Design equations for prediction of pressuremeter soil deformation moduli utilizing expression programming systems

Providing precise estimations of soil deformation modulus is very difficult due to its dependence on many factors. In this study, gene expression programming (GEP) and multi-expression programming (MEP) systems are presented to derive empirical equations for the prediction of the pressuremeter soil deformation modulus. The employed expression programming (EP) systems formulate the soil deformation modulus in terms of the soil physical properties. Selection of the best models is on the basis of developing and controlling several models with different combinations of the affecting parameters. The proposed EP-based models are established upon 114 pressuremeter tests on different soil types conducted in this study. The generalization capabilities of the models are verified using several statistical criteria. Contributions of the variables influencing the soil modulus are evaluated through a sensitivity analysis. The GEP and MEP approaches accurately characterize the soil deformation modulus resulting in a very good prediction performance. The result indicates that moisture content and soil dry unit weight can efficiently represent the initial state and consolidation history of soil for determining its modulus.     

Memory-efficient real-time map building using octree of planes and points

This paper presents an octree-based map building algorithm for mobile home-service robots. The robot is equipped with a time-of-flight camera, which produces point clouds of the environment surfaces. Given the successive input of point clouds, a 3D map is incrementally computed in real time. The map is accurate and memory-efficient because the octree nodes containing points on a plane are merged and represented simply by an index to the plane. The real-time performance is achieved largely due to the parallel processing capability of the many-core Graphics Processing Unit used for plane extraction.     

Hydrometallurgical Extraction of Vanadium from Mechanically Milled Oil-Fired Fly Ash: Analytical Process Optimization by Using Taguchi Design Method

In this study, the Taguchi design method was employed to determine the optimum experimental parameters in extraction of vanadium by NaOH leaching of oil-fired fly. Prior to designed experiments, the raw precipitates were mechanicallly milled using a high-energy planetary ball mill. Experimental parameters were investigated as follows: mechanical milling (MM) times (2 and 5?hours), NaOH (1 and 2 molar concentration) as reaction solution (RS), powder to solution (P/S) ratios (100/400 and 100/600?mg/mL), temperature (T) of reaction system (303 K and 333?K [30?°C and 60?°C]), stirring times (ST) of reaction media (4 and 12?hours), stirring speed (SS) being adjusted to 400 and 600?rpm, and rinsing times (RT) of remained filtrates (1 and 3?hours). Statistical analysis of signal-to-noise ratio followed by analysis of variance was performed in order to estimate the optimum levels and their relative contributions. Data analysis is carried out using L₈ orthogonal array consisting of seven parameters each with two levels. The optimum conditions were MM1 (3?hours), RS2 (2 molar NaOH), P/S2 (100/600?mg/mL), T2 (333?K [60?°C]), ST2 (12?hours), SS1 (400?rpm), and RT1 (1?hour). Finally, from environmental and economical points of view, the process is faster and better organized by employing this analytical design method.     

Nonlinear analysis of size-dependent frequencies in porous FG curved nanotubes based on nonlocal strain gradient theory

A nonlocal strain gradient model is developed in this research to analyse the nonlinear frequencies of functionally graded porous curved nanotubes. It is assumed that the curved nanotube is in contact with a two-parameter nonlinear elastic foundation and is also subjected to the uniform temperature rise. The non-classical theory presented for curved nanotubes contains a nonlocal parameter and a material length scale parameter which can capture the size effect. A power law distribution function is used to describe the graded properties through the thickness direction of curved nanotubes. The even dispersion pattern is used to model the porosities distribution. The high-order shear deformation theory and the von Kármán type of geometric non-linearity are utilized to obtain the nonlinear governing equations of the structure. The size-dependent equations of motion for the large amplitude vibrations of curved nanotubes are obtained by employing Hamilton’s principle. The analytical solutions are extracted for the curved nanotube with immovable hinged-hinged boundary conditions. Size-dependent frequencies of the curved nanotube exposed to thermal field are obtained using the two-step perturbation technique and Galerkin procedure. The effects of important parameters such as nonlocal and length scale parameters, temperature field, elastic foundation, porosity, power law index and geometrical parameters are studied in detail.

     

Electro-magneto temperature-dependent vibration analysis of functionally graded-carbon nanotube-reinforced piezoelectric Mindlin cylindrical shells resting on a temperature-dependent,orthotropic elastic medium

Vibration smart control analysis of a temperature-dependent functionally graded-carbon nanotube-reinforced piezoelectric cylindrical shell embedded in an orthotropic elastic medium is investigated. The mixture law is used for obtaining the material properties of the structure. The structure is subjected to a 2D magnetic field. Considering the first-order shear deformation theory, the motion equations are obtained. Based on an analytical method and differential quadrature method, the frequency is calculated. The effects of applied voltage, magnetic field, volume percent, and distribution type of carbon nanotubes, temperature, orthotropic elastic medium, and length to radius ratio of the shell are shown on system frequency.     

Dynamic modeling and CPG-based trajectory generation for a masticatory rehab robot

Human mastication is a complex and rhythmic biomechanical process which is regulated by a brain stem central pattern generator (CPG). Masticatory patterns, frequency and amplitude of mastication are different from person to person and significantly depend on food properties. The central nervous system controls the activity of muscles to produce smooth transitions between different movements. Therefore, to rehab human mandibular system, there is a real need to use the concept of CPG for development of a new methodology in jaw exercises and to help jaw movements recovery. This paper proposes a novel method for real-time trajectory generation of a mastication rehab robot. The proposed method combines several methods and concepts including kinematics, dynamics, trajectory generation and CPG. The purpose of this article is to provide a methodology to enable physiotherapists to perform the human jaw rehabilitation. In this paper, the robotic setup includes two Gough–Stewart platforms. The first platform is used as the rehab robot, while the second one is used to model the human jaw system. Once the modeling is completed, the second robot will be replaced by an actual patient for the selected physiotherapy. Gibbs–Appell’s formulation is used to obtain the dynamics equations of the rehab robot. Then, a method based on the Fourier series is employed to tune parameters of the CPG. It is shown that changes in leg lengths, due to the online changes of the mastication parameters, occur in a smooth and continuous manner. The key feature of the proposed method, when applied to human mastication, is its ability to adapt to the environment and change the chewing pattern in real-time parameters, such as amplitudes as well as jaw movements velocity during mastication.     

Controller Design Based On Wavelet Neural Adaptive Proportional Plus Conventional Integral-Derivative For Bilateral Teleoperation Systems With Time-Varying Parameters

International Journal of Control, Automation and Systems - In this study, a new controller method based on wavelet neural adaptive proportional plus conventional integral-derivative (WNAP+ID)...     

Experimental measurement and correlation of solubility of β-carotene in pure and ethanol-modified subcritical water

For the first time, the solubility of β-carotene in pure and ethanol-modified subcritical water (SW) using the static method was determined. The experimental runs were performed at a temperature ranging from 298.15 to 403.15 K and 0–10% (w/w) of ethanol as a modifier at a constant pressure of 5 MPa. Samples were analyzed by UV–vis spectrophotometer. The solubility of β-carotene was found to range from 1.084 × 10⁻⁸ to 227.1 × 10⁻⁸ mol fractions in the subcritical water in above mentioned conditions. The obtained β-carotene solubility data were correlated using the linear model and modified Apelblat model. The obtained results showed the modified Apelblat model was better for estimating the solubility of β-carotene in SW. The values of the root-mean-square deviation (RMSD) between experimental and correlated data were calculated and used as the index of validity and accuracy for the model. Also, thermodynamic properties of the solution such as the Gibbs free energy of solution, enthalpy, and entropy of solution were estimated.     

Cracks coalescence mechanism and cracks propagation paths in rock-like specimens containing pre-existing random cracks under compression

The mechanism of cracks propagation and cracks coalescence due to compressive loading of the brittle substances containing pre-existing cracks （flaws） was modeled experimentally using specially made rock-like specimens from Portland Pozzolana Cement （PPC）. The breakage process of the specimens was studied by inserting single and double flaws with different inclination angles at the center and applying uniaxial compressive stress at both ends of the specimen. The first crack was oriented at 50＆#176; from the horizontal direction and kept constant throughout the analysis while the orientation of the second crack was changed. It is experimentally observed that the wing cracks are produced at the first stage of loading and start their propagation toward the direction of uniaxial compressive loading. The secondary cracks may also be produced in form of quasi-coplanar and/or oblique cracks in a stable manner. The secondary cracks may eventually continue their propagation in the direction of maximum principle stress. These experimental works were also simulated numerically by a modified higher order displacement discontinuity method and the cracks propagation and cracks coalescence were studied based on Mode I and Mode II stress intensity factors （SIFs）. It is concluded that the wing cracks initiation stresses for the specimens change from 11.3 to 14.1 MPain the case of numerical simulations and from 7.3 to 13.8 MPa in the case of experimental works. It is observed that cracks coalescence stresses change from 21.8 to 25.3 MPa and from 19.5 to 21.8 MPa in the numerical and experimental analyses, respectively. Comparing some of the numerical and experimental results with those recently cited in the literature validates the results obtained by the proposed study. Finally, a numerical simulation was accomplished to study the effect of confining pressure on the crack propagation process, showing that the SIFs increase and the crack initiation angles change in this case.