Angle Increment Research Articles

Effect of Loading Direction on Tensile-Compressive Mechanical Behaviors of Mg-5Zn-2Gd-0.2Zr Alloy with Heterogeneous Grains

The tension-compression yield asymmetry caused by the strengthening of Mg-Zn-Gd-Zr alloy due to extrusion deformation is an important issue that must be addressed in its application. In this study, the effects of loading direction on the tensile and compressive mechanical behaviors of Mg-5Zn-2Gd-0.2Zr alloy were systematically investigated. As the loading angle (the angle between the loading direction and the extrusion direction) increases from 0° to 30°, 45°, 60° and 90°, the tensile yield strength decreases more significantly than the compressive yield strength. Consequently, the tension-compression yield asymmetry is gradually improved. Additionally, the ultimate compressive strength decreases more markedly than the ultimate tensile strength with the increment of the loading angle. In tensile tests conducted at 0°, 30° and 45°, two distinct stages of decreasing strain hardening rates are typically observed. For the 60° and 90° tensile tests, one unusual ascending stage of strain hardening rate is observed. For all compressive tests, three stages of strain hardening are consistently noted; however, the increment in strain hardening rate caused by {10–12} extension twinning decreases with the increasing loading angle. A model combining loading angle and Schmid factor distribution was established. The calculated results indicate that the dominant deformation modes during the yielding process also vary significantly with the loading conditions. This clarification highlights the differences in yield strength variations between tension and compression. Finally, an analysis of the plane trace and crack propagation direction near the fracture surface reveals the fracture mechanisms associated with tensile and compressive tests at different loading directions. This study promotes understanding of the mechanical behaviors of Mg-5Zn-2Gd-0.2Zr alloy under different loading directions, and helps to thoroughly elucidate the anisotropic effects of texture on the mechanical properties of magnesium alloys.

Influence of echo time on pulmonary ventilation and perfusion derived by phase-resolved functional lung (PREFUL) MRI using multi-echo ultrashort echo time acquisition.

Non-contrast enhanced 1H magnetic resonance imaging (MRI) is promising for ventilation/perfusion (V/Q) assessment of the lung but the influence of the echo time (TE) on V/Q parameters is lacking. Therefore, the purpose of this study was to investigate the influence of different TEs on pulmonary V/Q parameters derived by phase-resolved functional lung (PREFUL) MRI using a multi-echo ultrashort TE (UTE) acquisition. A 2D multi-echo UTE sequence with radial center out readout and tiny golden angle increment was developed. Forty-eight participants were enrolled in this study: 25 healthy subjects, six patients with asthma, and 17 patients with pulmonary fibrosis. Participants underwent two acquisitions of 2D multi-echo UTE MRI with three TEs per acquisition (TE1-6: 0.07, 0.82, 1.72, 2.47, 3.37, and 4.12 ms). Regional ventilation (RVent), flow-volume loop cross-correlation metric (FVL-CM), and normalized perfusion-weighted signal (QN) maps were calculated. V/Q defect percentages (VDP/QDP) were determined. To assess repeatability, the measurement was repeated in healthy subjects. Median and interquartile range of RVent, FVL-CM, QN, VDP, and QDP were calculated. To assess significant differences between parameters obtained at different TEs, Friedman's test and Dunnett's test were performed. Pearson correlation coefficients between RVent derived at TE1 and the difference in RVent between TE2,3 and TE1 were calculated. For repeatability assessment, coefficient of variation (CoV) and intraclass correlation coefficient (ICC) were determined. Significant differences were found comparing V/Q parameters obtained at TE3-6 compared to TE1. CoV increased with TE. For ICC, values between 0.35 (QDP at TE1) and 0.83 (VDPRVent at TE2) were obtained for T1,2. Statistically significant differences for ventilation and perfusion parameters derived by PREFUL were found for TE3-6 compared to TE1. All V/Q parameters were well repeatable for TE1-2. With increasing TE and respiratory volume, RVent shows a T2*-dependency leading to biased ventilation assessment compared to TE1.

Laboratory assessment of the effect of rice husk, groundnut shells and RHA on the shear, permeability and consolidation of clayey sands

Utilizing waste materials to improve soil properties can result in cost savings and environmental benefits. This study aims to determine the effect of adding agricultural wastes like rice husk ash (RHA), rice husk (RH), and groundnut shells (GS) to clayey sands from Mysore district, India. The study focused on the undrained strength, permeability and volume change behaviour of soils mixed with RHA, RH and GS. The soil samples were mixed with varying amounts of RHA (5%, 10%, 15%, and 20%) and RH-GS (1%, 2%, 3%, 4%, and 5%) and cured for 1, 7, 14 and 21 days. These blended specimens were then used to determine the maximum dry density (MDD), optimum moisture content (OMC) and unconfined compressive strength (UCS). The soil mixture containing 5% RHA and 4% (RH + GS) yielded optimal results in the UCS test. Further tests, including unconsolidated undrained (UU) triaxial, permeability and consolidation tests, were conducted on the parent soil and the soil composite with 5% RHA and 4% (RH + GS). From the undrained test, the strength increased for the soil admixture, with a reduction in the cohesion and an increment in the friction angle, compared to that of the parent soil. The experimental results also showed improvement in the permeability and consolidation characteristics of the blended soil. As RH, GS, and RHA are abundant and considered to be agricultural waste products, using them represents an innovative, sustainable, and cost-effective solution with promising potential for soil improvement.

Method for Bottle Opening with a Dual-Arm Robot.

This paper introduces a novel approach to robotic assistance in bottle opening using the dual-arm robot TIAGo++. The solution enhances accessibility by addressing the needs of individuals with injuries or disabilities who may require help with common manipulation tasks. The aim of this paper is to propose a method involving vision, manipulation, and learning techniques to effectively address the task of bottle opening. The process begins with the acquisition of bottle and cap positions using an RGB-D camera and computer vision. Subsequently, the robot picks the bottle with one gripper and grips the cap with the other, each by planning safe trajectories. Then, the opening procedure is executed via a position and force control scheme that ensures both grippers follow the unscrewing path defined by the cap thread. Within the control loop, force sensor information is employed to control the vertical axis movements, while gripper rotation control is achieved through a Deep Reinforcement Learning (DRL) algorithm trained to determine the optimal angle increments for rotation. The results demonstrate the successful training of the learning agent. The experiments confirm the effectiveness of the proposed method in bottle opening with the TIAGo++ robot, showcasing the practical viability of the approach.

Dynamic Attitude Inertial Measurement Method for Typical Regions of Deck Deformation

Due to the deformation of ships, it becomes difficult to ensure the accuracy of attitude measurement in typical areas on the deck, which seriously impacts the safety and operational efficiency of shipborne equipment. To address this issue, this paper presents a parameter identification method for dynamic deformation models based on angle increment differences and introduces the related vector machine (RVM) algorithm for online estimation of dynamic deformation model parameters. In view of the truncation error and non-Gaussian noise of the model, this article proposes a dynamic attitude measurement method based on model predictive filtering (MPF), constructs a dynamic measurement model using Rodrigues parameters in an inertial frame, and designs a maximum correlation entropy (MCE) robust filter to achieve robust estimation of deck dynamic deformation. The performance of the method is verified through simulation analysis and shipborne experiments. The comparative results indicate that, compared with existing methods, the proposed improved deck dynamic attitude measurement algorithm based on model prediction (IDAM) can substantially enhance the accuracy of attitude measurement in the presence of deck dynamic deformations.

Influence of thermodynamic conditions on the mixing characteristics of a supercritical nitrogen jet under mode excitation

Fuel injection mixing is one of the critical factors affecting the energy conversion efficiency and emission level of thermal engines. The effect of thermodynamic conditions on mixing characteristics of supercritical cryogenic nitrogen jet under varicose mode excitation is investigated using the unsteady Reynolds-averaged Navier-Stokes method combined with real-gas thermodynamics and transport properties of nitrogen in NIST database. The ambient-to-jet density ratio is defined to represent different thermodynamic conditions and is found to affect the jet mixing enhancement directly. As the density ratio increases from 0.098 to 0.432, the density gradient reduces in the jet shear layer, mitigating flow stratification. Jet mixing is enhanced with a reduction of density potential core length by 24 % and a tripled density spreading angle. Under varicose mode excitation, large vortices are formatted close to the jet orifice, especially for higher density ratio cases. The peak of the jet turbulent kinetic energy is higher and shifts upstream as density ratio increasing. The jet mixing enhancement is further achieved, with the spreading angle increment growing from 1° to 4° and the velocity decay rate increasing from 0.03 to 0.15. As the excitation amplitude rising from 5 % to 15 %, the growth of jet momentum instability in the jet potential core breaks the velocity gradients inhibition on jet mixing. The supercritical jet enters self-similar region earlier, with density potential core length shortened by 51 % and spreading angle increased by 28 % at a middle density ratio of 0.275.

IDENTIFYING RISK FACTORS FOR DISEASE PROGRESSION IN DEVELOPMENTAL DYSPLASIA OF THE HIP USING A CONTRALATERAL HIP MODEL

Developmental dysplasia of the hip can cause pain and premature osteoarthritis. However, the risk factors and timing for disease progression in young adults are not fully defined. This study identified the incidence and risk factors for contralateral hip pain and surgery after periacetabular osteotomy (PAO) on an index dysplastic hip.Patients followed for 2+ years after unilateral PAO were grouped by eventual contralateral pain or no-pain, based on modified Harris Hip Score, and surgery or no-surgery. Univariate analysis tested group differences in demographics, radiographic measures, and range-of-motion. Kaplan-Meier survival analysis assessed pain development and contralateral hip surgery over time. Multivariate regression identified pain and surgery risk factors. Pain and surgery predictors were further analyzed in Dysplastic, Borderline, and Non-dysplastic subcategories, and in five-degree increments of lateral center edge angle (LCEA) and acetabular inclination (AI).184 patients were followed for 4.6±1.6 years, during which 51% (93/184) reported hip pain and 33% (60/184) underwent contralateral surgery. Kaplan-Meier analysis predicted 5-year survivorship of 49% for pain development and 66% for contralateral surgery. Painful hips exhibited more severe dysplasia than no-pain hips (LCEA 16.5º vs 20.3º, p<0.001; AI 13.2º vs 10.0º p<0.001). AI was the sole predictor of pain, with every 1° AI increase raising the risk by 11%. Surgical hips also had more severe dysplasia (LCEA 14.9º vs 20.0º, p<0.001; AI 14.7º vs 10.2º p<0.001) and were younger (21.6 vs 24.1 years, p=0.022). AI and a maximum alpha angle ≥55° predicted contralateral surgery.5 years after index hip PAO, 51% of contralateral hips experience pain and 34% percent are expected to need surgery. More severe dysplasia, based on LCEA and AI, increases the risk of contralateral hip pain and surgery, with AI being a predictor of both outcomes. Knowing these risks can inform patient counseling and treatment planning.

Identification of generator coherency in power systems with wind farm

In the context of the "dual carbon" goal, the penetration rate of new energy represented by wind power is gradually increasing. The large-scale grid connection of wind power makes the power system more complex and uncertain. The output of wind farms changes the system flow, indirectly affecting the power angle characteristics of synchronous generators, and thereby changing the coherence between generators. Affects synchronous generator homology identification. This paper proposes a generator homology identification method for power systems containing wind farms, in response to the problem that the existing methods for identifying unit homology have not taken into account the adverse effects of wind farms on identification results. Translate the influence of wind farms on the homology of synchronous generators into the contraction admittance matrix as a static electrical distance indicator; Select dynamic data reflecting the homology of synchronous generators after disturbance, and form four dynamic indicators to measure the power angle increment curve between each generator: Euclidean distance, Chebyshev distance, grey correlation, and correlation coefficient; By using the combination weighting method to determine the weights of each indicator, a comprehensive similarity matrix is formed, and the optimal clustering results are determined using fuzzy system clustering and F-statistical values. Finally, the effectiveness of the proposed method was verified using EPRI-9 node system, EPRI-36 node system, and IEEE68 node system as examples.© 2017 Elsevier Inc. All rights reserved.

The effect of Inc parameter on VMAT radiotherapy plans quality for rectal cancer using Monaco TPS.

To investigate the effect of the Increment of gantry angle (Inc) parameter setting of the Monaco Treatment planning system (Monaco TPS) on the dosimetry and quality parameters of the volumetric modulated arc therapy (VMAT) program for rectal cancer. A retrospective analysis was conducted on 50 patients with rectal cancer who underwent intensity modulated radiation therapy using the Monaco TPS system from 2020 to 2021. Under the same optimization function configuration and other parameter settings, the Inc parameters in the VMAT radiotherapy plan were set to 10°, 20°, 30°, and 40°. The dose-volume histogram (DVH) was used to evaluate the dose distribution of the target area and the radiation dose of the organs at risk (OAR). The differences in the dosimetry of the planning target volume (PTV) and OAR, as well as the gamma pass rate (GPR) were compared. In terms of target dose, D98, Dmin, HI, and conformity index (CI) of Inc10 group was significantly lower than those of Inc20, 30, and 40 groups (P<0.05), and D2 of Inc10 group was significantly higher than that of Inc20 group (P=0.009). We also found CI of Inc20 and 30 were significantly better than that of Inc40 (both P<0.05). In terms of OAR dose, the study found that the Dmean, Dmin, V50%, V45%, and V40% for the bladder of the Inc10 group were lower than those of the other groups (all P<0.05), the Dmean for femoral head of the Inc20 group was lower than that of the Inc30 group (P<0.05), and Inc20 showed a better protective effect on the femoral head. The MUs tend to decrease as the Inc parameter setting is increased. The monitor unit (MU) in Inc10 group were significantly higher than those in Inc20, Inc30, and Inc40 groups, and the MU of Inc20 group was significantly higher than that of Inc40 group (both P<0.05). We found that for the 3%/3mm and 2%/2mm standards, the GPRs of each plan were>90%, which met clinical requirements. Different settings of Inc parameters have varying degrees of impact on target dose, OAR dose, and machine MU. It is important for doctors to choose different Inc parameters according to different clinical needs.

Three-Dimensional Phase Resolved Functional Lung Magnetic Resonance Imaging.

Pulmonary magnetic resonance imaging (MRI) offers a variety of radiation-free techniques tailored to assess regional lung ventilation or its surrogates. These techniques encompass direct measurements, exemplified by hyperpolarized gas MRI and fluorinated gas MRI, as well as indirect measurements facilitated by oxygen-enhanced MRI and proton-based Fourier decomposition (FD) MRI. In recent times, there has been substantial progress in the field of FD MRI, which involved improving spatial/temporal resolution, refining sequence design and postprocessing, and developing a comprehensive whole-lung approach. The two-dimensional (2D) phase-resolved functional lung (PREFUL) MRI stands out as an FD-based approach developed for the comprehensive assessment of regional ventilation and perfusion dynamics, all within a single MR acquisition. Recently, a new advancement has been made with the development of 3D PREFUL to assess dynamic ventilation of the entire lung using 8 min exam with a self-gated sequence. The 3D PREFUL acquisition involves employing a stack-of-stars spoiled-gradient-echo sequence with a golden angle increment. Following the compressed sensing image reconstruction of approximately 40 breathing phases, all the reconstructed respiratory-resolved images undergo registration onto a fixed breathing phase. Subsequently, the ventilation parameters are extracted from the registered images. In a study cohort comprising healthy volunteers and patients with chronic obstructive pulmonary disease, the 3D PREFUL ventilation parameters demonstrated strong correlations with measurements obtained from pulmonary function tests. Additionally, the interscan repeatability of the 3D PREFUL technique was deemed to be acceptable, indicating its reliability for repeated assessments of the same individuals. In summary, 3D PREFUL ventilation MRI provides a whole lung coverage and captures ventilation dynamics with enhanced spatial resolution compared to 2D PREFUL. 3D PREFUL technique offers a cost-effective alternative to hyperpolarized 129Xe MRI, making it an attractive option for patient-friendly evaluation of pulmonary ventilation.

Technical Note: Swing golden angle - A navigator-interleaved golden angle trajectory with eddy current suppression - Application in free-running cardiac MRI.

Golden angle (GA) radial trajectory is advantageous for dynamic magnetic resonance imaging (MRI). Recently, several advanced algorithms have been developed based on navigator-interleaved GA trajectory to realize free-running cardiac MRI. However, navigator-interleaved GA trajectory suffers from the eddy-current effect, which reduces the image quality. This work aims to integrate the navigator-interleaved GA trajectory with clinical cardiac MRI acquisition, with the minimum eddy-current artifacts. The ultimate goal is to realize a high-quality free-running cardiac imaging technique. In this paper, we propose a new "swing golden angle" (swingGA) radial profile order. SwingGA samples the k-space by rotating back and forth at the generalized golden ratio interval, with smoothly interleaved navigator readouts. The sampling efficiency and angle increment distributions were investigated by numerical simulations. Static phantom imaging experiments were conducted to evaluate the eddy current effect, compared with cartesian, golden angle radial (GA), and tiny golden angle (tGA) trajectories. Furthermore, 12 heart-healthy subjects (aged 21-25years) were recruited for free-running cardiac imaging with different sampling trajectories. Dynamic images were reconstructed by a low-rank subspace-constrained algorithm. The image quality was evaluated by signal-to-noise-ratio and spectrum analysis in the heart region, and compared with traditional clinical cardiac MRI images. SwingGA pattern achieves the highest sampling efficiency (mSE>0.925) and the minimum azimuthal angle increment (mAD<1.05). SwingGA can effectively suppress eddy currents in static phantom images, with the lowest normalized root mean square error (nRMSE) values among radial trajectories. For the in-vivo cardiac images, swingGA enjoys the highest SNR both in the blood pool and myocardium, and contains the minimum level of high-frequency artifacts. The free-running cardiac images have good consistency with traditional clinical cardiac MRI, and the swingGA sampling pattern achieves the best image quality among all sampling patterns. The proposed swingGA sampling pattern can effectively improve the sampling efficiency and reduce the eddy currents for the navigator-interleaved GA sequence. SwingGA is a promising sampling pattern for free-running cardiac MRI.

Step-edge-guided nucleation and growth mode transition of α-Ga2O3 heteroepitaxy on vicinal sapphire

Abstract Controlling the epitaxial growth mode of semiconductor layers is crucial for optimizing material properties and device performance. In this work, the growth mode of α-Ga2O3 heteroepitaxial layers was modulated by tuning miscut angles (θ) from 0° to 7° off the (10-10) direction of sapphire (0002) substrate. On flat sapphire surfaces, the growth undergoes a typical three-dimensional (3D) growth mode due to the random nucleation on wide substrate terraces, as evidenced by the hillock morphology and high dislocation densities. As the miscut angle increases to θ=5°, the terrace width of sapphire substrate is comparable to the distance between neighboring nuclei, and consequently, the nucleation is guided by terrace edges, which energetically facilitates the growth mode transition into the desirable two-dimensional coherent growth. Consequently, the mean surface roughness decreases to only 0.62 nm, accompanied by a significant reduction in screw and edge dislocations to 0.16×107 cm-2 and 3.58×109 cm-2, respectively. However, the further increment of miscut angles to θ=7° shrink the terrace width less than nucleation distance, and the step-bunching growth mode is dominant. In this circumstance, the misfit strain is released in the initial growth stage, resulting in surface morphology degradation and increased dislocation densities.

A New Approach to Multi-Stage Incremental Forming Method

Producing vertical edged parts in sheet metal forming methods can cause tears on the sheet. The incremental forming method can allow sheet forming without tears. Forming can be done multi-stage to prevent this tear. Incremental forming method can be used in prototype production. The most important advantages of incremental forming method are that it is fast and inexpensive. In this study, we applied multi-stage forming to the two-point incremental forming-rolling blank holder method. Thus, we have developed a new way: the multi-stage, two-point incremental forming-rolling blank holder method. Parts with vertical edges are produced, and the wall thickness distribution is examined. The work material is a DC04 sheet with a thickness of 0.98 mm. The workpiece is axially symmetrical with a wall angle of 90°. The effect of four different parameters were researched: increment, feed rate, clamping pressure, and angle increment. Three different levels were determined for each parameter. The wall thickness distribution of the parts obtained from the experiments was measured.

Sustainable approach for machining of Ti6Al4V using micro-pillar textured turning tool insert

The use of cutting fluids (CF) in metal cutting is questioned due to environmental and biological impacts, encouraging the adoption of dry machining to minimize these effects. However, dry machining accelerates tool wear, particularly in difficult-to-machine materials like Titanium and Nickel alloys. Approaches, such as rake surface texturing, address this challenge and promote sustainability in metal cutting. This study explored the impact of an innovative micro-pillar texture pattern fabricated using a combination of Laser Beam Micro Machining (LBμM) and Reverse Micro Electrical Discharge Machining (RμEDM) for the dry machining of Ti6Al4V. The investigation considers various parameters, including tool wear, contact length, titanium adhesion, cutting forces, cutting temperature, and chip morphology. An indirect approach was adopted to estimate the temperature of the tool tip using the temperature measured at a distant location. Implementing the textured tool with 15 μm deep micro-pillars in the dry machining of Ti6Al4V exhibited the best overall performance for various responses. A notable reduction of more than 40% for both tool-chip contact length and titanium adhesion, compared to a plain tool, indicated a perceptible decrease in the seizure zone at the interface. Moreover, the textured tools demonstrated a remarkable maximum reduction of 56.4% in flank wear, ensuring the prolonged retention of a sharp cutting edge. The responses for contact length, adhesion, and flank wear contributed to an 18.8% decrease in cutting force and a substantial 45.7% reduction in thrust force. Force analysis further confirmed the directional independence of the texture pattern. Under the influence of surface texturing, chip morphology changed to shorter, untangled, and tightly curled, with a 30.8% reduction in curl radius. A theoretical estimation based on the minimum energy approach was also performed to demonstrate an increment in the shear plane angle.

Numerical investigation on the fracture and mechanical behaviors of marble containing two parallel fissures under triaxial compression conditions using FDEM

This paper aims to investigate the fracture and mechanical behaviors of fissured marble under triaxial compression. The two-dimensional models of marble with two parallel fissures and various rock bridge angles were established, and then the numerical simulations considering the effect of confining pressure were performed with the finite-discrete element method. The brittle-ductile transition and stress multi-peak characteristics are presented with the increase of the confining pressure. The characteristic strain, stress, and elastic strain energy exhibit various trends with the increment of the rock bridge angle, whilst increasing trend with the increment of the confining pressure. The cohesion presents the variation of first increasing and then decreasing with the increase of the rock bridge angle, and the friction angle presents the opposite trend to the cohesion. The proposed strength model can reflect the evolutions of the cohesion and the friction angle considering the effect of confining pressure and rock bridge angle. The elastic strain energy has the trends of nonlinear increase and fluctuation in the pre-peak and post-peak phases, respectively. The variation of kinetic energy is induced by the internal local fracture during the progressive failure. The failure pattern transforms from the tensile failure to the shear failure with the increase of the confining pressure. The coalescence behavior of cracks at the rock bridge can be classified into four modes.

GRACE-FO attitude determination: Star camera installation matrix calibration and incremental quaternion integrator

The satellite attitude error is transmitted to the gravity field through KBR antenna phase center correction and non-conservative force conversion, which affects the accuracy of gravity field inversion. Therefore, obtaining high-precision satellite attitude is one of the important research contents of gravity field inversion. Each satellite of GRACE-FO is equipped with three SCs and an IMU for satellite attitude measurement, and fusion of these two types of data can obtain high-precision satellite attitude. In this paper, we use kalman filter to fuse the original GRACE-FO 1A observation data, and take into account the calibration of the installation matrix of the SCs during the fusion process. Meanwhile, a quaternion integrator that takes angle increments as inputs is derived from the equivalent rotation vector differential equation to address the computational inefficiency of first-order quaternion integrator, the accuracy and computational efficiency are verified using measured data. The experimental results show that after the calibration of the installation matrix of the SCs, the system bias of 20′′ caused by switching from three SCs observations to two SCs observations can be eliminated. The standard deviation of the attitude difference between the obtained attitude in this paper and the attitude calculated by JPL is at most 6′′ and the proposed incremental quaternion integrator has the same accuracy as the first-order quaternion integrator but with computational efficiency improved by at least 35%.

AUTOMATIC ASSEMBLY OF INTERLOCKING BUILDING CUBES BY USING VISUAL SERVOING APPROACH

Most of the robotic arms are set up for operation by the teach-and-repeat (T&amp;R) technique, also known as coordinate-based control, using pre-recorded coordination values to generate robotic arm trajectories. This technique is inefficient because it requires teaching a robotic arm every single coordinate point to complete an operation. It is a manual, tedious and time-consuming task. Moreover, this task needs to be repeated if there are slight changes in the operation. This paper studied the visual servoing approach to replace the T&amp;R technique in assembling different interlocking building cubes (IBC) combinations. The proposed method uses an image-based visual servo (IBVS) with a dynamic look-and-move system, and the eye-to-hand system, which requires computing the incremental joint angles of the robotic arm, a novel kinematic formula with a combination of Trigonometry formulas has been proposed in this paper. The experimental results show the feasibility of using a visual servoing approach to complete the assembly tasks without relying on the T&amp;R technique and achieved an average success rate of 90% and an average of 40.2 seconds for task duration. Thus, this eliminates the tedious and time-consuming tasks of teaching the coordinate points to the robotic arms. Further improvement on the servo motor, camera and computer processor can be done to increase the accuracy, computation time and task duration in future.

Modal and random vibration responses of composite overwrapped pressure vessels with various geodesic dome trajectories

In the current study, Composite Overwrapped Pressure Vessels (COPVs) with various geodesic dome profiles have been built and their modal and random vibration responses were numerically examined. In this regard, geodesic dome profiles were established for five different polar opening radii of 10, 15, 20, 25, and 30 mm, and thus the impacts of fibre orientations on vibration characteristics depending on the filament winding trajectories were discovered. Furthermore, non-prestressed modal and random vibration responses for COPVs, as well as prestressed vibration behaviours under 50, 100, and 150 Bar internal pressure, were investigated and thus the effects of internal pressure severity on dynamic characteristics were identified. The study found that higher polar opening radius triggered a reduction in the natural frequencies, and these reductions were linked to an increment in the filament winding angle, and a consequent deterioration in the structural stiffness of COPVs. On the other hand, raising the internal pressure severity shifts the natural frequencies to higher frequencies, which are also attributed to ascended structural stiffness. Furthermore, it was established that internal pressure severity and polar opening radius had a coupled effects on the modal and random responses, and that both parameters should be evaluated simultaneously.

Mechanical, metallurgical and corrosion analysis of forced cooling assisted laser bending of duplex-2205

Laser bending with a small bend angle poses challenges in manufacturing applications. Despite various proposed strategies, the achievable bend angle typically ranges from 0.1 to 2° per scan. This study focuses on enhancing the bend angle of duplex stainless steel by introducing forced cooling (FC). The application of FC aims to reduce the number of scans required, thereby saving time, cost, energy, and controlling material degradation due to excessive heating. The investigation compares the effects of process parameters under natural cooling (NC) and FC conditions. Metallurgical, mechanical, and corrosion properties of the bent specimens are investigated. Results indicate a significant enhancement in the bend angle with FC, showing an improvement of up to 1592 % for specific parameters and sheet geometries. For a 2 mm sheet thickness, the maximum bend angles achieved in five scans are 14.02° and 22.34° under NC and FC conditions, respectively. The influence of process parameters on the bend angle is significantly affected by FC compared to the NC condition. Additionally, the trend of bend angle increment in each scan is almost opposite in FC condition compared to NC. FC results in increased hardness and tensile strength of the bent specimens at the expense of ductility. Microstructural analysis reveals phase rearrangement and grain refinement. Corrosion resistance remains mostly unaffected, although a slight reduction in pitting potential is observed under FC, which is compensated by the formation of a passivation layer. Interestingly, the bend angle achieved in one scan was up to three times higher than the published literature, which could be beneficial for various industries.

The cyclic load effect on the elasticity and plasticity deformation of high-strength reinforced concrete elements

This article investigates the degradation of stiffness in high and standard-strength concrete due to the influence of repeated loading and considers the non-linear behavior arising from localized or natural defects of concrete. The article also refers to the models from existing literature that evaluate the characteristics of concrete by enhancing its physicochemical properties through the application of natural and synthetic fibers. The impact of the service load, which influences the change in concrete stiffness, is illustrated using the elastic–plastic concrete model. The elastic–plastic model of concrete, combined with experimentally determined data such as elastic and residual deformations, simplifies the analysis of concrete beams or surface elements. This model enables static solutions of inelastic materials based on the classical theory of elasticity. The degradation of element stiffness in this model is described by the local increment of the rotation angle. Based on the model we can assume a constant stiffness along the length of the beam before as well as after exceeding the value of the cracking moment. In the case of cyclic loads, it can be assumed that residual deformations have the greatest influence on the displacement values, which in the calculation model are described by the component of the angle of rotation in the crack, describing permanent displacements.