Online stiffness estimation for robotic tasks with force observers

In this paper we propose an online stiffness estimation technique for robotic tasks based only on force data, therefore, not requiring contact position information. This allows estimations to be obtained in robotic tasks involving interactions with unstructured and unknown environments where geometrical data is unavailable or unreliable. Our technique – the Candidate Observer Based Algorithm (COBA) – uses two force observers, configured with different candidate stiffnesses, to estimate online the actual target object stiffness. COBA is embedded in a force control architecture with computed torque in the task space. The theoretical presentation of the algorithm, as well as simulation tests and experimental results with a lightweight robot arm are also presented.     

Cooperation and profit allocation in two-echelon logistics joint distribution network optimization

Collaborative two-echelon logistics joint distribution network can be organized through a negotiation process via logistics service providers or participants existing in the logistics system, which can effectively reduce the crisscross transportation phenomenon and improve the efficiency of the urban freight transportation system. This study establishes a linear optimization model to minimize the total cost of two-echelon logistics joint distribution network. An improved ant colony optimization algorithm integrated with genetic algorithm is presented to serve customer clustering units and resolve the model formulation by assigning logistics facilities. A two-dimensional colony encoding method is adopted to generate the initial ant colonies. Improved ant colony optimization combines the merits of ant colony optimization algorithm and genetic algorithm with both global and local search capabilities. Finally, an improved Shapley value model based on cooperative game theory and a cooperative mechanism strategy are presented to obtain the optimal profit allocation scheme and sequential coalitions respectively in two-echelon logistics joint distribution network. An empirical study in Guiyang City, China, reveals that the improved ant colony optimization algorithm is superior to the other three methods in terms of the total cost. The improved Shapley value model and monotonic path selection strategy are applied to calculate the best sequential coalition selection strategy. The proposed cooperation and profit allocation approaches provide an effective paradigm for logistics companies to share benefit, achieve win–win situations through the horizontal cooperation, and improve the negotiation power for logistics network optimization.     

An unfitted hp-adaptive finite element method based on hierarchical B-splines for interface problems of complex geometry

Generating finite element discretizations with direct interface parameterizations constitutes a considerable computational expense in case of complex interface geometries. The paper at hand introduces a B-spline finite element method, which circumvents parameterization of interfaces and offers fast and easy meshing irrespective of the geometric complexity involved. Its core idea is the adaptive approximation of discontinuities by hierarchical grid refinement, which adds several levels of local basis functions in the close vicinity of interfaces, but unfitted to their exact location, so that a simple regular grid of knot span elements can be maintained. Numerical experiments show that an hp-refinement strategy, which simultaneously increases the polynomial degree of the B-spline basis and the levels of refinement around interfaces, achieves exponential rates of convergence despite the presence of discontinuities. It is also demonstrated that the hierarchical B-spline FEM can be used to transfer the recently introduced Finite Cell concept to geometrically nonlinear problems. Its computational performance, imposition of unfitted boundary conditions and fast hierarchical grid generation are illustrated for a set of benchmark problems in one, two and three dimensions, and the advantages of the regular grid approach for complex geometries are demonstrated by the geometrically nonlinear simulation of a voxel based foam composite.     

A preliminary study on optimizing the heat treatment of high strength Al–Cu–Mg–Zn alloys

The design of critical aerospace alloys is primarily built on optimizing strength and ductility, both of which can be enhanced by controlling the alloying element additions as well as heat treatment conditions. The 7075 alloy is one such aerospace alloy. The main objective of this study was to optimize the 7075 strength. Several experimental alloys were prepared and tensile test bars were cast using an ASTM B-108 type permanent metallic mold. The as-cast samples were then solution heat-treated at 470 °C for times up to 48 h. The solution heat-treated bars were also aged in order to improve the alloy strength through precipitation hardening. Line scans for Mg, Cu and Zn were obtained from the various heat-treated alloy samples using an electron probe microanalyzer equipped with Energy Dispersive X-ray (EDX) and Wavelength Dispersive Spectroscopic (WDS) facilities. Peaks corresponding to the Mg, Cu and Zn concentrations in the as-cast samples disappeared after solution treatment, reflecting optimized homogeneity structures. The newly developed versions of the 7075 alloy displayed an ultimate tensile strength (UTS) of ∼1 GPa.     

A joint replenishment problem considering multiple trucks with shipment and resource constraints

A joint replenishment problem (JRP) is presented to determine the optimal reordering policy for multi-items with a percentage of defective items. This JRP also has several constraints, such as shipment constraint, budget constraint, and transportation capacity constraint. At the meantime, multiple trucks, each with a fixed transportation cost, are considered and also order quantities of restricted items are not shared among the trucks during the shipment. The objective is to minimize the total expected cost per unit time. A two-dimensional genetic algorithm (GA) is provided to determine an optimal family cycle length and the reorder frequencies. A numerical example is presented and the results are discussed. Extensive computational experiments are performed to test the performance of the GA. The JRP is also solved by using an evolutionary algorithm (EA) and the results obtained from GA and EA are compared.     

Study on the influence of joint spacing on rock fragmentation under TBM cutter by linear cutting test

Joint spacing is one of the most important geological factors influencing rock fragmentation by TBM cutters and TBM performance. In order to study the influence of joint spacing, full-scale linear cutting tests have been conducted for the Beishan granite samples with different joint spacing (i.e. one intact sample, two jointed samples with joint spacing of 100 mm and 400 mm). For different joint spacing, the influence of penetration depth on rock fragmentation was also explored by varying the penetration depth with an interval of 0.5 mm. During the test process, the three directional forces acting on the TBM cutter were recorded, and the rock chips formed by each cutting pass were weighed, respectively. By analysing the cutting force, crack initiation/propagation and rock chips, the influences of joint spacing on rock fragmentation process by TBM cutter were investigated. The test results showed that the increase of penetration depth cannot improve the TBM breakage efficiency after reaching a certain value for the intact rock sample, and the normal force for intruding the intact rock is larger than that for intruding the rock jointed samples. It is also found that the sample part below the joint plane is intact, thus joint can restrain the crack propagating cross the joint plane and facilitates the chips formation on the cutting surface. For the rock sample with joint spacing of 100 mm, two rock fragmentation modes were found during the cutting process. One mode is that the cracks initiate from the crushed zone under TBM cutter, and the cracks propagate to the joint plane, consequently form large rock chips. The other one is that the cracks initiate from the joint plane and then propagate to the rock cutting surface, and the cracks initiate before the formation of the crushed zone under the cutter. For the rock sample with joint spacing of 400 mm, there are two rock fragmentation stages, i.e., the normal rock fragmentation stage and the joint-controlled rock fragmentation stage. There is a transitional process between these two stages, and also the median crack can be promoted to propagate vertically to joint plane due to the joint existence. This study can provide useful guidance for operation optimization and performance prediction for TBM operating in jointed rock masses.     

Effects of buoyancy induced roof ventilation systems for smoke removal in tunnel fires

The present article highlights the performance of natural roof ventilation systems and its effects on tunnel fire flow characteristics. Numerical analysis is performed using Large Eddy Simulations (LES) to predict fire growth rate and smoke movement in tunnel with single and multiple roof openings. The smoke venting performance of ceiling vents are investigated by varying the vent size and fire source locations. The critical parameters such as mass flow rate through ceiling openings, smoke traveling time and fire growth patterns are presented. The ceiling openings are effective in transferring hot gases and reduces the longitudinal smoke velocity. The heat source and ceiling vent locations significantly affects the vent performance and smoke behavior in tunnel. The present results are in good agreement with the experimental results available in literature.     

Developing an evacuation evaluation model for offshore oil and gas platforms using BIM and agent-based model

Accidents on offshore oil and gas platforms (OOGPs) usually cause serious fatalities and financial losses considering the demanding environment where such platforms are located and the complicated topsides structure that the platforms have. Conducting evacuation planning on OOGPs is challenging. Computational tools are considered as a good way to plan evacuation by emergency simulation. However, the complex structure of OOGPs and various evacuation behaviors can weaken the advantages of computational simulation. Therefore, this study develops a simulation model for OOGPs to evaluate different evacuation plans to improve evacuation performance by integrating building information modeling (BIM) technology and agent-based model (ABM). The developed model consists of four parts: evacuation model input, simulation environment modeling, agent definition, and simulation and comparison. Necessary platform information is extracted from BIM and then used to model the simulation environment by integrating matrix model and network model. In addition to essential attributes, environment sensing and dynamic escape path planning functions are developed and assigned to agents in order to improve simulation performance. Total evacuation time for all agents on an offshore platform is used to evaluate the evacuation performance of each simulation. An example OOGP BIM topsides with different emergency scenarios is used to illustrate the developed evacuation evaluation model. The results show that the developed model can accurately simulate evacuation and improve evacuation performance on OOGPs. The developed model is also applicable to other industries such as the architecture, engineering, and construction industry, where there is an increasing demand for evacuation planning and simulation.     

Experimental evidence of structural evolution for TiB2 microcrystal under externally high stresses

The morphology evolution and defect structure of TiB₂ microcrystals treated under high stresses were analyzed using scanning electron microscopy (SEM) and high-resolution transmission electron microscopy (HRTEM). The results show that hexagonal TiB₂ with large particle size gradually evolved to flowerlike TiB₂ with small particle size under high stresses. The evolution process is mainly determined by the preferential cleavage of TiB₂ microcrystal, and the presence of multiple lamellar nanotwin and edge dislocation directly provides some evidence of plastic deformation and structural evolution. For clarity, a possible model is suggested based on the HTREM observation and the natural properties of TiB₂ materials to explain the process mechanism.