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1 – 10 of 76Li He, Shuai Zhang, Heng Zhang and Liang Yuan
The purpose of this paper is to solve the problem that mobile robots are still based on reactive collision avoidance in unknown dynamic environments leading to a lack of…
Abstract
Purpose
The purpose of this paper is to solve the problem that mobile robots are still based on reactive collision avoidance in unknown dynamic environments leading to a lack of interaction with obstacles and limiting the comprehensive performance of mobile robots. A dynamic window approach with multiple interaction strategies (DWA-MIS) is proposed to solve this problem.
Design/methodology/approach
The algorithm firstly classifies the moving obstacle movement intention, based on which a rule function is designed to incorporate positive incentives to motivate the robot to make correct avoidance actions. Then, the evaluation mechanism is improved by considering the time cost and future information of the environment to increase the motion states. Finally, the optimal objective function is designed based on genetic algorithm to adapt to different environments with time-varying multiparameter optimization.
Findings
Faced with obstacles in different states, the mobile robot can choose a suitable interaction strategy, which solves the limitations of the original DWA evaluation function and avoids the defects of reactive collision avoidance. Simulation results show that the algorithm can efficiently adapt to unknown dynamic environments, has less path length and iterations and has a high comprehensive performance.
Originality/value
A DWA-MIS is proposed, which increases the interaction capability between mobile robots and obstacles by improving the evaluation function mechanism and broadens the navigation strategy of DWA at a lower computational cost. After real machine verification, the algorithm has a high comprehensive performance based on real environment and provides a new idea for local path planning methods.
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Rui Lin, Qiguan Wang, Xin Yang and Jianwen Huo
In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This…
Abstract
Purpose
In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.
Design/methodology/approach
This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.
Findings
It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.
Practical implications
The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.
Originality/value
In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.
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Bikesh Manandhar, Thanh-Canh Huynh, Pawan Kumar Bhattarai, Suchita Shrestha and Ananta Man Singh Pradhan
This research is aimed at preparing landslide susceptibility using spatial analysis and soft computing machine learning techniques based on convolutional neural networks (CNNs)…
Abstract
Purpose
This research is aimed at preparing landslide susceptibility using spatial analysis and soft computing machine learning techniques based on convolutional neural networks (CNNs), artificial neural networks (ANNs) and logistic regression (LR) models.
Design/methodology/approach
Using the Geographical Information System (GIS), a spatial database including topographic, hydrologic, geological and landuse data is created for the study area. The data are randomly divided between a training set (70%), a validation (10%) and a test set (20%).
Findings
The validation findings demonstrate that the CNN model (has an 89% success rate and an 84% prediction rate). The ANN model (with an 84% success rate and an 81% prediction rate) predicts landslides better than the LR model (with a success rate of 82% and a prediction rate of 79%). In comparison, the CNN proves to be more accurate than the logistic regression and is utilized for final susceptibility.
Research limitations/implications
Land cover data and geological data are limited in largescale, making it challenging to develop accurate and comprehensive susceptibility maps.
Practical implications
It helps to identify areas with a higher likelihood of experiencing landslides. This information is crucial for assessing the risk posed to human lives, infrastructure and properties in these areas. It allows authorities and stakeholders to prioritize risk management efforts and allocate resources more effectively.
Social implications
The social implications of a landslide susceptibility map are profound, as it provides vital information for disaster preparedness, risk mitigation and landuse planning. Communities can utilize these maps to identify vulnerable areas, implement zoning regulations and develop evacuation plans, ultimately safeguarding lives and property. Additionally, access to such information promotes public awareness and education about landslide risks, fostering a proactive approach to disaster management. However, reliance solely on these maps may also create a false sense of security, necessitating continuous updates and integration with other risk assessment measures to ensure effective disaster resilience strategies are in place.
Originality/value
Landslide susceptibility mapping provides a proactive approach to identifying areas at higher risk of landslides before any significant events occur. Researchers continually explore new data sources, modeling techniques and validation approaches, leading to a better understanding of landslide dynamics and susceptibility factors.
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Han Sun, Song Tang, Xiaozhi Qi, Zhiyuan Ma and Jianxin Gao
This study aims to introduce a novel noise filter module designed for LiDAR simultaneous localization and mapping (SLAM) systems. The primary objective is to enhance pose…
Abstract
Purpose
This study aims to introduce a novel noise filter module designed for LiDAR simultaneous localization and mapping (SLAM) systems. The primary objective is to enhance pose estimation accuracy and improve the overall system performance in outdoor environments.
Design/methodology/approach
Distinct from traditional approaches, MCFilter emphasizes enhancing point cloud data quality at the pixel level. This framework hinges on two primary elements. First, the D-Tracker, a tracking algorithm, is grounded on multiresolution three-dimensional (3D) descriptors and adeptly maintains a balance between precision and efficiency. Second, the R-Filter introduces a pixel-level attribute named motion-correlation, which effectively identifies and removes dynamic points. Furthermore, designed as a modular component, MCFilter ensures seamless integration into existing LiDAR SLAM systems.
Findings
Based on rigorous testing with public data sets and real-world conditions, the MCFilter reported an increase in average accuracy of 12.39% and reduced processing time by 24.18%. These outcomes emphasize the method’s effectiveness in refining the performance of current LiDAR SLAM systems.
Originality/value
In this study, the authors present a novel 3D descriptor tracker designed for consistent feature point matching across successive frames. The authors also propose an innovative attribute to detect and eliminate noise points. Experimental results demonstrate that integrating this method into existing LiDAR SLAM systems yields state-of-the-art performance.
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U.S. Mahabaleshwar, Mahesh Rudraiah, Huang Huang and Bengt Ake Sunden
The purpose of this study is to analyze the impact of inclined magnetohydrodynamics (MHD) and thermal radiation on the flow of a ternary micropolar nanofluid on a sheet that is…
Abstract
Purpose
The purpose of this study is to analyze the impact of inclined magnetohydrodynamics (MHD) and thermal radiation on the flow of a ternary micropolar nanofluid on a sheet that is expanding and contracting while applying mass transpiration and velocity slip conditions to the flow. The nanofluid, which is composed of Au, Ag and Cu nanoparticles dispersed in water as the base fluid, possesses critical properties for increasing the heat transfer rate and is frequently used in manufacturing and industrial establishments.
Design/methodology/approach
The set of governing nonlinear partial differential equations is transformed into a set of nonlinear ordinary differential equations. The outcome of this differential equation is solved and obtained the closed-form solution and energy equation in the form of hypergeometric functions.
Findings
The velocity, micro-rotation and temperature field are investigated versus a parametric variation. The physical domains of mass suction or injection and micropolar characteristics play an important role in specifying the presence, singleness and multiplanes of exact solutions. In addition, many nondimensional characteristics of the profiles of temperature, angular velocity and velocity profiles are graphically shown with substantial consequences. Furthermore, adding nanoparticles increases the heat transfer rate of the fluid used in manufacturing and industrial establishments. The current findings may be used for better oil recovery procedures, smart materials such as magnetorheological fluids, targeted medicine administration and increased heat transmission. Concerning environmental cleanup, nanomaterial fabrication and biomedical devices, demonstrate their potential influence in a variety of disciplines.
Originality/value
The originality of this paper is to analyze the impact of inclined MHD at an angle with the ternary nanofluid on a micropolar fluid over an expanding and contracting sheet with thermal radiation effect.
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Mahmoud Taban and Alireza Basohbat Novinzadeh
One of the challenges encountered in the design of guided projectiles is their prohibitive cost. To diminish it, an appropriate avenue many researchers have explored is the use of…
Abstract
Purpose
One of the challenges encountered in the design of guided projectiles is their prohibitive cost. To diminish it, an appropriate avenue many researchers have explored is the use of the non-actuator method for guiding the projectile to the target. In this method, biologically inspired by the flying concept of the single-winged seed, for instance, that of maple and ash trees, the projectile undergoes a helical motion to scan the region and meet the target in the descent phase. Indeed, the projectile is a decelerator device based on the autorotation flight while it attempts to resemble the seed’s motion using two wings of different spans. There exists a wealth of studies on the stability of the decelerators (e.g. the mono-wing, samara and pararotor), but all of them have assumed the body (exclusive of the wing) to be symmetric and paid no particular attention to the scanning quality of the region. In practice, however, the non-actuator-guided projectiles are asymmetric owing to the presence of detection sensors. This paper aims to present an analytical solution for stability analysis of asymmetric decelerators and apprise the effects of design parameters to improve the scanning quality.
Design/methodology/approach
The approach of this study is to develop a theoretical model consisting of Euler equations and apply a set of non-dimensionalized equations to reduce the number of involved parameters. The obtained governing equations are readily applicable to other decelerator devices, such as the mono-wing, samara and pararotor.
Findings
The results show that the stability of the body can be preserved under certain conditions. Moreover, pertinent conclusions are outlined on the sensitivity of flight behavior to the variation of design parameters.
Originality/value
The analytical solution and sensitivity analysis presented here can efficiently reduce the design cost of the asymmetric decelerator.
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Marjan Sharifi, Majid Siavashi and Milad Hosseini
Present study aims to extend the lattice Boltzmann method (LBM) to simulate radiation in geometries with curved boundaries, as the first step to simulate radiation in complex…
Abstract
Purpose
Present study aims to extend the lattice Boltzmann method (LBM) to simulate radiation in geometries with curved boundaries, as the first step to simulate radiation in complex porous media. In recent years, researchers have increasingly explored the use of porous media to improve the heat transfer processes. The lattice Boltzmann method (LBM) is one of the most effective techniques for simulating heat transfer in such media. However, the application of the LBM to study radiation in complex geometries that contain curved boundaries, as found in many porous media, has been limited.
Design/methodology/approach
The numerical evaluation of the effect of the radiation-conduction parameter and extinction coefficient on temperature and incident radiation distributions demonstrates that the proposed LBM algorithm provides highly accurate results across all cases, compared to those found in the literature or those obtained using the finite volume method (FVM) with the discrete ordinates method (DOM) for radiative information.
Findings
For the case with a conduction-radiation parameter equal to 0.01, the maximum relative error is 1.9% in predicting temperature along vertical central line. The accuracy improves with an increase in the conduction-radiation parameter. Furthermore, the comparison between computational performances of two approaches reveals that the LBM-LBM approach performs significantly faster than the FVM-DOM solver.
Originality/value
The difficulty of radiative modeling in combined problems involving irregular boundaries has led to alternative approaches that generally increase the computational expense to obtain necessary radiative details. To address the limitations of existing methods, this study presents a new approach involving a coupled lattice Boltzmann and first-order blocked-off technique to efficiently model conductive-radiative heat transfer in complex geometries with participating media. This algorithm has been developed using the parallel lattice Boltzmann solver.
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Weiqiang Xue, Jingfeng Shen and Yawen Fan
The transient loads on the spherical hybrid sliding bearings (SHSBs) rotor system during the process of accelerating to stable speed are related to time, which exhibits a complex…
Abstract
Purpose
The transient loads on the spherical hybrid sliding bearings (SHSBs) rotor system during the process of accelerating to stable speed are related to time, which exhibits a complex transient response of the rotor dynamics. The current study of the shaft center trajectory of the SHSBs rotor system is based on the assumption that the rotational speed is constant, which cannot truly reflect the trajectory of the rotor during operation. The purpose of this paper truly reflects the trajectory of the rotor and further investigates the stability of the rotor system during acceleration of SHSBs.
Design/methodology/approach
The model for accelerated rotor dynamics of SHSBs is established. The model is efficiently solved based on the fourth-order Runge–Kutta method and then to obtain the shaft center trajectory of the rotor during acceleration.
Findings
Results show that the bearing should choose larger angular acceleration in the acceleration process from startup to the working speed; rotor system is more stable. With the target rotational speed increasing, the changes in the shaft trajectory of the acceleration process are becoming more complex, resulting in more time required for the bearing stability. When considering the stability of the rotor system during acceleration, the rotor equations of motion provide a feasible solution for the simulation of bearing rotor system.
Originality/value
The study can simulate the running stability of the shaft system from startup to the working speed in this process, which provides theoretical guidance for the stability of the rotor system of the SHSBs in the acceleration process.
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Biqing Ye, Kebiao Zhang, Qiang Zuo, Li Zhang and Xiaohang Shan
The purpose of this paper is to test and analyze the friction torque of double-row angular contact ball bearings under vacuum or ordinary pressure environment, horizontal or…
Abstract
Purpose
The purpose of this paper is to test and analyze the friction torque of double-row angular contact ball bearings under vacuum or ordinary pressure environment, horizontal or upright installation mode, and different rotational speeds, and to provide theoretical bases for the development of aerospace equipment.
Design/methodology/approach
The experiments were carried out to investigate the effects of vacuum or ordinary pressure environment, horizontal or upright installation mode and different rotational speeds on bearing friction torque. To explore the relationship between working conditions and bearing friction torque, firstly, based on the generation source of friction torque, the test principle was determined, a test system was developed and the reliability of data was verified. Secondly, the friction torque of bearing was tested, and the values under various working conditions were obtained. Finally, this paper compared and discussed the test results.
Findings
The test results show that the friction torque value of vacuum environment horizontal installation condition is the largest at different rotational speeds, and the rotational speed has the most significant influence on the friction torque.
Originality/value
The friction torque test system of double-row angular contact ball bearing under vacuum environment was designed and built. The influence rules of vacuum or ordinary pressure environment, horizontal or upright installation mode and different rotational speeds on bearing friction torque were obtained.
Peer review
The peer review history for this article is available at: http://dx.doi.org/10.1108/ILT-08-2023-0259
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This paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the…
Abstract
Purpose
This paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.
Design/methodology/approach
Firstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-wheeled differentially driven robot, which incorporates the slippage of wheels by including the Kiencke tire model to take into account the interaction of wheels with the ground. For the physical model, the mobile robot is designed using Solidworks. Then it is exported to Matlab using Simscape Multibody. The control of the WMR for both models is realized using Matlab/Simulink and aims to ensure efficient tracking of the desired trajectory.
Findings
Simulation results show a good similarity between the two models and verify both longitudinal and lateral behaviors of the WMR. This demonstrates the effectiveness of the developed model using the robotic approach and proves that it is sufficiently precise for the design of control schemes.
Originality/value
The motivation to adopt this robotic approach compared to conventional methods is the fact that it makes it possible to obtain models with a reduced number of operations. Furthermore, it allows the facility of implementation by numerical or symbolical programming. This work serves as a reference link for extending this methodology to other types of mobile robots.
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