Optimum Design of Stair-Climbing Robots Using Taguchi Method

Environmental issues like pollution are major threats to human health.Many systems are developed to reduce pollution.In this paper,an optimal mobile robot design to reduce pollution in Green supply chain management system.Green supply chain management involves as similating environmentally and eco-nomically feasible solutions into the supply chain life-cycle.Smartness,advanced technologies,and advanced networks are becoming pillars of a sustainable supply chain management system.At the same time,there is much change happening in the logistics industry.They are moving towards a new logistics model.In the new model,robotic logistics has a vital role.The reasons for this change are the rapid growth of the e-commerce business and the shortage of workers.The advantages of using robotic logistics are reduction in human errors,faster delivery speed,better customer satisfaction,more safety for workers,and high workforce adaptability.A robot with rocker-bogie suspension is a six-wheeled mobile platform that has a distinctive potential to keep all wheels on the ground continuously.It has been designed to traverse rough and uneven terrain by distributing the load over its wheels equally.However,there is a limitation to achieving high-speed mobility against vertical barriers.In this research,an optimal design of product delivery wheeled robots for a sustainable supply chain system is proposed to ensure higher adaptability and maximum stability during climbing staircases.The design parameters of the proposed robot are optimized using Taguchi Method.The aim is to get a smooth trajectory of the robot’s center-of-mass.The proposed approach realizes a robot with much-improved stability which can climb over heights more than the size of the wheel(i.e.,3 times the radius of wheels).The results reveal that the modified rocker-bogie system not only increases the stair-climbing capability but also thwarts instability due to overturning of a wheel of the robot.

Atlas Based Kinematic Optimum Design of the Stewart Parallel Manipulator

Optimum design is a key approach to make full use of potential advantages of a parallel manipulator. The optimum design of multi-parameter parallel manipulators（more than three design parameters）, such as Stewart manipulator, relies on analysis based and algorithm based optimum design methods, which fall to be accurate or intuitive. To solve this problem and achieve both accurate and intuition, atlas based optimum design of a general Stewart parallel manipulator is established, with rational selection of design parameters. Based on the defined spherical usable workspace（SUW）, primary kinematic performance indices of the Stewart manipulator involving workspace and condition number are introduced and analyzed. Then, corresponding performance atlases are drawn with the established non-dimensional design space, and impact of joint distribution angles on the manipulator performance is analyzed and illustrated. At last, an example on atlas based optimum design of the Stewart manipulator is accomplished to illustrate the optimum design process, considering the end-effector posture. Deduced atlases can be flexibly applied to both quantitative and qualitative analysis to get the desired optimal design for the Stewart manipulator with respect to related performance requirements. Besides, the established optimum design method can be further applied to other multi-parameter parallel manipulators.

Application of numerical simulation on optimum design of two-dimensional sedimentation tanks in the wastewater treatment plant

The paper establishes the relationship between the settling efficiency and the sizes of the sedimentation tank through the process of numerical simulation, which is taken as one of the constraints to set up a simple optimum designing model of sedimentation tank. The feasibility and advantages of this model based on numerical calculation are verified through the application of practical case.

ROBUST OPTIMUM DESIGN OF LAMINATED COMPOSITE PLATES

A last-ply failure (LPF) analysis method for laminated composite plates is incorpo- rated into the ?nite element code-ANSYS, and a robust optimum design method is presented. The composite structure is analyzed by considering both in-plane and out-of-plane loads. For a lamina, two major failure modes are considered: matrix failure and ?ber breakage that are characterized by the proper strength criteria in the literature. When a lamina has failed, the laminate sti?ness is modi?ed to re?ect the damage, and stresses in the structure are re-analyzed. This procedure is repeatedly performed until the whole structure fails and thus the ultimate strength is determined. A structural optimization problem is solved with the ?ber orientation and the lamina thickness as the design variables and the LPF load as the objective. Finally, the robust optimum design method for laminates is presented and discussed.

OPTIMUM DESIGN BASED ON RELIABILITY IN STOCHASTIC STRUCTURE SYSTEMS

The optimum design method based on the reliability is presented to the stochastic structure systems （i. e., the sectional area, length, elastic module and strength of the structural member are random variables ） under the random loads. The sensitivity expression of system reliability index and the safety margins were presented in the stochastic structure systems. The optimum vector method was given. First, the expressions of the reliability index of the safety margins with the improved first-order second-moment and the stochastic finite element method were deduced, and then the expressions of the systemic failure probability by probabilistic network evaluation technique（PNET） method were obtained. After derivation calculus ,the expressions of the sensitivity analysis for the system reliability were obtained. Moreover, the optimum design with the optimum vector algorithm was undertaken. In the optimum iterative procedure, the gradient step and the optimum vector step were adopted to calculate. At the last, a numerical example was provided to illustrate that the method is efficient in the calculation, stably converges and fits the application in engineering.

Structural optimum design of bistable cylindrical shell for broadband energy harvesting application

The shallow cylindrical structure is suitable to develop broadband vibration energy harvesters due to the property of the inherent mechanical bistability. In this letter, the optimum design of the bistable cylindrical shell for broadband energy harvesting application is investigated from the structural point of view. The output power is evaluated by the concept of the harvestable power, which balances the frequency of snap through and the referred output energy associated with each snap through. The non- dimensional harvestable power is analytically expressed as the function of the non-dimensional curvature parameter and one constructed parameter. The universal dependence of the optimal curvature parameter and the associated optimal harvestable power on the constructed parameter is derived, which can be well aooroximated by the linear relation in double logarithmic coordinate.

Optimum Design of Jacket Platforms Considering Structure-Pile-Soil Interaction

This paper proposes an optimum design model for the offshore jacket platform considering multidesign criteria, multi-design constraints and the structure-pile-soil interaction, and gives an optimum design procedure in which the proposed optimum design model is used together with structural analysis software SAP91 and optimum algorithm software OPB1. The Chengbei (#)11 offshore platform, which lies in the Shengli oilfield, is designed by use of the above optimum design model. The results show that the optimum design model is stable, and it depends on neither the optimization algorithm nor initial values of design variables. All values of the objective function converge to the same minimum value, and the speed of convergence is high, showing that the proposed optimum design model is reasonable.

Reliability-Based Full-Life Cycle Optimum Design of Offshore Jacket Platform

Based on the consideration of operation environment and structural property, an optimum design model of offshore jacket platform is developed in this paper, namely, the reliability-based full-life cycle optimum design model. In this model, the time-dependent reliability assessment method for structural members is established by combination of the decrease of sectional size and performance deterioration of material. The initial investment, maintenance cost and failure loss cost are assembled into the model. The total cost of the platform structure system in its full service period is chosen as the objective function, and the initial reliabilities of the layer elements partitioned in advance are taken as the design variables. Different models are obtained, depending on whether the system reliability constraint is considered or not. This optimum design model can result in the lowest full-life cost and the optimal initial layer reliability of an offshore jacket platform in the design of marine structures. The feasibility of this model is illustrated with an actual jacket platform in the Liaodong Gulf as an example.

Stress Analysis and Optimum Design of PDC Die for Offshore Drilling Engineering

The maximum internal tangential stress is a critical parameter for the design of the PDC （polycrystalline diamond compact） die that has been widely applied to offshore oil drilling. A new simple equation for the calculation of the stress is developed, and verified by the test data from Kingdream Corp. of China, the largest bit Company in China. An opti- mum method for the design of the PDC die is presented and demonstrated in detail, and software for the design and FEM analysis of the die is developed on the basis of the method. This software has been used in oil industry in recent years.

Waterways structural optimum design of electric car radiator

Thermal resistance was composed by thermal resistance of Aluminum substrate, thermal resistance of convective heat transfer and the thermal resistance of the cooling liquid. The change rule was studied through the calculation on Aluminum plate thermal resistance, thermal resistance of convective heat transfer and the thermal resistance of the cooling liquid. Its change regular- ity was simulated by toolbox In the MATLAB, and it was found that thermal resistance of convective heat transfer effect on the effi- ciency was most obvious in a certain amount of the heat and flow for thermal resistance of the Pin-fin radiator under the premise. The structural parameters of radiator were related to the size of thermal resistance.

Optimum Design for Offshore Platform Structural Reliability

In this paper, the main problems concerning reliability design of offshore platform structure are described and the general steps for the use of Safety Coefficient Method are presented.

OPTIMUM DESIGN OF ADHESIVE BONDING OFRESIN-BASE COMPOSITES

In this paper, based on the experimental and theoretical analysis, the primciple ofoptimum design for single lap joint of resin matrix, together with omposites ispresented the adhesive selection, the bonding length and the .hickness of the adhesivelayer and the adherend design. It is shown that by the optinum design the strength ofadhesive bonding is increased while the weight of the composites products is decreasedso that the quality of the products is improved.

Reliability-Based Optimum Design of a Simple Offshore Platform Based on Genetic Algorithms

In this paper, the problem of reliability-based optimal design of simple offshore platform is studied, and a nonlinear fatigue damage model based on damage mechanics and genetic algorithms are used in the fatigue reliability optimum design of the structure under stochastic wave load. The fatigue damage model and the yield failure reliability analyzing model are used in the paper. The reliability of the models and the effectiveness of genetic algorithm are shown by the results of optimum design.

Optimum design of welding transformer

Welding transformer is widely used in industry manufacturing, depleting a large portion of electricity energy.Based on modern computer technology and mathematical programming, optimum design of electro-magnetic devices leads to highly efficient use of energy and materials. Are welding transformer is optimized here. A mathematical model,considering both productive cost and operating losses, which is called or Economical-through-Life transformer, is established. Mixed penalty function method, mixed dispersing variable method and improved orthogonal method have been applied to carry out the optimization calculations. Result shows that the power factor is quite important in an Economi-cal-through-Life transformer, and that some principles must be followed in the design work. Also discussed are the advantages and disadvantages of the three methods. In the end, the prospect of optimum design of welding transformer is forecast.

THERMO ELASTO—PLASTIC OPTIMUM DESIGN OF CERAMIC—METAL FUNCTIONALLY GRADED MATERIALS-Ⅰ.MICROMECHANICAL AND GEOMETRICAL EFFECTS

The thermo elasto-plastic optimum design of ceramic-metal functionally graded materials (FGMs)was investigated in this paper. The inelastic properties were first evaluated using micromechanical approaches, then an elasto-plastic finite element model was used to calculate the thermal stress in the material . The effects of micromechanical approaches, plasticity and graded interlayer thickness on the thermal stress relaxation characteristics and stress distributions were studied. The results show that: (1) the macro elas-to-plastic response given by the mean-field micromechanics and self-consistent micromechanics is nearly the same but the response given by the rule of mixture is different; (2)the thermo elasto-plastic behavior must be considered to realistically evaluate stress reduction, and the elasto-plastic optimum design can get helpful information to determine the graded interlayer thicknesses;and(3) to optimize the microstructure of the graded material achieves reductions in critical stress components and rational stress distributions.

Interactive graphics mechanical optimum design

Virtually all conventional optimizations are Performed in a batch computer environment. No graphic information during the optimization process is provided. The research tactics and implementation procedure of interactivegraphics in mechanical optimum design are presented. An interactive Graphics Mechanical Optimum Design Program(IGMODP) for microcomputers is developed. The example of wheeled loader' s working device optimum design usingIGMODP is carried out.

Optimum Design of Highway Excavation Slope Angle: Evidence from Dawu Section of Jingzhu Highway

The optimum design of the highway excavation slope angle is one of the most important problems to the highway construction and to the slope improvement. The Dawu Section of Jingzhu (Beijing Zhuhai) Highway is taken as an example to illustrate the study method for excavation slope angle design. The analysis of the engineering condition from different angles with different factors shows that the stability of the slope is calculated by using residual pushing force and the Sarma method. Then the sensitive analysis of the slope stability is conducted by using residual pushing force method. Finally, the optimum angle of design is presented on the precondition of ensuring the whole stability of slope and the economic reasonability. The study results show that the most sensitive factors are the shear strength parameter and the seismic force, and that the optimum excavation slope angle is 60°.

Short Range Top Attack Trajectory Optimum Design Based on Genetic Algorithm

A flying-body is considered as the reference model, the optimized mathematical model is established. The genetic operators are designed and algorithm parameters are selected reasonably. The scheme control signal in short range top attack flight trajectory is optimized by using genetic algorithm. The short range top attack trajectory designed meets the design requirements, with the increase of the falling angle and the decrease of the minimum range. The application of genetic algorithm to top attack trajectory optimization is proved to be feasibly and effectively according to the analyses of results.

Optimum Design of Movable Screen Jig Cycle

The basic method for designing and calculating reasonable jig cycle of movable screen jig was presented. The reasonabilityand reliability of designed jig cycle were verified by' means of the test on artificial mixed materials. An iron ore (12-100 mm) was treatedin tile TJD-75 model movable screen jig with the jig cycle. The good results were achieved. This would provide a reliable basis for designof commercial movable-screen jig.

Nonlinear Finite Element Analysis and Optimum Design of Spot-Welded Joints and Weld-Bonded Joints

Resistance spot welding and hybrid weld bonding have wide applications in the body work construction within the automobile industry. The integrity of the spot welds and applied adhesives determines the body assembly rigidity and dynamic performance. Incorporating contact nonlinearity and geometric nonlinearity, finite element analysis (FEA) have been carried out to investigate the structural stiffness and strength of both spot-welded and weld-bonded assemblies. Topology optimization has been performed to reveal the distributions of material effectiveness in the overlap regions and suggest a feasible method for removing underutilized material for weight reduction. Design optimization has been conducted with an aim to reduce the maximum von Mises stress in the assembly to minimum by choosing optimum values for a set of design variables, including the weld spacing, weld diameter and overlap width.