Smart work packaging-enabled constraint-free path re-planning for tower crane in prefabricated products assembly process

Lack of constraint-free crane path planning is one of the critical concerns in the dynamic on-site assembly process of prefabrication housing production (PHP). For decades, researchers and practitioners have endeavored to improve both the efficiency and safety of crane path planning from either static environment or re-planning the path when colliding with constraints or periodically updating the path in the dynamic environment. However, there is a lack of approach related to the in-depth exploration of the nature of dynamic constraints so as to assist the crane operators in making adaptive path re-planning decisions by categorizing and prioritizing constraints. To address this issue, this study develops the smart work packaging (SWP)-enabled constraints optimization service. This service embraces the core characteristics of SWP, including adaptivity, sociability, and autonomy to achieve autonomous initial path planning, networked constraints classification, and adaptive decisions on path re-planning. This service is simulated and verified in the BIM environment, and it is found that SWP-enabled constraints optimization service can generate the constraint-free path when it is necessary.     

The roles of conceptual modelling in improving construction simulation studies: A comprehensive review

The conceptual modelling phase of simulation studies has proven to be effective in enhancing the impact of simulation modelling in different domains. However, this simulation phase did not receive much attention in the construction simulation domain. The objective of this paper is to identify the roles that conceptual modelling can play in advancing the engagement, accuracy, and adoption (among other things) of discrete-event simulation studies in construction. In this paper, a Systematic Literature Review (SLR) is conducted, which involves a comprehensive search of databases and researchers’ profiles to identify journal papers, conference articles, books, and theses that have reported the benefits of conceptual modelling for discrete-event simulation studies. The review resulted in 82 documents that were published from 2000 to 2020. Results indicate that the benefits of conceptual modelling include facilitating communications between stakeholders, capturing sufficient information for the simulation model, improving the quality of simulation models, guiding other simulation modelling activities, and facilitating verification and validation of simulation models. By linking these benefits to the current research agenda in construction simulation, this paper shows the significance and potential of the conceptual modelling phase to enhance the impact of discrete-event simulation studies in construction.     

卫星激光通信粗跟踪系统复合控制策略

针对卫星激光通信粗跟踪系统的跟踪稳定精度指标要求高的特点,建立了基于永磁同步电机直接驱动的粗跟踪系统模型并进行了跟踪稳定误差分析。在采用传统PID控制策略存在跟踪误差较大、动态性能较差等不足的基础上,提出了一种基于粗跟踪系统的改进型前馈复合控制策略。从理论上分析了前馈复合控制策略提高了粗跟踪系统的动态性能,为降低跟踪稳定误差提供了改善方案。地面实验验证结果表明,与传统控制策略相比,改进型复合控制策略极大地降低了系统的动态跟踪误差,动态跟踪误差由606μrad降低至13μrad(1δ)。进一步的在轨实验也验证了改进型复合控制策略的合理性和先进性,总体指标满足了卫星激光通信终端的极高精度要求。本文所提出的控制策略对其他高性能跟踪伺服系统设计也具有较大的借鉴意义。     

平面结构冗余并联机构的误差敏感度分析

针对一种含闭环支链的平面结构冗余并联机构进行误差敏感度分析。分析了该机构的逆运动学和正运动学。基于矩阵法建立了机构的误差模型，并通过反解、正解结合的方法对该误差模型进行了验证。基于误差模型，得到了评价机构误差敏感度的指标，绘制了各指标在工作空间内的等值线图。基于误差敏感度指标，定义了低误差敏感性工作空间，绘制了低误差敏感性工作空间在工作空间中的分布图。与平面3-RRR并联机构进行了误差敏感度对比分析。结果表明，该机构的低误差敏感性工作空间占比较大，同时可以通过调节其冗余支链不断扩大低误差敏感性工作空间，使机构在大范围空间中保持低误差敏感性。     

打印层厚度对FDM薄板固有特性的影响

针对不同打印层厚度对熔融沉积成型(fused deposition modeling,简称FDM)薄板固有特性的影响规律及相应的机理进行了研究。首先,以悬臂边界条件下的FDM薄板为研究对象,创建了固有特性理论模型;其次,完成了薄板样件的制备,同时搭建了样件的动力学测试系统,实验研究了样件的固有特性参数;最后,对比分析理论与实验结果,以验证理论模型的正确性。研究结果表明,所建模型可以准确预测FDM薄板结构的固有特征参数;打印层越厚,样件的固有频率越高,但其模态振型不会随着打印层厚度的变化而变化。该研究为提高FDM产品动力学性能提供了理论基础和技术支持。     

Contact force modeling and analysis for robotic tilted-disc polishing of freeform workpieces

This paper investigates the tool-workpiece contact mechanism in the disc polishing process, where the soft polishing disc touches the rigid freeform workpiece with a small tilt angle. The developed contact force model can explain how the contact parameters, including the disc contact depth, the disc tilt angle, the radii of curvature of the disc and the workpiece, affect the normal contact force. Under some reasonable geometric and mechanical assumptions of the disc and the workpiece, an approximated contact force equation is derived in a simple power-law form similar to the Hertzian contact model. The contact force is found to be positively related to the disc contact depth and the disc radius, while negatively related to the disc tilt angle and the workpiece normal curvature that is orthogonal to the feed direction. Both finite element simulations and experiments verify the effectiveness of the proposed contact force model. Furthermore, the material removal process is analyzed and a model-based process parameter planning method is developed to achieve uniform material removal considering the variation of workpiece curvatures.     

Flow and spawning habitat relationships for Dolly Varden: Understanding habitat–population dynamics in the Canadian Western Arctic

Northern form Dolly Varden (Salvelinus malma malma) have been designated as a species of Special Concern in Canada due to declines in population abundance and potential threats. Concern over detrimental effects of low flows on population abundance prompted research on how variability in discharge regimes influence habitat availability. Habitat suitability indices for prespawning and spawning adult anadromous Dolly Varden from two streams were integrated into a two‐dimensional hydrodynamic habitat model to assess the effect of flow variability on usable habitat. Regional hydrographs were used to identify an ecologically relevant range of flows that provided optimal spawning habitat for these populations and examine the relationship between abundance and discharge. Adults spawned in the tail end of pools at moderate water depths and water velocities, and used pebble‐ to cobble‐sized substrate for building redds; whereas, prespawning adults occupied deeper pools with moderate velocities and used cobble for cover. Model outputs showed that spawning habitat availability was optimized at flow rates between 1.6 and 3.0 m³/s and between 1.0 and 6.0 m³/s in Fish Hole Creek (FHC) and Little Fish Creek, respectively. A positive relationship between flows during the fall spawning period and abundance of the FHC population suggests that higher flows coinciding with optimal habitat availability may have contributed to positive recruitment. To strengthen and refine this habitat–population relationship for Dolly Varden in this area requires investigation of a broader suite of variables associated with environmental regimes and physical habitat in reaches used for spawning.     

Teaching construction sciences with the integration of BIM to undergraduate architecture students

This study aims to test two hypotheses: teaching building information modeling (BIM) in relation to construction science provides students with a remarkable understanding of the nature of construction science (Hypothesis 1), and if the student has positive attitude toward the use of the BIM program, then efficiency by which construction science is taught by its means is improved (Hypothesis 2). Results and process of a case study with a novel teaching methodology were discussed in terms of the benefits of the students. A questionnaire study was conducted on the student group with which the case study was performed to test each student's attitude. Results were evaluated statistically. When BIM is integrated with the teaching of basic construction courses within architecture degree programs, the students understood the building system principles simply and effectively. As a result of the statistical analysis, the students find the applied method effective. Moreover, their attitude toward BIM affects the process.