Robotic disassembly sequence planning using enhanced discrete bees algorithm in remanufacturing

Increasing attention is being paid to remanufacturing due to environmental protection and resource saving. Disassembly, as an essential step of remanufacturing, is always manually finished which is time-consuming while robotic disassembly can improve disassembly efficiency. Before the execution of disassembly, generating optimal disassembly sequence plays a vital role in improving disassembly efficiency. In this paper, to minimise the total disassembly time, an enhanced discrete Bees algorithm (EDBA) is proposed to solve robotic disassembly sequence planning (RDSP) problem. Firstly, the modified feasible solution generation (MFSG) method is used to build the disassembly model. After that, the evaluation criterions for RDSP are proposed to describe the total disassembly time of a disassembly sequence. Then, with the help of mutation operator, EDBA is proposed to determine the optimal disassembly sequence of RDSP. Finally, case studies based on two gear pumps are used to verify the effectiveness of the proposed method. The performance of EDBA is analysed under different parameters and compared with existing optimisation algorithms used in disassembly sequence planning (DSP). The result shows the proposed method is more suitable for robotic disassembly than the traditional method and EDBA generates better quality of solutions compared with the other optimisation algorithms.     

Robust stabilization of nonlinear stochastic 2‐D systems: LaSalle‐type theorem approach

LaSalle theorem (also known as the LaSalle invariance principle) plays an essential role in the systems and control theory. Recently, it has been extensively studied and developed for various types of one‐dimensional (1‐D) systems including deterministic and stochastic 1‐D systems in discrete‐ and continuous‐time domains. For two‐dimensional (2‐D) systems, such studies have received considerably less attention. In this article, based on discrete martingale theory, a LaSalle‐type theorem is first developed for a class of discrete‐time nonlinear stochastic 2‐D systems described by a Roesser model. The proposed result can be regarded as an extension of stochastic Lyapunov‐like theorem, which guarantees the convergence almost surely of system state trajectories. Extensions to the problem of optimal guaranteed cost control of nonlinear stochastic 2‐D systems are also presented. The proposed schemes are then utilized to derive tractable synthesis conditions of a suboptimal state‐feedback controller for uncertain 2‐D systems with multiplicative stochastic noises. The effectiveness of the obtained results is illustrated by given numerical examples and simulations.     

A secure image steganography based on modified matrix encoding using the adaptive region selection technique

This paper introduced an image steganography technique based on modified matrix encoding to enhance the perceptual quality of the stego images. Additionally, more pixel bit-planes are exploited in the data hiding process to improve the embedding capacity. The number of used image layers depends on the size of the given secret message and the texture characteristic of the cover image. The complexity of the pixel block is identified by the difference between the middle pixel and its neighbors. By performing the suitable embedding solutions of modified matrix encoding, the complexity is unchanged by the data hiding stage. Therefore, the used image regions could be determined precisely in the extraction process without using any additional information. The experimental results proved that the stego images created by the proposed approach achieved higher security against statistical and visual steganalysis techniques than the previous methods. The improvement of the security against detection by Ensemble Classifier is four times as secure as the best security performance of the existing methods.

     

从位置参数入手直接建立圆点曲线方程

根据刚体四个有限位置的位移参数及点四位置共圆的等圆周角条件，列出了复极矢量等式．在刚体坐标系上，直接导出了圆点曲线方程，并给出圆点坐标的具体算法．     

Iso-scallop tool path generation in 5-axis milling

This paper presents a new method of computing constant scallop height tool paths in 5-axis milling on sculptured surfaces. Usually, iso-scallop tool path computation methods are based on approximations. The attempted scallop height is modelled in a given plane to ensure a fast computation of the tool path. We propose a different approach, based on the concept of the machining surface, which ensures a more accurate computation. The machining surface defines the tool path as a surface, which applies in 3- or 5-axis milling with the cutting tools usually used. The machining surface defines a bi-parametric modelling of the locus of a particular point of the tool, and the iso-scallop surface allows to easily find iso-scallop tool centre locations. An implementation of the algorithms is done on a free-form surface with a filleted end mill in 5-axis milling.     

X-ray absorption spectroscopies of Mg-Al-Ni hydrotalcite like compound for explaining the generation of surface acid sites

Hydrotalcite-like compound containing metal cations such as Mg²⁺, Al³⁺ and Ni²⁺ was characterized using Ni K-edge EXAFS and in situ Ni K-edge XANES techniques for clarifying its bonding environment around Ni²⁺ sites and structure changes during calcination from room temperature to 550 °C, respectively. At the fixed molar ratio of Mg/Ni/Al of 2/1/1, the results obtained from EXAFS analysis showed a slight blue shift before and after the calcination at 550 °C and a reduction in white line peak; the best fits of the two samples revealed tiny change in coordination number about 7 for Ni-O path but considerable difference for Ni-Mg(Al) path from about 4.5 to 9.5, confirming a modification from brucite like to mixed oxide structure. On the other hand, bond distances of the Ni-O and Ni-Mg paths nearly fixed at about 2.06 Å to 3.0 Å reflected stability of the cationic bond order on each plane, but partial collapse and decomposition of the interlayer formed by water molecules and anion CO ₃ ^2? after the calcination. Linear combination fit extracted from the in situ Ni K-edge XANES also confirmed the changes along with the calcination such as slow and fast decreases of brucite fraction at 150 °C and 330 °C, respectively, in corresponding to the mixed oxide fraction increases. The achieved bonding structures were also applied to explain acid-base occurrence of the hydrotalcite-like material, especially the acid sites generated by different static charges along with the bonds. The explanation was illustrated by NH₃-TPD method.     

Preparation and characterization of ordered mesoporous Mg–Al–Co hydrotalcite based catalyst for decarboxylation of jatropha oil

This paper reported preparation of novel order mesoporous Mg–Al–Co hydrotalcite based catalysts through sol–gel procedure using precursors such Mg(NO₃)₂, Al(NO₃)₃ and Co(NO₃)₂ and Na₂CO₃. The catalyst also contained both acidity and basicity being very convenient for decarboxylation process of vegetable oil to green hydrocarbons. The alkaline media was maintained at pH 10 during the processes. Molar ratio of metal cations and temperature of the sol–gel processes were investigated for their effect in the mesoporous structure formation. The results showed that the procedure should be established at 70 °C with the molar Mg/Al/Co ratio of 1/5/0.2. Acidity and basicity of the mesoporous hydrotalcite based catalyst were demonstrated for their co-existence. The as-synthesized material at the suitable conditions was used as catalyst for decarboxylation of jatropha oil to obtain green hydrocarbons mainly belonging to diesel fraction. The decarboxylation was carried out at 400 °C for 3 h in closed auto-pressurized reactor exhibiting a yield of diesel involving hydrocarbons of over 70% after distillation and analysis. The result also confirmed that the acidity and basicity greatly accelerated the activity of the catalyst. Some techniques were used to characterizing the catalyst including XRD, SEM, TEM, TGA, NH₃-TPD, CO₂-TPD and BET, and GC–MS was also used to analyze the main product composition.     

Study of thermal performance of extensive rooftop greenery systems in the tropical climate

Singapore is a Garden City. On the other hand, with increasing population and limited territory, the government had to adopt a high-density and high-rise residential strategy. The high concentration of buildings in cities has resulted in many environmental issues, such as the Urban Heat Island effect. The rising ecological concerns for building design attempt to create harmony between buildings and their surroundings through mitigating their negative impact on the environment. The greening of buildings is essentially one of the ecological measures. The National Parks Board (NParks) launched a skyrise greenery approach/programme recently to promote the greening of buildings.     

Fuzzy critical chain method for project scheduling under resource constraints and uncertainty

This paper develops a fuzzy critical chain method for project scheduling under resource constraints and uncertainty. The method consists of developing a desirable deterministic schedule under resource constraints, and adding a project buffer (PB) to the end of the schedule to deal with uncertainty. The size of the project buffer is determined by computations with fuzzy numbers. During project execution, the proposed method focuses on the penetration level in the project buffer, and dynamically updates the schedule to provide a more accurate schedule for actual progress. The use of a project buffer makes the method akin to critical chain project management (CCPM), although no feeding buffers are used. The proposed method is useful for both project planning and execution.     

Elevating Biomedical Performance of ZnO/SiO2@Amorphous Calcium Phosphate ‐ Bioinspiration Making Possible the Impossible

Here a biomimetic approach is presented to fabricate nanodragon fruits featured by a multitude of tiny quantum dot ZnO seeds embedded in mesosilica (SiO₂) flesh then enclosed in amorphous calcium phosphate (ACP) shell. The nanodragon fruits give rise to a new class of hybrid ZnO/SiO₂@ACP nanocomplex with multimoidal capability: cellular delivering, intracellular targeting, and subcellular imaging. With this particular design, the unusual fluorescent stability of ZnO quantum dots (QDs) in aqueous solution, the specific color selection of the functional ZnO QD seeds, and the stability of transient ACP over a long period of time are made possible. In addition, the nanodragon fruits, capable of targeting mitochondria, have elevated biocompatibility, thus can be of enormous potential applications in treating mitochondrial diseases including inflammation, neurodegeneration, obesity, diabetes, cardiovascular diseases, and cancer. As numerous human disorders are often associated with cellular dysfunctions, this biocompatible carrying platform, capable of delivering, targeting, and imaging subcellular organelles, is therefore highly desirable for efficacious therapeutic and diagnostic treatment.