Robotic Systems and Applications
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Equivalent stiffness calculation of composite hat stiffened laminate
The stiffness is the main reason that restricts the large-scale of composite ships, the basis to solve this problem is to solve the stiffness of composite shipsโ skeleton structure. Based on classical laminates theory, this paper calculated the equivalent in-plane stiffness and bending stiffness of composite hat stiffened laminate using equivalent stiffness principle. The hat stiffened laminate can be simplified and equivalent to orthotropic laminates using this solution idea, which solves the problem that it is difficult to obtain the analytical solutions of deformation, stress and strain of stiffened laminate. The research results can be used to calculate the stiffness of composite stiffened laminate and the local or global stiffness of the hull girder with such a skeleton structure
Modal analysis of a milling dynamometer considered as 1DOF system
A force transducer-based plate dynamometer for milling force measurements is presented in this paper. The main components of the designed dynamometer were described, and experimental modal analysis was carried out while considering the dynamometer as a 1DOF system. The values of the main components of the 1DOF systems such as mass, damping coefficient, and equivalent stiffness were identified, and the natural frequency for rings and dynamometer was calculated. The calculated natural frequencies of components were found in reacceptance FRF, obtained by modal analysis done with an impact hammer. A MATLAB simulation was done to validate the system using the transfer function based on the modal test
Prediction of operation vibration state of coal mine mechatronics equipment based on data mining
In order to explore the prediction of the operation vibration state of coal mine mechatronics equipment, the author proposes a method based on data mining in response to the problems of large amount of data in the operating state of coal mine electromechanical equipment, low data utilization, and slow speed of single-machine massive data mining, using Map Reduce technology, a dual Map Reduce mining prediction framework is proposed, establish a data mining prediction model for the running state of dual Map Reduce, using MapReduce1 to extract features of monitoring data, use MapReduce2 to predict and analyze feature data. Finally, by building the Hadoop platform, reveal the relationship between Hadoop cluster nodes and parallel processing speed, the efficiency of the data mining prediction framework is verified: Perform an experimental comparative analysis of the single prediction model and the proposed AGB combined prediction model, the prediction accuracy of the AGB combined prediction model is verified
Comprehensive sensitivity analysis on static and dynamic reservoir parameters impacting near wellbore injectivity during CO2 sequestration
Carbon capture and storage (CCS) is proved to be effective measure for reducing CO2 emissions. whilst the world still highly depends on the use of fossil fuel energy, this method is necessary for reaching the worldโs 1.5 ยฐC goal. In CCS, CO2 is hindered from entering the atmosphere by capturing it from sources of emission and storing it in geological formation. Saline aquifers among all possible underground formations are most common targeted ones for CO2 storage due to their frequent presence, and large storage capacity. However, this storage option suffers from sufficient well injectivity to inject large volumes of CO2 at acceptable rates through a minimum number of wells. The injectivity impairment / reinforcement happens through mineral dissolution, fine particle movement, salt precipitation and hydrate formation (known so far). Each of these mechanisms will be more dominant in injectivity alteration at different distance from the injection point depending on reservoir pressure and temperature, formation water salinity, rock mineralogy, and flow rate of CO2 injection as well as its dryness. Incorporating all the finding into radial flow near wellbore will help gaining insight into the resultant of injectivity changes over time and distant from injection point. In this study we have chosen Eclipse 300 together with an open-source code to investigate the impact of formation characteristics, CO2 -Brine-Rock interaction, pressure, temperature as well as injection rate on injectivity alteration. The goal for this work is to provide a workflow which can help predicting injectivity alteration using the existing tools. Simulation results show that the high homogenous horizontal permeability in combination with vertical flow baffles in the formation (among all other parameters) has positive impact on storage capacity by increasing residual trapping. However, permeability is affected severely by salt precipitation during CO2 injection. Combined static and dynamic parameter study demonstrate that the injection rate plays a crucial role in size and expansion of CO2 plume as well as growth rate of dry out zone length, amount of salt precipitation and length of equilibrium region. The higher the injection rate, the quicker activation of the capillary and gravity force which leads to drag more brine to near well-bore resulting in higher volume fraction of salt precipitation. However, low injection rate could result in smaller CO2 plume, shorter dry out zone and longer equilibrium region in term of distance from injection point
Skull base flexion and its influence on chewing
Skull base asymmetries can occur in the intrauterine period, manifesting from birth as craniofacial asymmetries and should be investigated both in the maxilla and mandible and in the craniofacial region, as they are related to the base of the skull. The objective of this study was to explain that treatment using Craniofacial Biodynamics (CFBD) enables symmetrical craniofacial growth, being recommended from three to six years of age, when the processes of skull base remodeling cease. This study was based on exploratory bibliographic research, aiming at a better understanding of the concepts presented in this therapeutic approach, to verify the influence that such concepts exert on treatment through CFBD. It was evidenced in this research that these asymmetries may be corrected, or even minimized through the CFBD, which relates the ontogenetic development of the skull base with orofacial development
Influence of construction technology on the retroreflective performance of two-component traffic marking
The construction technology of traffic marking has a significant influence on its retroreflective performance. To study the effect of different construction processes on the service performance of traffic markings, two-component spraying paint and two different glass beads were chosen to produce traffic markings that were prepared by single-layer or double-layer spraying, as well as once and twice surface spraying of glass beads. The effects of glass bead coating, spraying times of glass beads and paints on the surface morphology and retroreflective performance of traffic markings were investigated, as well as the variation of the retroreflective coefficient (RC) at the early and middle stages. The results indicated that double-layer spraying was more effective than single spraying. The coated glass beads would decrease the initial RC of the markings, but improved their long-term service performance. The TP-21C has the finest overall retroreflective performance and the lower construction complexity
TDOA positioning in the presence of atmospheric refraction and observer uncertainty influence analysis and correction
Due to the inhomogeneity of the atmosphere, radio waves are subjected to refraction during the propagation process, which reduces its propagation speed and bends the propagation path. If the influence is not considered, a large error will be caused by using time difference of arrival (TDOA). The influence of atmospheric refraction on the TDOA localization under the known elevation constraint is analyzed, a subsection iterative method is proposed to correct the localization error caused by atmospheric refraction, the Cramer-Rao lower bound (CRLB) for location estimation under atmospheric refraction is deduced. The effectiveness of the proposed method is validated through simulation results and analysis
Damage localization in beams based on the analysis of modal parameters
This paper presents a two-step method for damage localization in beams by combining natural frequencies and mode shapes. The general locations of the damage are first identified from an indicator developed using relative natural frequency change (RNFC) curves and the values of RNFCs. A curvature-mode-shape-based method is then utilized to determine the specific location of the damage in the second step. The proposed two-step method is verified by detecting damage in a simulated simply-supported beam. The identified damage location agrees well with the actual damage location. A strategy for fast and accurate damage localization based on general localization using natural frequencies and specific localization using mode shapes is the main novelty of the paper
New attempt of the implementation of CCS technology in Poland
After 2013 when the PGE Beลchatรณw demo CCS project was canceled and the EU CCS directive implemented into Polish law (in a way generally obstructing the development of CCS projects in Poland), no significant effects in that field have occurred till 2021. In 2021 the draft of a new law on change of Polish geological and mining law and some other laws (Polish CCS law) was prepared and is being proceeded โ it is expected to be accepted soon by the Council of Ministers and then submitted to the Parliament. Generally, the law is to facilitate the development of CCUS technologies in Poland (commercial projects, both onshore and offshore storage in saline aquifers and depleted/depleting hydrocarbon fields โ including EHR, no exploration permits/concessions, just storage permits as required by the directive, transport modes). Concurrently, in August/September 2021 Polish Minister of Climate and Environment appointed an advisory board โ the Team on Development of CCUS technologies, where representatives of government, industry and research organizations were invited to facilitate CCUS technologies implementation in Poland. One of the Team's tasks resulted in the development of several prefeasibility studies on the full CCS value chain of newly constructed power and CHP blocks (mainly gas fired) carried out by a consortium led by AGH. Similar studies are being developed or considered in the case of other industry sectors, especially cement and chemical plants. In the storage part of these studies, the national project โAssessment of formations and structures for CO2 geological storage including monitoring plansโ (completed in 2012/2013 by a consortium led by PGI-NRI) and its update completed upon request of the Ministry in 2021 have been utilized. In the case of the complete CCS value chain, results of pre-feasibility studies carried out in 2009-2013, together with assumptions and results of the new AGH-important project CCUS.pl initiated in May 2021, have been utilized. Several other international projects (financed by Norway Funds) oriented on CCS/CCS have been started (e.g., Agastor, SltPreCO2 project) in Poland. These developments might contribute to creating Polish CCS cluster (or clusters) where various emission sources and transport and storage infrastructure will be integrated, possibly within a decade
Relationship between mandibular position and support planting in 7-year-old children: pilot study
Introduction: Postural stability can be maintained in balance by muscle tone [1]. Change in the mandibular position or posture, may have influence in the postural reflex, defined as an involuntary defense movement [2] to correct deviations and keep the body in balance. If the postural change is constant, the muscles will move the mandible to a more comfortable position, with consequent postural change2 and plantar support. The aim of the study was to compare the plantar support in centralized and in lateralization mandibular position in seven yearsโ children. Main text: This study was approved by research ethics committee (No. 4.346.542). A pilot study was carried out with seven-year-old children of both sexes. Photogrammetry was performed with spherical markers in the region of the right tragus and chin symphysis (Fig. 1) concomitantly with baropodometry following (Fig. 2, 3) the protocol established by Bittar et al. [4]. Analysis of mandibular displacement and plantar support were performed with centralized mandibular position (maximum intercuspation) and with lateral displacement to the right and left. Statistical analysis compared the differences in mandibular displacement to the right and left sides using Studentโs t test. Differences in plantar support variables with centralized mandibular position and in right and left lateralization position were established by the Anova one way test and the Bonferroni pos test. Significant statistical difference was reached by 5 %. Results: Twelve seven-year-old children were included, 20.8 (3.25) Kg and 1.18 (0.06) meters. The sample present greater lateral displacement of the mandible to the lefts compared to right side. Mandibular lateralization was confirmed with statistical difference compared to mandibular position centralized. No difference in all plantar support variables was observed between the three positions: centralized and left and right lateralization. Conclusions: No differences were observed for plantar support compared position in mandibular lateralization and centralized position. Mandibular lateralization displacements did not change plantar support