Nonlinear Effects in Stiffness Modeling of Robotic Manipulators

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of manipulator elements by a set of localized six-dimensional springs separated by rigid links and perfect joints. In contrast to the conventional formulation, which is valid for the unloaded mode and small displacements, the proposed approach implicitly assumes that the loading leads to the non-negligible changes of the manipulator posture and corresponding amendment of the Jacobian. The developed numerical technique allows computing the static equilibrium and relevant force/torque reaction of the manipulator for any given displacement of the end-effector. This enables designer detecting essentially nonlinear effects in elastic behavior of manipulator, similar to the buckling of beam elements. It is also proposed the linearization procedure that is based on the inversion of the dedicated matrix composed of the stiffness parameters of the virtual springs and the Jacobians/Hessians of the active and passive joints. The developed technique is illustrated by an application example that deals with the stiffness analysis of a parallel manipulator of the Orthoglide family

Automated Process Quality Monitoring with Prediction of Fault Condition Using Measurement Data

Detection of incipient abnormal events is important to improve safety and reliability of machine operations and reduce losses caused by failures. Improper set-ups or aligning of parts often leads to severe problems in many machines. The construction of prediction models for predicting faulty conditions is quite essential in making decisions on when to perform machine maintenance. This paper presents a multivariate calibration monitoring approach based on the statistical analysis of machine measurement data. The calibration model is used to predict two faulty conditions from historical reference data. This approach utilizes genetic algorithms (GA) based variable selection, and we evaluate the predictive performance of several prediction methods using real data. The results shows that the calibration model based on supervised probabilistic principal component analysis (SPPCA) yielded best performance in this work. By adopting a proper variable selection scheme in calibration models, the prediction performance can be improved by excluding non-informative variables from their model building steps.

Jobs Scheduling and Worker Assignment Problem to Minimize Makespan using Ant Colony Optimization Metaheuristic

This article proposes an Ant Colony Optimization (ACO) metaheuristic to minimize total makespan for scheduling a set of jobs and assign workers for uniformly related parallel machines. An algorithm based on ACO has been developed and coded on a computer program Matlab®, to solve this problem. The paper explains various steps to apply Ant Colony approach to the problem of minimizing makespan for the worker assignment & jobs scheduling problem in a parallel machine model and is aimed at evaluating the strength of ACO as compared to other conventional approaches. One data set containing 100 problems (12 Jobs, 03 machines and 10 workers) which is available on internet, has been taken and solved through this ACO algorithm. The results of our ACO based algorithm has shown drastically improved results, especially, in terms of negligible computational effort of CPU, to reach the optimal solution. In our case, the time taken to solve all 100 problems is even lesser than the average time taken to solve one problem in the data set by other conventional approaches like GA algorithm and SPT-A/LMC heuristics.

A New Fuzzy Mathematical Model in Recycling Collection Networks: A Possibilistic Approach

Focusing on the environmental issues, including the reduction of scrap and consumer residuals, along with the benefiting from the economic value during the life cycle of goods/products leads the companies to have an important competitive approach. The aim of this paper is to present a new mixed nonlinear facility locationallocation model in recycling collection networks by considering multi-echelon, multi-suppliers, multi-collection centers and multifacilities in the recycling network. To make an appropriate decision in reality, demands, returns, capacities, costs and distances, are regarded uncertain in our model. For this purpose, a fuzzy mathematical programming-based possibilistic approach is introduced as a solution methodology from the recent literature to solve the proposed mixed-nonlinear programming model (MNLP). The computational experiments are provided to illustrate the applicability of the designed model in a supply chain environment and to help the decision makers to facilitate their analysis.

An Experimentally Validated Thermo- Mechanical Finite Element Model for Friction Stir Welding in Carbon Steels

Solidification cracking and hydrogen cracking are some defects generated in the fusion welding of ultrahigh carbon steels. However, friction stir welding (FSW) of such steels, being a solid-state technique, has been demonstrated to alleviate such problems encountered in traditional welding. FSW include different process parameters that must be carefully defined prior processing. These parameters included but not restricted to: tool feed, tool RPM, tool geometry, tool tilt angle. These parameters form a key factor behind avoiding warm holes and voids behind the tool and in achieving a defect-free weld. More importantly, these parameters directly affect the microstructure of the weld and hence the final mechanical properties of weld. For that, 3D finite element (FE) thermo-mechanical model was developed using DEFORM 3D to simulate FSW of carbon steel. At points of interest in the joint, tracking is done for history of critical state variables such as temperature, stresses, and strain rates. Typical results found include the ability to simulate different weld zones. Simulations predictions were successfully compared to experimental FSW tests. It is believed that such a numerical model can be used to optimize FSW processing parameters to favor desirable defect free weld with better mechanical properties.

Determination of Sea Transport Route for Staple Food Distribution to Achieve Food Security in the Eastern Indonesia

Effectiveness and efficiency of food distribution is necessary to maintain food security in a region. Food supply varies among regions depending on their production capacity; therefore, it is necessary to regulate food distribution. Sea transportation could play a great role in the food distribution system. To play this role and to support transportation needs in the Eastern Indonesia, sea transportation shall be supported by fleet which is adequate and reliable, both in terms of load and worthiness. This research uses Linear Programming (LP) method to analyze food distribution pattern in order to determine the optimal distribution system. In this research, transshipment points have been selected for regions in one province. Comparison between result of modeling and existing shipping route reveals that from 369 existing routes, 54 routes are used for transporting rice, corn, green bean, peanut, soybean, sweet potato, and cassava.

Chattering-free Sliding Mode Control for an Active Magnetic Bearing System

In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respectively, while the chattering effect in the input is attenuated. This is proven to be advantageous for AMB system since minimization of chattering results in optimized control effort. The performance of each controller is demonstrated via result of simulation in which the measurement of the total consumed energy and maximum control magnitude of each controller illustrates the effectiveness of the proposed controllers.

Research on the Micro Pattern forming of Spiral Grooves in a Dynamic Thrust Bearing

This paper deals with a novel technique for the fabrication of Spiral grooves in a dynamic thrust bearing. The main scheme proposed in this paper is to fabricate the microgrooves using desktop forming system. This process has advantages compared to the conventional electro-chemical machining in the viewpoint of a higher productivity. For this reason, a new testing apparatus is designed and built for press forming microgrooves on a surface of the thrust bearing. The material used in this study is sintered Cu-Fe alloy. The effects of the forming load on the performance of micro press forming are experimentally investigated. From the experimental results, formed depths are closed to the target ones with increasing the forming load.

Numerical Simulation in the Air-Curtain Installed Subway Tunnel for the Indoor Air Quality

The Platform Screen Doors improve Indoor Air Quality (IAQ) in the subway station; however, and the air quality is degraded in the subway tunnel. CO2 concentration and indoor particulate matter value are high in the tunnel. The IAQ level in subway tunnel degrades by increasing the train movements. Air-curtain installation reduces dusts, particles and moving toxic smokes and permits traffic by generating virtual wall. The ventilation systems of the subway tunnel need improvements to have better air-quality. Numerical analyses might be effective tools analyze the flowfield inside the air-curtain installed subway tunnel. The ANSYS CFX software is used for steady computations of the airflow inside the tunnel. The single-track subway tunnel has the natural shaft, the mechanical shaft, and the PSDs installed stations. The height and width of the tunnel are 6.0 m and 4.0 m respectively. The tunnel is 400 m long and the air-curtain is installed at the top of the tunnel. The thickness and the width of the air-curtain are 0.08 m and 4 m respectively. The velocity of the air-curtain changes between 20 - 30 m/s. Three cases are analyzed depending on the installing location of the air-curtain. The discharged-air through the natural shafts increases as the velocity of the air-curtain increases when the air-curtain is installed between the mechanical and the natural shafts. The pollutant-air is exhausted by the mechanical and the natural shafts and remained air is pushed toward tunnel end. The discharged-air through the natural shaft is low when the air-curtain installed before the natural shaft. The mass flow rate decreases in the tunnel after the mechanical shaft as the air-curtain velocity increases. The computational results of the air-curtain installed tunnel become basis for the optimum design study. The air-curtain installing location is chosen between the mechanical and the natural shafts. The velocity of the air-curtain is fixed as 25 m/s. The thickness and the blowing angles of the air-curtain are the design variables for the optimum design study. The object function of the design optimization is maximizing the discharged air through the natural shaft.

Influence of Deep Cold Rolling and Low Plasticity Burnishing on Surface Hardness and Surface Roughness of AISI 4140 Steel

Deep cold rolling (DCR) and low plasticity burnishing (LPB) process are cold working processes, which easily produce a smooth and work-hardened surface by plastic deformation of surface irregularities. The present study focuses on the surface roughness and surface hardness aspects of AISI 4140 work material, using fractional factorial design of experiments. The assessment of the surface integrity aspects on work material was done, in order to identify the predominant factors amongst the selected parameters. They were then categorized in order of significance followed by setting the levels of the factors for minimizing surface roughness and/or maximizing surface hardness. In the present work, the influence of main process parameters (force, feed rate, number of tool passes/overruns, initial roughness of the work piece, ball material, ball diameter and lubricant used) on the surface roughness and the hardness of AISI 4140 steel were studied for both LPB and DCR process and the results are compared. It was observed that by using LPB process surface hardness has been improved by 167% and in DCR process surface hardness has been improved by 442%. It was also found that the force, ball diameter, number of tool passes and initial roughness of the workpiece are the most pronounced parameters, which has a significant effect on the work piece-s surface during deep cold rolling and low plasticity burnishing process.

Production and Remanufacturing of Returned Products in Supply Chain using Modified Genetic Algorithm

In recent years, environment regulation forcing manufactures to consider recovery activity of end-of- life products and/or return products for refurbishing, recycling, remanufacturing/repair and disposal in supply chain management. In this paper, a mathematical model is formulated for single product production-inventory system considering remanufacturing/reuse of return products and rate of return products follows a demand like function, dependent on purchasing price and acceptance quality level. It is useful in decision making to determine whether to go for remanufacturing or disposal of returned products along with newly produced products to satisfy a stationary demand. In addition, a modified genetic algorithm approach is proposed, inspired by particle swarm optimization method. Numerical analysis of the case study is carried out to validate the model.

A Review on Technology Forecasting Methods and Their Application Area

Technology changes have been acknowledged as a critical factor in determining competitiveness of organization. Under such environment, the right anticipation of technology change has been of huge importance in strategic planning. To monitor technology change, technology forecasting (TF) is frequently utilized. In academic perspective, TF has received great attention for a long time. However, few researches have been conducted to provide overview of the TF literature. Even though some studies deals with review of TF research, they generally focused on type and characteristics of various TF, so hardly provides information about patterns of TF research and which TF method is used in certain technology industry. Accordingly, this study profile developments in and patterns of scholarly research in TF over time. Also, this study investigates which technology industries have used certain TF method and identifies their relationships. This study will help in understanding TF research trend and their application area.

Thermal Performance Rating of Solar Water Heating Systems in ASEAN

Solar water heating (SWH) systems are gaining popularity in ASEAN in the midst of increasing number of affluent population in society and environmental concerns from seemingly unchanged reliance on fossil-based fuels. The penetration of these systems and technologies into ASEAN markets is a welcome development; however there is a need for the method of assessment of their thermal performances. This paper discusses the reasons for this need and a suitable method for thermal performance evaluation of SWH systems in ASEAN. The paper also calls on research to be focused on the establishment of reliable data to be entered into the performance rating software. The establishment of accredited solar systems testing facilities can help boost the competitiveness of ASEAN solar industry.

Design Considerations of Scheduling Systems Suitable for PCB Manufacturing

This paper identifies five key design characteristics of production scheduling software systems in printed circuit board (PCB) manufacturing. The authors consider that, in addition to an effective scheduling engine, a scheduling system should be able to process a preventative maintenance calendar, to give the user the flexibility to handle data using a variety of electronic sources, to run simulations to support decision-making, and to have simple and customisable graphical user interfaces. These design considerations were the result of a review of academic literature, the evaluation of commercial applications and a compilation of requirements of a PCB manufacturer. It was found that, from those systems that were evaluated, those that effectively addressed all five characteristics outlined in this paper were the most robust of all and could be used in PCB manufacturing.

Risk Quantification for Tunnel Excavation Process

Construction of tunnels is connected with high uncertainty in the field of costs, construction period, safety and impact on surroundings. Risk management became therefore a common part of tunnel projects, especially after a set of fatal collapses occurred in 1990's. Such collapses are caused usually by combination of factors that can be divided into three main groups, i.e. unfavourable geological conditions, failures in the design and planning or failures in the execution. This paper suggests a procedure enabling quantification of the excavation risk related to extraordinary accidents using FTA and ETA tools. It will elaborate on a common process of risk analysis and enable the transfer of information and experience between particular tunnel construction projects. Further, it gives a guide for designers, management and other participants, how to deal with risk of such accidents and how to make qualified decisions based on a probabilistic approach.

On the Exact Solution of Non-Uniform Torsion for Beams with Axial Symmetric Cross-Section

In the traditional theory of non-uniform torsion the axial displacement field is expressed as the product of the unit twist angle and the warping function. The first one, variable along the beam axis, is obtained by a global congruence condition; the second one, instead, defined over the cross-section, is determined by solving a Neumann problem associated to the Laplace equation, as well as for the uniform torsion problem. So, as in the classical theory the warping function doesn-t punctually satisfy the first indefinite equilibrium equation, the principal aim of this work is to develop a new theory for non-uniform torsion of beams with axial symmetric cross-section, fully restrained on both ends and loaded by a constant torque, that permits to punctually satisfy the previous equation, by means of a trigonometric expansion of the axial displacement and unit twist angle functions. Furthermore, as the classical theory is generally applied with good results to the global and local analysis of ship structures, two beams having the first one an open profile, the second one a closed section, have been analyzed, in order to compare the two theories.

Beam and Diffuse Solar Energy in Zarqa City

Beam and diffuse radiation data are extracted analytically from previous measured data on a horizontal surface in Zarqa city. Moreover, radiation data on a tilted surfaces with different slopes have been derived and analyzed. These data are consisting of of beam contribution, diffuse contribution, and ground reflected contribution radiation. Hourly radiation data for horizontal surface possess the highest radiation values on June, and then the values decay as the slope increases and the sharp decreasing happened for vertical surface. The beam radiation on a horizontal surface owns the highest values comparing to diffuse radiation for all days of June. The total daily radiation on the tilted surface decreases with slopes. The beam radiation data also decays with slopes especially for vertical surface. Diffuse radiation slightly decreases with slopes with sharp decreases for vertical surface. The groundreflected radiation grows with slopes especially for vertical surface. It-s clear that in June the highest harvesting of solar energy occurred for horizontal surface, then the harvesting decreases as the slope increases.

Exergy Analysis of a Solar Humidification- Dehumidification Desalination Unit

This paper presents the exergy analysis of a desalination unit using humidification-dehumidification process. Here, this unit is considered as a thermal system with three main components, which are the heating unit by using a solar collector, the evaporator or the humidifier, and the condenser or the dehumidifier. In these components the exergy is a measure of the quality or grade of energy and it can be destroyed in them. According to the second law of thermodynamics this destroyed part is due to irreversibilities which must be determined to obtain the exergetic efficiency of the system. In the current paper a computer program has been developed using visual basic to determine the exergy destruction and the exergetic efficiencies of the components of the desalination unit at variable operation conditions such as feed water temperature, outlet air temperature, air to feed water mass ratio and salinity, in addition to cooling water mass flow rate and inlet temperature, as well as quantity of solar irradiance. The results obtained indicate that the exergy efficiency of the humidifier increases by increasing the mass ratio and decreasing the outlet air temperature. In the other hand the exergy efficiency of the condenser increases with the increase of this ratio and also with the increase of the outlet air temperature.

Computational Prediction of Complicated Atmospheric Motion for Spinning or non- Spinning Projectiles

A full six degrees of freedom (6-DOF) flight dynamics model is proposed for the accurate prediction of short and long-range trajectories of high spin and fin-stabilized projectiles via atmospheric flight to final impact point. The projectiles is assumed to be both rigid (non-flexible), and rotationally symmetric about its spin axis launched at low and high pitch angles. The mathematical model is based on the full equations of motion set up in the no-roll body reference frame and is integrated numerically from given initial conditions at the firing site. The projectiles maneuvering motion depends on the most significant force and moment variations, in addition to wind and gravity. The computational flight analysis takes into consideration the Mach number and total angle of attack effects by means of the variable aerodynamic coefficients. For the purposes of the present work, linear interpolation has been applied from the tabulated database of McCoy-s book. The developed computational method gives satisfactory agreement with published data of verified experiments and computational codes on atmospheric projectile trajectory analysis for various initial firing flight conditions.

Mechanical Behaviour Analysis of Polyester Polymer Mortars Modified with Recycled GFRP Waste Materials

In this study the effect of incorporation of recycled glass-fibre reinforced polymer (GFRP) waste materials, obtained by means of milling processes, on mechanical behaviour of polyester polymer mortars was assessed. For this purpose, different contents of recycled GFRP waste powder and fibres, with distinct size gradings, were incorporated into polyester based mortars as sand aggregates and filler replacements. Flexural and compressive loading capacities were evaluated and found better than unmodified polymer mortars. GFRP modified polyester based mortars also show a less brittle behaviour, with retention of some loading capacity after peak load. Obtained results highlight the high potential of recycled GFRP waste materials as efficient and sustainable reinforcement and admixture for polymer concrete and mortars composites, constituting an emergent waste management solution.