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.     

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.     

Classical coupled thermoelasticity in laminated composite plates based on third-order shear deformation theory

A new mixed finite element formulation is proposed to analyze transient coupled thermoelastic problems. Coupled model of dynamic thermoelasticity is selected for a laminated composite and a homogeneous isotropic plate. For the particular finite element developed here, there are 15 degrees of freedom at each node. Two simply supported plates are considered subjected to sinusoidally distributed mechanical and thermal loading. It is seen, by comparing the present results with results from the NISA II FEM code, that they are in good agreement.     

An Investigation on Reasons Causing Inferiority in Unlubricated Sliding Wear Performance of 60NiTi as Compared to 440C Steel

60NiTi is gaining recognition as an alternative to 440C steel in ball bearing components due to its intrinsic corrosion resistance and unusually high static load capacity. 440C steel and 60NiTi exhibit comparable Rockwell hardness and would be expected to exhibit similar sliding wear behavior using hardness based models. However, results show that under unlubricated sliding conditions, 60NiTi shows inferior wear properties than 440C steel. In this study, a series of indentation and single pass scratching experiments are conducted to elucidate the reasons behind this unexpected observation. Moreover, sliding wear tests carried out under moderate and extreme tensile stress conditions were used to identify sliding conditions under which these materials exhibit similar and dissimilar behavior. The results show that 440C steel exhibits more microscopic plasticity than 60NiTi, halting the propagation of generated tensile microcracks. In contrast, the intrinsic brittleness of 60NiTi leads to the formation and growth of microcracks between the shear bands causing subsequent wear particle generation. These lead to the occurrence of wear through more aggressive abrasion processes in 60NiTi than 440C steel. These findings help explain why 60NiTi performs well when lubricated. 60NiTi is expected to tolerate ～912?MPa tensile stress before yielding. Under good lubricated conditions where a perfect lubricating film is formed, friction induced tensile stresses fall below the tensile strength of 60NiTi and wear is prevented. However, inadequate lubrication combined with high contact stress leads to damage and wear.     

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.