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.     

Using correlation coefficients for locating partial discharge in power transformer

Most serious failure of power transformers is due to the insulation breakdown. Partial discharge (PD) that damages insulation by gradual erosion is major source of insulation failure. The effective ability of the wavelet packets analysis as a tool for disk-to-disk partial discharge faults detection and localization in transformer windings is shown in this paper. Techniques for locating a PD source are of the major importance in both the maintenance and repair of a transformer. One of the most well-known methods of PD localization in transformers is based on winding modeling and current of neutral point analysis. Since the impedance between PD location and neutral point of winding depends on the PD location in respect to neutral point, the frequency spectrum of neutral point current varies when the PD location changes. In the other word, the current components of neutral points vary according to the place where PD occurs. So in this paper, detailed model of transformer winding is modeled and the neutral point current is studied for locating PD. The used method is validated by the simulated model of transformer windings. This model produces a very acceptable current when compared to the experimental data. In this paper for locating partial discharge (PD) in transformer windings, a simulated model is developed for the transformer winding and the PD phenomenon mechanism. The impulse current test and wavelet packets transformation are used to locate PD. It is shown that the neutral current measurement of the transformer winding has useful information about PD location.     

New Approaches in Monitoring Multivariate Categorical Processes based on Contingency Tables in Phase II

In some statistical process control (SPC) applications, quality of a process or product is characterized by contingency table. Contingency tables describe the relation between two or more categorical quality characteristics. In this paper, two new control charts based on the WALD and Stuart score test statistics are designed for monitoring of contingency table‐based processes in Phase‐II. The performances of the proposed control charts are compared with the generalized linear test (GLT) control chart proposed in the literature. The results show the better performance of the proposed control charts under small and moderate shifts. Moreover, new schemes are proposed to diagnose which cell corresponding to different levels of categorical variables is responsible for out‐of‐control signal. In addition, we propose EWMA–WALD and EWMA–Stuart score test control charts to improve the performance of Shewhart‐based control charts in detecting small and moderate shifts in contingency table parameters. Meanwhile, we compare the performances of two proposed EWMA‐based control charts with the ones of three existing control charts called EWMA–GLT, EWMA–GLRT and an EWMA‐type control chart for multivariate binomial/multinomial processes along with the ones of the corresponding Shewhart‐based control charts. A numerical example is given to show the efficiency of the proposed methods. Finally, the effect of parameter estimation in Phase I based on m historical contingency table on the performance of the Shewhart‐based control charts is studied. Copyright © 2016 John Wiley & Sons, Ltd.     

Experimental investigation of the flow-induced motion of a square-section cylinder

The flow-induced motion(FIM)of an elastically mounted square-section cylinder is experimentally investigated over a wide range of Reynolds numbers(1.5×104＜Re＜7....     

Chemical composition,antioxidative capacity and interactive antimicrobial potency of Satureja khuzestanica Jamzad essential oil and antimicrobial agents against selected food‐related microorganisms

This study aimed to determine the chemical composition, antimicrobial and antioxidative activity of Satureja khuzestanica Jamzad essential oil. The oil was analysed by GC and GC/MS. Twenty‐eight constituents were identified. The oxygenated monoterpenes (78.22%) were the principal compound group. Among them, carvacrol (53.86%) and thymol (19.84%) were the most abundant constituents. The oil exhibited an acceptable antimicrobial activity against most of the tested microorganisms. The checkerboard method was applied to determine fractional inhibitory concentration indices (FICIs) to interpret the synergetic, additive, indifference or antagonistic interactions between essential oil and each of antimicrobials (lysozyme, ciprofloxacin, fluconazole and amphotericin B) against food‐related microorganisms. The synergetic phenomenon (FICI ≤ 0.5) was observed in majority of combinations with the exception of the essential oil and lysozyme. The oil exhibited good 1,1‐diphenyl‐2‐picrylhydrazyl radical scavenging activity (IC₅₀ = 28.71 μg mL^?1). Also, the oil had strong antioxidative activity in β‐carotene‐linoleic acid assay relative antioxidant activity (RAA% = 95.45). This study demonstrated that the essential oil has beneficial biological properties and its simultaneous application with standard antimicrobials against food‐related microorganisms result in reduction in inhibitory doses of the antimicrobials in vitro.     

Multi-objective Phasor Measurement Unit Placement in Electric Power Networks: Integer Linear Programming Formulation

A multi-objective optimal phasor measurement unit placement model using integer linear programming is presented in this article. The proposed model simultaneously optimizes two objectives, i.e., minimization of phasor measurement unit numbers and maximization of measurement redundancy. To calculate the redundancy criteria, the single-line outage and the phasor measurement unit loss are considered simultaneously. A linear formulation is presented for both objective functions. Also herein, to address conflicting attributes and identify Pareto optimal solutions of the multi-objective optimal phasor measurement unit placement problem, a new multi-objective mathematical programming method is proposed. Finally, a new index, i.e., minimum distance to utopia point, is implemented to select the most preferred solution among the available Pareto front based options on the goal to achieve judicious decision makers. Two test systems, i.e., a modified 9-bus and an IEEE 118-bus test systems, are used to illustrate the effectiveness of the proposed framework.     

Bi-supported Ziegler–Natta TiCl4/MCM-41/MgCl2 (ethoxide type) catalyst preparation and comprehensive investigations of produced polyethylene characteristics

Bi-supported Ziegler–Natta catalysts (TiCl₄/MCM-41/MgCl₂ (ethoxide type)) were synthesized to improve the morphology and the properties of polyethylene. The morphology control is a crucial issue in polymerization process, while tailoring the properties of polymers is needed for specific applications. The catalysts were synthesized in different ratios of two supports with impregnation method. The polymerization process was carried out in atmospheric slurry reactor. The catalysts were characterized with scanning electron microscopy - energy dispersive X-ray spectroscopy (SEM–EDX), inductively coupled plasma, Fourier transform infrared spectrometry (FTIR), and Brunauer-Emmett-Teller (BET) methods. The polymers were analyzed with scanning electron microscopy (SEM), thermogravimetric analysis (TGA), differential scanning calorimetry, FTIR, and tensile-strength analyses. Ubbelohde viscometer and frequency sweep measurements showed that the synthesized polymers are ultra-high-molecular-weight polyethylene. Mechanical properties of polymers showed higher Young's modulus in samples containing MCM-41, having higher thermal stability supported by TGA analysis. SEM images of bi-supported catalyst showed a controlled spherical morphology with uniform size distribution. SEM analysis support that the polymers replicate their morphology from catalyst, improving their morphology comparing to MgCl₂-supported catalyst. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2020 , 137, 48553.