Search results

This paper presents a Monotonic Unbounded Schemes Transformer (MUST) approach to bound/monotonize (remove undershoots and overshoots) unbounded spatial differencing schemes automatically, and naturally. Automatically means the approach (1) captures the critical cell Peclet number when an unbounded scheme starts to produce physically unrealistic solution automatically, and (2) removes the undershoots and overshoots as part of the formulation without requiring human interventions. Naturally implies, all the terms in the discretization equation of the unbounded spatial differencing scheme are retained.

The authors do not formulate new higher-order scheme. MUST transforms an unbounded higher-order scheme into a bounded higher-order scheme.

The solutions obtained with MUST are identical to those without MUST when the cell Peclet number is smaller than the critical cell Peclet number. For cell Peclet numbers larger than the critical cell Peclet numbers, MUST sets the nodal values to the limiter value which can be derived for the problem at-hand. The authors propose a way to derive the limiter value. The authors tested MUST on the central differencing scheme, the second-order upwind differencing scheme and the QUICK differencing scheme. In all cases tested, MUST is able to (1) capture the critical cell Peclet numbers; the exact locations when overshoots and undershoots occur, and (2) limit the nodal value to the value of the limiter values. These are achieved by retaining all the discretization terms of the respective differencing schemes naturally and accomplished automatically as part of the discretization process. The authors demonstrated MUST using one-dimensional problems. Results for a two-dimensional convection–diffusion problem are shown in Appendix to show generality of MUST.

The authors present an original approach to convert any unbounded scheme to bounded scheme while retaining all the terms in the original discretization equation.

This paper aims to propose a hybrid force/position controller based on the adaptive variable impedance.

First, the working space is divided into a force control subspace and a position subspace, the force control subspace adopts the position impedance control strategy. At the same time, the contact force model between the robot and the surface is analyzed in this space. Second, based on the traditional position impedance, the model reference adaptive control is introduced to provide an accurate reference position for the impedance controller. Then, the BP neural network is used to adjust the impedance parameters online.

The experimental results show that compared with the traditional PI control method, the proposed method has a higher flexibility, the dynamic response accommodation time is reduced by 7.688 s and the steady-state error is reduced by 30.531%. The overshoot of the contact force between the end of robot and the workpiece is reduced by 34.325% comparing with the fixed impedance control method.

The proposed control method compares with a hybrid force/position based on PI control method and a position fixed impedance control method by simulation and experiment.

The adaptive variable impedance control method improves accuracy of force tracking and solves the problem of the large surfaces with robot grinding often over-polished at the protrusion and under-polished at the concave.

The purpose of this study is to stabilize the rotating speed of the permanent magnet direct current (PMDC) motor driven by a DC-DC boost converter under mismatched disturbances (i.e.) under varying load circumstances like constant, frictional, fan type, propeller and undefined torques.

This manuscript proposes a higher order sliding mode control to elevate the dynamic behavior of the speed controller and the robustness of the PMDC motor. A second order classical sliding surface and proportional-integral-derivative sliding surface (PIDSS) are designed and compared.

For the boost converter with PMDC motor, both simulation and experimentation are exploited. The prototype is built for an 18 W PMDC motor with field programmable gate arrays. The suggested sliding mode with second order improves the robustness of the arrangement under disturbances with a wide range of control. Both the simulation and experimental setup shows satisfactory results.

According to software-generated mathematical design and experimental findings, PIDSS exhibits excellent performance with respect to settling speed, steady-state error and peak overshoot.

This study aims to simultaneously and stochastically maximize autonomous flight performance of a variable wing incidence angle having an unmanned aerial vehicle (UAV) and its flight control system (FCS) design.

A small UAV is produced in Iskenderun Technical University Drone Laboratory. Its wing incidence angle is able to change before UAV flight. FCS parameters and wing incidence angle are simultaneously and stochastically designed to maximize autonomous flight performance using an optimization method named simultaneous perturbation stochastic approximation. Obtained results are also benefitted during UAV flight simulations.

Applying simultaneous and stochastic design approach for a UAV having passively morphing wing incidence angle and its flight control system, autonomous flight performance is maximized.

Permission of the Directorate General of Civil Aviation in Turkish Republic is necessary for real-time flights.

Simultaneous stochastic variable wing incidence angle having UAV and its flight control system design approach is so useful for maximizing UAV autonomous flight performance.

Simultaneous stochastic variable wing incidence angle having UAV and its flight control system design methodology succeeds confidence, excellent autonomous performance index and practical service interests of UAV users.

Creating an innovative method to recover autonomous flight performance of a UAV and generating an innovative procedure carrying out simultaneous stochastic variable wing incidence angle having UAV and its flight control system design idea.

This study aims to discuss the simultaneous longitudinal and lateral flight control of the octorotor, a rotary wing unmanned aerial vehicle (UAV), for the first time under the effect of morphing and to improve autonomous flight performance.

This study aims to design and control the octorotor flight control system with stochastic optimal tuning under morphnig effect. For this purpose, models of different arm lengths of the octorotor were drawn in the Solidworks program. The morphing was carried out by simultaneously lengthening or shortening the arm lengths of the octorotor. The morphing rate was estimated by using simultaneous perturbation stochastic approximation (SPSA). The stochastic gradient descent algorithm, which is frequently used in machine learning, was used to estimate the changing moments of inertia with the change of arm lengths. The proportional integral derivative (PID) controller has been preferred as an octorotor control algorithm because of its simplicity of structure. The PID gains required to control both longitudinal and lateral flight were also estimated with SPSA.

With SPSA, three longitudinal flight PID gains, three lateral flight PID gains and one morphing ratio were estimated. PID gains remained within the limits set for SPSA, giving satisfactory results. In addition, the cost index created was 93% successful. The gradient descent algorithm used for the moment of inertia estimation achieved the optimum result in 1,570 iterations. However, in the simulations made with the obtained data, longitudinal and lateral flight was successfully carried out.

Octorotor longitudinal and lateral flight control was performed quickly and effectively with the proposed method. In addition, the desired parameters were obtained with the optimization methods used, and the longitudinal and lateral flight of the octorotor was successfully carried out in the desired trajectory.

This paper aims to explore the integration challenges during the early stages of implementation of value streams as team aggregation structures as a novel organizational construct in a modern organization.

We use an immersive ethnographic approach to follow the transition to value streams as team aggregation structures in a large organization during the first three years of implementation. We integrate systematic observations with interviews to get insights into the dynamics of change and the most important challenges faced by the organization during this transition.

We integrate systematic observations collected during the organizational change with insights from interviews carried out with managers to provide tentative answers to some key questions related to the implementation of multiteam systems. We reflect on their performance, entitativity, autonomy as well as on the satisfaction of their members.

We discuss some of the most important managerial challenges during the transition to value streams as novel organizational constructs and we derive some actionable insights for team and value stream managers leading such change processes.

Our study provides a rich account of the first stages of implementing an organizational design that brings together different teams in organizational structures that are focused on the value provided to customers.

This paper aims to address the challenges of the capacitor tower maintenance robot during bolt tightening in high-voltage substations, including difficulties in bolt positioning due to tilted angles and anti-bird cover occlusion and issues with fast and accurate docking of bolts while the base is moving.

This paper proposes a visual servoing method for the capacitor tower maintenance robot, including bolt pose estimation and visual servoing control. Bolt pose estimation includes four components: constructing a keypoint detection network to identify the approximate position, precise positioning, rapid prediction and calculation of bolt pose. In visual servoing, an improved position-based visual servoing (PBVS) is proposed, which eliminate steady-state error and enhance response speed during dynamic tracking by incorporating integral and differential components.

The bolt detection method exhibits high robustness against varying lighting conditions, partial occlusions, shooting distances and angles. The maximum positioning error at a distance of 250 mm is 2.8 mm. The convergence speed of the improved PBVS is 10% higher than that of the traditional PBVS when the base and target remain relatively stationary. When the base moves at a constant speed, the improved method eliminates steady-state error in dynamic tracking. When the base moves rapidly and intermittently, the maximum error of the improved method in the tracking process is 30% smaller than that of traditional PBVS.

This method enables real-time detection and positioning of bolts in an unstructured environment with tilt angles, variable lighting conditions and occlusion by anti-bird covers. An improved PBVS is proposed to enhance its capability in tracking dynamic targets.

To improve the robustness of carrier-based unmanned aerial vehicle (UAV) with actuator faults attitude tracking control system, this paper aims to propose a fixed-time backstepping (FXTBSC) fault-tolerant control based on a fixed-time extended state observer.

A fixed-time extended state observer (FXTESO) is designed to estimate the total disturbance including nonlinear, coupling, actuator faults and external disturbances. The integration of backstepping control and fixed-time technology ensures fixed-time convergence.

The simulation results of tracking the desired attitude angle show that the anti-interference, fault tolerance and tracking accuracy of FXTBSC-FXTESO are better than the BSC-ESO control method.

Different from the traditional BSC-ESO, the convergence speed and convergence accuracy of FXTBSC-FXTESO proposed in this paper are better than conventional extended state observer. And the fixed time controller has the advantages of high tracking accuracy, fault tolerance and anti-interference ability.

Environmental philosophies have guided cultures throughout history and continue to do so. This paper uses a framework of environmental philosophies drawn from history and the present, to analyse contemporary corporate environmental reporting. The purpose of this paper is to interrogate the philosophical underpinnings of corporate reporting allows for a nuanced understanding of the relationship between corporate activities and nature, and in so doing demonstrates the moral practices of accounting for nature.

Three themes are extracted from a historical review of western environmental philosophy: dualism, transcendence and interconnectivity. These themes are applied to a sample of corporate environmental reports through discourse analysis, enabling the illustration of otherwise obscured moral characteristics of the corporate relationship with the natural environment.

This paper uses environmental philosophies to better understand some of the implicit messaging of corporate environmental reporting. Evidence of each of the three themes is found in a sample of environmental reports, predominantly dualism and interconnectivity.

Understanding that accounting is not just a technical, but also a social and moral practice expands the way the authors can interpret the outcomes of accounting. By presenting an exemplar of how accounting practice such as the corporate sustainability report can be analysed through a moral lens, this paper offers new insights intentioned to inform a more meaningful approach to environmental reporting.

A novel framework to explore the corporate sector’s relationship with the natural environment is presented. In light of current and predicted environmental changes, much of which has been attributed to the impact of corporate activities, the importance of a detailed explication of this relationship – such as the one proposed here – becomes imperative.

This study aims to investigate numerically the impact of the three-dimensional convective nanoliquid flow on a rotating frame embedded in the non-Darcy porous medium in the presence of activation energy. The cross-diffusion effects, i.e. Soret and Dufour effects, and heat generation are included in the study. The convective heating condition is applied on the bounding surface.

The control model consisted of a system of partial differential equations (PDE) with boundary constraints. Using suitable similarity transformation, the PDE transformed into an ordinary differential equation and solved numerically by the Runge–Kutta–Fehlberg method. The obtained results of velocity, temperature and solute concentration characteristics plotted to show the impact of the pertinent parameters. The heat and mass transfer rate and skin friction are also calculated.

It is found that both Biot numbers enhance the heat and mass distribution inside the boundary layer region. The temperature increases by increasing the Dufour number, while concentration decreases by increasing the Dufour number. The heat transfer is increased up to 8.1% in the presence of activation energy parameter (E). But, mass transfer rate declines up to 16.6% in the presence of E.

The applications of combined Dufour and Soret effects are in separation of isotopes in mixture of gases, oil reservoirs and binary alloys solidification. The nanofluid with porous medium can be used in chemical engineering, heat exchangers and nuclear reactor.

This study is mainly useful for thermal sciences and chemical engineering.

The uniqueness in this research is the study of the impact of activation energy and cross-diffusion on rotating nanoliquid flow with heat generation and convective heating condition. The obtained results are unique and valuable, and it can be used in various fields of science and technology.