On Confinement of the Initial Location of an Intruder in a Multi-robot Pursuit Game

Research in multi-robot pursuit-evasion demonstrates that three pursuers are sufficient to capture an intruder in a polygonal environment. However, this result requires the confined of the initial location of the intruder within the convex hull of the locations of the pursuers. In this study, we extend this result to alleviate this convexity through the application of a set of virtual goals that are independent of the locations of the pursuers. These virtual goals are solely calculated using the location information of the intruder such that whose locations confine the intruder within their convex hull at every execution cycle. We propose two strategies to coordinate the pursuers. They are the agents votes maximization and the profile matrix permutations strategies. We consider the time, the energy expended, and the distance traveled by the pursuers as metrics to analyze the performance of these strategies in contrast to three different allocation strategies. They are the probabilistic, the leader-follower, and the prioritization coordination strategies.     

Kinematics of a star-triangle planar parallel manipulator

This paper addresses kinematics of a 3 degree-of-freedom (DOF) planar parallel manipulator called Star-Triangle manipulator. The manipulator has good accuracy and a relatively large singularity-free workspace. First, position analysis of the manipulator is implemented indicating that both the inverse and forward position problems of the manipulator have only one solution. Then, velocity and singularity analyses of the manipulator are carried out and its isotropic configurations are identified using two Jacobian matrices. Based on the isotropic conditions, the workspace of manipulator is determined geometrically and it is shown that all points in the workspace are free of singularities. At last, kinematic accuracy of the manipulator is investigated on the workspace through a kinematic conditioning index (KCI).     

A new reactor concept for combining oxidative coupling and steam re‐forming of methane: modeling and analysis

A new and very promising application of auto‐thermal reactors is the coupling of endothermic and exothermic reactions where the product of the endothermic reaction is the desired one. Therefore, in this work, a reactor in which oxidative coupling of methane (OCM) and steam re‐forming of methane (SRM) reactions take place simultaneously was modeled. The results were obtained in a wide range of different conditions such as inlet feed, inlet temperature, portions of OCM and SRM catalysts, and inlet velocity. In selection of the catalysts, more attention was drawn to prevent re‐forming of OCM products. The main parameters of each reaction under different conditions such as conversion of the feed components, products selectivity and yield, temperature in the length of reactor, and component's concentration in the reactor were considered in course of this study. The results revealed that simultaneous OCM and SRM reactions in one reactor will tend to be auto‐thermal, and the waste of energy will be reduced. The results also show that complete conversion of water and majority of methane and oxygen will decrease the amount of unwanted products at the reactor's discharge–a constraint that exists in single reactors of each reaction specially OCM. Copyright © 2011 John Wiley & Sons, Ltd.     

Forensic Study of Warranty Project on US82

This forensic study is unique in that it involves a pavement warranty specification. Extensive field and laboratory testing was conducted to determine the cause(s) of longitudinal cracks observed on the surface. Four trenches were cut and removed to allow more testing on top of each pavement layer. The tests found that the stiffness of the foamed asphalt base is higher than that of a typical flexible base. However, the subgrade modulus is low compared with the average subgrade modulus in Texas. Water seeped into two trenches (dug into the road where there were surface cracks) within 20 min of digging. No water was observed in the other two trenches, where there were no surface cracks. The two trenches with surface cracks have lower base density and higher base moisture content than the two with no surface cracks. Based on observations of the trenching and coring operations, the same surface cracks have been detected in the base layer. Cracks up to 150 mm into the base layer have been observed. Although cracks have been observed in the base (and they can be related to lower stiffness and higher falling weight deflectometer deflections), it is difficult to determine if the cause of surface cracks is due to the base layer alone. It is difficult to prove if the layer is responsible for the failure, except by properties listed in the specification. One faulty pavement layer can easily cause the failure of other layers. For warranty purposes, layer-specific failure criteria should be clearly outlined. The base did not meet the gradation specification. The field material was substantially finer than specified. While some specifications may have been violated, there is little evidence to show that the cause of the longitudinal cracking is primarily related to the foamed-asphalt-stabilized base.     

A collaborative approach for urban underground space development toward sustainable development goals: Critical dimensions and future directions

The utilization of urban underground space (UUS) offers an effective solution to urban problems but may also negatively affect urban development. Therefore, UUS development needs better concerted guidelines to coordinate various urban systems and the multiple components of the underground world. Sustainable Development Goals (SDGs), which should be viewed as important yardsticks for UUS development, do not explicitly mention urban underground space, although many of them are affected by both the positive and negative consequences of its development. To fill this gap, this review lays the foundations of relevant UUS concepts and uses exemplary cases to reveal that 11 out of 17 SDGs can be linked with UUS uses. These linkages also manifest that land administration, integrated planning, architectural design, and construction technology are critical dimensions for increasing the contributions of UUS to the realization of SDGs. To achieve multi-disciplinary synergies among these four critical dimensions, a collaborative approach framework based on spatial data infrastructure is required. Thus, this work provides academics and practitioners with a holistic view of sustainable UUS development.     

Application of homotopy analysis method to solve MHD Jeffery-Hamel flows in non-parallel walls

The MHD Jeffery-Hamel flows in non-parallel walls are investigated analytically for strongly nonlinear ordinary differential equations using homotopy analysis method (HAM). Results for velocity profiles in divergent and convergent channels are presented for various values of Hartmann and Reynolds numbers. The convergence of the obtained series solutions is explicitly studied and a proper discussion is given for the obtained results. Comparison between HAM and numerical solutions showed excellent agreement.     

Application of a fuzzy TOPSIS method base on modified preference ratio and fuzzy distance measurement in assessment of traffic police centers performance

In this paper we have presented a TOPSIS approach based on preference ratio and an efficient fuzzy distance measurement for a Fuzzy Multiple Criteria Group Decision-Making Problem (FMCGDMP). Preference ratio with a moderate modification for negative fuzzy numbers was used as an efficient ranking method for fuzzy numbers in a relative manner. As human reasoning persuades that distances between two fuzzy numbers should be a fuzzy measure, so all distances between fuzzy numbers (i.e. distances between alternatives, Fuzzy Positive Ideal solutions, and Fuzzy Negative Ideal solutions) have been calculated as fuzzy numbers using an efficient fuzzy distance measurement. The aforementioned arguments make the proposed algorithm unique and well posed for real-life problem modeling. Moreover, the main novelties of the proposed procedure (i.e. the fuzzy distance measurement and Preference Ratio) have been developed for Generalized Fuzzy Numbers (GFNs). The proposed algorithm has efficiently been applied in assessment of traffic police centers which is treated as a FMCGDMP.     

A graphics engine for design of three-dimensional structures from standardized component modules

We present an interactive, menu-driven software package which allows the design of three-dimensional structures from standardized component modules. The standardized component modules used as example building blocks in the project are rectangular solids of several sizes.

The system has been designed such that its output (i.e. the design database) can be used to automatically generate a robot motion program to assemble the designed structure.

Presented are the system database and its internal data structure, an object placement-sequencer algorithm, a height specification and interference checking algorithm, and a balance-checking algorithm. To avoid the creation of dynamic obstacles and interference of the robot arm with these obstacles, the proper sequencing of the blocks in the design database is essential. The object placement-sequencer algorithm is responsible for proper sequencing of the blocks in the design database to avoid the aforementioned problem. The height specification and interference checking algorithm automatically generates the proper positioning of a block in the design by performing a sequential search over the accumulated design structure. The stacking feasibility of the blocks in the design is verified by the balance-checking algorithm, prior to the acceptance of the block as a permanent part of the design.     

Leaching of a zinc ore and concentrate using the Geocoat™ technology

In this study, the Geocoat™ technology was used for the extraction of zinc from a mineral concentrate obtained from the Kooshk mine (Yazd, Iran) by a culture dominated by the mesophilic bacterium Acidithiobacillusferrooxidans in a packed column bioreactor. A low grade sphalerite ore was used as support for the concentrate coating. During the 100 days of leaching pH, Fe³⁺, Fe^total, microbial population density and zinc extraction were measured. The final zinc extraction from concentrate and low grade support was 97% and 78%, respectively, and it was found that leaching from the support does not proceed significantly before leaching from the coating is completed.     

Reciprocating liquid‐assisted system for electronic cooling applications

Increasing the power density and heat dissipation in electronic equipment and their need for an efficient thermal management system have made the liquid cooling techniques inevitable in recent years. In most applications, liquid cooling systems work in conjunction with more traditional cooling methods, such as conduction and convection heat transfer, using air cooling systems. In this study, the performance of Reciprocating Mechanism‐Driven Heat Loop (RMDHL) for electronic and power electronic cooling applications has been studied and compared with that of a conventional Dynamic Pump‐Driven Heat Loop (DPDHL). A numerical model using moving boundaries in Ansys Fluent commercial code has been developed to generate the reciprocating motion of working fluid with desired frequency and amplitude. The temperature distribution contours and Nusselt numbers show the superior performance of the RMDHL system in terms of heat transfer and temperature uniformity of the heated surface. The results show that, for the same average mass flow rate in the cooling loops the average surface temperature in the RMDHL loop is considerably lower than that of DPDHL especially at higher reciprocating frequency. The results also indicate that similar to the effect of the oscillatory frequency, increasing the amplitude also increases the heat transfer rate in the RMDHL loop. In addition, the Nusselt number shows a linear increment with the increase of both oscillatory amplitude and frequency. Uniform temperature distribution and efficiency of thermal management systems based on RMDHL loop could decrease the resultant thermal stress in electronic devices and increase the reliability of them.