Optimal motion planning for parallel robots via convex optimization and receding horizon

In this paper, the problem of motion planning for parallel robots in the presence of static and dynamic obstacles has been investigated. The proposed algorithm can be regarded as a synergy of convex optimization with discrete optimization and receding horizon. This algorithm has several advantages, including absence of trapping in local optimums and a high computational speed. This problem has been fully analyzed for two three-DOF parallel robots, ie 3s-RPR parallel mechanism and the so-called Tripteron, while the shortest path is selected as the objective function. It should be noted that the first case study is a parallel mechanism with complex singularity loci expression from a convex optimization problem standpoint, while the second case is a parallel manipulator for which each limb has two links, an issue which increases the complexity of the optimization problem. Since some of the constraints are non-convex, two approaches are introduced in order to convexify them: (1) A McCormick-based relaxation merged with a branch-and-prune algorithm to prevent it from becoming too loose and (2) a first-order approximation which linearizes the non-convex quadratic constraints. The computational time for the approaches presented in this paper is considerably low, which will pave the way for online applications.     

A Learning Behavior Based Controller for Maintaining Balance in Robotic Locomotion

The Behavior Based Locomotion Controller (BBLC) extends the applicability of the behavior based control (BBC) architecture to redundant systems with multiple task-space motions. A set of control behaviors are attributed to each task-space motion individually and a reinforcement learning algorithm is used to select the combination of behaviors which can achieve the control objective. The resulting behavior combination is an emergent control behavior robust to unknown environments due to the added learning capability. Hence, the BBLC is applicable to complex redundant systems operating in unknown environments, where the emergent control behaviors can satisfy higher level control objectives such as balance in locomotion. The balance control problem of two robotic systems, a bipedal robot walker and a mobile manipulator, are used to study the performance of this controller. Results show that the BBLC strategy can generate emergent balancing strategies capable of adapting to new unknown disturbances from the environment, using only a small fixed library of balancing behaviors.     

Evolution of quantum correlations in the open quantum systems consisting of two coupled oscillators

The open quantum systems consisting of coupled and uncoupled asymmetric oscillators are considered with an initial quantum-dot trapped-ion coherent state. The quantum correlations between spatial modes of this trapped ion are examined to find their dependence on the temperature, asymmetric parameter, dissipation coefficient and the magnetic field. It is observed that the discord of the initial state is an increasing function of the asymmetric parameter and the magnetic field. Moreover, in the case of two uncoupled modes, entanglement and discord are decreasing functions of temperature and the dissipation coefficient. However, as the temperature and dissipation coefficient increase, the discord fades out faster. In the case of two coupled modes, as the temperature and dissipation coefficient increase, the sudden death of the entanglement and fade out of the discord happen sooner; moreover, as the magnetic field increases, the entanglement sudden death and the discord fade out time occur sooner. Also, with the increase in the asymmetric parameter, the entanglement sudden death is postponed. In addition, in the asymmetric system, appreciable discord can be created in the temperature range 0–10 K, while appreciable entanglement can be created in the temperature range 0–5 mK. Finally, it is observed that non-monotonic evolution of quantum correlations is due to coupling of modes.     

Critical rotational speed,critical velocity of fluid flow and free vibration analysis of a spinning SWCNT conveying viscous fluid

In this article, the influences of rotational speed and velocity of viscous fluid flow on free vibration behavior of spinning single-walled carbon nanotubes (SWCNTs) are investigated using the modified couple stress theory (MCST). Taking attention to the first-order shear deformation theory, the modeled rotating SWCNT and its equations of motion are derived using Hamilton’s principle. The formulations include Coriolis, centrifugal and initial hoop tension effects due to rotation of the SWCNT. This system is conveying viscous fluid, and the related force is calculated by modified Navier–Stokes relation considering slip boundary condition and Knudsen number. The accuracy of the presented model is validated with some cases in the literatures. Novelty of this study is considering the effects of spinning, conveying viscous flow and MCST in addition to considering the various boundary conditions of the SWCNT. Generalized differential quadrature method is used to approximately discretize the model and to approximate the equations of motion. Then, influence of material length scale parameter, velocity of viscous fluid flow, angular velocity, length, length-to-radius ratio, radius-to-thickness ratio and boundary conditions on critical speed, critical velocity and natural frequency of the rotating SWCNT conveying viscous fluid flow are investigated.     

Fault diagnosis of an automobile cylinder head using low frequency vibrational data

This paper proposes a vibration-based fault-diagnosis method for mechanical parts. This method, after algorithm development, only requires a single inexpensive test to inspect the part which could take as short as half a second. The algorithm is developed in three major stages, (i) exciting specimens without or with known faults using a controlled force and recording acceleration of a single point for a short time (ii) finding a signature for each faulty specimen, using Fourier transform and statistical analysis. (iii) Developing a multi-layer perceptron, as a mathematical model, using the results of stage (ii). The elements of a part signature are the inputs to the model. The location (and possibly size and shape factor) of the fault is model output. Stage (i) can be performed experimentally or alternatively with a validated FEM, one experiment or simulation per specimen. The proposed technique was examined to locate (isolate) a fault on an automobile cylinder head. The presented accuracy is considerable, and the data collected at fairly low frequency range (below 1200 Hz) were found to be sufficient for this technique. In the case study of this paper, possible fault locations are on a line; as a result, fault location has one dimension. It is shown that the technique can be extended to higher dimensions.     

Mechanochemical sulfidization of a mixed oxide-sulphide copper ore by co-grinding with sulfur and its effect on the flotation efficiency

Mechanochemical sulfidization of a mixed sulfide/oxide copper ore by co-grinding with sulfur and additives including Mg(NO₃)₂ and Fe(NO₃)₃ salts and iron, aluminum and magnesium powders was investigated for the first time. Also, the influence of sulfidization during the wet-milling process was examined on the separation efficiency and recovery of copper in detail. The results demonstrated that co-grinding with sulfur solely had the best flotation performance at the value of 0.5 wt.% and it was attributed to the possible existence of S-O bonding on copper oxides surfaces. In addition, adding magnesium nitrate salt, magnesium powder, iron nitrate salt and aluminum powder as additive associated with 0.5 wt% sulfur into ball milling caused the flotation improvement at the amounts of 0.2 wt%, 0.2 wt%, 0.5 wt% and 0.5 wt%, respectively. Also, the effect of grinding time and sulfidization pH with 0.5 wt% sulfur solely was determined and pHs of 7.5 to 8.5 gave the best results. The highest recovery (75.76%) and separation efficiency (63.44%) were achieved at pH of 7.5 and 8.5, respectively.