON THE POWER SUPPLY GROUP. Massmo Borgh, Barbara Zardn, rancesco Pntore, Engneerng Department Enzo errar, Unversty of Modena and Reggo

More information

Chinese and foreign men s decathlon performance comparison and structural factor correlation test based on SPSS regression model

Chinese and foreign men s decathlon performance comparison and structural factor correlation test based on SPSS regression model ISSN : 0974-7435 Volume 10 Issue 3 Chnese and foregn men s decathlon performance comparson and structural factor correlaton test based on SPSS regresson model Pengfe Zhang*, Jngjng Lu Insttute of Physcal

More information

Driver s Decision Model at an Onset of Amber Period at Signalised Intersections

Driver s Decision Model at an Onset of Amber Period at Signalised Intersections Probablty to stop 1.00 0.90 0.80 0.70 0.60 0.40 0.30 0-10 10-15 15-20 20-25 25-30 30-35 35-40 40-45 45-50 50-55 55-60 60-65 65-70 70-75 75-80 80-85 85-90 90-95 95-100 1st veh n platoon 2nd veh n platoon

More information

Service Manual 3014 / Front-Side Applicator. Made in Germany

Service Manual 3014 / Front-Side Applicator. Made in Germany Servce Manual Front-Sde Applcator 3014 / 3016 Made n Germany 2 Servce Manual 2 for the followng products Famly Type Front-Sde Applcator 3014 3016 Edton: 05/2018 - Part No. 9009529 Copyrght Ths documentaton

More information

A PROBABILITY BASED APPROACH FOR THE ALLOCATION OF PLAYER DRAFT SELECTIONS IN AUSTRALIAN RULES

A PROBABILITY BASED APPROACH FOR THE ALLOCATION OF PLAYER DRAFT SELECTIONS IN AUSTRALIAN RULES Journal of Sports Scence and Medcne (2006) 5, 509-516 http://www.jssm.org Research artcle The 8th Australasan Conference on Mathematcs and Computers n Sport, 3-5 July 2006, Queensland, Australa A PROBABILITY

More information

SECOND-ORDER CREST STATISTICS OF REALISTIC SEA STATES

SECOND-ORDER CREST STATISTICS OF REALISTIC SEA STATES SECOND-ORDER CREST STATISTICS OF REALISTIC SEA STATES MARIOS CHRISTOU Shell Internatonal Exploraton and Producton, 2288 GS Rjswjk, The Netherlands. E-mal: maros.chrstou@shell.com PETER TROMANS Ocean Wave

More information

Evaluation of Wettability of Solid Surface with Oil/ Refrigerant Mixture

Evaluation of Wettability of Solid Surface with Oil/ Refrigerant Mixture Purdue Unversty Purdue e-pubs Internatonal Compressor Engneerng Conference School of Mechancal Engneerng 16 Evaluaton of Wettablty of Sold Surface wth Ol/ Refrgerant Mxture Mtsuhro Fukuta Shzuoka Unversty,

More information

DRAFT FOR PUBLIC CONSULTATION INTERCONNECTION AGREEMENT v.2.0 FOR IP KULATA/SIDIROKASTRO DEFINITIONS, BUSINESS RULES, EXCEPTIONAL EVENT

DRAFT FOR PUBLIC CONSULTATION INTERCONNECTION AGREEMENT v.2.0 FOR IP KULATA/SIDIROKASTRO DEFINITIONS, BUSINESS RULES, EXCEPTIONAL EVENT RAFT FOR PUBLIC CONSULTATION INTERCONNECTION AGREEMENT v.2.0 FOR IP KULATA/SIIROKASTRO EFINITIONS, BUSINESS RULES, EXCEPTIONAL EVENT ARTICLE 1: EFINITIONS All terms of the INTERCONNECTION AGREEMENT shall

More information