Magnetorheological finishing of low-gradient curved surfaces based on four-axis linkage technique

Based on the distribution characteristic of magnetic field along the polish wheel,the four-axis linkage technique is advanced to replace a standard five-axis one to figure low-gradient optical surfaces with a raster tool-path in magnetorheological finishing(MRF).After introducing the fundaments of such simplification,the figuring reachability of a four-axis system for the low-gradient optics was theoretically analyzed.Further validation including magnetic field intensity and influence function characteristic was performed to establish its application.To demonstrate the correctness,feasibility and applicability of such technique,a K4 spherical part was figured by two iterations of MRF with surface form error improved to 0.219λPV and 0.027λRMS.Meanwhile,the surface roughness was also improved a lot in MRF process.These theoretical analyses and experimental results both indicate that high form accuracy and excellent surface quality can be obtained by using the four-axis linkage technique in the process of figuring low-gradient optical elements,and the four-axis linkage system undoubtedly is much more easy to control and much more economical.

A STUDY OF THE POSTBUCKLING PATH OF CYLINDRICALLY CURVED PANELS OF LAMINATED COMPOSITE MATERIALS DURING LOADING AND UNLOADING

In this paper, Dynamic Relaxation Method is applied to study the postbuckling path of cylindrically curved panels of laminated composite materials during loading and unloading. The phenomenon that loading paths do not coincide with unloading paths has been found. Numerical results are given for cylindrically curved cross-ply panels subjected to uniform uniaxial compression under two types of boundary conditions. The influence of the number of layers, the panels curvature and the initial imperfection on the postbuckling paths is discussed.

Development of Path Planning Algorithm Using Probabilistic Roadmap Based on Modified Ant Colony Optimization

In this paper, a unique combination among probabilistic roadmap, modified ant colony optimization, and third order B-spline curve has been proposed to solve path planning problems?in complex and very complex environments. This proposed approach can be divided into three stages. First stage involves constructing a random roadmap depending on the environment complexity using probabilistic roadmap algorithm. Roadmap can be constructed by distributing N nodes randomly in complex and very complex static environments then pairing these nodes together according to some criteria or conditions. The constructed roadmap contains a huge number of possible random paths that may lead to connecting?the start and the goal points together. Second stage includes finding path within the pre-constructed roadmap. Modified ant colony optimization has been proposed to find or to search the best path between start and goal points, where in addition to the proposed combination, ACO has been modified to increase its ability to find shorter path. Finally, the third stage uses B-spline curve?to smooth and reduce the total length of the found path in the previous stage. The results of the proposed approach ensure?the?feasible?path between start and goal points in complex and very complex environments. Also, the path is guaranteed to be short, smooth, continuous?and safe.

Soil-water characteristics of Gaomiaozi bentonite by vapour equilibrium technique

Soil-water characteristics of Gaomiaozi(GMZ)Ca-bentonite at high suctions(3–287MPa)are measured by vapour equilibrium technique.The soil-water retention curve(SWRC)of samples with the same initial compaction states is obtained in drying and wetting process.At high suctions,the hysteresis behaviour is not obvious in relationship between water content and suction,while the opposite holds between degree of saturation and suction.The suction variation can change its water retention behaviour and void ratio.Moreover,changes of void ratio can bring about changes in degree of saturation.Therefore,the total change in degree of saturation includes changes caused by suction and that by void ratio.In the space of degree of saturation and suction,the SWRC at constant void ratio shifts to the direction of higher suctions with decreasing void ratio.However,the relationship between water content and suction is less affected by changes of void ratio.The degree of saturation decreases approximately linearly with increasing void ratio at a constant suction.Moreover,the slope of the line decreases with increasing suction and they show an approximately linear relationship in semi-logarithmical scale.From this linear relationship,the variation of degree of saturation caused by the change in void ratio can be obtained.Correspondingly,SWRC at a constant void ratio can be determined from SWRC at different void ratios.

A modification of local path marginal cost on the dynamic traffic network

Path marginal cost （PMC） is the change in totaltravel cost for flow on the network that arises when timedependentpath flow changes by 1 unit. Because it is hardto obtain the marginal cost on all the links, the local PMC,considering marginal cost of partial links, is normallycalculated to approximate the global PMC. When analyzingthe marginal cost at a congested diverge intersection, ajump-point phenomenon may occur. It manifests as alikelihood that a vehicle may unsteadily lift up （down） inthe cumulative flow curve of the downstream links. Previously,the jump-point caused delay was ignored whencalculating the local PMC. This article proposes an analyticalmethod to solve this delay which can contribute toobtaining a more accurate local PMC. Next to that, we usea simple case to calculate the previously local PMC and themodified one. The test shows a large gap between them,which means that this delay should not be omitted in thelocal PMC calculation.

Sauna Technique, Drying Kinetic Modeling and Effectiveness on Solar Drying Compared with Direct Drying in Drying Process of <i>Kappaphycus striatum</i>in Selakan Island Malaysia

A sauna drying technique—the solar drier was designed and imposed, constructed and tested for drying of seaweed. The seaweed moisture content was decreased around 50% in 2-day sauna. Kinetic curves of drying of seaweed were known to be used in this system. The non-linear regression procedure was used to fit three different drying models. The models were compared with experimental data of red seaweed being dried on the daily average of air temperature about 40℃. The fit quality of the models was evaluated using the coefficient of determination (R2), Mean Bias Error (MBE) and Root Mean Square Error (RMSE). The highest values of R2 (0.99027), the lowest MBE (0.00044) and RMSE (0.03039) indicated that the Page model was the best mathematical model to describe the drying behavior of sauna dried seaweed. The percentage of the saved time using this technique was calculated at 57.9% on the average solar radiation of about 500 W/m2 and air flow rate of 0.056 kg/s.

THEORETICAL STUDY ON THE BIFURCATION OF VORTEXES STRUCTURE FOR FLOW IN CURVED TUBE

The number and distribution of the singular points of streamlines in the cross-section of steady flow through a curved tube ate discussed by using the method of topological structure analysis. And a theoretical criterion is obtained for the bifurcation of flow vortexes for the secondary flow turning from two-vortex structure into four-vortex structure. Furthermore, the critical Dean number for bifurcation and the semi-analytical expressions of stream function and axial velocity are given by using Galerkin technique. The result of calculation is consistent with the theoretical criterion.

Paths of algebraic hyperbolic curves

Cubic algebraic hyperbolic （AH） Bezier curves and AH spline curves are defined with a positive parameter a in the space spanned by {1, t, sinht, cosht}. Modifying the value of a yields a family ofAH Bezier or spline curves with the family parameter α. For a fixed point on the original curve, it will move on a defined curve called ＂path of AH curve＂ （AH Bezier and AH spline curves） when a changes. We describe the geometric effects of the paths and give a method to specify a curve passing through a given point.

Flow of Eyring-Powell liquid due to oscillatory stretchable curved sheet with modified Fourier and Fick’s model

This study deals with the features of the mass and heat transport mechanism by adopting a modified version of Fourier and Fick’s model known as the CattaneoChristov double diffusive theory.The time-dependent magnetohydrodynamic(MHD)flow of the Eyring-Powell liquid across an oscillatory stretchable curved sheet in the presence of Fourier and Fick’s model is investigated.The acquired set of flow equations is transformed into the form of nonlinear partial differential equations(PDEs)by applying appropriate similarity variables.A convergent series solution to the developed nonlinear equations is accomplished with the help of an analytical approach,i.e.,the homotopy analysis method(HAM).The consequences of diverse parameters,including the dimensionless EyringPowell liquid parameter,the radius of curvature,the Schmidt/Prandtl numbers,the ratio of the oscillatory frequency of the sheet to its stretchable rate constant,the mass and thermal relaxation variables involved in the flow,and the heat and mass properties,are displayed through graphs and tables.It is noted from this study that the amplitude of the pressure distribution rises for the high parametric values of the Eyring-Powell parameter.

Usefulness of Detailed Analysis with Operative Procedure of Total Laparoscopic Hysterectomy (TLH) Done a Single Surgeon, to Master the Surgical Technique of TLH and Gain Higher Proficiency

Objective: To analyze the relationship between the numbers of cases experienced and the operation time for a single surgeon aiming to master the TLH surgical technique. Material and Methods: Retrospective data analysis of women who underwent TLH for benign diseases between April, 2014 and March, 2016 was conducted by a single surgeon in a single hospital (Showa University of Fujigaoka Hospital). We divided the main procedures of the TLH operation into five sections, and measured the time required for each section. These cases were divided into three groups, group 1, 2, and 3. Results: There were 54 cases of TLH over two years for a single surgeon, and 21 cases that included essential operative procedures were divided into three groups of seven cases each. The average duration of the surgery (min.) was 178.3 ± 48.2 in the group 1, 128.3 ± 15.6 in the group 2, and 111.3 ± 15.9 in the group 3. A significant reduction in the required time was observed between group 1, 2, and 3 groups. As the number of cases increased, the operation time became statistically significantly shorter for every section except B and D. The skill growth rate was different at each section. Conclusion: For a single surgeon, as the number of surgical cases increased, we recognized the increased skill with the procedure in every section and the rate of skill growth differed for different sections. The difference of growth rate for each section implied that the number of operative cases required for a surgeon in each section was different.

Extended Lorenz majorization and frequencies of distances in an undirected network

Purpose:To contribute to the study of networks and graphs.Design/methodology/approach:We apply standard mathematical thinking.Findings:We show that the distance distribution in an undirected network Lorenz majorizes the one of a chain.As a consequence,the average and median distances in any such network are smaller than or equal to those of a chain.Research limitations:We restricted our investigations to undirected,unweighted networks.Practical implications:We are convinced that these results are useful in the study of small worlds and the so-called six degrees of separation property.Originality/value:To the best of our knowledge our research contains new network results,especially those related to frequencies of distances.

Successful Pregnancy after Novel Uterine Prolapse Surgical Technique: A Case Report at Sinnar Maternity Teaching Hospital

Procidentia is one of complications of pregnancy and childbirth. The challenge of treatment is to preserve fertility if needed and to find effective methods with rapid learning curve. Our technique—Isam technique—fulfills these needs with a short hospital stay, very low risk of complications and relapse, a rapid learning curve as well, and no need for long contraceptive methods after operation.

Path Planning and Tracking for Vehicle Parallel Parking Based on Preview BP Neural Network PID Controller

In order to diminish the impacts of extemal disturbance such as parking speed fluctuation and model un- certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre- view back propagation （BP） neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po- sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.

Edge crack growth of mortar plate specimens under uniaxial loading tests

In this paper, a compression-to-tension conversion technique is developed by applying predominant mode I loading test, using a servo-controlled compression system. The technique is applied to thin mortar plate specimens of different widths that include a prefabricated crack on either a single side to facilitate unilateral crack propagation, or prefabricated cracks positioned on both sides asymmetrically with respect to the specimen midpoint to facilitate bilateral crack propagation under direct tensile stress with a loading rate of 0.001 mm/s. The results show that the main pathways of unilateral crack propagation governing specimen failure are fluctuated locally, but present an approximately straight line overall in the absence of pre-existing internal defects. However, the pathways of bilateral crack propagation are relatively complex, although they present similar characteristics. Analysis results suggest that bilateral crack propagation can be basically divided into three stages, i.e. a stage of linear propagation, a stage representing deviation from the other crack, and a stage where one crack approaches either the other crack or approaches the opposite edge of the specimen, and thereby forming a continuous crack through the specimen. In addition, the stressestrain curves of bilateral crack specimens do not vary significantly around the point of peak stress prior to specimen failure, which means that the specimens do not fail instantaneously.

The Effect of Variable Blank-Holder Forces on the Formability of Aluminum Alloy Sheets during Sheet Metal Forming

In this paper, the effect of variable Blank-holder forces (VBHF) on the strain path during sheet metal forming has been investigated by numerical simulation and experiments. The formability of select aluminum alloy sheet was evaluated by theory prediction of forming limit curve based on the M-K method. The effect of different VBHF on the formability was presented. In order to verify the predictions of strain path, experiments are being carried out using a recently-built multi-points variable blank-holder forces hydraulic press. The results show that large side BHF with small comer BHF during rectangular box deep drawing can improve the formability of the selected aluminum alloy

Study of photometric phase curve:assuming a cellinoid ellipsoid shape for asteroid(106)Dione

We carried out new photometric observations of asteroid （106） Dione at three apparitions （2004, 2012 and 2015） to understand its basic physical properties. Based on a new brightness model, new photometric observational data and published data of （106） Dione were analyzed to characterize the morphology of Dione＇s photometric phase curve. In this brightness model, a cellinoid ellipsoid shape and three-parameter （H, G1, G2） magnitude phase function system were involved. Such a model can not only solve the phase function system parameters of （106） Dione by considering an asymmetric shape of an asteroid, but also can be applied to more asteroids, especially those without enough photometric data to solve the convex shape. Using a Markov Chain Monte Carlo （MCMC） method, Dione＇s absolute magnitude of H = 7.66＋0.03-0.03 mag, and phase function parameters G1 = 0.682＋0.077-0.077 and G2 = 0.081＋0.042-0.042 were obtained. Simultaneously, Dione＇s simplistic shape, orientation of pole and rotation period were also determined preliminarily.

A NURBS Fitting Optimization Method for High⁃Speed Five⁃Axis NC Machining Path Based on Curvature Smoothing Preset Point Constraint

Existing curve fitting algorithms of NC machining path mainly focus on the control of fitting error,but ignore the problem that the original discrete cutter position points are not enough in the high curvature area of the tool path.It may cause a sudden change in the drive force of the feed axis,resulting in a large fluctuation in the feed speed.This paper proposes a new non-uniform rational B-spline(NURBS)curve fitting optimization method based on curvature smoothing preset point constraints.First,the short line segments generated by the CAM software are optimally divided into different segment regions,and then the curvature of the short line segments in each region is adjusted to make it smoother.Secondly,a set of characteristic points reflecting the change of the curvature of the fitted curve is constructed as the control apex of the fitted curve,and the curve is fitted using the NURBS curve fitting optimization method based on the curvature smoothing preset point constraint.Finally,the curve fitting error and curve volatility are analyzed with an example,which verifies that the method can significantly improve the curvature smoothness of the high-curvature tool path,reduce the fitting error,and improve the feed speed.

Cognitive Granular-Based Path Planning and Tracking for Intelligent Vehicle with Multi-Segment Bezier Curve Stitching

Unmanned vehicles are currently facing many difficulties and challenges in improving safety performance when running in complex urban road traffic environments,such as low intelligence and poor comfort perfor-mance in the driving process.The real-time performance of vehicles and the comfort requirements of passengers in path planning and tracking control of unmanned vehicles have attracted more and more attentions.In this paper,in order to improve the real-time performance of the autonomous vehicle planning module and the comfort requirements of passengers that a local granular-based path planning method and tracking control based on multi-segment Bezier curve splicing and model predictive control theory are pro-posed.Especially,the maximum trajectory curvature satisfying ride comfort is regarded as an important constraint condition,and the corresponding curvature threshold is utilized to calculate the control points of Bezier curve.By using low-order interpolation curve splicing,the planning computation is reduced,and the real-time performance of planning is improved,com-pared with one-segment curve fitting method.Furthermore,the comfort performance of the planned path is reflected intuitively by the curvature information of the path.Finally,the effectiveness of the proposed control method is verified by the co-simulation platform built by MATLAB/Simulink and Carsim.The simulation results show that the path tracking effect of multi-segment Bezier curve fitting is better than that of high-order curve planning in terms of real-time performance and comfort.

A path planning algorithm based on Bezier curves for underwater vehicles

An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the generation of spatial path and the processing of some constraints. A path for underwater vehicles is planned, which satisfies the velocity constraint and the centripetal acceleration constraint of underwater vehicles. The proposed path planning method can be used for the vehicle＇ s locomotion and navigation control.

A Hybrid Path Planning Method Based on Articulated Vehicle Model

Due to the unique steering mechanism and driving characteristics of the articulated vehicle,a hybrid path planning method based on the articulated vehicle model is proposed to meet the demand of obstacle avoidance and searching the path back and forth of the articulated vehicle.First,Support Vector Machine(SVM)theory is used to obtain the two-dimensional optimal zero potential curve and the maximum margin,and then,several key points are selected from the optimal zero potential curves by using Longest Accessible Path(LAP)method.Next,the Cubic Bezier(CB)curve is adopted to connect the curve that satisfies the curvature constraint of the articulated vehicle between every two key points.Finally,Back and Forth Rapidly-exploring Random Tree with Course Correction(BFRRT-CC)is designed to connect paths that do not meet articulated vehicle curvature requirements.Simulation results show that the proposed hybrid path planning method can search a feasible path with a 90-degree turn,which meets the demand for obstacle avoidance and articulated vehicle back-and-forth movement.