A physically-based model for global collision avoidance in 5-axis point milling

Although 5-axis free form surface machining is commonly proposed in CAD/CAM software, several issues still need to be addressed and especially collision avoidance between the tool and the part. Indeed, advanced user skills are often required to define smooth tool axis orientations along the tool path in high speed machining. In the literature, the problem of collision avoidance is mainly treated as an iterative process based on local and global collision tests with a geometrical method. In this paper, an innovative method based on physical modeling is used to generate 5-axis collision-free smooth tool paths. In the proposed approach, the ball-end tool is considered as a rigid body moving in the 3D space on which repulsive forces, deriving from a scalar potential field attached to the check surfaces, and attractive forces are acting. A study of the check surface tessellation is carried out to ensure smooth variations of the tool axis orientation. The proposed algorithm is applied to open pocket parts such as an impeller to emphasize the effectiveness of this method to avoid collision.     

Receding horizon time-optimal control for a class of differentially flat systems

A closed-loop, time-optimal path-following control scheme is proposed for a class of constrained differentially flat systems. Within a receding horizon framework, a finite horizon optimisation problem is solved at each sample, using available state feedback and feedforward path information. Irrespective of horizon length, the proposed formulation guarantees exact path-following. Moreover, the requirements under which the proposed algorithm achieves minimum-time path-following are established. Simulations conducted with a rigid X–Y table model confirm the theoretical results.     

Effect of residual stresses to the crack path in alumina/zirconia laminates

Laminates with alternating layers are well known from nature. The strongly bonded alumina/zirconia (Al₂O₃/ZrO₂) layers can combine high fracture resistance with high strength and stiffness when properly tailored. The presence of compressive residual stresses formed in Al₂O₃ layers can suppress and deflect cracks propagating through the layers. The crack path is governed by both the elastic properties and the internal stress field of individual layers. The laminates with various layer-thickness ratios ranging from 0.1 to 3 were used to investigate the effect of residual stresses and influence of crack formation pattern on the crack path development. The indentation surface cracks observed in various alumina-zirconia laminates exhibit the same crack deflection independently on the level of internal stresses. The crack deflection observed on the fracture surfaces of bending specimens was related to the indentations cracks. The complicated crack path was explained experimentally by 3D reconstruction with the support of numerical simulations.     

Multi-period wind integrated optimal dispatch using series PSO-DE with time-varying Gaussian membership function based fuzzy selection

Wind power has emerged as the most promising option for providing sustainable eco-friendly power supply to the modern world. Due to its unpredictable nature, integration of wind power into the conventional power grid is a very challenging task having dynamic characteristics. Due to the inherent uncertainty associated with wind availability, additional spinning reserve needs to be scheduled in order to maintain security and supply reliability. Multi-period multi-objective optimal dispatch (MPMOOD) is presented for wind integrated power system with reserve constraints. The complex relationship between wind power availability, spinning reserve allocation and their impact on economic/environmental cost are analysed using an elaborate model.A new multi-objective Series PSO-DE (SPSO-DE) hybrid algorithm is proposed where the two paradigms, differential evolution (DE) and particle swarm optimization (PSO) share domain information and maintain a synergistic cooperation to overcome their individual weaknesses. For multi-objective (MO) problems, the selection operation in SPSO-DE is replaced by a 5-class time-varying fuzzy selection mechanism (TVFSM) to avoid saturation and to increase Pareto diversity. To promote convergence towards the central part of the Pareto front and to quickly isolate the boundary solutions, Guassian membership function is employed. Elitism is applied to preserve good solutions and momentum operation is used to stop premature convergence. The proposed method expedites the search for the best solution, i.e. the solution which satisfies all the objectives of the MO problems. To test the performance and computational efficiency, the proposed method is applied on two standard test power systems.     

基于关键路径延时检测的自适应电压缩减技术

为了减小传统的最差情况设计方法引入的电压裕量,提出了一种变化可知的自适应电压缩减(AVS)技术,通过调整电源电压来降低电路功耗.自适应电压缩减技术基于检测关键路径的延时变化,基于此设计了一款预错误原位延时检测电路,可以检测关键路径延时并输出预错误信号,进而控制单元可根据反馈回的预错误信号的个数调整系统电压.本芯片采用SMIC180 nm工艺设计验证,仿真分析表明,采用自适应电压缩减技术后,4个目标验证电路分别节省功耗12.4％,11.3％,10.4％和11.6％.     

Cooperative path planning with priority target assignment and collision avoidance guidance for rescue unmanned surface vehicles in a complex ocean environment

In this paper, a novel cooperative path planning scheme of unmanned surface vehicles (USVs) for rescuing targets in a complex ocean environment is proposed. The primary objective of the rescue USVs is to bring all targets back safely on the premise of first rescuing priority targets, while optimizing the path length, the navigation time and the angular energy. The main contributions of this paper are as follows: (1) The proposed K-means-division (KMD) algorithm is able to identify a complex ocean environment with collision-free zone and static-obstacles zone; (2) The proposed path planning method with fast-marching-method-based ellipse guidance range (E-FMM) is able to optimize the angular energy while ensuring safety; (3) The proposed cooperative management system (including priority-target-assignment (PTA) with reward-mechanism genetic-optimization (RM-GO) and collision-avoidance (CA) guidance law with Tangent-based surge-varying wave-disturbances-observer (Tangent-SV-WDO)) can accomplish the mission of the rescue USVs. Comparative studies with the state-of-the-art methods demonstrate that the proposed cooperative path planning scheme is superior in terms of priority-target-assignment (PTA) and collision-avoidance (CA) of the actual rescue work.     

An adaptive sliding mode observer based near-optimal OER tracking control approach for PEMFC under dynamic operation condition

Tracking control of oxygen excess ratio (OER) is crucial for dynamic performance and operating efficiency of the proton exchange membrane fuel cell (PEMFC). OER tracking errors and overshoots under dynamic load limit the PEMFC output power performance, and also could lead oxygen starvation which seriously affect the life of PEMFC. To solve this problem, an adaptive sliding mode observer based near-optimal OER tracking control approach is proposed in this paper. According to real time load demand, a dynamic OER optimization strategy is designed to obtain an optimal OER. A nonlinear system model based near-optimal controller is designed to minimize the OER tracking error under variable operation condition of PEMFC. An adaptive sliding mode observer is utilized to estimate the uncertain parameters of the PEMFC air supply system and update parameters in near-optimal controller. The proposed control approach is implemented in OER tracking experiments based on air supply system of a 5 kW PEMFC test platform. The experiment results are analyzed and demonstrate the efficacy of the proposed control approach under load changes, external disturbances and parameter uncertainties of PEFMC system.     

A contact model for rough crushable sand

Sand roughness is now accessible to measurement. Incorporating this parameter into sand models using the discrete element method (DEM) is known to improve bulk small strain response. In this work we explore the effect on problems where particle crushing takes place. A well-established DEM particle crushing model and a rough Hertzian contact model are here combined to incorporate both effects in a single contact model. Including contact roughness results in stronger particles whilst all other material parameters being equal. The model is then used to simulate high pressure oedometric compression tests on a strong silica sand. It is shown that including realistic values of surface roughness enables to correctly capture both load-unload behaviour and particle size distribution evolution while using realistic values of elastic bulk properties for the sand grains. Roughness is then a model refinement that may result in simpler, more objective DEM calibrations.