BLAMIRES, SJ, HOCHULI, DF & THOMPSON, MB 2009, 'Prey protein influences growth and decoration building in the orb web spider Argiope keyserlingi', Ecological Entomology, vol. 34, no. 5, pp. 545-550.
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Abstract. 1. Protein is important for a foraging animal to consume, as it promotes growth and enhances survival, particularly in web‐building spiders, which need to invest considerable protein into web building and may trade‐off growth for web investment.2. The influence of dietary protein uptake on growth and web investment was tested in the orb web spider Argiope keyserlingi, by feeding them flies reared on three different media: (1) high protein, (2) low protein, and (3) standard (control) media. There was a negative correlation between protein and energy content of the flies across treatments; flies reared on the high protein media had the highest protein, but lowest energy, while flies reared on the low protein media had the lowest protein but highest energy.3. It was found that silk investment and web architecture in A. keyserlingi was not affected by diet. Growth and decoration building were both enhanced when spiders were fed a high protein diet.4. It was concluded that protein intake, rather than energy, influenced both growth and decoration building because: (1) protein intake enhances growth in other animals, (2) protein is essential for silk synthesis, especially aciniform silk, and (3) protein is a limiting factor actively sought by foraging animals in natural environments.
Buhl, M, Bohnen, F, Deuse, J & Schneider, R 2009, 'Systematic approach for production levelling in low volume and high mix production', Productivity Management, vol. 14, no. 4, pp. 19-22.
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Production Levelling is a method to balance production- and logistics capacities, avoid waste and thereby increase the efficiency in production. In high volume production levelling is successfully implemented, but needs to be modified in order to adapt it to low volume and high mix production. This article introduces a systematic approach for production levelling considering constraints and targets of versatile low volume production. © GITO-Verlag.
Buhl, M, Bosch, RAG & Deuse, J 2009, 'Step-up model for levelling in low volume high mix production', PPS Management, vol. 14, no. 2, pp. 26-29.
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The principle of production leveling is, expanding from the automotive industries, aimed to be implemented in the low volume high mix production. The creation of an even and repetitive production pattern by levelling is seen as main factor for smoothing the supply chain and as precondition for the realization of a low-inventory production. This can be realized only adapted due to inhomogeneous product-ranges and alternating customer-demands. In this article fundaments and possible stepups for production levelling in the low volume high mix production are shown. © GITO-Verlag.
Deuse, J, Petzelt, D, Schallow, J, Reinhart, G, Wiedemann, M & Magenheimer, K 2009, 'Prozessharmonisierung in der Digitalen Fabrik auf Basis von Anwendungsprotokollen', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 104, no. 1-2, pp. 11-15.
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Kurzfassung Im Rahmen des Verbundprojekts „Anwendungsprotokoll zur Prozessharmonisierung in der Digitalen Fabrik“ (ADiFa) wird eine Methodik entwickelt, die eine standardisierte Beschreibung der über den Produktenstehungsprozess relevanten Daten der Digitalen Fabrik ermöglicht. Diese basiert auf anwendungsspezifischen Protokollen, die den Austausch von Daten für ein spezifisches Gebiet regeln und dadurch eine Harmonisierung der Planungsprozesse in der Digitalen Fabrik ermöglichen. Die konkrete Ausgestaltung und prototypische Implementierung der Methodik erfolgen am Beispiel des Anwendungsfelds „Zeitwirtschaft“.
Du, Y, Luo, Z, Tian, Q & Chen, L 2009, 'Topology optimization for thermo-mechanical compliant actuators using mesh-free methods', Engineering Optimization, vol. 41, no. 8, pp. 753-772.
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This article presents an alternative topology optimization method for the design of compliant actuators using mesh-free methods, in which the thermo-mechanical multi-physics modelling and geometrically non-linear analysis are included. The relatively new mesh-free method rather than the standard finite element method (FEM) is used to discretize the design domain and interpolate the bulk density field, because the mesh-free method is in some cases more capable of modelling the large-displacement compliant mechanisms involving the geometrical non-linearity. An interpolation scheme is used to indicate the dependence of material properties on element pseudo densities which are distributed to the corresponding integration points, and the method for imposing essential boundary conditions in mesh-free methods is also discussed. Furthermore, the adjoint approach is incorporated into the mesh-free method to perform the design sensitivity analysis. The optimization problem is established mathematically as a non-linear programming problem to which a sequential convex programming method is applied. The effectiveness of the proposed method is demonstrated by using a widely studied example.
Huang, S, Wang, Z, Dissanayake, G & Frese, U 2009, 'Iterated D-SLAM map joining: evaluating its performance in terms of consistency, accuracy and efficiency', AUTONOMOUS ROBOTS, vol. 27, no. 4, pp. 409-429.
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This paper presents a new map joining algorithm and a set of metrics for evaluating the performance of mapping techniques. The input to the new map joining algorithm is a sequence of local maps containing the feature positions and the final robot pose in a local frame of reference. The output is a global map containing the global positions of all the features but without any robot poses. The algorithm is built on the D-SLAM mapping algorithm (Wang et al. in Int. J. Robot. Res. 26(2):187-204, 2007) and uses iterations to improve the estimates in the map joining step. So it is called Iterated D-SLAM Map Joining (I-DMJ). When joining maps I-DMJ ignores the odometry information connecting successive maps. This is the key to I-DMJ efficiency, because it makes both the information matrix exactly sparse and the size of the state vector bounded by the number of features. The paper proposes metrics for quantifying the performance of different mapping algorithms focusing on evaluating their consistency, accuracy and efficiency. The I-DMJ algorithm and a number of existing SLAM algorithms are evaluated using the proposed metrics. The simulation data sets and a preprocessed Victoria Park data set used in this paper are made available to enable interested researchers to compare their mapping algorithms with I-DMJ. © 2009 Springer Science+Business Media, LLC.
Ji, JC & Zhang, N 2009, 'Nonlinear response of a forced van der Pol-Duffing oscillator at non-resonant bifurcations of codimension two', CHAOS SOLITONS & FRACTALS, vol. 41, no. 3, pp. 1467-1475.
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Non-resonant bifurcations of codimension two may appear in the controlled van der Pol-Duffing oscillator when two critical time delays corresponding to a double Hopf bifurcation have the same value. With the aid of centre manifold theorem and the method of multiple scales, the non-resonant response and two types of primary resonances of the forced van der Pol-Duffing oscillator at non-resonant bifurcations of codimension two are investigated by studying the possible solutions and their stability of the four-dimensional ordinary differential equations on the centre manifold. It is shown that the non-resonant response of the forced oscillator may exhibit quasi-periodic motions on a two- or three-dimensional (2D or 3D) torus. The primary resonant responses admit single and mixed solutions and may exhibit periodic motions or quasi-periodic motions on a 2D torus. Illustrative examples are presented to interpret the dynamics of the controlled system in terms of two dummy unfolding parameters and exemplify the periodic and quasi-periodic motions. The analytical predictions are found to be in good agreement with the results of numerical integration of the original delay differential equation. © 2008 Elsevier Ltd. All rights reserved.
Ji, JC, Zhang, N & Gao, W 2009, 'Difference resonances in a controlled van der Pol-Duffing oscillator involving time delay', CHAOS SOLITONS & FRACTALS, vol. 42, no. 2, pp. 975-980.
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A non-resonant interaction of two Hopf bifurcations may appear after the trivial solution of a controlled van der Pol-Duffing oscillator without external excitation loses its stability, when two critical time delays corresponding to two Hopf bifurcations have the same value. In the vicinity of the non-resonant Hopf bifurcations, the presence of a periodic excitation in the controlled oscillator can induce difference resonances in the forced response, when the forcing frequency and the frequencies of the two Hopf bifurcations satisfy certain relationships. It is found that the frequency response curves of the controlled system under difference resonances are an isolated closed curve. The difference resonance response may admit two stable motions on a three-dimensional torus consisting of three frequencies. Illustrative examples are given to show the quasi-periodic motions. © 2009 Elsevier Ltd. All rights reserved.
Jiang, ZY, Wei, D & Tieu, AK 2009, 'Analysis of cold rolling of ultra thin strip', Journal of Materials Processing Technology, vol. 209, no. 9, pp. 4584-4589.
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Kersten, W, Hülle, J, Möller, K & Lammers, T 2009, 'Kostenorientierte Analyse der Modularisierung', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 104, no. 12, pp. 1136-1141.
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Kurzfassung Modularisierungskonzepte finden vermehrt Anwendung, um den Zielkonflikt zwischen der Notwendigkeit einer höheren Variantenvielfalt sowie dem Bestreben zur Komplexitätsoptimierung und Standardisierung zu lösen. Die Umsetzung einer optimalen Produktstrategie und die erfolgversprechende Durchführung bzw. Erweiterung von Modularisierungskonzepten setzen eine verursachungsgerechte Kostenbewertung zur Entscheidungsunterstützung voraus. Ergebnis des vorliegenden Beitrags ist ein Rahmenkonzept für ein Entscheidungsunterstützungssystem zur Implementierung von Modularisierungskonzepten unter Berücksichtigung von Kostenwirkungen. Dazu wird eine strukturierte Vorgehensweise zur Identifikation und Bewertung von kostenbeeinflussenden Modularisierungswirkungen mit Hilfe von geeigneten Kennzahlen vorgestellt.
Kirchner, N, Liu, D & Dissanayake, G 2009, 'Surface Type Classification With a Laser Range Finder', IEEE SENSORS JOURNAL, vol. 9, no. 9, pp. 1160-1168.
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This paper presents a system for surface classification using a laser range finder. It is shown that the return intensities and range errors provide sufficient information to distinguish a wide range of surfaces commonly found in a number of environments. A supervised learning scheme (using curves representing the return intensity and range error as a function of angle of incidence) is used to classify the surface type of planar patches. Extensive experimental evidence is presented to demonstrate the potential of the proposed technique. The surface type classification, which uses a typical laser range finder, is targeted for use with autonomous robotic systems in which significantly different interaction is required for each of the various materials present. Results from an on-site experiment demonstrate that the information from the laser range finder is sufficient to identify the different materials (via their surface properties) present in a scene where a bridge structure is being prepared for grit blasting. © 2009 IEEE.
Kwok, NM, Ha, QP, Liu, D & Fang, G 2009, 'Contrast Enhancement and Intensity Preservation for Gray-Level Images Using Multiobjective Particle Swarm Optimization', IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, vol. 6, no. 1, pp. 145-155.
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The contrast enhancement of gray-level digital images is considered in this paper. In particular, the mean image intensity is preserved while the contrast is enhanced. This provides better viewing consistence and effectiveness. The contrast enhancement is achieved by maximizing the information content carried in the image via a continuous intensity transform function. The preservation of image intensity is obtained by applying gamma-correction on the images. Since there is always a trade-off between the requirements for the enhancement of contrast and preservation of intensity, an improved multiobjective particle swarm optimization procedure is proposed to resolve this contradiction, making use of its flexible algorithmic structure. The effectiveness of the proposed approach is illustrated by a number of images including the benchmarks and an image sequence captured from a mobile robot in an indoor environment. © 2006 IEEE.
Li, H, Jiang, Z, Tieu, AK, Sun, W, Wei, D & Zhu, H 2009, 'Tribological features of roll surface in cold metal rolling', International Journal of Surface Science and Engineering, vol. 3, no. 5/6, pp. 407-407.
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Cold strip rolling under dry and lubricated conditions vas conducted oil a new developed mini-mill, which was installed ill the Gleeble 3500 Thermo-mechanical Simulator. The surface roughness and Power Spectrum Density (PSD) features of the rolls were analysed. Results show that the lubrication significantly reduces Surface roughness of the 4%Cr roll, but has less effect oil surface toughness of the 4%Cr with Ti-added roll. The surface deterioration of 4%Cr with Ti-added roll varies significantly with all increase of rolling passes. Asperities oil roll surface experience inhomogeneous variation, which indicates the deterioration of surface roughness is different for both roll materials.
Lindsay, ED, Murray, S, Liu, DK, Lowe, DB & Bright, CG 2009, 'Establishment reality vs. maintenance reality: how real is real enough?', European Journal of Engineering Education, vol. 34, no. 3, pp. 229-234.
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Remote and virtual laboratories are increasingly prevalent alternatives to the face-to-face laboratory experience; however, the question of their learning outcomes is yet to be fully investigated. There are many presumptions regarding the effectiveness of these approaches; foremost amongst these assumptions is that the experience must be 'real' to be effective. Embedding reality into a remote or virtual laboratory can be an expensive and time-consuming task. Significant efforts have been expended to create 3D VRML models of laboratory equipment, allowing students to pan, zoom and tilt their perspective as they see fit. Multiple camera angles have been embedded into remote interfaces to provide an increased sense of 'realness'. This paper draws upon the literature in the field to show that the necessary threshold for reality varies depending upon how the students are interacting with the equipment. There is one threshold for when they first interact - the establishment reality - which allows the students to familiarise themselves with the laboratory equipment, and to build their mental model of the experience. There is, however, a second, lower, threshold - the maintenance reality - that is necessary for the students' ongoing operation of the equipment. Students' usage patterns rely upon a limited subset of the available functionality, focusing upon only some aspects of the reality that has been originally established. The two threshold model presented in this paper provides a new insight for the development of virtual laboratories in the future.
Lowe, D, Murray, S, Lindsay, E & Liu, D 2009, 'Evolving Remote Laboratory Architectures to Leverage Emerging Internet Technologies', IEEE TRANSACTIONS ON LEARNING TECHNOLOGIES, vol. 2, no. 4, pp. 289-294.
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There is growing research into, and development of, the use of the internet to support remote access by students to physical laboratory infrastructure. These remote laboratories can, under appropriate circumstances, support or even replace traditional (proximal) laboratories, provide additional or improved access at reduced cost, and encourage interinstitutional sharing of expensive resources. Effective design of remote laboratories requires attention to the design of both the pedagogy and the technical infrastructure, as well as how these elements interact. In this paper, we consider the architectures of remote laboratories, the shortcomings of existing implementations, and we argue that emerging internet technologies can assist in overcoming these shortcomings. We also consider the opportunities which these technologies provide in moving beyond both existing remote laboratories and existing proximal laboratories, to create opportunities which were not previously possible. © 2009 IEEE.
Luo, Q & Tong, L 2009, 'Analytical solutions for nonlinear analysis of composite single-lap adhesive joints', International Journal of Adhesion and Adhesives, vol. 29, no. 2, pp. 144-154.
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Luo, Q & Tong, L 2009, 'Constitutive equations for 0-3 polarized PLZT actuators', International Journal of Solids and Structures, vol. 46, no. 25-26, pp. 4313-4321.
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Luo, Q & Tong, L 2009, 'Energy release rates for interlaminar delamination in laminates considering transverse shear effects', Composite Structures, vol. 89, no. 2, pp. 235-244.
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Luo, Y, Kang, Z, Luo, Z & Li, A 2009, 'Continuum topology optimization with non-probabilistic reliability constraints based on multi-ellipsoid convex model', Structural and Multidisciplinary Optimization, vol. 39, no. 3, pp. 297-310.
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Using a quantified measure for non-probab ilistic reliability based on the multi-ellipsoid convex model, the topology optimization of continuum structures in presence of uncertain-but-bounded parameters is investigated. The problem is formulated as a dou
Luo, Z, Tong, L & Kang, Z 2009, 'A level set method for structural shape and topology optimization using radial basis functions', Computers & Structures, vol. 87, no. 7-8, pp. 425-434.
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This paper presents an alternative level set method for shape and topology optimization of continuum structures. An implicit free boundary representation model is established by embedding structural boundary into the zero level set of a higher-dimensiona
Luo, Z, Tong, L & Ma, H 2009, 'Shape and topology optimization for electrothermomechanical microactuators using level set methods', Journal of Computational Physics, vol. 228, no. 9, pp. 3173-3181.
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In this short note, a shape and topology optimization method is presented for multiphysics actuators including geometrically nonlinear modeling based on an implicit free boundary parameterization method. A level set model is established to describe struc
Luo, Z, Tong, L, Luo, J, Wei, P & Wang, MY 2009, 'Design of piezoelectric actuators using a multiphase level set method of piecewise constants', Journal of Computational Physics, vol. 228, no. 7, pp. 2643-2659.
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This paper presents a multiphase level set method of piecewise constants for shape and topology optimization of multi-material piezoelectric actuators with in-plane motion. First, an indicator function which takes level sets of piecewise constants is used to implicitly represent structural boundaries of the multiple phases in the design domain. Compared with standard level set methods using n scalar functions to represent 2n phases, each constant value in the present method denotes one material phase and 2n phases can be represented by 2n pre-defined constants. Thus, only one indicator function including different constant values is required to identify all structural boundaries between different material phases by making use of its discontinuities. In the context of designing smart actuators with in-plane motions, the optimization problem is defined mathematically as the minimization of a smooth energy functional under some specified constraints. Thus, the design optimization of the smart actuator is transferred into a numerical process by which the constant values of the indicator function are updated via a semi-implicit scheme with additive operator splitting (AOS) algorithm. In such a way, the different material phases are distributed simultaneously in the design domain until both the passive compliant host structure and embedded piezoelectric actuators are optimized. The compliant structure serves as a mechanical amplifier to enlarge the small strain stroke generated by piezoelectric actuators. The major advantage of the present method is to remove numerical difficulties associated with the solution of the Hamilton-Jacobi equations in most conventional level set methods, such as the CFL condition, the regularization procedure to retain a signed distance level set function and the non-differentiability related to the Heaviside and the Delta functions. Two widely studied examples are chosen to demonstrate the effectiveness of the present method. © 20...
Paul, G, Liu, D, Kirchner, N & Dissanayake, G 2009, 'An Effective Exploration Approach to Simultaneous Mapping and Surface Material-Type Identification of Complex Three-Dimensional Environments', JOURNAL OF FIELD ROBOTICS, vol. 26, no. 11-12, pp. 915-933.
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This paper presents an integrated exploration approach for geometric mapping and surface material-type identification of complex three-dimensional (3D) environments using a six-degree-of-freedom industrial robot manipulator. Maps of the surface geometry with the surface material type identified are required for an autonomous robotic system to perform operations in steel bridge maintenance. The proposed approach utilizes information theory to enable multiobjective exploration while new 3D geometric and surface-type data are fused via probabilistic updates. It is verified that the integrated approach enables the robotic system to perform exploration and surface inspection in real-world environments. © 2009 Wiley Periodicals, Inc.
Pedraza, L, Rodriguez-Losada, D, Matia, F, Dissanayake, G & Valls Miro, J 2009, 'Extending the Limits of Feature-Based SLAM With B-Splines', IEEE TRANSACTIONS ON ROBOTICS, vol. 25, no. 2, pp. 353-366.
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This paper describes a simultaneous localization and mapping (SLAM) algorithm for use in unstructured environments that is effective regardless of the geometric complexity of the environment. Features are described using B-splines as modeling tool, and the set of control points defining their shape is used to form a complete and compact description of the environment, thus making it feasible to use an extended Kalman-filter (EKF) based SLAM algorithm. This method is the first known EKF-SLAM implementation capable of describing general free-form features in a parametric manner. Efficient strategies for computing the relevant Jacobians, perform data association, initialization, and map enlargement are presented. The algorithms are evaluated for accuracy and consistency using computer simulations, and for effectiveness using experimental data gathered from different real environments. © 2009 IEEE.
Petzelt, D, Schallow, J, Deuse, J & Ferstl, H 2009, 'Produktionsgerechte Produkte durch technische Mitgestaltung aus der Produktionsplanung', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 104, no. 11, pp. 988-992.
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Kurzfassung Produzierende Unternehmen müssen sich auf wettbewerbsorientierten Märkten behaupten, die sich durch eine starke Preiskonkurrenz sowie kurze Produktlebenszyklen auszeichnen. Um die eigene Marktposition zu festigen oder vielmehr zu verbessern, müssen Produktions-, Konstruktions- sowie Planungsprozesse optimal aufeinander abgestimmt sein. Die Feature-Technologie bietet in diesem Zusammenhang neue Möglichkeiten, um die Prozesse der Produktentstehung und den Informationsfluss zwischen den beteiligten Planungsbereichen zu verbessern. Die Feature-Technologie wird hierbei genutzt, um die individuellen und spezifischen Anforderungen, die sich in den verschiedenen Bereichen der Produktionsplanung an das Produkt ergeben, in standardisierter Form zu dokumentieren und an die Konstruktion zu übertragen. Auf diese Weise können Produktänderungen gezielt und mit allen Planern abgestimmt durchgeführt werden. Folglich lassen sich aufwändige Iterationsschleifen zwischen Konstruktion und Planung vermeiden.
Quantian Luo & Liyong Tong 2009, 'Calculation of Energy Release Rates for Cohesive and Interlaminar Delamination Based on the Classical Beam-adhesive Model', Journal of Composite Materials, vol. 43, no. 4, pp. 331-348.
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This article presents analytical formulas for determining mode I and II energy release rates for two cases: (a) cohesive fracture of adhesive joints and; (b) interlaminar delamination of layered beams. The formulas are firstly derived for calculating energy release rates GIand GIIfor a crack propagating in adhesive layer from one crack tip by using a classical beam-adhesive model. Then novel and simple closed-form formulas of GIand GIIfor an interface crack in layered beams are obtained by letting the adhesive thickness approach zero. In the present formulas, the effects of the asymmetry and each force component are clearly identified.
Quantian Luo & Liyong Tong 2009, 'Constitutive Modeling of Photostrictive Materials and Design Optimization of Microcantilevers', Journal of Intelligent Material Systems and Structures, vol. 20, no. 12, pp. 1425-1438.
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This article presents constitutive models for photo-induced strains in photostrictive materials and an optimal design of microcantilevers driven by light illumination. Behaviors of photo-induced strains in semiconductors and polymeric materials are reviewed first, and then new phenomenological constitutive models are developed that depict two distinctive features of photo-induced strain profile: (a) dependence on variation of light intensity which decreases with the depth measured from the illuminated surface due to light attenuation and energy absorption; and (b) anisotropy or dependence on direction of light polarization. On the basis of the constitutive modeling of photo-induced strain in wafers, design optimization of microcantilevers is then investigated for both geometrically linear and non-linear deformations.
Shuhong Wang, Xiangjun Meng, Ningning Guo, Haibo Li, Jie Qiu, Jian Guo Zhu, Youguang Guo, Dikai Liu, Yi Wang & Wei Xu 2009, 'Multilevel Optimization for Surface Mounted PM Machine Incorporating With FEM', IEEE Transactions on Magnetics, vol. 45, no. 10, pp. 4700-4703.
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In this paper, Multilevel Genetic Algorithm (MLGA) is presented to solve the optimization of surface mounted permanent magnet synchronous machine (SPMSM), which has features of mixed continuous and discrete design variables, multi-modal objective functions, etc. Firstly, the multilevel optimization problem is described by using the problem matrix. The values in the problem matrix are deduced by correlation analysis. Secondly, the architecture and implementation of MLGA are carried out. Thirdly, the new algorithm is applied to a bilevel optimization of SPMSM to verify this multilevel optimization. The results compared with those of traditional genetic algorithm (GA) and discussions of the multilevel optimization are presented. © 2009 IEEE.
Stausberg, JR, Deuse, J & Baudzus, B 2009, 'Didaktische Hilfsmittel zur Umsetzung schlanker Produktionssysteme', Zeitschrift für wirtschaftlichen Fabrikbetrieb, vol. 104, no. 10, pp. 847-852.
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Kurzfassung Die Einführung eines schlanken Produktionssystems zur Produktivitätssteigerung in einem Wertstrom führt in der Organisation eines Betriebs und in den Arbeitsaufgaben der Mitarbeiter zu großen Veränderungen. Für das übergeordnete Verständnis und die Akzeptanz dieser Veränderungen sind alle Mitarbeiter in integrierten Schulungsmaßnahmen vorzubereiten und zu qualifizieren. In der primären Schulung werden Prinzipen und Methoden des Produktionssystems zusammenhängend erläutert. Darauf aufbauend können vertiefende Schulungen durchgeführt werden. Da neben der rein fachlichen Wissensvermittlung auch eine positive Erwartungshaltung gegenüber dem Produktionssystem erreicht werden soll, können traditionelle Schulungsmethoden ohne didaktische Hilfsmittel diese Anforderungen nicht mehr erfüllen. Das Planspiel erweist sich im Vergleich zu anderen didaktischen Instrumenten für diese Anforderungen als geeignete Ergänzung. Es integriert handlungsorientierte Ansätze, zielgruppenspezifische Unterstützung und die Möglichkeit einer umfassenden Verdeutlichung von Zusammenhängen und deren Auswirkungen.
To, WK, Paul, G, Kwok, NM & Liu, D 2009, 'An efficient trajectory planning approach for autonomous robots in complex bridge environments', International Journal of Computer Aided Engineering and Technology, vol. 1, no. 2, pp. 185-185.
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This paper presents an efficient trajectory planning approach for a 6DOF robotic manipulator conducting grit-blasting in complex bridge structural environments. The proposed approach extends upon robotic grit-blasting planning and incorporates joint movement minimisation in addition to path length minimisation. A genetic algorithm is implemented to optimise initial path plans based on a heuristic pattern for the coverage of surface areas to be blasted. A customised gradient based method is applied for the generation of collision-free joint configurations for grit-blasting based on the identified path plan. A grit-blasting coverage model is developed for discrete non-planar 3D coverage determination to verify the performance of the plan. Extensive simulation and experimental results are also presented in this paper. © 2009 Inderscience Enterprises Ltd.
Wei, D, Huang, J, Zhang, A, Jiang, Z, Tieu, AK, Wu, F, Shi, X & Jiao, S 2009, 'Deformation of oxide scale and surface roughness transfer during hot rolling of stainless steel 304L', International Journal of Surface Science and Engineering, vol. 3, no. 5/6, pp. 459-459.
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The oxidation characteristic of stainless steel 304L in humid air and the deformation behaviour of the oxide scale during hot rolling at 1050 degrees C were investigated. The surface roughness transfer during hot rolling was discussed. With ail increase of reduction, the oxide scale thickness decreases linearly, the Surface roughness also decreases obviously and the integrity of oxide scale increases. The thickness decrease of thick oxide scale is more rapid than a thin oxide scale. The surface roughness always decreases with an increase of reduction, and the oxide scale thickness affects the surface roughness transfer during hot rolling.
Wei, DB, Huang, JX, Zhang, AW, Jiang, ZY, Tieu, AK, Shi, X, Jiao, SH & Qu, XY 2009, 'Study on the oxidation of stainless steels 304 and 304L in humid air and the friction during hot rolling', WEAR, vol. 267, no. 9-10, pp. 1741-1745.
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In rolling process, the contact friction is of crucial importance for accurate modeling, optimum design and control of industrial rolling processes. It is important to characterize the features of the oxide scale of stainless steel in hot strip rolling because the scale on the strip surface affects friction coefficient and thermal conductivity coefficient. To some extent, the rolling force and friction condition depend on the thickness and the microstructure of the oxide scale. Oxidation tests of stainless steels 304 and 304L were carried out in a high temperature electric resistance furnace. The humid air in which the water vapour content can be controlled was generated and remained to flow into the chamber of the furnace in 2.5 x 10(-4) m(3)/s to study the effect of humidity on the oxidation of stainless steels. The microstructure and thickness of oxide scale layer of stainless steels were obtained and two or three oxide layers can be found. The humid air has a significant effect on the growth of oxide scale. Hot rolling tests were carried out on Hille 100 rolling mill. The friction condition at the roll-strip interface during hot rolling of stainless steel was determined and the transfer of surface roughness was discussed.
Wei, DB, Jiang, ZY, Lu, C, Tang, Y & Tieu, AK 2009, 'Experimental study of the effects of rough texture on surface deformation during cold metal forming', Wear, vol. 267, no. 9-10, pp. 1746-1751.
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Both longitudinal and transverse frictions arising from plane strain during cold metal forming are of crucial importance for the accurate modelling, optimum design, and control of industrial processes. However, the influence of the friction and roughness along the transverse direction has been neglected in much previous research. Oblique roughness textures are considered, and the scale of roughness asperities is enlarged in this study. Four types of prism patterns, in which the angles between the longitudinal direction and the top line of prism are 90 degrees, 60 degrees, 30 degrees, and 0 degrees, and three types of pyramid patterns, in which the top angles are 151.9 degrees, 161.1 degrees, and 168.6 degrees, were designed and manufactured using samples of annealed Al 6060T5. All compression tests were completed in 10 passes, and the total displacement of the pressure head was 5.4 mm. The first five passes were carried out on an Instron 8033 Materials Testing Machine, and the last five passes on a 500-ton compression-testing machine. The surface morphologies of the deformed peak were analysed, and the top areas of the deformed peak were measured. The effects of the angle between the longitudinal direction and the top line of the prism texture or the top angle of the pyramid texture on the surface morphology of the deformed peak are not obvious. The angles have a relatively significant effect on the deformation behaviour of the surface layer during cold metal forming when the deformation is small. The pattern with a top angle of 161.1 degrees, which is the closest to the real value, shows the highest deformation resistance when the displacement of the pressure head is less than 1.2 mm. (C) 2009 Elsevier B.V. All rights reserved.
Wood, MDK, Liyong Tong, Quantian Luo, Xiannian Sun, Katzos, A & Rispler, AR 2009, 'Failure of Stitched Composite L-Joints Under Tensile Loading — Experiment and Simulation', Journal of Reinforced Plastics and Composites, vol. 28, no. 6, pp. 715-742.
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This article presents an experimental and numerical investigation into the influence of transverse stitching on failure of composite L-joints under tensile loading. Six unstitched and six stitched L-joint specimens were manufactured and tested under quasi static tensile loading. It was observed that the average measured failure load and the associated crosshead displacement for the stitched L-joint specimens are increased significantly compared to those for the unstitched specimens. Full 3D and 2D plane strain finite element (FE) models were developed to simulate both stitched and unstitched L-joints with an implemented stitch element. The load—displacement curves and results predicted via FE models compare favorably with the experimental results. For the stitched L-joints, it is shown that the observed delamination in the elbow region of the flange can be modeled by using a softening model for epoxy layer.
Alempijevic, A, Kodagoda, S & Dissanayake, G 1970, 'Mutual Information Based Data Association', PROCEEDINGS OF THE 2009 FIFTH INTERNATIONAL CONFERENCE ON INTELLIGENT SENSORS, SENSOR NETWORKS AND INFORMATION PROCESSING, Conference on Novel Optical Systems Design and Optimization XIII, IEEE, San Diego, CA, pp. 97-102.
Alempijevic, A, Kodagoda, S, Dissanayake, G & IEEE 1970, 'Cross-Modal Localization Through Mutual Information', 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, International Conference on Intelligent Robots and Systems, IEEE, St Louis, Missouri, pp. 5597-5602.
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Relating information originating from disparate sensors observing a given scene is a challenging task, particularly when an appropriate model of the environment or the behaviour of any particular object within it is not available. One possible strategy to address this task is to examine whether the sensor outputs contain information which can be attributed to a common cause. In this paper, we present an approach to localise this embedded common information through an indirect method of estimating mutual information between all signal sources. Ability of L1 regularization to enforce sparseness of the solution is exploited to identify a subset of signals that are related to each other, from among a large number of sensor outputs. As opposed to the conventional L2 regularization, the proposed method leads to faster convergence with much reduced spurious associations. Simulation and experimental results are presented to validate the findings. © 2009 IEEE.
Alempijevic, A, Kodagoda, S, Dissanayake, G & IEEE 1970, 'Mutual Information Based Data Association', 2009 INTERNATIONAL CONFERENCE ON INTELLIGENT SENSORS, SENSOR NETWORKS AND INFORMATION PROCESSING (ISSNIP 2009), International Conference on Intelligent Sensors, Sensor Networks and Information Processing, IEEE, Melbourne, Australia, pp. 97-102.
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Relating information originating from disparate sensors without any attempt to model the environment or the behaviour of any particular object within it is a challenging task. Inspired by human perception, the focus of this paper will be on observing objects moving in space using sensors that operate based on different physical principles and the fact that motion has in principle, greater power to specify properties of an object than purely spatial information captured as a single observation in time. The contribution of this paper include the development of a novel strategy for detecting a set of signals that are statistically dependent and correspond to each other related by a common cause. Mutual Information is proposed as a measure of statistical dependence. The algorithm is evaluated through simulations and three application domains, which includes, (1.) Grouping problem in images, (2.) Data association problem in moving observers with dynamic targets, and (3.) Multi-modal sensor fusion. © 2009 IEEE.
Alonso Martin, H, Revel, A & Huynh, P 1970, 'Heat Loss and Evaporation Rate from an Agitated Water Tank', Proceedings of the 7th World Conference on Experimental Heat Transfer, Fluid Mechanics and Thermodynamics, World Conference on Experimental Heat Transfer, Fluid Mechanics and Thermodynamics, AGH University of Science and Technology Press, Krakow, Poland, pp. 1207-1214.
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ABSTRACT. Experiments have been performed to investigate the heat loss and evaporation rate from an open-top tank of heated water that is also agitated vigorously by air bubbling through it. High consumption of electrical energy in heating the solutions for an electroplating process prompted this study; and the experimental set-up thus serves as a model for an electroplating tank in this process. Air is injected from the tanks floor, and an electrical heater is used to maintain water at a constant, elevated temperature, compensating the heat being lost to the surroundings. A heat transfer model is developed for the process and is seen to agree well with measurements. Waters evaporation rate is found to be proportional to the injected air flow rate, and that most of the supplied energy goes into evaporating the water.
Beck, C, Miro, JV, Dissanayake, G & IEEE 1970, 'Trajectory Optimisation for Increased Stability of Mobile Robots Operating in Uneven Terrains', 2009 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-3, IEEE International Conference on Control and Automation, IEEE, Christchurch, NZ, pp. 1913-1919.
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A mechanism capable of enhancing the safety of paths followed by mobile robots which significantly modify their mass distribution while operating in uneven terrains is presented. This is the case, for instance, of kinematically reconfigurable platforms or robots equipped with manipulator arms. For a given path, a trajectory optimiser that finds suitably 'safer' paths in terms of tip-over prevention and equal force distribution over the supporting contact points is proposed. Other kinematic considerations such as operating within given nominal joint positions or low energy motions can also be exploited to improve system stability while being deployed in specific domains such as security, rescue, etc. Simulation results of the proposed optimised motion planner for an iRobot Explorer tracked vehicle are presented. They are also compared with a non-optimised planners to show the validity of the approach. ©2009 IEEE.
Brooks, PA, Manamperi, P, Liu, D & Dissanayake, G 1970, 'A robotic grit-blasting system for steel bridge maintenance', The 2009 Australasian Corrosion Association (ACA) conference, 15-18 November 2009,, Coffs Harbour, NSW, Australia.
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Corrosion is the primary cause of failure in steel bridges. Stripping of rust and deteriorated paint and then repainting the steel are the procedures in steel bridge maintenance, and is one of the biggest expenditure items in bridge maintenance activities. Grit-blasting, which is an effective and efficient method of paint stripping, is extremely labour intensive and hazardous. Workers have to not only spend long periods of time handling forces of 100N and above, but also need to take precautions to avoid exposure to the dust containing hazardous materials and chemicals. Thus supplementing manual labour in grit-blasting with robotic aids has a significant health, safety and economic impact.
Cagno, E, Trucco, P, Trianni, A & Sala, G 1970, 'A modular energy scan model for SMEs', IMETI 2009 - 2nd International Multi-Conference on Engineering and Technological Innovation, Proceedings, pp. 205-210.
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The growth of energy need - especially of new consumers like China and India -, the uncertainty in fuel prices and the scarcity of use of renewable sources pave the way to the emerging role of energy efficiency as a competitive advantage in a globalised market. Unfortunately small & medium enterprises (SMEs), the large majority of firms in a country, generally do not have a high operational energy efficiency, since they are characterized mainly by scarcely standardized operations and cannot afford too expensive energy audits and management programs. This paper aims at introducing an innovative framework that has been developed to achieve the operational energy efficiency of SMEs. Firstly, through an accurate breakdown of the firm into functional units, the main consuming areas are identified so that a criticality index can be defined; secondly, an enhancement index highlights the gap of each unit towards the best available techniques/practices (BAT/Ps) in energy management programs. Finally, a synthetic index (priority index) created by the junction of the two previous indexes, points out the most profitable areas in which energy saving actions should be implemented. The methodology, particularly quick and simple, has been successfully tested in 25 SMEs in Northern Italy.
Cheong, CY, Tan, KC & Liu, DK 1970, 'Solving the berth allocation problem with service priority via multi-objective optimization', 2009 IEEE Symposium on Computational Intelligence in Scheduling, 2009 IEEE Symposium on Computational Intelligence in Scheduling (CI-Sched), IEEE, Sheraton Music City Hotel, Nashville, TN, USA, pp. 95-102.
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This paper studies a multi-objective instance of the berth allocation problem (BAP). The BAP involves the determination of exact berthing times and positions of incoming ships in a container port so as to minimize concurrently the three objectives of makespan of the port, total waiting time of the ships, and degree of deviation from a predetermined service priority schedule. These objectives represent the interests of both port and ship operators. Unlike most existing approaches in the literature which are singleobjective- based, a multi-objective evolutionary algorithm (MOEA) that incorporates the concept of Pareto optimality is proposed for solving the multi-objective BAP. The multiobjective approach reveals several interesting characteristics of the BAP.
Chotiprayanakul, P & Liu, DK 1970, 'Workspace mapping and force control for small haptic device based robot teleoperation', 2009 International Conference on Information and Automation, 2009 International Conference on Information and Automation (ICIA), IEEE, Zhuhai/Macau, China, pp. 1613-1618.
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When a large robot manipulator is remotely controlled by means of a small haptic device, there are two issues which should be addressed: mapping of robot arm workspace and haptic device workspace, and accurate and safe control of the movement of the robot arm. This paper presents a haptic device workspace spanning control method for haptic-based teleoperation. The spanning control method includes haptic-space scaling control, drift control and edge motion control. A force control algorithm is also presented to control the robot arm's motion in complex 3D environments. Experimental results demonstrate that the mapping method and the force control algorithm can remotely control a robot arm to rapidly reach target positions, minimize the oscillation of the haptic device handle, achieve accurate positioning and provide the operator with efficient touch sensing. © 2009 IEEE.
Chotiprayanakul, P & Liu, DK 1970, 'Workspace Mapping and Force Control for Small Haptic Device based Robot Teleoperation', ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3, IEEE International Conference on Information and Automation (ICIA 2009), IEEE, Zhuhai, PEOPLES R CHINA, pp. 1588-1593.
Gürtler, MR, Kreimeyer, M & Lindemann, U 1970, 'Extending the active sum/passive sum measure to include boolean operators: A case study', Proceedings of the 11th International DSM Conference, 11th International DSM Conference, Hanser, Greenville, South Carolina, pp. 79-92.
Havryliv, M, Geiger, F, Guertler, M, Naghdy, F & Schiemer, G 1970, 'The Carillon and Its Haptic Signature: Modeling the Changing Force-Feedback Constraints of a Musical Instrument for Haptic Display', HAPTIC AND AUDIO INTERACTION DESIGN, PROCEEDINGS, 4th International Conference on Haptic and Audio Interaction Design, Springer Berlin Heidelberg, Dresden Univ Technol, Dresden, GERMANY, pp. 91-99.
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Hernandez-Gutierrez, A, Nieto, JI, Vidal-Calleja, T & Nebot, E 1970, 'Large scale visual odometry using stereo vision', Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009.
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This paper presents a system for egomotion estimation using a stereo head camera. The camera motion estimation is based on features tracked along a video sequence. The system also estimates the tridimensional geometry of the environment by fusing the visual information from multiple views. Furthermore, the paper presents comparisons between two different algorithms. The first one is by applying triangulation to 3D points. Motion estimation using 3D points suffers from the problem of nonisotropic noise due to the large uncertainty in depth estimation. To deal with this problem we present results with a second approach that works directly in the disparity space. Experimental results using a mobile platform are presented. The experiments cover long distances in urban-like environments with the presence of dynamic objects. The system presented is part of a bigger project involving autonomous navigation using vision only.
Hu, G, Huang, S, Dissanayake, G & IEEE 1970, '3D I-SLSJF: A Consistent Sparse Local Submap Joining Algorithm for Building Large-Scale 3D Map', PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), IEEE Conference on Decision and Control, IEEE, Shanghai, China, pp. 6040-6045.
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This paper presents an efficient and reliable algorithm for autonomous robots to build large-scale three dimensional maps by combining small local submaps. The algorithm is a generalization of our recent work on two dimensional map joining algorithm - Iterated Sparse Local Submap Joining Filter (I-SLSJF). The 3D local submap joining problem is formulated as a least squares optimization problem and solved by Extended Information Filter (EIF) together with smoothing and iterations. The resulting information matrix is exactly sparse and this makes the algorithm efficient. The smoothing and iteration steps improve the accuracy and consistency of the estimate. The consistency and efficiency of 3D I-SLSJF is demonstrated by comparing the algorithm with some existing algorithms using computer simulations. ©2009 IEEE.
Huynh, P 1970, 'Free-Convection Flow Through a Two-Dimensional Box With Openings on Opposite Walls', Proceedings of the 6th International Conference on Computational Heat and Mass Transfer (ICCHMT'09) - Progress in Computational Heat and Mass transfer, International Conference on Computational Heat and Mass Transfer, South China University of Technology, Guangzhou, China, Guangzhou, China, pp. 519-526.
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Free-convection flow through a two-dimensional rectangular box having openings at opposite corners on the vertical walls is investigated numerically, using a commercial Computational Fluid Dynamics (CFD) software package. Convection is induced when the box's ceiling or its floor is imposed with a temperature that is different to that of the ambient fluid, while all other walls are insulated. The fluid here is air near standard conditions, with a molecular Prandtl number of 0.707. Computation is performed for a range of Rayleigh-number values, up to about 2.7×109. Chien's turbulence model of low-Reynolds-number K-e is used. When convection is induced by a cold roof or a hot floor, higher flow rate and heat transfer occur. However the resultant flow and temperature variation are more confined to the wall regions, while the rest of the box is relatively much less affected. All this is in contrast to when convection is due to a hot roof or a cold floor.
JIANG, ZY, WEI, DW & TIEU, AK 1970, 'AN INFLUENCE FUNCTION METHOD ANALYSIS OF COLD STRIP ROLLING', Engineering Plasticity and Its Applications From Nanoscale to Macroscale, Proceedings of the 9th AEPA2008, WORLD SCIENTIFIC, Daejeon, SOUTH KOREA, pp. 356-361.
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Karantonis, P & Parnell, J 1970, 'Road noise aspects of the NSW Infrastructure SEPP's 'development in Rail Corridors and Busy Roads - Interim Guideline'', Annual Conference of the Australian Acoustical Society 2009 - Acoustics 2009: Research to Consulting, pp. 260-267.
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On 21 December 2007 State Environmental Planning Policy (Infrastructure) 2007 (known as the 'Infrastructure SEPP') was gazetted and subsequently came into effect in NSW on 1 January 2008 to facilitate the effective delivery of infrastructure across the State. Key objectives of this planning policy were to: protect the safety and integrity of key transport infrastructure from adjacent development; and ensure that adjacent development achieves an appropriate acoustic amenity by meeting the internal noise criteria specified in the Infrastructure SEPP. A major initiative of this SEPP is that for the first time a planning instrument has established internal noise levels [35dB(A) for bedrooms and 40dB(A) for other habitable rooms] in new residential developments planned along identified transport corridors. To support the Infrastructure SEPP, the NSW Department of Planning released Development in Rail Corridors and Busy Roads - Interim Guideline in December 2008. This document was developed with significant input from acoustic experts and other government agencies, and provides guidance on building design, internal layout and architectural principles to achieve an acceptable internal acoustic environment as well as synergies in addressing air and noise impacts. The Guideline also provides general guidance on strategic planning for Councils and other government agencies, or private proponents investigating possible locations for new residential and other sensitive development that require development approval. In addition, it provides guidance on site selection to reduce or avoid the need for mitigation measures for new residential (eg single/dual occupancy, multi-unit, etc) dwellings. The present paper focuses on the aspects of the Guideline which apply to the management of road traffic noise. It presents a summary of the technical background, assumptions and considerations given in relation to all of the road traffic noise information contained within the Gu...
Kivva, T, Huynh, P, Gaston, MJ & Munn, D 1970, 'A numerical study of ventilation flow through a 3-dimensional room with a fan', Proceedings of the 6th International Symposium on Turbulence, Heat and Mass Transfer, The 6th International Symposium on Turbulence, Heat and Mass Transfer, Begell House Inc., Rome, Italy, pp. 1-10.
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Numerical simulation of ventilation flow through a real-sized 3-dimensional room containing warm air has been performed, using a commercial CFD (Computational Fluid Dynamics) software package. The standard K-e turbulence model with wall functions is used. Fans flow rate only affects significantly the rooms temperature when this rate is low, corresponding to the free-convection-dominating regime. In forced-convection regime, increasing the flow rate results in little change in the rooms temperature, but can also enlarge pockets of undesirable warm air. Positioning a window higher gives rise to more efficient ventilation. An exhaust fan reduces the rooms average temperature significantly more than an in-blowing fan.
Kreimeyer, M, Braun, S, Gürtler, M & Lindemann, U 1970, 'Extending Multiple Domain Matrices to allow for the modeling of Boolean operators in process models', DS 58-1: Proceedings of ICED 09, the 17th International Conference on Engineering Design, 17th International Conference on Engineering Design, Design Society, Stanford, pp. 1-12.
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This paper suggests an approach to combine the analytical advantages of matrix-based notation with the modeling capabilities of graphical notation in order to model process flows including logic operators. Matrix-based notation is exemplified by Design Structure Matrices (DSM) and Multiple Domain Matrices (MDM), graphical notation by Event driven Process Chains (EPC), both being established standards in industry. DSM and MDM offer algorithmic methods for analyses, but so far without a means of modeling decision points (AND, OR, XOR). EPC allows for an easy modeling of process flows with parallel and alternative paths. However, it does not feature comprehensive analyses, making it difficult to systematically analyze a process model. In this research, MDM was therefore extended to include logic operators, thus combining the two approaches to transfer EPC and similar models into a matrix-based description and vice versa; this makes any graphical model that uses Boolean logic accessible to algorithmic analysis available in MDM. Generally spoken, the proposed modeling scheme opens up a way of generic modeling of logic operations in matrix-based notations.
Lammers, T & Held, T 1970, 'The Impact of the Implementation of the EC Regulation No 561/2006 on German Small and Medium-Sized Trucking Companies', Erich Schmidt Verlag GmbH & Co KG.
Lawrence, E, Loke, L, Raban, R, Brookes, W & Aubrey, T 1970, 'Towards an Understanding of Collaboration in Teaching Technology Subjects in an Amalgamated Faculty of Engineering and Information Technology', 2009 INTERNATIONAL CONFERENCE ON MOBILE, HYBRID, AND ON-LINE LEARNING (ELML), International Conference on Mobile, Hybrid, and On-Line Learning, IEEE Computer Society Conference Publications, Cancun, Mexico, pp. 47-52.
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The paper sets out a collaborative approach for teaching technology subjects. It Illustrates the benefits of this approach over the single academic owning a particular subject. The paper presents preliminary findings from interviews with academics in a newly combined Faculty of Engineering and Information Technology. It concludes by pointing the way to the future of htis funded research project.
Li, HJ, Jiang, ZY, Wei, DB, Du, YB, Han, JT & Tieu, AK 1970, 'Surface Profile Simulation during Plane Strain Compression by Crystal Plasticity Finite Element Method', Advanced Materials Research, 12th International Symposium on Advances in Abrasive Technology, Trans Tech Publications, Ltd., Gold Coast, AUSTRALIA, pp. 538-543.
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With the technology advancement, crystal plasticity finite element modeling becomes more and more popular in the simulation of metal forming process. In order to obtain a better understanding of the difference between the Taylor model and finite element model during the simulation of metal forming process, an implicit time-integration procedure with the two polycrystal models is applied in the commercial finite element code ABAQUS to simulate the plane strain compression separately. FCC metal is used in this study. The simulation shows that the two polycrystal models both can predict the compression process approximately. The two modelling results of surface roughness show an agreement with that of the experimental results. However, the side profile calculated by the Taylor polycrystal model is much steeper and straighter than that of finite element polycrystal model. The experimental surface roughness curve shows a high frequency fluctuation. It is much steeper than those of the two models. The simulation results also show that the von Mises stress from the Taylor model is much higher than that of the finite element model.
Liu, M, Huang, S & Dissanayake, G 1970, 'A new observation model for B-Spline SLAM', Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009, Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc., Sydney, Australia, pp. 1-8.
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Recently, a novel laser data based SLAM algorithm using B-Spline as features has been developed in [Pedraza et al., 2007]. EKF is used in the proposed BS-SLAM algorithm and the state vector contains the current robot pose together with the control oints of the splines. The obervation model used for the EKF update is the intersections of the laser beams with the splines contained in the map. In this paper, we propose a new observation model for B-Spline SLAM. By properly defining the control pointsfor the splines, the observation model can be expressed as a function of relative positions between control points and the robot pose, which is the same format as what used in point feature based SLAM. This new observation model make it possible to apply optimization based techniques to B-Spline SLAM, which has the potential to resolve the inconsistency issues of B-Spline SLAM.
Lu, Z, Kadi, A, Aubrey, T & IEEE 1970, 'A CME Based Channel Estimation Approach for MIMO-OFDM Systems', 2009 5TH INTERNATIONAL CONFERENCE ON WIRELESS COMMUNICATIONS, NETWORKING AND MOBILE COMPUTING, VOLS 1-8, International Conference on Wireless Communications, Networking and Mobile Computing, IEEE Press, Beijing, China, pp. 783-786.
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A pilot-assisted, conditional model-order estimation (CME) based channel estimation algorithm is presented. The algorithm is proposed for MIMO-OFDM systems and can detect both channel frequency responses and number of multi-path taps. In addition, the modified CME estimator is also verified its capacity in determining the nonzero taps. The performance of the proposed approach is compared to the popular minimum description length (MDL) algorithm for estimation of the number of channel paths, by means of simulation in the context of a 2x2 MIMO-OFDM transceiver system. Result indicates that the new algorithm is superior in channel order estimation to the MDL algorithm in MMO-OFDM system over a noisy frequency selective fading channel.
Luo, Q & Tong, L 1970, 'Fracture Prediction of Adhesively Bonded Structures Using Energy Release Rates', Journal of Adhesion Science and Technology, Informa UK Limited, pp. 1415-1440.
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Luo, Q & Tong, L 1970, 'Use of optically transparent lead lanthanum zirconate titanate as actuators and sensors', SPIE Proceedings, Second International Conference on Smart Materials and Nanotechnology in Engineering, SPIE, Weihai, PEOPLES R CHINA.
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Manamperi, P, Brooks, PA, Liu, D & Dissanayake, G 1970, 'Advanced robotic technologies for steel bridge maintenance', The 7th Austroads Bridge Conference website, The 7th Austroads Bridge Conference, Austroads, Auckland, New Zealand, pp. 1-8.
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Bridges are essential in transport infrastructure worldwide. Corrosion is the primary cause of failure in steel bridges, and is minimized by painting the steel structure. Steel bridge coating maintenance consists of two procedures: the stripping of rust and deteriorated paint and then repainting the steel; and is one of the biggest expenditure items in bridge maintenance activities. An effective and efficient method of paint stripping is grit blasting, and herein lies the critical problem. Grit blasting is extremely labour intensive and hazardous. Workers have to not only spend long periods of time handling forces of 100N and above, but also need to take precautions to avoid exposure to the dust containing hazardous materials and chemicals. Thus supplementing manual labour in grit blasting with robotic aids will have a significant health, safety and economic impact.
Miro, JV, Osswald, V, Patel, M & Dissanayake, G 1970, 'Robotic assistance with attitude: A mobility agent for motor function rehabilitation and ambulation support', 2009 IEEE International Conference on Rehabilitation Robotics, the Community (ICORR), IEEE, Kyoto, Japan, pp. 529-534.
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This paper presents the design of an intelligent walking aid for the frail and elderly as well as for patients who are recovering from surgical procedures, in order to enhance safer mobility for these study populations. The device augments a conventional rolling walker aid with sensing and navigational abilities to safely travel through an environment following user's perceived intentions, unless collisions or instability is imminent. The agent, embodied as a Partially Observable Markov Decision Process (POMDP), critically relies on minimal user input to seamlessly recognise user's short-term intended behaviour, constantly updating this projection to allow for inconspicuous user-robot integration. This, in turn, shifts user's focus from fine motor-skilled control to coarse indications broadly intended to convey intention. Overall, the system can afford an increase in safety for the cognitive user through preventative care - reduced number of falls or collision with surrounding objects, minimising health-care expenses as well as increasing independent living for people with gait disorders. Successful simulation and experimental results demonstrate the validity of the proposed architecture for a practical robotic rollator design. ©2009 IEEE.
Miro, JV, Osswald, V, Patel, M & Dissanayake, G 1970, 'Robotic Assistance with Attitude: a Mobility Agent for Motor Function Rehabilitation and Ambulation Support', 2009 IEEE 11TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2, 11th IEEE International Conference on Rehabilitation Robotics, IEEE, Kyoto, JAPAN, pp. 616-+.
Parnell, J, Kitto, D & Wassermann, J 1970, 'Assessing and regulating noise impacts from large open cut coal mines in Australia', 8th European Conference on Noise Control 2009, EURONOISE 2009 - Proceedings of the Institute of Acoustics.
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Regulating the noise impacts from large coal mines is a difficult task, particularly given the variations in topography and meteorological conditions that can occur over setbacks of up to 5 km that may separate potentially impacted receivers from the mine site. In NSW, criteria established by the Industrial Noise Policy are applied to sensitive noise receivers such as residences that may be impacted by mine noise. In many instances this results in criteria being set at Leq = 35 dB(A) with reductions for tonal qualities. Exceedance of this criteria may be negotiated by agreement, but exceedances of more than 5 dB require the mine to offer property acquisition. Despite the adoption of some of the most stringent criteria in the world the Department of Planning still receives a high number of complaints from surrounding residents. The present paper examines the methodology used to establish Project Specific Noise Levels and how these are used to manage noise impacts. In addition the paper examines the complexities that occur in measuring compliance, and the development of a directional microphone array that is used to assign noise levels in a large and diverse noise catchment often containing more than one mine.
Parnell, J, Samuels, S & Tsitsos, C 1970, 'The performance of noise barriers in attenuating road traffic noise', 8th European Conference on Noise Control 2009, EURONOISE 2009 - Proceedings of the Institute of Acoustics.
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As part of continuing investigation into noise barrier optimisation, a research and development study to conduct insitu empirical testing of several full size prototype barrier designs was funded by the NSW State Government. Of particular interest to this study was a design known as a Random Edge Profile Barrier. Literature research had found that there was a body of evidence indicating that a barrier with an edge irregularity can cause a substantial degradation of the diffracted signal. It is generally accepted 1-3 that an increase in insertion loss occurs because the jagged edge causes a reduction in coherence of the diffracted signal being transmitted to the shadow zone as compared to a conventional straight edge barrier. It has been suggested 4 that the mechanism for this is that the jagged geometry on the top of a barrier alters the sound pressure level in the shadow zone by causing the region of the barrier nearest the receiver to admit multiple paths with variable phase. The direct waves from the diffracting edges of the barrier and waves subsequently reflected from the ground plane are superimposed at the receiver causing constructive or destructive interference at the receiver. The present study followed a methodology that included construction of an 80m long by 2.4m high barrier that served as the base for an additional conventional top as well as a random profile and T-Top novel cap. Empirical data collected showed that for the receiver locations investigated, a random edge barrier will out-perform a conventional barrier of the same nominal height for most frequencies associated with broadband tyre/road noise. A T-Top barrier was found to perform better than a conventional barrier of similar height for most frequencies whilst a conventional barrier offered the most practical solution for attenuation of low frequency noise.
Samuels, S, Hall, A & Parnell, J 1970, 'Recent Australian investigations into the acoustic attributes of road pavement surfaces', 38th International Congress and Exposition on Noise Control Engineering 2009, INTER-NOISE 2009, pp. 368-379.
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This paper summarises the outcomes of two recent investigations into the acoustic attributes of Australian road pavement surfaces. One of these investigations involved the repeated collection of roadside noise data, measured according to the statistical passby technique, over a period of six years. The data were analysed to determine values of a parameter known as the Statistical Passby Index which quantify the acoustic performance of the pavement surfaces. A new method was developed for applying the outcomes of this investigation to the prediction of road traffic noise on the various types of pavement surface over a six year period. In the other investigation data were collected according to the controlled test passby method on a separate set of pavement surfaces. A range of more than 14 dB(A) in passby noise levels was observed over the pavement surface types investigated. The outcomes of this investigation were compared against the results of similar studies of 75 road pavement surfaces constructed overseas.
Sehestedt, S, Kodagoda, S, Alempijevic, A & Dissanayake, G 1970, 'Efficient learning of motion patterns for robots', Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009, Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc., Sydney, Australia, pp. 1-7.
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In this work we present a novel approach to learning dynamics of an environment perceived by a mobile robot. More precisely, we are interested in general motion patterns occurring in the environment rather than object dependent ones. A sampling algorithm is used to update a sample set, which represents observed dynamics, using the Bayes rule. From this set of samples a Hidden Markov Model is learnt online, which allows fast and efficient matching and prediction in the learnt model. Such models are useful for a number of tasks such as path planning, localisation and compliant motion. The approach is validated through simulation as well as experiments.
Smart, K & Aubrey, T 1970, 'Evaluation of a magnetic near field scanner', 2009 Asia Pacific Microwave Conference, 2009 Asia Pacific Microwave Conference - (APMC 2009), IEEE, Singapore, pp. 413-416.
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Traditionally, the measurement of antenna performance often required significant capital outlay on anechoic test chambers and associated test equipment. A novel device manufactured by Canadian company Emscan that can perform some of these measurements in a bench-top environment may offer a solution. A study was undertaken into the performance of the Emscan near-field scanner. Comparisons with measurements taken in anechoic chamber and theoretical models using CST microwave studio are used in the evaluation of the scanner as well as measurements of repeatability and accuracy.
Sola, J, Vidal-Calleja, T & Devy, M 1970, 'Undelayed initialization of line segments in monocular SLAM', 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), IEEE, St. Louis, MO, pp. 1553-1558.
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This paper presents 6-DOF monocular EKF-SLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plücker parametriz-ation. A careful analysis of the properties of the Plücker coordinates, defined in the projective space ℙ5, permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plücker line is incorporated in the map. A single Gaussian pdf includes inside its 2-sigma region all possible lines given the observed segment, from arbitrarily close up to the infinity range, and in any orientation. The lines converge to stable 3D configurations as the moving camera gathers observations from new viewpoints. The line's endpoints, maintained out of the map, are constantly retro-projected from the image onto the line's local reference frame. An extending-only policy is defined to update them. We validate the method via Monte Carlo simulations and with real imagery data. © 2009 IEEE.
To, AW, Paul, G, Kwok, N & Liu, D 1970, 'An integrated approach to planning for autonomous grit-blasting robot in complex bridge environments', Proceedings of 2008 Fourth I*PROMS Virtual Conference International Conference on Innovative Production Machines and Systems, International Conference on Innovative Production Machines and Systems, Whittles Publishing, Cardiff University, Wales, UK, pp. 313-318.
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This paper describes an integrated approach to robot manipulator path and motion planning in complex bridge environments. It incorporates grit-blasting specific considerations including blasting effect, coverage, path length and robot arm joint movement. A genetic algorithm is implemented for path planning with the use of environment data to increase planning efficiency. A customized gradient based method is applied in selecting collision free joint configurations for the identified path. A grit-blast coverage model is also developed for discrete non-planar 3D coverage determination to verify the performance of the planned path and motion.
Trianni, A, Locatelli, G & Trucco, P 1970, 'Competitiveness of small-medium reactors: A probabilistic study on the economy of scale factor', International Congress on Advances in Nuclear Power Plants 2009, ICAPP 2009, pp. 114-121.
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With steady increase in energy consumption, the vulnerability of the fossil fuel supply, and environmental concerns, the U.S. Department of Energy (DOE) has initiated the Next Generation Nuclear Power Plants (NGNP), also known as Very High Temperature Reactor (VHTR). The VHTR is planned to be operational by 2021 with possible demonstration of a hydrogen generating plant. Various engineering design studies on both the reactor plant and energy conversion system are underway. For this and related Generation IV plants, it is the goal to not only meet safety criteria but to also be efficient, economically competitive, and environmentally friendly (proliferation resistant). Traditionally, heat exchanger (HX) design is based on two main approaches: Log-Mean Temperature Difference (LMTD) and effectiveness-NTU (ε-NTU). These methods yield the dimension of the HX under anticipate condition and vice-versa. However, one is not assured that the dimension calculated give the best performing HX when economics are also considered. Here, we develop and show a specific optimization algorithm (exercise) using LMTD and simple (optimal) design theory to establish a reference case for the Printed Circuit Heat Exchanger (PCHE). Computational Fluid Dynamics (CFD) was further used as a design tool to investigate the optimal design of PCHE thermohydraulic flow. The CFD results were validated against the Blasius correlation before being subjected to optimal design analyses. Benchmark results for the pipe flow indicated that the predictive ability of SST k-ω is superior to the other (standard and RNG k-ε and RSM) turbulence models.The difference between CFD and the empirical expression is less than 10%.
Vidal-Calleja, TA, Berger, C & Lacroix, S 1970, 'Event-driven loop closure in multi-robot mapping', 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), IEEE, St Louis, MO, pp. 1535-1540.
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A large-scale mapping approach is combined with multiple robots events to achieve cooperative mapping. The mapping approach used is based on hierarchical SLAM global level and local maps, which is generalized for the multi-robot case. In particular, the
Wang, JJ, Hu, G, Huang, S & Dissanayake, G 1970, '3D landmarks extraction from a range imager data for SLAM', Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009, Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc., Sydney, Australia, pp. 1-8.
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This paper introduces a new 3D landmark extraction method using the range and intensity images captured by a single range camera. Speeded up robust features (SURF) detection and matching is used to extract and match features from the intensity images. The range image information is used to transfer the selected 2D features into 3D points. The range measurement bias and uncertainty of the range camera are analysed, and their models are developed for improving the range estimation. After outliers' detection and removal using random sampling consensus (RANSAC), reliable 3D points are obtained. 3D landmarks for simultaneous localisation and mapping (SLAM) are selected from the 3D points considering several factors, such as the uncertainty and geometry of their locations. Because of the availability of the SURF descriptor, the data association in SLAM has been performed using both the geometry and the descriptor information. The proposed method is tested in unstructured indoor environments, where the range camera moves in six degrees of freedom. Experimental results demonstrate the success of the proposed 3D landmark extraction method for SLAM.
Wang, JJ, Kodagoda, S & Dissanayake, G 1970, 'Vision aided GPS/INS system for robust land vehicle navigation', 22nd International Technical Meeting of the Satellite Division of the Institute of Navigation 2009, ION GNSS 2009, pp. 195-204.
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This paper introduces a new approach for improving land vehicle navigation by integrating a digital camera with a GNSS receiver and a MEMS INS, to provide seamless robust navigation solutions in urban environment. As a camera has the ability to detect surrounding environment, it can measure its relative position and direction to the surrounding objects. The integration of heterogeneous sensors with very different characters, such as GNSS, INS and image in this approach, can complement each other and provide cost-effective and robust navigation solutions. In the proposed system, INS is selected as the reference navigation sensor as it provides complete navigation solutions without disruptions. The navigation errors caused by its inherent nonlinear and time-varying characteristics can be corrected by the camera and GNSS. Vision based navigation (VBN) is one of the fundamental issues in computer vision and is relatively well developed. In this paper mono vision (MV) based navigation technologies are merged with GNSS and INS measurement, termed as GNSS/INS/MV (GlMV) integration. VBN is at the core of proposed robust navigation system, in which a relative range scale factor is estimated by continuously applying structure-from-motion in the MV navigation. Due to the complexity of multi-sensor integration, it needs an optimal sensor fusion framework with reliable system design, modeling and quality control procedures. The proposed sensor fusion method consists of two local and one master data fusion units, based on extended Kalman filter and fuzzy logic. It takes the advantages of federate architecture, and can select using either GNSS or VBN navigation solutions for PNS correction according to their quality. GNSS/INS integration is the mainstream for navigation when the vehicle travels in an open area with good GNSS signal. At the same time, the modeling parameters of INS and camera are estimated. When the system is navigating in areas with weak GNSS signals,...
Wang, JJ, Kodagoda, S, Dissanayake, G, Wang, J, Feng, Y & Wang, C 1970, 'Vision Aided GPS/INS System for Robust Land Vehicle Navigation', PROCEEDINGS OF THE 22ND INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2009), 22nd Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, U.S. Inst. of Navigation, Savannah International Convention Center, Savannah, GA, US, pp. 600-609.
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: This paper introduces a new approach for improving land vehicle navigation by integrating a digital camera with a GNSS receiver and a MEMS INS, to provide seamless robust navigation solutions in urban environment. As a camera has the ability to detect surrounding environment, it can measure its relative position and direction to the surrounding objects. The integration of heterogeneous sensors with very different characters, such as GNSS, INS and image in this approach, can complement each other and provide cost-effective and robust navigation solutions. In the proposed system, INS is selected as the reference navigation sensor as it provides complete navigation solutions without disruptions. The navigation errors caused by its inherent nonlinear and time-varying characteristics can be corrected by the camera and GNSS. Vision based navigation (VBN) is one of the fundamental issues in computer vision and is relatively well developed. In this paper mono vision (MV) based navigation technologies are merged with GNSS and INS measurement, termed as GNSS/INS/MV (GIMV) integration. VBN is at the core of proposed robust navigation system, in which a relative range scale factor is estimated by continuously applying structure-from-motion in the MV navigation. Due to the complexity of multi-sensor integration, it needs an optimal sensor fusion framework with reliable system design, modeling and quality control procedures. The proposed sensor fusion method consists of two local and one master data fusion units, based on extended Kalman filter and fuzzy logic. It takes the advantages of federate architecture, and can select using either GNSS or VBN navigation solutions for INS correction according to their quality. GNSS/INS integration is the mainstream for navigation when the vehicle travels in an open area with good GNSS signal. At the same time, the modeling parameters of INS and camera are estimated. When the system is navigating in areas with weak GNSS signals, such as...
Xie, HB, Jiang, ZY, Du, YB, Wei, DB & Tieu, AK 1970, 'Analysis of Surface Roughness of Low Carbon Steel during Cold Rolling of Thin Strip', Advanced Materials Research, 12th International Symposium on Advances in Abrasive Technology, Trans Tech Publications, Ltd., Gold Coast, AUSTRALIA, pp. 544-547.
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Surface roughness plays an important role in determining the tribological behaviour of mechanical components (e.g. gears and roller bearings etc.) under full-film and mixed (or partial) elastohydrodynamic lubrication conditions. This paper describes a detailed mechanics analysis of the surface roughness transformation of thin strip which has been cold rolled on an experimental mill. Low carbon steel strips were rolled at various speeds and reductions, and the effects of rolling parameters on surface roughness are studied. The results of surface roughness can provide important information to optimise the rolling schedule and to improve the rolled strip quality.
Yu, Y, Kodagoda, S & Ha, QP 1970, 'Relative Distance Estimation for Indoor Multi-Robot Control Using Monocular Digital Camera', Proceedings of the 3rd International Workshop on Artificial Intelligence in Science and Technology, International Workshop on Artificial Intelligence in Science and Technology, The University of Tasmania, Hobart, Australia, pp. 1-6.
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Distance measurement methodologies based on the digital camera usually require extensive calibration routines, some are even derived from complicated image processing algorithms resulting in low picture frame rates. Particularly, in a dynamic camera system, due to the unpredictability of intrinsic and extrinsic parameters, the reliable measuring results are highly dependent on the accuracy of extra sensors. In this paper, a simple algorithm for relative distance estimation is proposed for multi-robot control with a monocular digital camera. Reasonable accuracy is achieved by judging the 2D perspective projection image ratio (PPIR) of robots' labels on a TFT-LCD (Thin Film Transistor-Liquid Crystal Display) monitor without any additional sensory cost and complicated calibration effort. Further, the algorithm does not contain any trigonometric functions so that it can be easily implemented on an embedded system using the field programmable gate array (FPGA) technology.
Yuan, S, Lau, H, Liu, DK, Huang, SD, Dissanayake, G, Pagac, D & Pratley, T 1970, 'Simultaneous dynamic scheduling and collision-free path planning for multiple autonomous vehicles', 2009 International Conference on Information and Automation, 2009 International Conference on Information and Automation (ICIA), IEEE, Zhuhai/Macau, China, pp. 522-527.
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When autonomous vehicles are deployed to perform transportation tasks within a confined space and strict time constraint, the problem of optimizing the assignment of tasks to vehicles is complicated by the need to ensure safety (they do not collide with or impede each other) and maximize the efficiency and productivity. With the increasing number of autonomous vehicles in practical settings, the ability to schedule tasks in a manner that inherently considers the effects of task allocations on space contention (which in turn compromises efficiency) is important to performance improvement. The main contribution of this paper is an approach to simultaneously conduct dynamic task allocation and collision-free path planning in an environment where multiple autonomous vehicles operate on a network of paths and where each path segment can only be occupied by one vehicle at a given instant. In particular, a generic algorithm for effective task allocation is investigated and applied in conjunction with an application-specific objective function. The proposed approach is able to solve the dynamic scheduling, planning and collision avoidance problem in an integrated way such that the overall productivity of the transportation system is improved. Simulation results based on a real-world industrial material handling environment demonstrate the feasibility and effectiveness of the proposed method. © 2009 IEEE.
Yuan, S, Lau, H, Liu, DK, Huang, SD, Dissanayake, G, Pagac, D & Pratley, T 1970, 'Simultaneous Dynamic Scheduling and Collision-Free Path Planning for Multiple Autonomous Vehicles', ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3, IEEE International Conference on Information and Automation (ICIA 2009), IEEE, Zhuhai, PEOPLES R CHINA, pp. 507-+.
Yun, MS & Huynh, BP 1970, 'Non-Isothermal Peristaltic Flow of Newtonian Fluids in a Circular Tube', Volume 9: Heat Transfer, Fluid Flows, and Thermal Systems, Parts A, B and C, ASME 2009 International Mechanical Engineering Congress and Exposition, ASMEDC, Lake Buena Vista, Florida, USA, pp. 1-6.
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Non-isothermal peristaltic flow of Newtonian fluids in a circular tube is investigated numerically, using a commercial Computational Fluid Dynamics (CFD) software package. Simulation is performed over a range of Reynolds-number values, up to 1000. Temperature affects the flow field via fluid viscosity, which is assumed to decrease exponentially with temperature. Other fluid properties are assumed to be constant, and are similar to those of an oil. Allowing for temperature effects alters significantly the flow pattern and reduces pressure change. In the crest region, recirculation appears in non-isothermal flow at a much smaller Reynolds number Re than in isothermal flow. Influence of the Reynolds number itself is also reduced significantly, such that the flow pattern changes very little with increasing Re, in contrast to the isothermal case. Similarly, in non-isothermal flow, flow pattern is unchanged at different flow rate. This is also in contrast to the isothermal situation.
Zhang, W & Deuse, J 1970, 'Cell staffing and standardized work design in Chaku-Chaku production lines using a hybrid optimization algorithm', 2009 International Conference on Computers & Industrial Engineering, Industrial Engineering (CIE39), IEEE, pp. 305-310.
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Chaku-Chaku production lines are currently widely adopted in manufacturingand assembly industry, which are an effective and efficient productionorganizational type thanks to its flexibility as well as customer-oriented flowlayouts. However, due to the variation of customers' demand and unpredictablemarket factors, the layout as well as manpower allocation are both facing to beadjusted to satisfy the customers' orders, compared with reconstruction ofmachines or redesign of new production line, the adjusted focus is shifting tothe workforce allocation and work reassignment, for the utilization ofbottleneck resource machines can achieve at most 50%-60%. This work specifiesthe calculation of number of the operators employed to run the production lineand work assignment for each operator, i.e. standardization of the productionroutines and the design of optimal standardized work for every operator. Inorder to simplify such combinatorial optimization problem, the number ofmanpower and the detailed work assignment are separated to be stated by MixedInteger Linear Programming model (MILP) and Constraint Programming model (CP),the first model is used to optimize the workforce allocation subject to severalinternal constraints, the following model illustrates how to achieve thedetailed scheduling , which is utilized to assign detailed work to each operatorand further standardize the work sequence and content. MILP is constructedwithout consideration of each feasible operational sequence as well ascooperation between adjacent workers so as to simplify the assignment problemand then realize the calculation of optimal workforce. Combined with CP model aswell as with the help of feedback loops, the optimal and feasible standardizedwork can be finally depicted in the form of Gantt chart. The performance of theapproach is also verified through comparison with the stated approach in thecurrently available literature. © 2009 IEEE.