Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Design of a Commercial Hybrid VTOL UAV System

For the last four decades Unmanned Air Vehicles (UAVs) have been extensively used for military operations that include tracking, surveillance, active engagement with weapons and airborne data acquisition. UAVs are also in demand commercially due to their advantages in comparison to manned vehicles. These advantages include lower manufacturing and operating costs, flexibility in configuration depending on customer request and not risking the pilot on demanding missions. Even though civilian UAVs currently constitute 3 % of the UAV market, it is estimated that their numbers will reach up to 10 % of the UAV market within the next 5 years. Most of the civilian UAV applications require UAVs that are capable of doing a wide range of different and complementary operations within a composite mission. These operations include taking off and landing from limited runway space, while traversing the operation region in considerable cruise speed for mobile tracking applications. This is in addition to being able traverse in low cruise speeds or being able to hover for stationary measurement and tracking. All of these complementary and but different operational capabilities point to a hybrid unmanned vehicle concept, namely the Vertical Take-Off and Landing (VTOL) UAVs. In addition, the desired UAV system needs to be cost-efficient while providing easy payload conversion for different civilian applications. In this paper, we review the preliminary design process of such a capable civilian UAV system, namely the TURAC VTOL UAV. TURAC UAV is aimed to have both vertical take-off and landing and Conventional Take-off and Landing (CTOL) capability. TURAC interchangeable payload pod and detachable wing (with potential different size variants) provides capability to perform different mission types, including long endurance and high cruise speed operations. In addition, the TURAC concept is to have two different variants. The TURAC A variant is an eco-friendly and low-noise fully electrical platform which includes 2 tilt electric motors in the front, and a fixed electric motor and ducted fan in the rear, where as the TURAC B variant is envisioned to use high energy density fuel cells for extended hovering time. In this paper, we provide the TURAC UAV’s iterative design and trade-off studies which also include detailed aerodynamic and structural configuration analysis. For the aerodynamic analysis, an in-house software including graphical user interface has been developed to calculate the aerodynamic forces and moments by using the Vortex Lattice Method (VLM). Computational Fluid Dynamics (CFD) studies are performed to determine the aerodynamic effects for various configurations For structural analysis, a Finite Element Model (FEM) of the TURAC has been prepared and its modal analysis is carried out. Maximum displacements and maximal principal stresses are calculated and used for streamlining a weight efficient fuselage design. Prototypes have been built to show success of the design at both hover and forward flight regime. In this paper, we also provide the flight management and autopilot architecture of the TURAC. The testing of the controller performance has been initiated with the prototype of TURAC. Current work focuses on the building of the full fight test prototype of the TURAC UAV and aerodynamic modeling of the transition flight.     

Effect of the salt addition practice on the grain refining efficiency of Al–Ti–B master alloys

The impact of the salt addition practice on the microstructure and grain refining efficiency of Al–Ti–B alloys produced by the “halide salt” route was investigated. The grain refining performance of an experimental Al–5Ti–1B master alloy was optimized when the halide salts were pre-mixed before addition to aluminium melt at 800 °C during the production of the grain refiner. The stirring action provided during salt addition was found to degrade, while a high rate of addition was found to improve, the grain refining efficiency. In view of the above, an improved salt addition practice to ensure an exceptional grain refining performance is claimed to comprise the following steps: melting commercial purity aluminium ingot; addition of pre-mixed salts to molten aluminium at 800 °C, at once to facilitate a rapid salt reaction, gently mixing the salts with the aluminium melt without introducing any stirring. The grain refiner master alloy thus produced gives an average grain size of 102 μm 2 min after inoculation.     

An improved practice to manufacture Al–Ti–B master alloys by reacting halide salts with molten aluminium

The well-established “halide salt” route was employed in the present work to produce Al–Ti–B grain refiner alloys with consistent, good properties. The holding step in the production cycle was revised, however, to avoid oxidation of the molten alloy which is believed to be responsible for the relatively low Ti recoveries and thus for the inadequate and inconsistent grain refining efficiency. Stirring during holding was found to degrade the grain refining properties when molten potassium aluminium fluride salt was left on the molten alloy to avoid excessive oxidation. Likewise, holding temperatures higher than 800 °C and holding times longer than 30 min both had an undesirable effect on the grain refining performance. The experimental Al–5Ti–1B grain refiner alloy produced according to the present method provided consistent and better overall grain refining performance.     

Thermal Fatigue Testing of Tool Materials for Thixoforging of Steels

Semisolid processing, already a well established manufacturing route for the production of intricate, thin‐walled aluminium and magnesium parts with mechanical properties as good as forged grades, faces a major challenge in the case of steels. The tool materials must withstand complex load profiles and relatively higher forming temperatures for thousands of forming cycles for industrial application to be attractive. Since the forming pressures are much lower than those encountered in conventional forging, the principle die failure mechanism in steel thixoforging is expected to be thermal fatigue. Hence, suitable materials able to withstand the steel thixoforming environment for an economically acceptable life, can be best identified with a thermal fatigue test. Such a test is described in the present work. A novel CrNiCo and a nickel‐base superalloy, reported to exhibit superior thermal fatigue resistance in demanding tooling applications, was tested under thermal fatigue conditions encountered in the thixoforming of steels.     

Effect of Welding Parameters on the Microstructure and Strength of Friction Stir Weld Joints in Twin Roll Cast EN AW Al-Mn1Cu Plates

Twin roll cast EN AW Al-Mn1Cu plates were butt welded with the friction stir welding process which employed a non-consumable tool, tilted by 1.5° and 3° with respect to the plate normal, rotated in a clockwise direction at 400 and 800 rpm, while traversing at a fixed rate of 80 mm/min along the weld line. Microstructural observations and microhardness tests were performed on sections perpendicular to the tool traverse direction. Tensile tests were carried out at room temperature on samples cut perpendicular to the weld line. The ultimate tensile strength of the welded EN AW Al-Mn1Cu plates improved with increasing tool rotation speed and decreasing tool tilt angle. This marked improvement in ultimate tensile strength is attributed to the increase in the heat input owing to an increased frictional heat generation. There appears to be a perfect correlation between the ultimate tensile strength and the size of the weld zone. The fracture surfaces of the base plate and the welded plates are distinctly different. The former is dominated by dimples typical of ductile fractures. A vast majority of the intermetallic particles inside the weld zones are too small to generate dimples during a tensile test. The fracture surface of the welded plates is thus characterized by occasional dimples that are elongated in the same direction suggesting a tensile tearing mechanism.     

Nutrient release from integrated constructed wetlands sediment receiving farmyard run‐off and domestic wastewater

Constructed wetland sediments are frequently contaminated with nitrogen and phosphorus. There is a risk that accumulated pollutants can either be remobilised or reach the groundwater. Five identical mesocosms, which were filled with subsoil collected from full‐scale integrated constructed wetland (the first cell receives the most contaminated influent), were set up to examine nutrient removal within sediment layers. The results indicated that accumulated nutrients leached out into inflow water and that the sediment capacity of nutrient retention decreased as the wetlands aged. Furthermore, the mesocosm planted with Phragmites australis achieved better treatment results compared with the one planted with Agrostis stolonifera. The risk of contamination to groundwater does not exist because none of the treated water reached the bottom outlet during the study period. Both the bentonite (clay) and biogeochemical processes taking place within sediments proved to be efficient in preventing polluted water from infiltrating into lower lying soils.     

铝合金半固态浆料中球形颗粒的演变

用AlSi7Mg0.6半固态浆料进行实验,研究球形颗粒的演变机理.在略高于液相线温度下水淬的样品中结晶相主要为枝晶,而采用旋转圆筒的方式来搅拌熔体使其冷却到半固态温度范围内时样品的结晶相完全球化.在铸造前进行较长时间的内冷却和搅拌,可以得到较高的固相分数.不同大小的枝晶碎片的存在表明,在搅拌过程中,初始的固相分数形成后不再受冷却的影响.     

High-temperature abrasive wear testing of potential tool materials for thixoforming of steels

High temperature abrasive wear performance of Inconel 617, Stellite 6 alloys and X32CrMoV33 hot work tool steel was investigated. The wear resistance of the latter is degraded at 750 °C due to its inferior oxidation resistance. Extensive oxidation co-occuring with abrasive wear at 750 °C leads to substantial material loss due to the lack of a protective oxide scale, sufficiently ductile to sustain the abrasion without extensive spalling. The wear resistance of the Inconel 617 and Stellite 6 alloys, on the other hand, improves at 750 °C owing to protective oxides that sustain the abrasion without spalling.