Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

This paper describes the development of an approach for trajectory planning of cable-suspended parallel robots using optimal control approach. A prototype has been built, and tests have been carried out to verify the theoretical results. This paper briefly illustrates this device and presents some initial tests. The final dynamic equations are organized in a closed form similar to serial manipulator equations. Dynamic load-carrying capacity problem is converted into a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. The problem is formulated using optimal control theory, and the ideas are analyzed using Pontryagin’s minimum principle. The optimal solutions are found by solving the corresponding nonlinear two-point boundary value problems. The main objective is to find the manipulator load-carrying capacity in point-to-point task by considering actuator torque while cable forces are positive.     

Heavy paraffin dehydrogenation and hydrogenation of nitrobenzene to aniline: Effects of operating conditions

Auto-thermal heat exchanger configurations are recognized as a novel concept in process intensification. In the current study, the influence of operating conditions in a novel coupling reactor with radial-flow pattern is investigated for heavy paraffin dehydrogenation process. Catalytic hydrogenation of nitrobenzene to aniline takes place in the exothermic side and supplies the necessary heat for the endothermic dehydrogenation of heavy paraffin reaction. The performance of the reactor is numerically investigated for various key operating variables, such as inlet molar flow rates of exothermic and endothermic streams, number of subsections, and exothermic side angle. The reactor performance is analyzed based on temperature, olefin production rate, and nitrobenzene conversion.     

CO<Subscript><Emphasis Type="Italic">x</Emphasis></Subscript>-free hydrogen and carbon nanofibers production by methane decomposition over nickel-alumina catalysts

Nickel catalysts supported on mesoporous nanocrystalline gamma alumina with various nickel loadings were prepared and employed for thermocatalytic decomposition of methane into CO _x -free hydrogen and carbon nanofibers. The prepared catalysts with different nickel contents exhibited mesoporous structure with high surface area in the range of 121.3 to 66.2m²g^?1. Increasing in nickel content decreased the pore volume and increased the crystallite size. The catalytic results revealed that the nickel content and operating temperature both play important roles on the catalytic performance of the prepared catalysts. The results showed that increasing in reaction temperature increased the initial conversion of catalysts and significantly decreased the catalyst lifetime. Scanning electron microscopy (SEM) analysis of the spent catalysts evaluated at different temperatures revealed the formation of intertwined carbon filaments. The results showed that increasing in reaction temperature decreased the diameters of nanofibers and increased the formation of encapsulating carbon.     

Silica aerogel/epoxy nanocomposites: Mechanical,vibrational, and morphological properties

The present study was an attempt to examine the effects that adding silica aerogel (SA) nanoparticles to epoxy would exert on its mechanical, vibrational, and morphological properties. Neat epoxy was consecutively combined with 1, 2, and 4 wt% of SA nanoparticles. A number of tests of mechanical properties were then performed on the samples, including tests of tensile, bending, compressive, dynamic mechanical thermal, hardness, and Izod impact. Vibration and water uptake tests were also conducted on the samples. The highest modulus and strength values were found in the nanocomposite sample with 4 wt% of SA, and the highest toughness and elongation values were detected in the sample with 1 wt% of SA. Furthermore, adding the SA nanoparticles to the epoxy improved the energy absorption and hardness of the epoxy matrix. The findings from the tests of dynamic mechanical thermal and vibration properties demonstrated that, with an increase in the nanoparticles content in the samples, the values of storage modulus and natural frequency increased while the values of tan δ and damping ratios decreased. A comparison between the values of natural frequency from the vibration test and the values from the Euler–Bernoulli beam theory showed a good agreement between the theoretical and experimental results.     

Investigation on Microstructure,Wear Behavior and Microhardness of Al−Si/SiC Nanocomposite

Aluminum matrix nano-composites have been widely used in various fields such as aerospace, automobile, and packing industries. In this study, the effect of nano-SiC content on the microst-ructure, wear resistance and micro-hardness of Al–Si/SiC nano-composite was investigated. In this regard, Al–Si matrix was reinforced by different amounts of nano-SiC: 0, 0.5, 1, 1.5, 3, 5, 10 wt %. The results showed that with increasing the nano-SiC weight ratio, nano-particles are agglomerated and unsuitable sintering increases the porosity, as pores and cavities. For more than 1.5% weight ratio of nano-SiC in the matrix, the wear resistance and the micro-hardness decreased. The results of the wear test, scanning electron microscopy, energy dispersive X-ray spectroscopy and worn surfaces showed that the dominant wear mechanism is controlled by nano-SiC contents. This study indicated that with adding nano-SiC particles more than the optimal content, wear resistance and micro-hardness of Al–Si/SiC nano-composite increased more than twice.     

Comparative study of adsorption properties of Turkish fly ashes. II. The case of chromium (VI) and cadmium (II)

The purpose of the study described in this paper was to compare the removal of Cr(VI) and Cd(II) from an aqueous solution using two different Turkish fly ashes; Afsin-Elbistan and Seyitomer as adsorbents. The influence of four parameters (contact time, solution pH, initial metal concentration in solution and ash quality) on the removal at 20+/-2 degrees C was studied. Fly ashes were found to have a higher adsorption capacity for the adsorption of Cd(II) as compared to Cr(VI) and both Cr(VI) and Cd(II) required an equilibrium time of 2h. The adsorption of Cr(VI) was higher at pH 4.0 for Afsin-Elbistan fly ash (25.46%) and pH 3.0 for Seyitomer fly ash (30.91%) while Cd(II) was adsorbed to a greater extent (98.43% for Afsin-Elbistan fly ash and 65.24% for Seyitomer fly ash) at pH 7.0. The adsorption of Cd(II) increased with an increase in the concentrations of these metals in solution while Cr(VI) adsorption decreased by both fly ashes. The lime (crystalline CaO) content in fly ash seemed to be a significant factor in influencing Cr(VI) and Cd(II) ions removal. The linear forms of the Langmuir and Freundlich equations were utilised for experiments with metal concentrations of 55+/-2mg/l for Cr(VI) and 6+/-0.2mg/l for Cd(II) as functions of solution pH (3.0-8.0). The adsorption of Cr(VI) on both fly ashes was not described by both the Langmuir and Freundlich isotherms while Cd(II) adsorption on both fly ashes satisfied only the Langmuir isotherm model. The adsorption capacities of both fly ashes were nearly three times less than that of activated carbon for the removal of Cr(VI) while Afsin-Elbistan fly ash with high-calcium content was as effective as activated carbon for the removal of Cd(II). Therefore, there are possibilities for use the adsorption of Cd(II) ions onto fly ash with high-calcium content in practical applications in Turkey.