Velocity Limit Research Articles

A high-effective swarm intelligence-based multi-robot cooperation method for target searching in unknown hazardous environments

To solve target searching problems for multi-robot cooperation with inaccurate target distance perception in unknown hazardous environments, a hybrid adaptive robotic particle swarm optimizer (RPSO) and grey wolf optimizer (GWO) based algorithm with continuous virtual target guidance is proposed for high effective path planning in the searching. In the initial searching stages, both the wolf behavior-generated position and the gbest position and the pbesti positions from RPSO are employed to guide the motions of robots. With the information provided by these initial robot movement paths, a geometric model is established to generate potential targets. The K-means cluster algorithm is introduced to estimate a virtual target position online from potential targets, with new robot-presenting route information to update the history path information. Then the virtual position is employed as one of the direction components to help the robots approach the actual target. In addition, to avoid mobile robots falling into local convergence, a heuristic moving direction determination scheme is utilized to make robots circumvent obstacles in swarm motions, as well as a mutual repulsion algorithm to keep them in a scattering state. Simulation experiments on different types of unknown environments with varied robot numbers and adaptability testing for a dynamic target are carried out to verify the feasibility of the proposed target searching method with comparisons to the other three famous target searching algorithms. It is verified from the results that the presented method can not only contribute a 100% success rate in all runs of searching for a stochastic dynamic target under a limited maximal velocity, but also produce both the shortest path length and minimum iterations in terms of statistical metrics over the comparative methods.

A Mathematical Model for Inducing Delays in Transmissions of Information Between Spinors Within the Heart, Hemoglobin Molecules and Cells by Mobile Waves

Biological systems like the heart, hemoglobin and cells are built from entangled spinors. Entangled spinors exchange information through two ways: (i) Spinor waves with the velocity of infinity; and (ii) Photons with the limited velocity of the speed of light. If any spin in a pair reverses, then the other spin changes sogn immediately. However, initial exchanged photons do not understand these changes, and retain the memory of the previous stage. Thus, when they reach the spinors, the spinors repel them. With time, the new emitted photons from the spinors obtain the correct information, and absorb other spinors in a pair. This repelling and absorbing causes the oscillation of heart cells and the motions of blood cells including hemoglobin. These molecules transmit information and oxygen and pass them on to cells. A mobile wave could break the entanglement between the spinors of the hemoglobin, and cause a delay in information and oxygen transmission from the heart to some cells, thereby creating non-normal cells like tumor ones. The reason for this is that without information, cells have to act independently of other cells. Also, without oxygen, cells have to use other mechanisms for respiration like the ones which were used by tumor cells in the Warburg proposal. This does not depend on the wavelength because the wavelength only determines the probability of existence of photons at each point and waves with any wavelength (even bigger than cell size) are formed from many photons with smaller size than cells. However, after some time, after establishing electromagnetic towers, the spinor structure of the body could resist these wave-fronts, and the probability for the emergence of tumors decreases. Without this resistance and according to the Warburg proposal, generated tumor cells produce different numbers of spinors which help them to diagnose the motion of T-cells, making them ready to respond. To avoid this event, we may use again some mobile waves which produce some noise around tumor cells.

Evaluation of an anthropometric head surrogate exposed to chisel-nosed fragment simulating projectile impact

Fragment-induced penetrating injuries pose a significant threat in modern combat. Explosions from explosive devices generate metallic fragments that can lethally penetrate various body regions, with the head being particularly most vulnerable to fatality in terms of penetration. Hence, understanding the head’s response to fragment impact is crucial. To this end, this study investigated the ballistic response of an anatomically accurate anthropometric head surrogate to fragment impact. The head surrogate comprised simulants for the three major layers of the head (skin, skull, and brain). Using a pneumatic gas gun, we impacted chisel-nosed fragment simulating projectiles (FSPs) of 1.10-g and 2.79-g on the head surrogate. We analyzed the ballistic response of the head surrogate in terms of ballistic limit velocities (V50), energy densities (E50/A), and failure mechanisms in each layer. The results indicated sensitivity to the FSP size. The 1.10-g FSP had a ∼41% higher V50 and a ∼63% higher E50/A compared to the 2.79-g FSP. Additionally, each head surrogate layer exhibited distinct failure mechanisms. The skin simulant failed due to a combination of shearing and elastic hole enlargement, forming a cavity smaller than the size of the FSP. The skull simulant fractured, creating a cavity at the entry point matching the FSP size. The brain simulant failure involved shearing of the cavity and penetration of fractured skull fragments. We also observed no significant difference in response when introducing a flexible neck attachment on which the head surrogate was mounted. Furthermore, comparisons of an anthropometric (close-shape) head surrogate with a simplified open-shaped head surrogate revealed the minimal influence of the head curvature on the response due to the localized nature of fragment penetration. These findings provide a comprehensive understanding of the head surrogate’s mechanical response to fragment impact. The insights from this work hold significant value in the assessment of penetrating head injury, especially against small fragments. The results can be applied in modern warhead design and forensic investigations.

The Unique Behavior of Vertical Velocity in Developing Deep Convection

AbstractWhen daytime tropical convection develops away from mesoscale disturbances, it typically transitions gradually from dry to shallow to deep convection on hourly timescales. The transition is commonly associated with the formation of larger horizontal boundary‐layer structures and an increasing level of cloud organization aloft. This study demonstrates that a spectral analysis of the resolved high‐resolution sub‐cloud flow features allows for a robust identification of dominant length scales and the quantification of their growth rates during the transition. Furthermore, it is shown that temperature, moisture, and horizontal winds develop multiple length scales with the largest ones growing up to several kilometers in magnitude. However, the vertical velocity behaves in a distinct manner developing significantly smaller values, comparable over land and ocean. This indicates stronger inherent limits of vertical velocity to self‐organize by size.

Spark ignition and stable flame of premixed methanol-ammonia gaseous jet at atmospheric surrounding

Ammonia, regarded as a zero-carbon fuel, presents significant challenges due to its notable combustion and chemical inertness. To mitigate these challenges, blending liquid ammonia with carbon-neutral methanol offers a promising avenue for creating an innovative, stable, and large-scale producible carbon-neutral fuel. This study investigates the impacts of xCH3OH (methanol mole ratio in methanol-ammonia mixture) and v (mean jet velocity at nozzle outlet) on forming stable flames of a premixed methanol-ammonia argon-oxygen (MA-AO) gaseous jet in the atmospheric surrounding. Results indicate that the pure ammonia argon-oxygen (A-AO) mixture can be ignited by an electrical spark with the energy of about 52.1 mJ, but it cannot grow to be a stable jet flame although the fire nucleus can form. Blending methanol is very helpful in forming a stable jet flame of the MA-AO mixture. When xCH3OH is lower than 49% at λ = 1.0, only the fire nucleus could be formed without a stable jet flame. When xCH3OH is more than 49%, there is a certain mean jet velocity range for different xCH3OH to form a stable flame. At the low-velocity limit, the flame would be quenching. While the flame would be blown off at the high-velocity limit. The velocity limits of quenching and blow-off become higher with higher xCH3OH, and the blow-off velocity limit increases more evident.

Waveguide Acoustic Control of Pipes - Billets of Deep Rod Pumps

Deep rod pumps are expensive maintenance-free equipment for extracting oil from wells. The exclusion of defective billet pipes from the technological cycle of manufacturing elements of such pumps significantly affects both the cost of their production and the cost of production. A waveguide method is proposed for continuous input testing of tube billets of rod pump cylinders. It does not require scanning and is highly sensitive to both internal and surface defects. An experimental assessment of the sensitivity of the method to defects in the form of an influx located on the outer and inner surfaces of a thick-walled pipe with a diameter of 59.3 mm and a wall thickness of 14 mm was carried out. The echo signal from the artificial reflector decreased by 2 dB when the reflector was moved from the outside of the pipe to the inside. The criteria for rejection of the blank pipe are determined by the signal level at the first reflection R1, at the 8th reflection RN and by the attenuation coefficient b. As a result of flaw detection of billet pipes, a pipe with a significant defect was found. An experimental study of the acoustic properties of a batch of pipes with a diameter of 58 mm in the delivery state was carried out. For the billets of the cylinder of the deep rod pump in the delivery state, the lower acceptance limit for the torsional wave velocity of 3255 m/s has been determined. The influence of technological operations of high tempering and straightening on their acoustic properties is estimated. The possibility of quality control when performing the release operation by the guided wave method is shown. It was revealed that during the tempering procedure, the velocity of the torsional wave increases, on average, by 27 m/s per batch.

Projectile nose-length effect on specific cavitation energy and ballistic limit velocity and thickness

The perforation of armour plates by quasi-rigid projectiles in ductile hole growth has been demonstrated to be influenced by the ratio of plate thickness to projectile diameter, referred to as the hole slenderness ratio, h/D. Here we propose a new non-dimensional geometric ratio, termed as the target containment ratio, that uses the projectile nose-length in place of the diameter, i.e., h/L. We demonstrate that the hole slenderness ratio is a special approximation of the target containment ratio for projectiles with a nose-shape ratio (projectile nose-length normalised by projectile shank radius) on the order of 3. We validate the proposed relationship via a comprehensive numerical study and through comparison with experimental data for the 14.5 mm BS41 armour piercing bullet, for which the nose-shape ratio is about 2. We show that the new target containment ratio dependent formulation of the specific cavitation energy improves the accuracy of the model suggested in Masri and Ryan (2024). This new formulation is also used to update existing formulae for ballistic limit predictions of monolithic and multilayer ductile targets.

Experimental research on self-amplifying density waves in horizontal pipelines of two phase granular slurries: Measurements on the effect of particle diameter and concentration

Self-amplifying density waves in hydraulic transport pipelines is a scarcely researched topic. Density waves are in essence the result of a spatial redistributing effect and clustering of solids in hydraulic transport pipelines. Self-amplifying density waves are very undesirable for practical applications, as these waves increasing the risk of pipeline blockages. The two available experimental studies (Talmon et al., 2007; Matoušek and Krupička, 2013) report conflicting properties of the density waves, such as wave length and wave celerity. This new experimental research aims to shed light on the reported differences, by broadly varying particle size and concentration in a new dedicated experiment. The main highlight of this research is that two separate mechanisms were identified that can cause density waves, and Talmon et al. (2007) and Matoušek and Krupička (2013) in hindsight were studying the two different mechanism respectively. Both wave type mechanisms come into effect at mixture velocities close to the deposit limit velocity, and require a stationary bed layer to initiate. The first mechanism is caused by an imbalance of erosion and sedimentation of the bed layer, which is predominant for fine sand particles (∼242μm and ∼308μm in this research). The second mechanism occurs when the bed layer starts sliding, instead of being eroded, and is specific for larger sand sizes (∼617μm and ∼1.08mm in this research). These two mechanisms are clearly distinguishable, having different wave lengths, celerity, amplitudes and amplification rates. The results also show a clear relationship between the mean concentration of a density wave, the wave amplitude and wave celerity specific for each of the two mechanisms.

Experimental and numerical study on ballistic impact behavior of explosively-welded double-layered Weldox700E targets against ogival-nosed projectiles

In this work, explosive welding technique was used to fabricate 2 mm + 2 mm thick double layered Weldox700E steel targets. The bonding interface exhibited wave-shaped patterns without obvious micro-defects, grain refinement and grain elongation were observed. With specially designed shear specimen and tensile specimen, Ultimate stresses of the bonding interface under shear and tensile loadings were measured to be 526 MPa and 683 MPa, respectively. Ballistic impact tests against ogival-nosed projectiles were conducted on both explosively welded double-layered targets and double-layered contact targets. Ballistic limit velocities of the two target configurations were respectively 225.32 m/s and 203.98 m/s , with the former being 10.5 % higher than the latter. For both target configurations, localized bulging and petal-shaped cracking were observed; specially, welded bonding interface remains well bonded even after perforation of the projectile. Combining experimental results and numerical simulations, it was found that the explosively welded double-layered targets exhibited better ballistic performance than double-layered contact ones. The good welded bonding interface provides a better overall deformation capability for the explosively welded double-layered target, which is an important reason for the improved ballistic performance of the target. Although hardness tests show that there is a significant hardened layer in the explosively welded double-layered target, and the hardness value can reach up to 409.4 HV. However, the thin hardened layer cannot significantly improve the ballistic performance of the explosively welded double-layered target in the high-speed impact process of the projectile.

Control barrier function based visual servoing for Mobile Manipulator Systems under functional limitations

This paper proposes a new control strategy for Mobile Manipulator Systems (MMSs) that integrates image-based visual servoing (IBVS) to address operational limitations and safety constraints. The proposed approach based on the concept of control barrier functions (CBFs), provides a solution to address various operational challenges including visibility constraints, manipulator joint limits, predefined system velocity bounds, and system dynamic uncertainties. The proposed control strategy is a two-tiered structure, wherein the first level, a CBF-IBVS controller calculates control commands, taking into account the Field of View (FoV) constraints. By leveraging null space techniques, these commands are transposed to the joint-level configuration of the MMS, while considering system operational limits. Subsequently, in the second level, a CBF velocity controller employed for the entire MMS undertakes the tracking of the commands at the joint level, ensuring compliance with the predefined system’s velocity limitations as well as the safety of the whole combined system dynamics. The proposed control strategy offers superior transient and steady-state responses and heightened resilience to disturbances and modeling uncertainties. Furthermore, due to its low computational complexity, it can be easily implemented on an onboard computing system, facilitating real-time operation. The proposed strategy’s effectiveness is illustrated via simulation outcomes, which reveal enhanced performance and system safety compared to conventional IBVS methods. The results indicate that the proposed approach is effective in addressing the challenging operational limitations and safety constraints of mobile manipulator systems, making it suitable for practical applications.

Multi-constrained predictive optimal control for spacecraft attitude stabilization and tracking with performance guarantees

This paper investigates a novel predictive control approach for spacecraft attitude stabilization and tracking problems with consideration of performance constraints, angular velocity limitation and control saturation. First, the prescribed performance control (PPC) structure and barrier Lyapunov function (BLF) are utilized to design the cost function of optimal control problem. Subsequently, a multi-constrained predictive optimal controller for spacecraft attitude stabilization and tracking with performance guarantees is devised via exploiting an explicit receding horizon optimization control strategy under actuator saturation. Compared with the existing methods, the major merit of the proposed one lies in the semi-analytic solving scheme of optimal control problems with high computing efficiency and simultaneous handling of multiple constraints without increasing computational burden. Finally, two illustrative examples are employed to validate the effectiveness of the proposed control method.

Electro-magnetohydrodynamic (EMHD) Darcy–Forchheimer flow of Sutterby nanofluid with variable thermal conductivity over a stretching sheet: Finite difference approach

This paper examines the enactment of a two-dimensional, steady, non-Newtonian nanofluid flow over a stretching sheet. The utilization of magnetic influences acting in the direction normal to the Darcy–Forchheimer boundary layer flow of the Sutterby nanofluid with variable thermal conductivity is taken into consideration. This study takes into account the effects of thermophoresis and Brownian motion. The study found that a 15% increase in magnetic field strength resulted in a 10% increase in heat transfer rate. Similarly, a 20% increase in nanoparticle volume percentage causes a 12% increase in the convective heat transfer coefficient. The problem’s model is formulated in the form of partial differential equations (PDEs), transformed via similarity transformation into nonlinear ordinary differential equations (ODEs). Applying the finite difference method yields the solution to reduced equations. EMHD Darcy–Forchheimer flow and nanofluid dynamics are combined in cutting-edge technology. This is important for many industrial and technical applications. Moreover, providing a strong computational framework provides a precise simulation of the flow behavior. By providing insights into the intricate interactions between electromagnetic forces, porous medium effects, and variable thermal conductivity in nanofluids flow across a stretched sheet, this study makes an essential contribution to the science of fluid dynamics. This research is very significant and enlightening for researchers and professionals who are interested in the design and optimization of heat transfer systems. The fluid flow is examined thoroughly and graphically, and the relationship between the profiles of velocity, temperature, and concentration and other important physical limitations is investigated. The effect of various physical parameters on concentration, velocity, temperature, skin friction, Nusselt number and heat flow coefficient is verified and examined using graphs and tables.

Globally convergent path-aware optimization with mobile robots

Consider a mobile robot that must navigate as quickly as possible to the global maxima of a function (e.g. density of seabed litter, pollutant concentration, wireless signal strength) defined over its operating area. This objective function is initially unknown and is assumed to be Lipschitz continuous. The limited velocity of the robot restricts the next samples to neighboring positions, and to avoid wasting time and energy, the robot’s path must be adapted as new information becomes available. The paper proposes two methods that use an upper bound on the objective to iteratively change the position targeted by the robot as new samples are acquired. The first method is FTW, which Turns When the best value seen so far of the objective Function is larger than the bound of the current target position. The second is FTWD, an extension of FTW that takes into account the Distance to the target. Convergence guarantees are provided for both methods, and a convergence rate is proven to characterize how fast the FTW suboptimality decreases as the number of samples grows. In a numerical study, FTWD greatly improves performance compared to FTW, outperforms two representative source-seeking baselines, and obtains results similar to a much more computationally intensive method that does not guarantee convergence. The relationship between FTW and FTWD is also confirmed in real-robot experiments, where a TurtleBot3 seeks the darkest point on a 2D grayscale map.

Experimental and numerical study on CuO/ZnO-modified aramid fabric for ballistic and UV radiation protection

Aramid fabrics are widely used in bulletproof armor because of their excellent mechanical properties. Previous studies have shown that ultraviolet radiation has a negative effect on the mechanical properties of aramid yarn, so improving the mechanical properties and impact resistance of aramid fabrics under ultraviolet radiation has become a research focus. In this work, aramid fabric was modified with CuO and ZnO particles to improve its ballistic performance under ultraviolet radiation. The ballistic impact resistance response and microscopic failure mechanisms of aramid fabrics under ultraviolet radiation were analyzed in detail. Under ultraviolet radiation, the ballistic limit velocity (vbl) of the CuO/ZnO-modified aramid fabric was 185.1 % greater than that of a neat fabric with a similar areal density. The vbl of the single-layer modified fabric was 45.6 % greater than that of the two-layer neat fabrics. The decrease in the ballistic performance of the aramid fabric under ultraviolet radiation was attributed to surface damage caused by the fracture of the chemical structure of the fibers, which weakened the mechanical properties of the fabric. The numerical simulation results were highly consistent with the ballistic impact test results, and the error between the numerical simulation and experimental results was within 10 %. The effects of changes in the mechanical parameters of the fabrics on the protection mechanism and energy absorption structure during ballistic impact were investigated. The energy dissipation of the modified fabric was at least 147.7 % greater than that of the neat fabric, further explaining the significant improvement in the ballistic performance of CuO/ZnO-modified fabrics under ultraviolet radiation.

Experimental and numerical analysis of ballistic impat and material characterization of GFRP and Kevlar 29/epoxy composite laminate

Through experimental testing and numerical simulations, this study examines the effects of ballistic events on thin FRP composite laminated plates fabricated using a hand lay-up method. Experimental ballistic impact tests using a pneumatic gun are conducted on composite plates reinforced with woven glass and woven Kevlar 29 fibers. An advanced three-dimensional finite element model programed in Ansys/Autodyn v19.1 is employed to verify the experimental findings and analyze the ballistic perforation characteristics of the target. The crucial material constants needed for the constitutive material model used in the simulation are acquired through precise experimentation on samples prepared from the fabricated laminates. Significant agreement is observed between the FE simulations and experimental findings, particularly concerning the assessment of residual velocities of the projectile and damage pattern in the laminates. The results of this study show that when subjected to ballistic impact by a flat-ended cylindrical projectile, the thin woven FRP composite primarily experiences damage characterized by delamination, fiber breakage and matrix cracking. Additionally, based on current simulations, it is observed that the ballistic limit velocity of the Kevlar 29/epoxy laminate exceeds that of GFRP by 25.64% when both materials have an equal thickness of 2.8 mm.

Ballistic performance of aluminum alloy plates with polyurea coatings for high-speed train structures

Polyurea coatings have been widely promoted in explosion and ballistic impact protection applications due to their excellent hyper-elasticity performance. In rail transportation, high-speed trains face potential impact threats from track ballast, which can affect the strength performance of the base material. To address these challenges, we examined the ballistic performances of aluminum alloy plates with polyurea coatings under large-scale impact (>30 mm). Four different configurations of target plates were investigated: A, P-A, A-P, and P-A-P. We fabricated samples and performed dynamic impact tests using an air cannon system to demonstrate the feasibility. Results show that ballistic performance is significantly improved by applying polyurea coatings on aluminum alloy plates. In particular, the growth rate of limit velocity of configuration A-P, P-A, and P-A-P to that of configuration A are 5.5 %, 19.4 %, and 22.8 %, respectively. The enhancement mechanism was further uncovered through stress wave propagation analysis and lateral energy diffusion effect. Explicit formulas for predicting the limit velocity and residual velocity were derived and demonstrated with reasonable accuracy over a wide range of parameter spaces. The observed enhancement in ballistic performance through polyurea coatings on aluminum alloy plates offers promising ways to design and implement more resilient and impact-resistant high-speed train structures.

Droplet impinging on sparse micropillar-arrayed non-wetting surfaces

Wettability of droplets and droplet impinging on sparse micropillar-arrayed polydimethylsiloxane (PDMS) surfaces were experimentally investigated. For droplets wetting on these surfaces, the contact line density model combining stability factor and droplet sagging depth was developed to predict whether the droplets were in the Wenzel or Cassie–Baxter wetting state. It was found that droplets on the sparser micropillar-arrayed PDMS surfaces were in the Wenzel wetting state, indicating that a complete rebound cannot happen for droplets impinging on these surfaces. For the case of droplets impinging on sparse micropillar-arrayed PDMS surfaces, it was found that there existed a range of impact velocity for bouncing droplets on the micropatterned surfaces with a solid fraction of 0.022. To predict the upper limit of impact velocity for bouncing droplets, a theoretical model considering the immersion depth of liquid into the micropillar structure was established to make the prediction, and the lower limit of impact velocity for bouncing droplets can be obtained by balancing kinetic energy with energy barrier due to contact angle hysteresis. In addition, the droplet maximum spreading parameter was fitted and found to follow the scale law of We1/4.

Chill-cast solidification of a peritectic Zn-10 Ag (+ 1.0 Mg) bioabsorbable alloy

In recent years, the Zn-Ag alloy demonstrated to be a potential candidate for biomedical applications as a bioabsorbable implant. Frequently, the microstructure of this alloy is composed of ε-AgZn3 dendrites enveloped by a peritectic η-Zn matrix, strongly influenced by the casting conditions. To study its growth, solidification experiments of the Zn-10.0Ag-1.0Mg wt% alloy were carried out on different copper mold geometries, including rectangular, wedge-shaped, and cylindrical. A range of microstructures between the limits of constitutional velocity (2.6 × 10−4 mm/s) and absolute stability velocity (3.3 × 102 mm/s) were achieved. Besides the ε-AgZn3 and η-Zn phases with different morphologies, Peritectic Coupled Growth (PCG) was found. The addition of Mg together with convection during solidification promotes PCG at a growth rate of ∼ 0.1 mm/s.

Mechanism of pre-tension on the impact response of plain weave fabric: Experimental and numerical investigation

The fabrics made of high strength and toughness fibers are increasingly used in the structural and individual protection. The research on energy dissipation mechanism and the improvement methods for improving energy dissipation of the fabric under impact, as well as the change of ballistic limit velocity under pre-stress, is relatively mature. However, the transmission mode and velocity of transverse wave in the fabric, as well as the method of accurate finite element simulation is still lacking. In this paper, the transverse impact response of ultra high molecular weight polyethylene (UHMWPE) fabric subjected to fragment impact is studied experimentally and numerically. A novel biaxial pre-tension fixture was developed, and fragment impact test of the fabric in pre-tension state was realized using a gas gun. The displacement-time history of each point on the fabric in three-dimensional space was characterized through 3-D DIC technology, and the process of transverse wave transmission on the fabric after fragment impact was obtained. The calculated results of the finite element model established by truss element agrees reasonably well with the experimental results. The experimental and numerical results indicate that the impact velocity of fragment affects the velocity of transverse wave in the fabric, but does not change its transmission mode. With the increase of pre-tension amount, the propagation mode changes from a cross shape to a rhombic shape and finally to a circular shape, and the wave velocity increases greatly. The wave transmission process in yarns at a mesoscopic level was analyzed through finite element simulation, and the transmission path was determined. It was found that pre-tension accelerated the wave velocity on the stepwise path, causing the transverse wave to reach a farther position in the diagonal direction of the fabric, resulting in different modes of wave transmission. The research content may provide more ways for the application of fabrics in protection.

Optimal Path Planning Algorithm with Built-In Velocity Profiling for Collaborative Robot.

This paper proposes a method for solving the path planning problem for a collaborative robot. The time-optimal, smooth, collision-free B-spline path is obtained by the application of a nature-inspired optimization algorithm. The proposed approach can be especially useful when moving items that are delicate or contain a liquid in an open container using a robotic arm. The goal of the optimization is to obtain the shortest execution time of the production cycle, taking into account the velocity, velocity and jerk limits, and the derivative continuity of the final trajectory. For this purpose, the velocity profiling algorithm for B-spline paths is proposed. The methodology has been applied to the production cycle optimization of the pick-and-place process using a collaborative robot. In comparison with point-to-point movement and the solution provided by the RRT* algorithm with the same velocity profiling to ensure the same motion limitations, the proposed path planning algorithm decreased the entire production cycle time by 11.28% and 57.5%, respectively. The obtained results have been examined in a simulation with the entire production cycle visualization. Moreover, the smoothness of the movement of the robotic arm has been validated experimentally using a robotic arm.