Trajectory generation for open-contoured structures in robotic fibre placement

Composites have become common engineering materials in industries where the strength to weight performance of structures is a key design consideration. The major limiting factors are the high-manufacturing costs and low-production rates. Robotic fibre placement (RFP) is one alternative process to overcome the limiting factors and it is generally suitable for open-continuous components. A novel path planning algorithm for open-contoured structures, entitled the surface curve algorithm for robotic fibre placement (SCAR) is proposed. The algorithm aims to produce a uniform lay-up of composite lamina, without gap and overlap between subsequent tows. A numerical investigation into the characteristics of the algorithm is performed and presented. The algorithm is implemented on complex contoured surface and some of the results are presented in this paper.     

Prediction of geometric errors of robot manipulators with Particle Swarm Optimisation method

This paper reports on the prediction of the expected positioning errors of robot manipulators due to the errors in their geometric parameters. A Swarm Intelligence (SI) based algorithm, which is known as Particle Swarm Optimization (PSO), has been used to generate error estimation functions. The experimental system used is a Motoman SK120 manipulator. The error estimation functions are based on the robot position data provided by a high precision laser measurement system. The functions have been verified for three test trajectories, which contain various configurations of the manipulator. The experimental results demonstrate that the positioning errors of robot manipulators can be effectively predicted using some constant coefficient polynomials whose coefficients are determined by employing the PSO algorithm. It must be emphasized that once the estimation functions are obtained, there may be no need of any further experimental data in order to determine the expected positioning errors for a subsequent use in the error correction process.     

An analysis of carbone monoxide distribution in large tunnel fires

Fire events and the related toxicants such as CO are responsible for many fatalities in the current century. These hazardous events are much more dangerous when they occur in enclosed spaces. In the present study, a theoretical relation is developed for horizontal distribution of CO in a large tunnel fire. Then, the developed criterion is used to study the effect of some rudimentary parameters such as the heat release rate (HRR) of fire and tunnel’s aspect ratio (AR) on CO and temperature stratification. Theoretical results of various heat release rates and aspect ratios for horizontal distribution of CO are compared with numerical results using fire dynamics simulator (FDS5.5). It is found that big fires have higher rates of CO concentration decay in comparison to the smaller ones due to higher air entrainment into the travelling plume. It is indicated that the smoke travelling at higher values of tunnel AR, dilutes faster. Moreover, using FDS5.5, the relevant variations in temperature and CO concentration are discussed for tunnel angles ranging from ?20° to 20°.     

Thermo-economic optimization of rooftop unit’s evaporator coil for energy efficiency and thermal comfort

In this paper, the optimization-simulation approach is proposed to investigate energy saving potential of an air-cooled direct expansion rooftop package air conditioning system by refining the model of the HVAC system components and deriving optimal configuration for evaporator coil subject to technical constraints. In this method the frontal area of the evaporator coil is maintained as constant and the variation of other geometrical parameters on the thermal and economical performance of the system is investigated. An actual air-cooled rooftop package of a real-world commercial building in hot and dry climate conditions is used for experimental data collection. Both inputs and outputs are measured from the field monitoring in two summer weeks. Based on the mathematical models and using collected data, modules incorporating the proposed optimal redesign procedure were embedded in a transient simulation tool. A mixed heuristic- deterministic optimization algorithm was implemented in the transient tool to determine the synthesis and design variables that influence the cost and energy efficiency of each configuration. Available experimental results were compared to predicted results to validate the model. Afterwards, the computer model was used to predict how changes in cooling coil geometry would affect the building thermal comfort, the cost and energy consumption of the system.     

Preparation and characterization of low‐density polyethylene/thermoplastic starch composites reinforced by cellulose nanofibers

In the current study, the effect of extracted cellulose nanofibers (CNFs) on rheological and mechanical properties and biodegradability of polyethylene/starch blend was investigated. The CNFs were extracted from wheat straws using a chemo‐mechanical method. Polyethylene/starch blend was reinforced by different amounts of CNF (6–14 wt%) using an internal mixer followed by a single screw extruder. The flow properties of nanocomposites were investigated by determining Melt Flow Index (MFI) and viscosity. Due to the weak interaction of cellulosic nanofibers and polymers, the flow behavior of nanocomposites was undesirable. Tensile tests were performed to evaluate the mechanical performance of nanocomposites. By increasing the CNF content, the tensile strength and elongation at break declined; whereas, the Young's modulus was improved. The biodegradation of cellulose nanocomposites was investigated by water absorption and degradability tests. Both experiments confirmed the progressive effect of cellulose nanofibers on the degradation of the composites. POLYM. COMPOS., 36:2309–2316, 2015. © 2014 Society of Plastics Engineers     

Using ozone to reduce recalcitrant compounds and to enhance biodegradability of pulp and paper effluents.

The effect of ozone based oxidation on removing recalcitrant organic matter (ROM) and enhancing the biodegradability of alkaline bleach plant effluent was investigated. A bubble column ozonation tower was used in the study. The experiments were carried out at different temperatures (20 degrees C and 60 degrees C) and pH (9 and 11), with a number of biological and chemical parameters being monitored including BOD5, COD, TC, pH, color, and molecular weight distribution of organics (nominal cut off of 1,000 Da). Biodegradability of the effluent was determined based on BOD5/COD of the wastewater throughout the process. For all the experiments, ozonation enhanced the biodegradability of the effluent by 30-40%, which was associated with noticeable removal of ROM including high molecular weight (HMW) and color-causing organics by about 30% and 60%, respectively. While the biodegradability of HMW fraction increased by about 50%, there was no biodegradability improvement for low molecular weight (LMW) portion, which was originally readily biodegradable (with BOD5/COD of about 0.5). Statistical analysis of variance (ANOVA) revealed neither pH nor temperature played significant role on the ozonation process at 95% confidence level.     

A six-noded element for analysing power-type singularities under thermal loads

The shape functions of a 6-noded triangular element have been derived to model power-type singularities under thermal loads. A number of case studies have been presented, which involve variable-order singularities under mechanical and thermal loads. The results show the usefulness of the element.     

Selecting a requirement determination methodology-contingency approach revisited

Previous research proposed a contingency approach to selecting a particular requirement determination methodology because of the uncertainty that exists in defining application/ organizational information requirements. Recent research has shown that organizations use information to reduce uncertainty, to resolve equivocality, or both. Since the nature of information used to reduce uncertainty is different from that used to resolve equivocality, it is necessary to decide which is needed before starting to design the future system. This paper presents a three step approach to selecting a requirement determination methodology. The first step calls for assessment of the degree of uncertainty and equivocality present in the application. Based on this, an appropriate information acquisition strategy is identified. The third step calls for the selection of RD methodologies that are effective in acquiring the needed information. This approach is illustrated with a set of examples.     

Guidelines for a preliminary dimensioning of a transaction-oriented vsat network

Very small aperture terminal (VSAT) satellite networks have recently emerged as an attractive and cost-effective alternative to traditional terrestrial circuit or packet switching networks for transaction enquiry-response data applications. VSAT star networks are particularly well adapted to this kind of application, offering high link reliability, better flexibility, wide service area coverage and several economic and operational advantages. However, one major drawback associated with satellite links is the relatively high propagation delay, which is about 0·27 s for one hop (ground–satellite-ground). This requires special design and dimensioning optimization in order to keep the response time of the network within acceptable limits. This paper provides guidelines for the dimensioning of such enquiry-response star VSAT networks. Dimensioning refers to determining the minimum transmission bit rates required, on the different terrestrial and satellite segments of the network, for a given network configuration and mean delay requirement. The approach presented in this paper allows network designers to determine, in a simple way, the required modem speeds of the network segments.