Improved dynamic equations for the generally configured Stewart platform manipulator

In this paper, a Newton-Euler approach is utilized to generate the improved dynamic equations of the generally configured Stewart platform. Using the kinematic model of the universal joint, the rotational degree of freedom of the pods around the axial direction is taken into account in the formulation. The justifiable direction of the reaction moment on each pod is specified and considered in deriving the dynamic equations. Considering the theorem of parallel axes, the inertia tensors for different elements of the manipulator are obtained in this study. From a theoretical point, the improved formulation is more accurate in comparison with previous ones, and the necessity of the improvement is clear evident from significant differences in the simulation results for the improved model and the model without improvement. In addition to more feasibility of the structure and higher accuracy, the model is highly compatible with computer arithmetic and suitable for online applications for loop control problems in hardware.     

Dynamic mechanical behavior and nanostructure morphology of hyperbranched‐modified polypropylene blends

Polypropylene (PP) was modified utilizing two types of polyesteramide‐based hyperbranched polymers (amphiphilic PS and hydrophilic PH). A maleicanhydride‐modified PP (PM) was used as a reactive dispersing agent to enhance the modification by grafting the hyperbranched polymers onto the PP chains. Pure PP, two different non‐reactively modified samples, i.e. excluding PM, and two different reactively modified samples, i.e. including PM, were studied. Investigating the morphology of the samples was performed by scanning electron microscopy. To follow the effect of the modification on the dynamic mechanical properties, dynamic mechanical analysis experiments both in the melt (rheometric mechanical spectrometry) and in solid state (dynamic mechanical thermal analysis) were carried out. In the next step, the nanocrystalline structure of the samples was studied by small angle X‐ray scattering (SAXS) in two different modes, i.e. static and recrystallization. Hundreds of SAXS patterns were analyzed automatically using procedures written in PV‐WAVE image‐processing software. The chord distribution function (CDF) was calculated and the long period (l_p) of the crystal lamellae was extracted from the CDFs. The rheometric mechanical spectrometry results show that both hyperbranched polymers decrease complex viscosity η^* and enhance liquid‐like behavior. This happens more significantly when PM is included. The dynamic mechanical thermal analysis results reveal that T_g decreases when PS and PH are added. In the reactively modified samples this reduction is compensated most probably because of the crosslinked structure formed through the grafting reaction between the hyperbranched polymers and PM. Such structure is confirmed by SAXS data and calculated CDFs in the recrystallization mode. Static SAXS data also show enhancement in the crosshatched morphology of the crystalline lamellae of PP for reactively modified samples compared with non‐reactively modified samples. © 2013 Society of Chemical Industry     

Design optimization of truss structures using cuckoo search algorithm

A new metaheuristic optimization algorithm is developed to solve truss optimization problems. The new algorithm, called cuckoo search (CS), is examined by solving five truss design optimization problems with increasing numbers of design variables and complexity in constraints. The performance of the CS algorithm is further compared with various classical and advanced algorithms, selected from a wide range of the state‐of‐the‐art algorithms in the area. The results identify that the final solutions obtained by the CS are superior compared with the best solutions obtained by the other algorithms. Finally, the unique search features used in the CS and the implications for future researches are discussed in detail. Copyright © 2012 John Wiley & Sons, Ltd.     

Wall Smoke Deposition from a Hot Smoke Layer

Smoke deposition from a hot smoke layer onto wall surfaces was studied in a hood apparatus using polymethylmethacrylate, polypropylene, and gasoline as fuels. Based upon prior analysis by Butler and Mulholland, the smoke deposition was expected to be dominated by thermophoresis. The deposited smoke samples were collected on glass filter paper attached to the hood wall and the mass per unit area of smoke deposited was measured gravimetrically. Measurements were made of quantities required for the prediction of thermophoretic smoke deposition. The smoke deposition measured in the experimental program was well predicted by the thermophoretic smoke deposition equation. The thermophoretic smoke deposition equation was found to be suitable for predicting smoke deposition onto wall surfaces exposed to fire environments.     

Transfer of Ultrafine Particles and Air in Multi-storey Buildings

An emerging issue in Denmark is passive smoking in residential buildings where non-smokers are exposed to smoke from their neighbours. There are various ways that smoke is transferred from one flat to another. The air transfer rate between two flats in a multi-storey building depends on its construction, tightness and age. This paper presents results of a study on the transfer of ultrafine particles and tracer gas in an older multi-storey building in Copenhagen. The aim of the study was to quantify the transfer ofultrafine particles and gases from one flat to another fiat before and after sealing the floor. A new floor-sealing method was applied to seal the floor between the two flats. The sealing method was developed by a firm specialising in sealing. Indoor ultrafine particle concentrations and tracer gas were measured continuously in the two fiats during the measuring periods. In the unoccupied fiat, the gas source was N20 and the particle source was burning cigarettes. Reduction of the concentration of ultrafine particles and tracer gas by sealing the floor with polyethylene and joint filler made of bitumen was studied. It was evaluated how the sealing performed with regard to decreasing the amount of ultrafine particles and a tracer gas transferred between two fiats separated by a floor. When the floor between the flats was not sealed, the results showed that about 4% of the ultraflne particles and 14% of the tracer gas were transferred. After sealing, the amount transferred was reduced to 1.6% and 5%, respectively.     

Model order reduction in hyperelasticity: a proper generalized decomposition approach

This paper deals with the extension of proper generalized decomposition methods to non‐linear problems, in particular, to hyperelasticity. Among the different approaches that can be considered for the linearization of the doubly weak form of the problem, we have implemented a new one that uses asymptotic numerical methods in conjunction with proper generalized decomposition to avoid complex consistent linearization schemes necessary in Newton strategies. This approach results in an approximation of the problem solution in the form of a series expansion. Each term of the series is expressed as a finite sum of separated functions. The advantage of this approach is the presence of only one tangent operator, identical for every term in the series. The resulting approach has proved to render very accurate results that can be stored in the form of a meta‐model in a very compact format. This opens the possibility to use these results in real‐time, reaching kHz feedback rates, or to be used in deployed, handheld devices such as smartphones and tablets. Copyright © 2013 John Wiley & Sons, Ltd.     

On the particle–particle contact effects on the hole cleaning process via a CFD–DEM model

ABSTRACT

The accurate and precise computational models in order to predict the hole cleaning process is one of the helpful assets in drilling industries. Besides the bulk properties such as the flow velocity, particles average size, cleaning fluid properties, etc., that will affect the cleaning process, there is an unanswered question about the microscopic properties of the particles, particularly those which determines the contact characteristics: Do those play a major role or not? The rudimentary answer is not. The first purpose of the present work is to answer this question via a developed computational fluid dynamics coupled with discrete element method (CFD–DEM) in which the six unknown rolling and sliding friction coefficients of particle–particle contact, particle–wall contact, and particle–drill contact are considered as the main microscopic properties of the contacts. The second purpose is to search for optimum values of these coefficients in order to calibrate the CFD–DEM model with the experimental data for a near horizontal well cleaning available in the literature. The verification of the calibrated CFD–DEM model is checked by simulation of the hole cleaning process for different inclination angles of the deviated well. The results indicate the pivotal role of the microscopic properties of the particles on the characteristics of the particle transport mechanism.     

A cellular automata model for circular movements of pedestrians during Tawaf

Masjid Al-Haram in Saudi Arabia is one of the most crowded pilgrimage locations in the world. More than two million pilgrims gather in Saudi Arabia annually during the Hajj season, and it is compulsory for them to perform a series of actions in the mosque. In the court area, pilgrims perform one of the most important rituals of Hajj, called Tawaf, which consists of seven laps of circular movement around the Kaabah, which is situated in the centre of the court. After the Tawaf, pilgrims pray in the court and leave from one of several doors. In this paper, we present a cellular automata model for the simulation of the pilgrims’ circular Tawaf movement. We also use a discrete-event model to simulate the actions and behaviours of the pilgrims. The proposed models are used in a software platform to simulate the actions and movements of pilgrims in the area. We then present an example application of the model in predicting whether specific changes to the architecture could increase the throughput of the system.     

Attaining optimal dyeability and tensile properties of polypropylene/poly(ethylene terephthalate) blends with a special cubic mixture experimental design

In this investigation, we attempted to enhance the dyeability of polypropylene (PP) with disperse dyestuffs without adversely affecting its tensile properties. To this end, a special cubic experimental design was used to predict the effect of variations in the properties of a tricomponent mixture composed of PP, poly(ethylene terephthalate) (PET), and maleic anhydride grafted polypropylene (PP‐g‐MA) on the dyeability and tensile properties of the resultant polymer blend. The results illustrate that there seemed to be critical PET content, above which the blend's dye uptake tended to remain constant, but the tensile properties were adversely affected. Further analysis of the results indicated that the PP/PET/PP‐g‐MA blends in which the PET and PP‐g‐MA contents were in the range 10–15 and 4–5 wt %, respectively, gave maximal dye uptake and desirable tensile properties. © 2011 Wiley Periodicals, Inc. J Appl Polym Sci, 2011