Application of genetic algorithm to computer-aided process planning in preliminary and detailed planning

Computer-aided process planning (CAPP) is an important interface between computer-aided design (CAD) and computer-aided manufacturing (CAM) in the computer integrated manufacturing (CIM) environment. A good process plan of a part is built up based on two elements: (1) optimized sequence of the operations of the part; and (2) optimized selection of the machine, cutting tool and tool access direction (TAD) for each operation. On the other hand, two levels of planning in the process planning is suggested: (1) preliminary and (2) secondary and detailed planning. In this paper for the preliminary stage, the feasible sequences of operations are generated based on the analysis of constraints and using a genetic algorithm (GA). Then in the detailed planning stage, using a genetic algorithm again which prunes the initial feasible sequences, the optimized operations sequence and the optimized selection of the machine, cutting tool, and TAD for each operation are obtained. By applying the proposed GA in two levels of planning, the CAPP system can generate optimal or near-optimal process plans based on a selected criterion. A number of case studies are carried out to demonstrate the feasibility and robustness of the proposed algorithm. This algorithm performs well on all the test problems, exceeding or matching the solution quality of the results reported in the literature for most problems. The main contribution of this work is to emerge the preliminary and detailed planning, implementation of compulsive and additive constraints, optimization sequence of the operations of the part, and optimization selection of machine, cutting tool and TAD for each operation using the proposed GA, simultaneously.     

Simultaneous state estimation and parameter identification in linear fractional order systems using coloured measurement noise

In the present paper, the identification and estimation problem of a single-input–single-output (SISO) fractional order state-space system will be addressed. A SISO state-space model is considered in which parameters and also state variables should be estimated. The canonical fractional order state-space system will be transformed into a regression equation by using a linear transformation and a shift operator that are appropriate for identification. The identification method provided in this paper is based on a recursive identification algorithm that has the capability of identifying the parameters of fractional order state-space system recursively. Another subject that will be addressed in this paper is a novel fractional order Kalman filter suitable for the systems with coloured measurement noise. The promising performance of the proposed methods is verified using two stable fractional order systems.     

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.     

An Efficient Finite Difference Method for The Time‐Delay Optimal Control Problems With Time‐Varying Delay

In this paper, an efficient finite difference method is presented for the solution of time‐delay optimal control problems with time‐varying delay in the state. By using the Pontryagin's maximum principle, the original time‐delay optimal control problem is first transformed into a system of coupled two‐point boundary value problems involving both delay and advance terms. Then the derived system is converted into a system of linear algebraic equations by using a second‐order finite difference formula and a Hermite interpolation polynomial for the first‐order derivatives and delay terms, respectively. The convergence analysis of the proposed approach is provided. The new scheme is also successful for the optimal control of time‐delay systems affected by external persistent disturbances. Numerical examples are included to demonstrate the validity and applicability of the new technique. Some comparative results are included to illustrate the effectiveness of the proposed method.     

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.     

The study of the performance of an electrostatic valve used forbulk transport of particulate materials

In many mass transfer processes, it is necessary to accurately control the flow of particulate materials. Commonly used mechanical valves have serious drawbacks which can be overcome by the use of electric field, which can locally originate interparticle compressive forces throughout the bulk material as a result of the greatly enhanced electric field and charge flux densities occurring at the contact points between the particles or between the particles and the boundary. Such interparticle electroclamping forces can be established by applying an electric potential gradient between a separated pair of conductive electrode grids placed perpendicularly across the flow within the duct where the material flows. The flow control of particulate materials is, thus, achieved using no moving parts. When an electric field is applied to a packed bed of particulate solids, several types of electrical force (electrostatic attractive force, dielectrophoretic force, and electroclamping force) may be generated, depending on the bulk and surface resistivities of the particle, the geometry of the electrodes, as well as the nature of the applied field. The influence of the electrode geometry on flow control was investigated using computer modeling of the potential based on finite element techniques. Furthermore, the effect of the applied field with respect to the magnitude, frequency, pulsewidth, and pulse shape on flow controllability was experimentally investigated. The influence of the moisture content of turnip seeds on flow controllability and specific charge was investigated, and the results obtained are discussed in this paper     

Cylindrical functionally graded shell model based on the first order shear deformation nonlocal strain gradient elasticity theory

Microsystem Technologies - In this article, a cylindrical functionally graded shell model is developed in the framework of nonlocal strain gradient theory for the first time. For this purpose, the...