Search Results (13)

Waste animal fat (WAF) can be converted to distillate fractions similar to petroleum solvents and used as solvents via pyrolysis and fractional distillation. Pyrolysis oil from triglyceride materials presents adequate viscosity and volatility, compared to petroleum fuels, but shows acid values between 60–140 mg KOH/g, impeding its direct use as biofuels without considerable purification of its distillates. Fractional distillation can be applied for the purification of bio-oil, but only a few studies accurately describe the process. The purpose of this study was to evaluate the effect of temperature in the conversion of waste animal fat into fuel-like fractions by pyrolysis and fractional distillation in a semi-batch stirred bed reactor (2 L) according to reaction time. Waste animal fat was extracted (rendering) from disposed meat cuts obtained from butcher shops and pyrolyzed in a stainless-steel stirred bed reactor operating in semi-batch mode at 400–500 °C. The obtained liquid fraction was separated according to reaction time. The pyrolysis bio-oil at 400 °C was separated into four distinct fractions (gasoline, kerosene, diesel, and heavy phase) by fractional distillation with reflux. The bio-oil and distillate fractions were analyzed by density, kinematic viscosity, acid value, and chemical composition by gas chromatography coupled to mass spectra (GC-MS). The results show that, for semi-batch reactors with no inert gas flow, higher temperature is associated with low residence time, reducing the conversion of fatty acids to hydrocarbons. The distillate fractions were tested in a common application not sensible to the fatty acid concentration as a diluent in the preparation of diluted asphalt cutback for the priming of base pavements in road construction. Kerosene and diesel fractions can be successfully applied in the preparation of asphalt cutbacks, even with a high acid value. Full article

To enhance road-testing safety for autonomous driving robotic vehicles (ADRVs), collision avoidance with sudden obstacles is essential during testing processes. This paper proposes an upper-level collision avoidance strategy integrating model predictive control (MPC) and improved artificial potential field (APF). The kinematic model of the driving robot is established, and a vehicle dynamics model considering road curvature is used as the foundation for vehicle control. The improved APF constraints are constructed. The boundary constraint uses a three-circle vehicle shape suitable for roads with arbitrary curvatures. A unified obstacle potential field constraint is designed for static/dynamic obstacles to generate collision-free trajectories. An auxiliary attractive potential field is designed to ensure stable trajectory recovery after obstacle avoidance completion. A multi-objective MPC framework coupled with artificial potential fields is designed to achieve obstacle avoidance and trajectory tracking while ensuring accuracy, comfort, and environmental constraints. Results from Carsim-Simulink and semi-physical experiments validate that the proposed strategy effectively avoids various obstacles under different road conditions while maintaining reference trajectory tracking. Full article

In this article, a robust adaptive dynamic position-control problem is addressed for full-actuated surface vessels under coupled uncertainties from unmodeled hydrodynamic effects and time-varying external disturbances. To obtain a high-performance dynamic position controller, a reinforcement learning (RL) weights law involving actor and critic networks is designed without knowledge of the model dynamics and the disturbance parameters. This can enhance the robustness of the closed-loop control system. Furthermore, dynamic surface control is integrated to diminish the design complexity resulting from the derivative of the kinematics, while ensuring semi-global uniformly ultimately bounded (SGUUB) stability through Lyapunov-based synthesis. Simulations are carried out to evaluate the superiority and feasibility of the proposed algorithm. Full article

The Giant Steerable Science Mirror prototype is being developed to assess the tertiary mirror system of the Thirty Meter Telescope. In this study, a new semi-kinematic coupling design is proposed for the prototype based on three pairs of V-grooves and canoe-like components to allow for high repeatability accuracy under heavy loads. A mathematical model was constructed to estimate the repeatability accuracy using the corresponding measurement results and machining errors. The proposed design was verified by an experiment, and the results were consistent with the mathematical model. Furthermore, the results indicate that the repeatability of the semi-kinematic coupling is sufficient for the requirement. Full article

The present study evaluates the ratcheting response of notched cylindrical samples made of 1045 steel alloy subjected to asymmetric loading cycles using the kinematic hardening framework, coupled with Neuber’s rule. Test samples with V-shaped and semi-circular edge notches were first heat-treated under different conditions, resulting in various material hardness values at the notch root region. Local ratcheting at the notch root of samples was found to be highly dependent on the notch shape and the heat treatment conditions. HT1 samples with a lower hardness of 12 RC at the notch region possessed higher values of ratcheting, while ratcheting at the notched region for HT2 samples with 40 RC dropped to half of that in HT1 samples. The higher hardness of 50 RC at the notch edge of HT3 samples promoted the initial yield strength and the yield surface through the kinematic hardening rule with a larger translation into the deviatoric stress space as compared with samples HT1 and HT2 with 12 and 40 RC, respectively. The local ratcheting strain in sample HT1, with semi-circular notches ($K_t=1$.65) at a stress ratio ($S_{max}/S_{ult}$) of 0.965, remained below 1.80% during the first hundred loading cycles. The local ratcheting decreased to 1.2% for sample HT2 and further dropped to 0.9% for sample HT3. The yield surfaces were translated consistent with the magnitude and direction of the backstress increments, as the applied loading excursion exceeded the elastic limit. Through the use of the Ahmadzadeh–Varvani (A–V) hardening rule, the predicted ratcheting values at notch roots were found to be larger in magnitudes as compared with those of experimental data, while the predicted local ratcheting through the Chaboche (CH) hardening rule fell below the experimental data. Results consistently showed that as sample hardness increased, the local ratcheting at notch roots decreased. Full article

The nonlinear sloshing of an incompressible fluid with irrotational flow in a complicated-shape tank due to horizontal excitation is studied with a semi-analytical method proposed in this study. In this method, the velocity potential function of a liquid in a complicated-shape tank is estimated by using an approximate analytical transformation function from a complicated-shape region to a rectangular region. This function is obtained through Schwarz–Christoffel mapping and polynomial fitting. Nonlinear dynamic equations for the fluid–structure coupled system are developed based on the Hamilton–Ostrogradskiy principle. Nonlinear kinematic equations for the fluid–structure coupled system are derived based on the relationship between the liquid velocity and the free-surface equation. The Galerkin method is used to convert partial differential equations into ordinary differential equations. When tank movement is given, nonlinear models for the coupled system can be reduced to simple ones for liquid sloshing. Natural frequencies for the coupled system and liquid sloshing are analyzed, and the semi-analytical results agree with the numerical ones calculated with the software DampSlosh. Hydrodynamic forces and moments are also analyzed, and the semi-analytical results agree well with the numerical ones calculated with the Flow3D v10.1.1. Full article

This paper develops a collaborative trajectory planning and resource allocation (CTPRA) strategy for multi-target tracking (MTT) in a spectral coexistence environment utilizing airborne radar networks. The key mechanism of the proposed strategy is to jointly design the flight trajectory and optimize the radar assignment, transmit power, dwell time, and signal effective bandwidth allocation of multiple airborne radars, aiming to enhance the MTT performance under the constraints of the tolerable threshold of interference energy, platform kinematic limitations, and given illumination resource budgets. The closed-form expression for the Bayesian Cramér–Rao lower bound (BCRLB) under the consideration of spectral coexistence is calculated and adopted as the optimization criterion of the CTPRA strategy. It is shown that the formulated CTPRA problem is a mixed-integer programming, non-linear, non-convex optimization model owing to its highly coupled Boolean and continuous parameters. By incorporating semi-definite programming (SDP), particle swarm optimization (PSO), and the cyclic minimization technique, an iterative four-stage solution methodology is proposed to tackle the formulated optimization problem efficiently. The numerical results validate the effectiveness and the MTT performance improvement of the proposed CTPRA strategy in comparison with other benchmarks. Full article

This work investigated the influence of the reaction time and catalyst-to-residual fat ratio by catalytic upgrading from pyrolysis vapors of residual fat at 400 °C and 1.0 atmosphere, on the yields of reaction products, physicochemical properties (density, kinematic viscosity, and acid value) and chemical composition of bio-oils, over a catalyst fixed-bed reactor of activated carbon pellets impregnated with 10.0 M NaOH, in semi-pilot scale. The experiments were carried out at 400 °C and 1.0 atmosphere, using a process schema consisting of a thermal cracking reactor of 2.0 L coupled to a catalyst fixed-bed reactor of 53 mL, without catalyst and using 5.0%, 7.5%, and 10.0% (wt.) activated carbon pellets impregnated with 10.0 M NaOH, in batch mode. Results show yields of bio-oil decreasing with increasing catalyst-to-tallow ratio. The GC-MS of liquid reaction products identified the presence of hydrocarbons (alkanes, alkenes, ring-containing alkanes, ring-containing alkenes, and aromatics) and oxygenates (carboxylic acids, ketones, esters, alcohols, and aldehydes). For all the pyrolysis and catalytic cracking experiments, the hydrocarbon selectivity in bio-oil increases with increasing reaction time, while those of oxygenates decrease, reaching concentrations of hydrocarbons up to 95.35% (area). Full article

The long-range gravitational terms associated with tidal forces, frame-dragging effects, and gravitational waves are described by the Weyl conformal tensor, the traceless part of the Riemann curvature that is not locally affected by the matter field. The Ricci and Bianchi identities provide a set of dynamical and kinematic equations governing the matter coupling and evolution of the electric and magnetic parts of the Weyl tensor, so-called gravitoelectric and gravitomagnetic fields. A detailed analysis of the Weyl gravitoelectromagnetic fields can be conducted using a number of algebraic and differential identities prescribed by the $1+3$ covariant formalism. In this review, we consider the dynamical constraints and propagation equations of the gravitoelectric/-magnetic fields and covariantly debate their analytic properties. We discuss the special conditions under which gravitational waves can propagate, the inconsistency of a Newtonian-like model without gravitomagnetism, the nonlinear generalization to multi-fluid models with different matter species, as well as observational effects caused by the Weyl fields via the kinematic quantities. The $1+3$ tetrad and $1+1+2$ semi-covariant methods, which can equally be used for gravitoelectromagnetism, are briefly explained, along with their correspondence with the covariant formulations. Full article

The color transparency (CT) of a hadron, propagating with reduced absorption in a nucleus, is a fundamental property of QCD (quantum chromodynamics) reflecting its internal structure and effective size when it is produced at high transverse momentum, Q. CT has been confirmed in many experiments, such as semi-exclusive hard electroproduction, $eA\to e^{\prime }\pi X$, for mesons produced at $Q^2>3{\mathrm{GeV}}^2$. However, a recent JLab (Jefferson Laboratory) measurement for a proton electroproduced in carbon $e\mathrm{C}\to e^{\prime }pX$, where X stands for the inclusive sum of all produced final states, fails to observe CT at $Q^2$ up to 14.2 GeV${}^2$. In this paper, the onset of CT is determined by comparing the $Q^2$-dependence of the hadronic cross sections for the initial formation of a small color-singlet configuration using the generalized parton distributions from holographic light-front QCD. A critical dependence on the hadron’s twist, $\tau$, the number of hadron constituents, is found for the onset of CT, with no significant effects from the nuclear medium. This effect can explain the absence of proton CT in the present kinematic range of the JLab experiment. The proton is predicted to have a “two-stage” color transparency with the onset of CT differing for the spin-conserving (twist-3, $\tau =3$) Dirac form factor with a higher onset in $Q^2$ for the spin-flip Pauli (twist-4) form factor. In contrast, the neutron is predicted to have a “one-stage” color transparency with the onset at higher $Q^2$ because of the dominance of its Pauli form factor. The model also predicts a strong dependence at low energies on the flavor of the quark current coupling to the hadron. Full article

Residual stress (RS) is the most challenging problem in metal additive manufacturing (AM) since the build-up of high tensile RS may influence the fatigue life, corrosion resistance, crack initiation, and failure of the additively manufactured components. While tensile RS is inherent in all the AM processes, fast and accurate prediction of the stress state within the part is extremely valuable and results in optimization of the process parameters to achieve a desired RS and control of the build process. This paper proposes a physics-based analytical model to rapidly and accurately predict the RS within the additively manufactured part. In this model, a transient moving point heat source (HS) is utilized to determine the temperature field. Due to the high temperature gradient within the proximity of the melt pool area, the material experiences high thermal stress. Thermal stress is calculated by combining three sources of stresses known as stresses due to the body forces, normal tension, and hydrostatic stress in a homogeneous semi-infinite medium. The thermal stress determines the RS state within the part. Consequently, by taking the thermal stress history as an input, both the in-plane and out of plane RS distributions are found from the incremental plasticity and kinematic hardening behavior of the metal by considering volume conservation in plastic deformation in coupling with the equilibrium and compatibility conditions. In this modeling, material properties are temperature-sensitive since the steep temperature gradient varies the properties significantly. Moreover, the energy needed for the solid-state phase transition is reflected by modifying the specific heat employing the latent heat of fusion. Furthermore, the multi-layer and multi-scan aspects of metal AM are considered by including the temperature history from previous layers and scans. Results from the analytical RS model presented excellent agreement with XRD measurements employed to determine the RS in the Ti-6Al-4V specimens. Full article

Satellite-based multi-sensor data coupled with field and microscopic investigations are used to unravel the setting and controls of gold mineralization in the Wadi Beitan–Wadi Rahaba area in the South Eastern Desert of Egypt. The satellite-based multispectral and Synthetic Aperture Radar (SAR) data promoted a vibrant litho-tectonic understanding and abetted in assessing the regional structural control of the scattered gold occurrences in the study area. The herein detailed approach includes band rationing, principal component and independent component analyses, directional filtering, and automated and semi-automated lineament extraction techniques to Landsat 8- Operational Land Imager (OLI), Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER), Phased Array L-band Synthetic Aperture Radar (PALSAR), and Sentinel-1B data. Results of optical and SAR data processed as grayscale raster images of band ratios, Relative Absorption Band Depth (RBD), and (mafic–carbonate–hydrous) mineralogical indices are used to extract the representative pixels (regions of interest). The extracted pixels are then converted to vector shape files and are finally imported into the ArcMap environment. Similarly, manually and automatically extracted lineaments are merged with the band ratios and mineralogical indices vector layers. The data fusion approach used herein reveals no particular spatial association between gold occurrences and certain lithological units, but shows a preferential distribution of gold–quartz veins in zones of chlorite–epidote alteration overlapping with high-density intersections of lineaments. Structural features including en-echelon arrays of quartz veins and intense recrystallization and sub-grain development textures are consistent with vein formation and gold deposition syn-kinematic with the host shear zones. The mineralized, central-shear quartz veins, and the associated strong stretching lineation affirm vein formation amid stress build-up and stress relaxation of an enduring oblique convergence (assigned as Najd-related sinistral transpression; ~640–610 Ma). As the main outcome of this research, we present a priority map with zones defined as high potential targets for undiscovered gold resources. Full article

Tree heights are the principal variables for forest plantation inventory. The increasing availability of high-resolution three-dimensional (3D) point clouds derived from low-cost Unmanned Aerial Vehicle (UAV) and modern photogrammetry offers an opportunity to generate a Canopy Height Model (CHM) in the mountainous areas. In this paper, we assessed the capabilities of tree height estimation using UAV-based Structure-from-Motion (SfM) photogrammetry and Semi-Global Matching (SGM). The former is utilized to generate 3D geometry, while the latter is used to generate dense point clouds from UAV imagery. The two algorithms were coupled with a Radial Basis Function (RBF) neural network to acquire CHMs in mountainous areas. This study focused on the performance of Digital Terrain Model (DTM) interpolation over complex terrains. With the UAV-based image acquisition and image-derived point clouds, we constructed a 5 cm-resolution Digital Surface Model (DSM), which was assessed against 14 independent checkpoints measured by a Real-Time Kinematic Global Positioning System RTK GPS. Results showed that the Root Mean Square Errors (RMSEs) of horizontal and vertical accuracies are approximately 5 cm and 10 cm, respectively. Bare-earth Index (BEI) and Shadow Index (SI) were used to separate ground points from the image-derived point clouds. The RBF neural network coupled with the Difference of Gaussian (DoG) was exploited to provide a favorable generalization for the DTM from 3D ground points with noisy data. CHMs were generated using the height value in each pixel of the DSM and by subtracting the corresponding DTM value. Individual tree heights were estimated using local maxima algorithm under a contour-surround constraint. Two forest plantations in mountainous areas were selected to evaluate the accuracy of estimating tree heights, rather than field measurements. Results indicated that the proposed method can construct a highly accurate DTM and effectively remove nontreetop maxima. Furthermore, the proposed method has been confirmed to be acceptable for tree height estimation in mountainous areas given the strong linear correlation of the measured and estimated tree heights and the acceptable t-test values. Overall, the low-cost UAV-based photogrammetry and RBF neural network can yield a highly accurate DTM over mountainous terrain, thereby making them particularly suitable for rapid and cost-effective estimation of tree heights of forest plantation in mountainous areas. Full article