On multiple crack detection in beam structures

This study presents an inverse procedure to identify multiple cracks in beams using an evolutionary algorithm. By considering the crack detection procedure as an optimization problem, an objective function can be constructed based on the change of the eigenfrequencies and some strain energy parameters. Each crack is modeled by a rotational spring. The changes in natural frequencies due to the presence of the cracks are related to a damage index vector. Then, the bees algorithm, a swarm-based evolutionary optimization technique, is used to optimize the objective function and find the damage index vector, whose positive components show the number and position of the cracks. A second objective function is also optimized to find the crack depths. Several experimental studies on cracked cantilever beams are conducted to ensure the integrity of the proposed method. The results show that the number of cracks as well as their sizes and locations can be predicted well through this method.     

Seed localization in Ultrasound and Registration to C-Arm Fluoroscopy Using Matched Needle Tracks for Prostate Brachytherapy

We propose a novel fiducial-free approach for the registration of C-arm fluoroscopy to 3-D ultrasound images of prostate brachytherapy implants to enable dosimetry. The approach involves the reliable detection of a subset of radioactive seeds from 3-D ultrasound, and the use of needle tracks in both ultrasound and fluoroscopy for registration. Seed detection in ultrasound is achieved through template matching in 3-D radio frequency ultrasound signals, followed by thresholding and spatial filtering. The resulting subset of seeds is registered to the complete reconstruction of the brachytherapy implant from multiple C-arm fluoroscopy views. To compensate for the deformation caused by the ultrasound probe, simulated warping is applied to the seed cloud from fluoroscopy. The magnitude of the applied warping is optimized within the registration process. The registration is performed in two stages. First, the needle track projections from fluoroscopy and ultrasound are matched. Only the seeds in the matched needles are then used as fiducials for point-based registration. We report results from a physical phantom with a realistic implant (average postregistration seed distance of 1.6 ± 1.2?mm) and from five clinical patient datasets (average error: 2.8 ± 1.5?mm over 128 detected seeds). We conclude that it is feasible to use RF ultrasound data, template matching, and spatial filtering to detect a reliable subset of brachytherapy seeds from ultrasound to enable registration to fluoroscopy for dosimetry.     

Synthesis of polypyrrole coated manganese nanowires and their application in hydrogen peroxide detection

This study focuses on the synthesis and application of polypyrrole coated manganese nanowires (Mn/PPy NWs) as an enzyme-less sensor for the detection of hydrogen peroxide (H₂O₂). The X-ray diffraction (XRD), field emission scanning electron microscopy (FESEM) and transmission electron microscopy (TEM) results confirm a core–shell structure with the Mn nanowires encapsulated by the PPy. An electrochemical sensor based on the Mn/PPy NWs for amperometric determination of H₂O₂ is prepared. The electrochemical behaviour of H₂O₂ is investigated by cyclic voltammetry with the use of modified glassy carbon electrode (GCE) with Mn/PPy NWs film. The modified glassy carbon electrode (GCE) with Mn/PPy NWs shows enhanced amperometric response for the detection of H₂O₂. This is due to the high available surface area of Mn/PPy NWs which can provide a suitable area for the reaction of H₂O₂. The detection limit and limit of quantification (S/N = 3) for two linear segments (low and high concentration of H₂O₂) are estimated to be 2.12 μmol L⁻¹, 7.07 μmol L⁻¹ and 22.3 μmol L⁻¹, 74.5 μmol L⁻¹, respectively. In addition, the sensitivity for these two linear segments is 0.4762 μA mM⁻¹ and 0.0452 μA mM⁻¹ respectively.     

Dynamic output feedback stabilization of deterministic finite automata via the semi‑tensor product of matrices approach

This paper deals with the dynamic output feedback stabilization problem of deterministic finite automata (DFA). The static form of this problem is defined and solved in previous studies via a set of equivalent conditions. In this paper, the dynamic output feedback (DOF) stabilization of DFAs is defined in which the controller is supposed to be another DFA. The DFA controller will be designed to stabilize the equilibrium point of the main DFA through a set of proposed equivalent conditions. It has been proven that the design problem of DOF stabilization is more feasible than the static output feedback (SOF) stabilization. Three simulation examples are provided to illustrate the results of this paper in more details. The first example considers an instance DFA and develops SOF and DOF controllers for it. The example explains the concepts of the DOF controller and how it will be implemented in the closed-loop DFA. In the second example, a special DFA is provided in which the DOF stabilization is feasible, whereas the SOF stabilization is not. The final example compares the feasibility performance of the SOF and DOF stabilizations through applying them to one hundred random-generated DFAs. The results reveal the superiority of the DOF stabilization.     

A multirobot system for autonomous deployment and recovery of a blade crawler for operations and maintenance of offshore wind turbine blades

Offshore wind farms will play a vital role in the global ambition of net zero energy generation. Future offshore wind farms will be larger and further from the coast, meaning that traditional human-based operations and maintenance approaches will become infeasible due to safety, cost, and skills shortages. The use of remotely operated or autonomous robotic assistants to undertake these activities provides an attractive alternative solution. This paper presents an autonomous multirobot system which is able to transport, deploy and retrieve a wind turbine blade inspection robot using an unmanned aerial vehicle (UAV). The proposed solution is a fully autonomous system including a robot deployment interface for deployment, a mechatronic link-hook module (LHM) for retrieval, both installed on the underside of a UAV, a mechatronic on-load attaching module installed on the robotic payload and an intelligent global mission planner. The LHM is integrated with a 2-DOF hinge that can operate either passively or actively to reduce the swing motion of a slung load by approximately 30%. The mechatronic modules can be coupled and decoupled by special maneuvers of the UAV, and the intelligent global mission planner coordinates the operations of the UAV and the mechatronic modules for synchronous and seamless actions. For navigation in the vicinity of wind turbine blades, a visual-based localization merged with the location knowledge from Global Navigation Satellite System has been developed. A proof-of-concept system was field tested on a full-size decommissioned wind-turbine blade. The results show that the experimental system is able to deploy and retrieve a robotic payload onto and from a wind turbine blade safely and robustly without the need for human intervention. The vicinity localization and navigation system have shown an accuracy of 0.65 and 0.44 m in the horizontal and vertical directions, respectively. Furthermore, this study shows the feasibility of systems toward autonomous inspection and maintenance of offshore windfarms.     

A Comparative Approach for Time‐Delay Fractional Optimal Control Problems: Discrete Versus Continuous Chebyshev Polynomials

This paper aims to demonstrate the superiority of the discrete Chebyshev polynomials over the classical Chebyshev polynomials for solving time‐delay fractional optimal control problems (TDFOCPs). The discrete Chebyshev polynomials have been introduced and their properties are investigated thoroughly. Then, the fractional derivative of the state function in the dynamic constraint of TDFOCPs is approximated by these polynomials with unknown coefficients. The operational matrix of fractional integration together with the dynamical constraints is used to approximate the control function directly as a function of the state function. Finally, these approximations were put in the performance index and necessary conditions for optimality transform the under consideration TDFOCPs into an algabric system. A comparison has been made between the required CPU time and accuracy of the discrete and continuous Chebyshev polynomials methods. The obtained numerical results reveal that utilizing discrete Chebyshev polynomials is more efficient and less time‐consuming in comparison to the continuous Chebyshev polynomials.     

Manipulation of polygonal objects with two wheeled-tip fingers: Planning in the presence of contact position error

This paper addresses the planning problem of object manipulation using wheeled-tip robots considering the wheel-object contact positioning error. The term wheeled-tip refers to a new mechanism that incorporates active wheels at robot’s fingertips and allows the grasp contact-point to move along the object’s surface. The benefits of unlimited rolling contact is achieved at the cost of contact positioning error that may cause the manipulation to fail. We propose a probabilistic based algorithm for robot motion planning that in addition to being collision free, guarantees the stability of the grasp throughout the planned path. To do so, first we introduce an algorithm that ensures the kinematical stability of the grasp during manipulation by respecting the force closure constraint. Further we extend the algorithm to address the practical uncertainties involved in the position of wheel-object contact points. The proposed algorithms can be employed for manipulators with limited rolling contacts, as well. The algorithms have been tested and the results prove that the planned path can be trusted in uncertain situations.     

The overstrain of Thick-Walled cylinders considering the bauschinger effect factor (BEF)

An independent kinematic hardening material model in which the reverse yielding point is defined by the Bauschinger effect factor (BEF), has been defined for stainless steel SUS 304. The material model and the BEF are obtained experimentally and represented mathematically as continuous functions of effective plastic strain. The material model has been incorporated in a non-linear stress analysis for the prediction of reverse yielding in thick-walled cylinders during the autofrettage process of these vessels. Residual stress distributions of the independent kinematic hardening material model at the onset of reverse yielding are compared with residual stresses of an isotropic hardening model showing the significant effect of the BEF on reverse yielding predictions. Critical pressures of direct and reverse yielding are obtained for the most commonly used cylinders and a range of permissible internal pressures for an efficient autofrettaged process is recommended.     

3D simulation of effect of geometry on minimum fluidization velocity and flow regimes in a spout-fluidized bed

Spout–fluid beds are used for a variety of processes involving particulate solids, like coating, drying, granulation and etc. The spout–fluidized bed combines a number of favorable properties of both spouted and fluidized beds. In this study, the Granular Eulerian model is used in 3-D hydrodynamic simulation of spout fluidized bed for calculation of minimum fluidization velocity. The results of simulation were compared with experimental data and good agreement was obtained. Then the effect of geometry on minimum fluidization velocity was studied. Also a review of flow regimes in different spout fluidized bed geometries was studied.     

Passage of the Roughening Temperature Influence on the Crystalline Structure and Morphology of a Nano Metal–Organic Material

The reactions between 2-mercaptobenzothiazole (HMBT) and AgNO₃ in ultrasonic bath with low and high concentrations of initial reagents provided yellow precipitates of [Ag₆(MBT)₆] (1), which can be considered as 1L and 1H, respectively. Powder XRD patterns of them showed that they have crystalline structure and SEM images of 1L and 1H approved that microblocks and nanosheets of 1 were formed, respectively. Similar studies after mechanical and thermo-mechanical treatment of 1L and 1H indicated that compound 1 with nanoparticle and agglomerated nanoparticle morphologies were obtained. As a result of heat and energy created from the friction process and also external heat source a roughening transition was occurred and the crystalline samples of 1L and 1H, loses their facets. This can be understood by considering compound 1 surface above the roughening temperature as a liquid surface.