Abstract: 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
Abstract: 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model is used to predict two faulty conditions from historical reference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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.
Abstract: 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.