[PP]S类并联机器人机构姿态描述方法

具有至少两个转动自由度的空间并联机器人机构的姿态描述是机构运动学分析的一个重要内容,描述方法对机构性能分析起着重要作用。[PP]S类并联机器人机构(连接动平台的三个球铰链始终在固定的平面内作平面运动的并联机器人机构)的动平台具有一个移动和两个转动自由度,是并联机器人机构的重要分支之一,位姿描述也是国内外研究的重点。介绍一种用两个角度描述 [PP]S类并联机器人机构姿态的方法,采用该姿态描述方法,[PP]S类并联机器人机构的位姿描述参数可以减少到5个,而且没有绕垂直于动平台平面的轴线的转动伴随运动,减小了此类并联机器人机构运动学分析的难度。与采用3个欧拉角的姿态描述方法相比,这种方法具有运动学描述简单以及伴随运动和姿态工作空间描述方便等优点,符合工程应用需要,是值得推广的一种姿态描述方法     

Evaluation of ship’s green degree using a novel hybrid approach combining group fuzzy entropy and cloud technique for the order of preference by similarity to the ideal solution theory

Clean Technologies and Environmental Policy - The pollution and emission caused by the manufacturing, operation, and scrapping of marine ships have considerable impact on the environment....     

Optimization of the restructuring cost of an urban drainage network

Urban drainage networks are subjected to increased runoff caused by urbanization and climate change. Wear and tear, coupled with a lack of network maintenance, reduces the hydraulic capacity of these networks and results in surcharged flows, discharges and overflows calling for the need to institute effective restructuring strategies. The purpose of this study was to develop an optimization model for the optimal selection and placement of structural best management practices (BMPs). In this research, four types of structural BMPs were being considered (i.e., retention pond, green roofs, infiltration trenches and vegetated depressions). The objective function was to minimize the total cost of BMPs, within the constraints of (1) draining infrequent heavy rainfall without surcharging the conduits and (2) driving frequent small rainfall into the water-treatment plant without overflows. The model was tested on a case study in the Greater Montreal Area and the results obtained from the model effectively demonstrated its capacity to improve the hydraulic and environmental performances by adopting optimal BMPs placement strategies.     

Stepanov-Like Pseudo Almost Periodic Solution of Quaternion-Valued for Fuzzy Recurrent Neural Networks with Mixed Delays

Neural Processing Letters - Real-valued neural networks or complex-valued neural networks are sometimes inappropriate for some engineering and research problems for instance where the data is...     

Efficiency of ambient vibration HVSR investigations in soil engineering studies: backfill study in the Algiers (Algeria) harbor container terminal

Bulletin of Engineering Geology and the Environment - This paper deals with the contribution of the ambient vibration horizontal-to-vertical spectral ratio (HVSR) method in soil engineering...     

Dynamic Recrystallization and Precipitation in 13Cr Super-Martensitic Stainless Steels

The influence of precipitation on the kinetics of static and dynamic recrystallization (DRX) was investigated in AISI 403 and 403Nb martensitic stainless steels. Hot compression tests were performed in the temperature range of 1073 K to 1473 K (800 °C to 1200 °C) and strain rates of 0.001 and 0.1 s^?1 to study DRX and precipitation behaviors. In parallel, stress relaxation tests were conducted with pre-strains of 0.1, 0.15, 0.2, and 0.25, a strain rate of 0.1 s^?1, and in the 1073 K to 1473 K (800 °C to 1200 °C) temperature range to study the kinetics of precipitation and recrystallization. Samples of hot compression and stress relaxation tests were quenched and the evolution of the microstructure was examined using optical and scanning electron microscopy. The results indicated that DRX interacts with dynamic precipitation (DP) over the temperature range of 1173 K to 1273 K (900 °C to 1000 °C). Hot compression testing results, confirmed by EBSD analysis, indicated that partial DRX occurs before precipitation in 403Nb, at 1073 K (800 °C). By contrast, no DRX was observed in 403 steel. At higher temperatures, i.e., over 1273 K (1000 °C), DRX preceded DP in both steels. Increasing the strain rate raised the temperature range of interaction between DRX and DP up to 1373 K (1100 °C). Strain-induced precipitation (SIP) was observed over the entire range of investigated test temperatures. Static recrystallization (SRX) took place predominantly in the temperature range of 1173 K to 1373 K (900 °C to 1100 °C), at which SIP significantly delayed the SRX finishing time. The results are analyzed in the framework of the classical nucleation theory and the underlying mechanisms are identified.     

A Consistent Interpolation Function for the Solution of Radiative Transfer on Triangular Meshes,II—Validation

This article presents selected problems used to assess the validity and usefulness of a first-order skew, positive coefficient, upwind scheme (SPCUS) applied to radiative transfer. This particular procedure could be incorporated in several discretization methods such as finite-volume, finite-element, or control-volume finite-element methods for the prediction of radiative transfer in participating media. The suggested scheme has been validated by application to several basic two-dimensional test problems, acknowledged by the radiative heat transfer community, and its performance has proven to be good.     

Modeling Grain Size and Strain Rate in Linear Friction Welded Waspaloy

The high-temperature deformation behavior of the Ni-base superalloy, Waspaloy, using uniaxial isothermal compression testing was investigated at temperatures above the γ′ solvus, 1333 K, 1373 K, and 1413 K (1060 °C, 1100 °C, and 1140 °C) for constant true strain rates of 0.001, 0.01, 0.1, and 1 s^?1 and up to a true strain of 0.83. Flow softening and microstructural investigation indicated that dynamic recrystallization took place during deformation. For the investigated conditions, the strain rate sensitivity factor and the activation energy of hot deformation were 0.199 and 462 kJ/mol, respectively. Constitutive equations relating the dynamic recrystallized grain size to the deformation temperature and strain rate were developed and used to predict the grain size and strain rate in linear friction-welded (LFWed) Waspaloy. The predictions were validated against experimental findings and data reported in the literature. It was found that the equations can reliably predict the grain size of LFWed Waspaloy. Furthermore, the estimated strain rate was in agreement with finite element modeling data reported in the literature.     

Nonrigid 2D/3D registration of coronary artery models with live fluoroscopy for guidance of cardiac interventions

A 2D/3D nonrigid registration method is proposed that brings a 3D centerline model of the coronary arteries into correspondence with bi-plane fluoroscopic angiograms. The registered model is overlaid on top of interventional angiograms to provide surgical assistance during image-guided chronic total occlusion procedures, thereby reducing the uncertainty inherent in 2D interventional images. The proposed methodology is divided into two parts: global structural alignment and local nonrigid registration. In both cases, vessel centerlines are automatically extracted from the 2D fluoroscopic images, and serve as the basis for the alignment and registration algorithms. In the first part, an energy minimization method is used to estimate a global affine transformation that aligns the centerline with the angiograms. The performance of nine general purpose optimizers has been assessed for this problem, and detailed results are presented. In the second part, a fully nonrigid registration method is proposed and used to compensate for any local shape discrepancy. This method is based on a variational framework, and uses a simultaneous matching and reconstruction process to compute a nonrigid registration. With a typical run time of less than 3 s, the algorithms are fast enough for interactive applications. Experiments on five different subjects are presented and show promising results.