Optimization of parallel manipulator trajectory for obstacle and singularity avoidances based on neural network

This paper presents a novel method for singularity-free path planning and obstacle avoidance of parallel manipulators. A modified 3-4-5 interpolating polynomial is used to plan a trajectory for a planar 3-DOF parallel manipulator. The polynomial function which is smooth and continuous in displacement, velocity, and acceleration is used to find a smooth path avoiding the obstacles and singularities. An artificial neural network is implemented to solve forward kinematics of the manipulator to estimate the distance between gripper and singularity or obstacle. The simulating results demonstrate the efficiency of the proposed algorithm.     

Numerical analysis of rock fracturing by gas pressure using the extended finite element method

High energy gas fracturing is a simple approach of applying high pressure gas to stimulate wells by generating several radial cracks without creating any other damages to the wells.In this paper,a numerical algorithm is proposed to quantitatively simulate propagation of these fractures around a pressurized hole as a quasi-static phenomenon.The gas flow through the cracks is assumed as a one-dimensional transient flow,governed by equations of conservation of mass and momentum.The fractured medium is modeled with the extended finite element method,and the stress intensity factor is calculated by the simple,though sufficiently accurate,displacement extrapolation method.To evaluate the proposed algorithm,two field tests are simulated and the unknown parameters are determined through calibration.Sensitivity analyses are performed on the main effective parameters.Considering that the level of uncertainty is very high in these types of engineering problems,the results show a good agreement with the experimental data.They are also consistent with the theory that the final crack length is mainly determined by the gas pressure rather than the initial crack length produced by the stress waves.     

CREEPING FLOW OF VISCOELASTIC FLUIDS THROUGH TAPERED SLIT DIES: AN ANALYTICAL SOLUTION

In the present study, it will be shown that at vanishingly small Reynolds numbers the extensional behavior of a fluid has a strong effect on its kinematics when flowing through a tapered slit die. To show this, the Cauchy equations of motion were simplified using the creeping flow approximation. Assuming the flow to be steady, laminar, two-dimensional, and incompressible, the governing PDEs were reduced to a set of coupled ODEs using a series solution in terms of the powers of 1/r. Two different constitutive equations, both incorporating an extensional parameter, were used in the analysis: (i) the Giesekus model and (ii) the Simplified Phan-Thien-Tanner (SPTT). An analytical solution was found for each fluid model clearly depicting the strong influence of the extensional parameter on the flow becoming non-radial within the channel.     

Peridynamic assessment of mechanical and thermal characteristics of a defected PMMA/HA composite beam

Polymer-based composites are designed to improve mechanical and thermal characteristics. This study utilized a peridynamic methodology to simulate polymethyl methacrylate/hydroxyapatite composite beams. The simulation involved the crack growth within the computational domain, and an analysis was conducted to evaluate the mechanical and thermal properties of the defected system. The outcomes derived from the peridynamic analysis revealed that an augmentation in the hydroxyapatite ratio within the samples resulted in a decrease in their mechanical and thermal efficiencies. To elucidate further, at an impact velocity of 2 mm/s, the flexural modulus increased to 3.69 GPa, the flexural strength decreased to 132.34 MPa, and the thermal conductivity converged to 0.148 W/m·K, when the hydroxyapatite ratio was at 15%. In the course of the conducted investigations, it became evident that the impact velocity significantly influences the evolutionary behavior of particles within the samples. In particular, with an increase in the impact velocity up to 5 mm/s, the thermal conductivity decreased to 0.139 W/m·K. The results of this study indicate that by modifying the hydroxyapatite ratio and impact velocity, it is possible to control the mechanical and thermal properties of the polymethyl methacrylate/hydroxyapatite composite beams. This optimization allows for their suitability in various engineering applications.     

On singularities of multi-degree-of-freedom spherical mechanisms

For spherical mechanisms, instantaneous poles are as the counterparts of instant centers in planar mechanisms. However, they are not fully exploited to study the kinematic behavior of spherical mechanisms as the instant centers are for planar ones. The main purpose of this paper is the singularity analysis of multi-degree-of-freedom (DOF) spherical mechanisms. After reviewing the concepts of spherical motion and instantaneous poles, a geometrical technique is presented to identify the singularities of the mechanisms using the properties of instantaneous poles. The method is fast and comprehensive that can be easily employed for all types of multi-DOF spherical mechanisms. Two illustrative examples are included to show the effectiveness of the presented method and the obtained singularities are verified analytically.     

Performance evaluation of sequential spectrum handoff in cognitive radio networks: a single‐user case

Powerful spectrum handover schemes enable cognitive radios to exploit transmission opportunities in primary users’ channels appropriately. In this paper, modeling and performance evaluation of sequential spectrum sensing strategy are addressed. To this end, the average number of handovers required for finding a transmission opportunity is evaluated assuming that a prior knowledge of the presence and absence probabilities of the primary users is available. Moreover, the average throughput maximization of a secondary user by optimizing its spectrum sensing time is formulated, and a set of illustrative numerical results is then presented to validate the analytical analysis.Copyright © 2013 John Wiley & Sons, Ltd.     

Annona muricata (Annonaceae): A Review of Its Traditional Uses,Isolated Acetogenins and Biological Activities

Annona muricata is a member of the Annonaceae family and is a fruit tree with a long history of traditional use. A. muricata, also known as soursop, graviola and guanabana, is an evergreen plant that is mostly distributed in tropical and subtropical regions of the world. The fruits of A. muricata are extensively used to prepare syrups, candies, beverages, ice creams and shakes. A wide array of ethnomedicinal activities is contributed to different parts of A. muricata, and indigenous communities in Africa and South America extensively use this plant in their folk medicine. Numerous investigations have substantiated these activities, including anticancer, anticonvulsant, anti-arthritic, antiparasitic, antimalarial, hepatoprotective and antidiabetic activities. Phytochemical studies reveal that annonaceous acetogenins are the major constituents of A. muricata. More than 100 annonaceous acetogenins have been isolated from leaves, barks, seeds, roots and fruits of A. muricata. In view of the immense studies on A. muricata, this review strives to unite available information regarding its phytochemistry, traditional uses and biological activities.     

Nitrogen and potassium requirements of tomato plants for the optimization of fruit quality and antioxidative capacity during storage

While nitrogen (N) and potassium (K) fertilizers are commonly used in tomato fields for increasing plant growth and productivity, concepts regarding the interactive effects of these elements on tomato fruit quality during storage are ambiguous. The interactive effects of potassium (0, 250 and 500 mg kg soil^??1) and nitrogen (0, 150 and 300 mg kg soil^??1) fertilizers were tested on tomato fruit size at harvest, and their quality was evaluated after 30 days of storage at 4 °C. Fruit mass, firmness, taste-related parameters, inorganic nutrients, bioactive compounds, and antioxidative capacity of the fruits were investigated after the storage period. Application of 250–500 mg K in combination with 150 mg N per kg soil improved fruit mass at harvest and reduced loss of mass during storage. By increasing the soil’s K supply, the fruits exhibited significant increases in their amount of potassium, TSS and TA contents, antioxidative capacity, concentrations of lycopene, phenolics and ascorbic acid. Nonetheless, increasing the soil’s K concentration reduced Ca concentration and firmness of the fruits. By increasing the N concentration in the soil, a trend of decline was observed in the fruits’ TSS, soluble phenolics, lycopene and ascorbic acid contents. However, higher amounts of N and TA contents were detected in fruits treated with 300 mg N kg soil^??1. N treatments did not affect the antioxidative capacity of the fruits. Accordingly, application of 250 mg K?+?150 mg N kg soil^??1 was suggested as the optimum treatment that could yield tomato fruits with high quality and that would also have improved storage capability.     

An interface‐enriched generalized FEM for problems with discontinuous gradient fields

A new generalized FEM is introduced for solving problems with discontinuous gradient fields. The method relies on enrichment functions associated with generalized degrees of freedom at the nodes generated from the intersection of the phase interface with element edges. The proposed approach has several advantages over conventional generalized FEM formulations, such as a lower computational cost, easier implementation, and straightforward handling of Dirichlet boundary conditions. A detailed convergence study of the proposed method and a comparison with the standard FEM are presented for heat transfer problems. The method achieves the optimal rate of convergence using meshes that do not conform to the interfaces present in the domain while achieving a level of accuracy comparable to that of the standard FEM with conforming meshes. Various application problems are presented, including the conjugate heat transfer problem encountered in microvascular materials. Copyright © 2011 John Wiley & Sons, Ltd.     

Validation of dynamic block displacement analysis and modification of edge-to-edge contact constraints in 3-D DDA

The validity of three-dimensional discontinuous deformation analysis (3-D DDA) is examined by comparing its solution for dynamic block displacement with an analytical solution. Displacement of a single block on inclined planes subjected to dynamic loadings is studied for analytical solutions derived with respect to the frictional resistance offered by the planes. 3-D DDA predicts accurately the analytical displacements, and the results were found sensitive to the maximum displacement ratio, and the size of the time step, which are defined by the user. Best results were achieved when the actual displacements were approximately equal to the assumed maximum displacements per time step. Furthermore, edge-to-edge contact constraints have been improved by using the augmented Lagrangian method instead of the penalty method. Using the augmented Lagrangian method to enforce contact restraints retains the simplicity of the penalty method, and reduces its disadvantages. The new formulation of edge-to-edge contact using the augmented Lagrangian method is implemented in 3-D DDA and has been programmed in VC++. Finally two illustrative examples are presented for demonstrating this new approach.