Search results for: crack extension path

Authors: Farej Ahmed Emhmmed

Abstract:

Fracture of duplex stainless steels (DSS) was investigated in air and in 3.5 wt % NaCl solution. Tow sets of fatigued specimens were heat treated at 475ºC for different times and pulled to failure either in air or after kept in 3.5% NaCl with polarization of -900 mV/ SCE. Fracture took place in general by ferrite cleavage and austenite ductile fracture in transgranular mode. Specimens measured stiffness (Ms) was affected by the aging time, with higher values measured for specimens aged for longer times. Microstructural features played a role in "blocking" the crack propagation process leading to lower the CTOD values specially for specimens aged for short times. Unbroken ligaments/ austenite were observed at the crack wake. These features may exerted a bridging stress, blocking effect, at the crack tip giving resistance to the crack propagation process i.e the crack mouth opening was reduced. Higher stress intensity factor Kıc values were observed with increased amounts of crack growth suggesting longer zone of unbroken ligaments in the crack wake. The bridging zone was typically several mm in length. Attempt to model the bridge stress was suggested to understand the role of ligaments/unbroken austenite in increasing the fracture toughness factor.

Keywords: stainless steels, fracture toughness, crack keying effect, ligaments

Procedia PDF Downloads 340

Authors: M. Benachour, N. Benachour, M. Benguediab

Abstract:

In this investigation, variation of cyclic loading effect on fatigue crack growth is studied. This study is performed on 2024 T351 and 7050-T74 aluminum alloys, used in aeronautical structures. The propagation model used in this study is NASGRO model. In constant amplitude loading (CA), the effect of stress ratio has been investigated. Fatigue life and fatigue crack growth rate were affected by this factor. Results showed an increasing in fatigue crack growth rates (FCGRs) with increasing stress ratio. Variable amplitude loading (VAL) can take many forms i.e with a single overload, overload band etc. The shape of these loads affects strongly the fracture life and FCGRs. The application of a single overload (ORL) decrease the FCGR and increase the delay crack length caused by the formation of a larger plastic zone compared to the plastic zone due without VAL. The fatigue behavior of the both material under single overload has been compared.

Keywords: fatigue crack growth, overload ratio, stress ratio, generalized willenborg model, retardation, al-alloys

Procedia PDF Downloads 343

Authors: Abdoulnabi Tavangari, Nasim Salehzadeh

Abstract:

We presume a cylindrical medium that is under a uniform loading and there is a penny shaped crack located in the center of cylinder. In the crack growth analysis, the Stress Intensity Factor (SIF) is a fundamental prerequisite. In the present study, according to the RITZ method and by considering a cylindrical coordinate system as the main coordinate and a local polar coordinate, the mode-I SIF of threedimensional penny-shaped crack is obtained. In this method the unknown coefficients will be obtained with minimizing the potential energy that is including the strain energy and the external force work. By using the hook's law, stress fields will be obtained and then by using the Irvine equations, the amount of SIF will be obtained near the edge of the crack. This question has been solved for extreme medium in the Tada handbook and the result of the present research has been compared with that.

Keywords: three-dimensional cracks, penny-shaped crack, stress intensity factor, fracture mechanics, Ritz method

Procedia PDF Downloads 380

Authors: Samaila Muazu Bawa

Abstract:

Hydration process, crack potential and setting time of concrete grade C30, C40 and C50 were separately monitored using non-contact electrical resistivity apparatus, a plastic ring mould and penetration resistance method respectively. The results show highest resistivity of C30 at the beginning until reaching the acceleration point when C50 accelerated and overtaken the others, and this period corresponds to its final setting time range, from resistivity derivative curve, hydration process can be divided into dissolution, induction, acceleration and deceleration periods, restrained shrinkage crack and setting time tests demonstrated the earliest cracking and setting time of C50, therefore, this method conveniently and rapidly determines the concrete’s crack potential. The highest inflection time (ti), the final setting time (tf) were obtained and used with crack time in coming up with mathematical models for the prediction of concrete’s cracking age for the range being considered. Finally, ANSYS numerical simulations supports the experimental findings in terms of the earliest crack age of C50 and the crack location that, highest stress concentration is always beneath the artificially introduced expansion joint of C50.

Keywords: concrete hydration, electrical resistivity, restrained shrinkage crack, ANSYS simulation

Procedia PDF Downloads 224

Authors: Brian E. Usibe

Abstract:

This paper addresses the problem of a linear crack located in the middle of a homogeneous elastic media under normal tension-compression harmonic loading. The problem of deformation of the fractured media is solved using the direct finite element numerical procedure, including the analysis of the dynamic field variables of the problem. A finite element algorithm that satisfies the unilateral Signorini contact constraint is also presented for the solution of the contact interaction of the crack faces and how this accounts for the qualitative and quantitative changes in the solution when determining the dynamic fracture parameter.

Keywords: harmonic loading, linear crack, fracture parameter, wave number, FEA, contact interaction

Procedia PDF Downloads 13

Authors: Luis Marquez, Ge Zhu, Vikas Srivastava

Abstract:

High-density polyethylene (HDPE) is one of the most commonly used thermoplastic polymer materials for water and gas pipelines. Slow crack growth failure is a well-known phenomenon in high-density polyethylene material and causes brittle failure well below the yield point with no obvious sign. The failure of transportation pipelines can cause catastrophic environmental and economic consequences. Using the non-destructive testing method to predict slow crack growth failure behavior is the primary preventative measurement employed by the pipeline industry but is often costly and time-consuming. Phenomenological slow crack growth models are useful to predict the slow crack growth behavior in the polymer material due to their ability to evaluate slow crack growth under different temperature and loading conditions. We developed a quantitative method to assess the slow crack growth behavior in the high-density polyethylene pipeline material under different thermal conditions based on existing physics-based phenomenological models. We are also working on developing an experimental protocol and quantitative model that can address slow crack growth behavior under different chemical exposure conditions to improve the safety, reliability, and resilience of HDPE-based pipeline infrastructure.

Keywords: mechanics of materials, physics-based modeling, civil engineering, fracture mechanics

Procedia PDF Downloads 179

Authors: B. X. Tchomeni, A. A. Alugongo, L. M. Masu

Abstract:

This paper presents a 4-DOF nonlinear model of a cracked of Laval rotor established based on Energy Principles. The model has been used to simulate coupled torsional-lateral response of the cracked rotor stator-system with multiple parametric excitations, namely, rotor-stator-rub, a breathing transverse crack, unbalanced mass, and an axial force. Nonlinearity due to a “breathing” crack is incorporated by considering a simple hinge model which is suitable for small breathing crack. The vibration response of a cracked rotor passing through its critical speed with rotor-stator interaction is analyzed, and an attempt for crack detection and monitoring explored. Effects of unbalanced eccentricity with phase and acceleration are investigated. By solving the motion equations, steady-state vibration response is obtained in presence of several rotor faults. The presence of a crack is observable in the power spectrum despite the excitation by the axial force and rotor-stator rub impact. Presented results are consistent with existing literature and could be adopted into rotor condition monitoring strategies

Keywords: rotor, crack, rubbing, axial force, non linear

Procedia PDF Downloads 379

Authors: Bahatti̇n Ki̇mençe, Uğur Ki̇mençe

Abstract:

In this study, the purpose of obtaining the influence functions of the displacement discontinuity in an anisotropic elastic medium is to produce the boundary element equations. A Displacement Discontinuous Method formulation (DDM) is presented with the aim of modeling two-dimensional elastic fracture problems. This formulation is found by analytical integration of the fundamental solution along a straight-line crack. With this purpose, Kelvin's fundamental solutions for anisotropic media on an infinite plane are used to form dipoles from singular loads, and the various combinations of the said dipoles are used to obtain the influence functions of displacement discontinuity. This study introduces a technique for coupling Fictitious Stress Method (FSM) and DDM; the reason for applying this technique to some examples is to demonstrate the effectiveness of the proposed coupling method. In this study, displacement discontinuity equations are obtained by using dipole solutions calculated with known singular force solutions in an anisotropic medium. The displacement discontinuities method obtained from the solutions of these equations and the fictitious stress methods is combined and compared with various examples. In this study, one or more crack problems with various geometries in rectangular plates in finite and infinite regions, under the effect of tensile stress with coupled FSM and DDM in the anisotropic environment, were examined, and the effectiveness of the coupled method was demonstrated. Since crack problems can be modeled more easily with DDM, it has been observed that the use of DDM has increased recently. In obtaining the displacement discontinuity equations, Papkovitch functions were used in Crouch, and harmonic functions were chosen to satisfy various boundary conditions. A comparison is made between two indirect boundary element formulations, DDM, and an extension of FSM, for solving problems involving cracks. Several numerical examples are presented, and the outcomes are contrasted to existing analytical or reference outs.

Keywords: displacement discontinuity method, fictitious stress method, crack problems, anisotropic material

Procedia PDF Downloads 61

Authors: Yaa Asuaba Duopah, Lisa Moran, Khalifa Elmusharaf, Dervla Kelly

Abstract:

Background: Research has identified a strong link between stress and drug use behaviours. Also, it has been established that the prolonged use of crack cocaine stimulates emotional, cognitive, neurological, and social changes. This paper examines the psychosocial stressors associated with crack cocaine use. Methodology: The study is qualitative and adopts a critical realist approach. Data was collected through 26 face-to-face, in-depth, semi-structured interviews with people who use crack cocaine. Study participants were recruited through two addiction services using purposive. Participants consisted of 15 males and 11 females between the ages of 24-57 years. Data were analysed using thematic analysis. Results: Cravings, financial hardship, family breakdown, and emotional stimulation were revealed as psychosocial stressors associated with crack cocaine use. Conclusion: Addressing the psychosocial stressors identified in this paper through targeted interventions and supportive policies is crucial for improving the well-being of persons who use crack cocaine. Collaboration between addiction, mental health, and support services is recommended to develop and deliver these interventions.

Keywords: psychological stress, substance misuse disorder, mental health, coping

Procedia PDF Downloads 27

Authors: Shahriar Shahbazpanahi, Mohammad Hemen Jannaty, Alaleh Kamgar

Abstract:

Shear strengthening can be carried out in concrete structures by external fibre reinforced polymer (FRP). In the present investigation, a new fracture mechanics model is developed to model side face of strengthened concrete beam by external FRP. Discrete crack is simulated by a spring element with softening behavior ahead of the crack tip to model the cohesive zone in concrete. A truss element is used, parallel to the spring element, to simulate the energy dissipation rate by the FRP. The strain energy release rate is calculated directly by using a virtual crack closure technique and then, the crack propagation criterion is presented. The results are found acceptable when compared to previous experimental results and ABAQUS software data. It is observed that the length of the fracture process zone (FPZ) increases with the application of FRP in side face at the same load in comparison with that of the control beam.

Keywords: FPZ, fracture, FRP, shear

Procedia PDF Downloads 516

Authors: B. G. Patel, A. K. Desai, S. G. Shah

Abstract:

The main of objective of this paper is to develop new measurement technique without touching the object. DIC is advance measurement technique use to measure displacement of particle with very high accuracy. This powerful innovative technique which is used to correlate two image segments to determine the similarity between them. For this study, nine geometrically similar beam specimens of different sizes with (steel fibers and glass fibers) and without fibers were tested under three-point bending in a closed loop servo-controlled machine with crack mouth opening displacement control with a rate of opening of 0.0005 mm/sec. Digital images were captured before loading (unreformed state) and at different instances of loading and were analyzed using correlation techniques to compute the surface displacements, crack opening and sliding displacements, load-point displacement, crack length and crack tip location. It was seen that the CMOD and vertical load-point displacement computed using DIC analysis matches well with those measured experimentally.

Keywords: Digital Image Correlation, fibres, self compacting concrete, size effect

Procedia PDF Downloads 368

Authors: Ikram Slamani, Hicheme Ferdjani

Abstract:

This study focuses on analyzing a Griffith crack situated at the center of an infinite strip. The problem is reformulated as a hyper-singular integral equation and solved numerically using second-order Chebyshev polynomials. The primary objective is to calculate the stress intensity factor in mode 1, denoted as K1. The obtained results reveal the influence of the strip width and crack length on the stress intensity factor, assuming stress-free edges. Additionally, a comparison is made with relevant literature to validate the findings.

Keywords: center crack, Chebyshev polynomial, hyper singular integral equation, Griffith, infinite strip, stress intensity factor

Procedia PDF Downloads 120

Authors: A. Jameel, G. A. Harmain, Y. Anand, J. H. Masoodi, F. A. Najar

Abstract:

The present study investigates the effect of inclusions on the shape and size of crack tip plastic zones in engineering materials subjected to static loads by employing the element free Galerkin method (EFGM). The modeling of the discontinuities produced by cracks and inclusions becomes independent of the grid chosen for analysis. The standard displacement approximation is modified by adding additional enrichment functions, which introduce the effects of different discontinuities into the formulation. The level set method has been used to represent different discontinuities present in the domain. The effect of inclusions on the extent of crack tip plastic zones is investigated by solving some numerical problems by the EFGM.

Keywords: EFGM, stress intensity factors, crack tip plastic zones, inclusions

Procedia PDF Downloads 273

Authors: Karthik K. R, Viswanath V, Asraff A. K

Abstract:

The first stage of a new-generation launch vehicle of ISRO makes use of large pressure vessels made of Aluminium alloy AA2219 to store fuel and oxidizer. These vessels have many weld joints that may contain cracks or crack-like defects during their fabrication. These defects may propagate across the vessel during pressure testing or while in service under the influence of tensile stresses leading to catastrophe. Though ductile materials exhibit significant stable crack growth prior to failure, it is not generally acceptable for an aerospace component. There is a need to predict the initiation of stable crack growth. The structural integrity of the vessel from fracture considerations can be studied by constructing the Failure Assessment Diagram (FAD) that accounts for both brittle fracture and plastic collapse. Critical crack sizes of the pressure vessel may be highly conservative if it is predicted from FAD alone. If the J-R curve for material under consideration is available apriori, the critical crack sizes can be predicted to a certain degree of accuracy. In this paper, a novel approach is proposed to predict the integrity of a weld in a pressure vessel made of AA2219 material. Fracture parameter ‘J-integral’ at the crack front, evaluated through finite element analyses, is used in the new procedure. Based on the simulation of tension tests carried out on SCT specimens by NASA, a cut-off value of J-integral value (J?ᵤₜ_ₒ??) is finalised. For the pressure vessel, J-integral at the crack front is evaluated through FE simulations incorporating different surface cracks at long seam weld in a cylinder and in dome petal welds. The obtained J-integral, at vessel level, is compared with a value of J?ᵤₜ_ₒ??, and the integrity of vessel weld in the presence of the surface crack is firmed up. The advantage of this methodology is that if SCT test data of any metal is available, the critical crack size in hardware fabricated using that material can be predicted to a better level of accuracy.

Keywords: FAD, j-integral, fracture, surface crack

Procedia PDF Downloads 166

Authors: Seyed Mohammad Mahdi Zamani, Kamran Behdinan

Abstract:

In this study, a multiscale framework is performed to model the strength of Nextel fibers in presence of an atomistic scale pre-crack at finite temperatures. The bridging cell method (BCM) is the multiscale technique applied in this study, which decomposes the system into the atomistic, bridging and continuum domains; solves the whole system in a finite element framework; and incorporates temperature dependent calculations. Since Nextel is known to be structurally stable and retain 70% of its initial strength up to 1100°C; simulations are conducted at both of the room temperatures, 25°C, and fire temperatures, 1200°C. Two cases are modeled for a pre-crack present in either phases of alumina or mullite of the Nextel structure. The materials’ response is studied with respect to deformation behavior and ultimate tensile strength. Results show different crack growth trends for the two cases, and as the temperature increases, the crack growth resistance and material’s strength decrease.

Keywords: Nextel fibers, multiscale modeling, pre-crack, ultimate tensile strength

Procedia PDF Downloads 396

Authors: S. Lecheb, A. Nour, A. Chellil, H. Mechakra, N. Tchina, H. Kebir

Abstract:

This study concerned the dynamic behavior of the wind turbine rotor. Before all, we have studied the loads applied to the rotor, which allows the knowledge their effect on the fatigue. We also studied the movement of the longitudinal cracked rotor in order to determine stress, strain and displacement. Moreover, to study the issues of cracks in the critical zone ABAQUS software is used, which based to the finite element to give the results. In the first we compared the first six modes shapes between cracking and uncracking of HAWT rotor. In the second part, we show the evolution of six first naturals frequencies with longitudinal crack propagation. Finally, we conclude that the residual change in the naturals frequencies can be used as in shaft crack diagnosis predictive maintenance.

Keywords: wind turbine rotor, natural frequencies, longitudinal crack growth, life time

Procedia PDF Downloads 562

Authors: Divya Agarwal, Pushpendra S. Bharti

Abstract:

Autonomous mobile robots (AMR) are expected as smart tools for operations in every automation industry. Path planning and obstacle avoidance is the backbone of AMR as robots have to reach their goal location avoiding obstacles while traversing through optimized path defined according to some criteria such as distance, time or energy. Path planning can be classified into global and local path planning where environmental information is known and unknown/partially known, respectively. A number of sensors are used for data collection. A number of algorithms such as artificial potential field (APF), rapidly exploring random trees (RRT), bidirectional RRT, Fuzzy approach, Purepursuit, A* algorithm, vector field histogram (VFH) and modified local path planning algorithm, etc. have been used in the last three decades for path planning and obstacle avoidance for AMR. This paper makes an attempt to review some of the path planning and obstacle avoidance algorithms used in the field of AMR. The review includes comparative analysis of simulation and mathematical computations of path planning and obstacle avoidance algorithms using MATLAB 2018a. From the review, it could be concluded that different algorithms may complete the same task (i.e. with a different set of instructions) in less or more time, space, effort, etc.

Keywords: path planning, obstacle avoidance, autonomous mobile robots, algorithms

Procedia PDF Downloads 209

Authors: H. Hentati, R. Abdelmoula, Li Jia, A. Maalej

Abstract:

In this work, we present numerical simulations of the quasi-static crack propagation based on the variation approach. We perform numerical simulations of a piece of brittle material without initial crack. An alternate minimization algorithm is used. Based on these numerical results, we determine the influence of numerical parameters on the location of crack. We show the importance of trying to optimize the time of numerical computation and we present the first attempt to develop a simple numerical method to optimize this time.

Keywords: fracture mechanics, optimization, variation approach, mechanic

Procedia PDF Downloads 582

Authors: Gül Çevik

Abstract:

This paper summarizes the work conducted to assess the root cause of the failure of a medium commercial vehicle leaf spring failed in service. Macro- and micro-fractographic analyses by scanning electron microscope as well as material verification tests were conducted in order to understand the failure mechanisms and root cause of the failure. Findings from the fractographic analyses indicated that failure mechanism is fatigue. Crack initiation was identified to have occurred from a point on the top surface near to the front face and to the left side. Two other crack initiation points were also observed, however, these cracks did not propagate. The propagation mode of the fatigue crack revealed that the cyclic loads resulting in crack initiation and propagation were unidirectional bending. Fractographic analyses have also showed that the root cause of the fatigue crack initiation and propagation was loading the part above design stress. Material properties of the part were also verified by chemical composition analysis, microstructural analysis by optical microscopy and hardness tests.

Keywords: leaf spring, failure analysis, fatigue, fractography

Procedia PDF Downloads 118

Authors: Reza Hedayati, Meysam Jahanbakhshi

Abstract:

In this work, Fracture Mechanics is used to predict crack propagation in the adhesive jointing aluminum and composite plates. Three types of loadings and two types of glass-epoxy composite sequences: [0/90]2s and [0/45/-45/90]s are considered for the composite plate. Therefore 2*3=6 cases are considered and their results are compared. The debonding initiation load, complete debonding load, crack face profile and load-displacement diagram have been compared for the six cases.

Keywords: fracture, adhesive joint, debonding, APDL, LEFM

Procedia PDF Downloads 392

Authors: Sandile Daniel Ngidi

Abstract:

Masonry structures often crack due to different factors, which include differential movement of structures, thermal expansion, and seismic waves. Retrofitting is introduced to ensure that these cracks do not expand to a point of making the wall fail. Crack stitching is one of many repairing methods used to repair cracked masonry walls. It is done by stitching helical stainless steel reinforcement bars to reconnect and stabilize the wall. The basic element of this reinforcing system is the mechanical interlink between the helical stainless-steel bar and the grout, which makes it such a flexible and well-known masonry repair system. The objective of this review was to use previous experimental work done by different authors to check the efficiency and effectiveness of using the crack stitching technique to repair and stabilize masonry walls. The technique was found to be effective to rejuvenate the strength of a masonry structure to be stronger than initial strength. Different factors were investigated, which include economic features, sustainability, buildability, and suitability of this technique for application in developing communities.

Keywords: brickforce, crack-stitching, masonry concrete, reinforcement, wall panels

Procedia PDF Downloads 152

Authors: Nima Shafaghi, Gunay Anlaş, C. Can Aydiner

Abstract:

A realistic understanding of martensitic phase transition under complex stress states is key for accurately describing the mechanical behavior of shape memory alloys (SMAs). Particularly regarding the sharply changing stress fields at the tip of a crack, the size, nature and shape of transformed zones are of great interest. There is significant variation among various analytical models in their predictions of the size and shape of the transformation zone. As the fully transformed region remains inside a very small boundary at the tip of the crack, experimental validation requires microscopic resolution. Here, the crack tip vicinity of NiTi compact tension specimen has been monitored in situ with microscopic image correlation with 20x magnification. With nominal 15 micrometer grains and 0.2 micrometer per pixel optical resolution, the strains at the crack tip are mapped with intra-grain detail. The transformation regions are then deduced using an equivalent strain formulation.

Keywords: digital image correlation, fracture, martensitic phase transition, mode I, NiTi, transformation zone

Procedia PDF Downloads 334

Authors: Sadok Aboubakr

Abstract:

The mechanical behavior of cracks from several manufacturing defect in an oil pipeline, is characterized by the fact that defects'm taking several forms: circumferential, longitudinal and inclined crack that evolve over time. Increased lifetime of the constructions and in particular cylindrical tubes under internal pressure requires knowledge improving these defects during loading. From this study we simulated various forms of cracking and also their pipeline repair patch.

Keywords: stress intensity factor, pressure, Young's modulus, Poisson's ratio, Shear modulus, Longueur du pipeline, the angle of crack, crack length

Procedia PDF Downloads 342

Authors: Lana Dalawr Jalal

Abstract:

This paper addresses the problem of offline path planning for Unmanned Aerial Vehicles (UAVs) in complex three-dimensional environment with obstacles, which is modelled by 3D Cartesian grid system. Path planning for UAVs require the computational intelligence methods to move aerial vehicles along the flight path effectively to target while avoiding obstacles. In this paper Modified Particle Swarm Optimization (MPSO) algorithm is applied to generate the optimal collision free 3D flight path for UAV. The simulations results clearly demonstrate effectiveness of the proposed algorithm in guiding UAV to the final destination by providing optimal feasible path quickly and effectively.

Keywords: obstacle avoidance, particle swarm optimization, three-dimensional path planning unmanned aerial vehicles

Procedia PDF Downloads 384

Authors: A. Ghanbari Mardasi, N. Wu, C. Wu

Abstract:

In this study, a spatial wavelet-based crack localization technique for a thick beam is presented. Wavelet scale in spatial wavelet transformation is optimized to enhance crack detection sensitivity. A windowing function is also employed to erase the edge effect of the wavelet transformation, which enables the method to detect and localize cracks near the beam/measurement boundaries. Theoretical model and vibration analysis considering the crack effect are first proposed and performed in MATLAB based on the Timoshenko beam model. Gabor wavelet family is applied to the beam vibration mode shapes derived from the theoretical beam model to magnify the crack effect so as to locate the crack. Relative wavelet coefficient is obtained for sensitivity analysis by comparing the coefficient values at different positions of the beam with the lowest value in the intact area of the beam. Afterward, the optimal wavelet scale corresponding to the highest relative wavelet coefficient at the crack position is obtained for each vibration mode, through numerical simulations. The same procedure is performed for cracks with different sizes and positions in order to find the optimal scale range for the Gabor wavelet family. Finally, Hanning window is applied to different vibration mode shapes in order to overcome the edge effect problem of wavelet transformation and its effect on the localization of crack close to the measurement boundaries. Comparison of the wavelet coefficients distribution of windowed and initial mode shapes demonstrates that window function eases the identification of the cracks close to the boundaries.

Keywords: edge effect, scale optimization, small crack locating, spatial wavelet

Procedia PDF Downloads 340

Authors: Victor Emeli, Akansel Cosgun

Abstract:

This paper explores the navigation among movable obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a planning algorithm for selecting a path and the obstacles to be pushed, where a rapidly-exploring random tree (RRT)-based heuristic is employed to calculate a minimal collision path. When it is necessary to apply a pushing force to slide an obstacle out of the way, the planners leverage means-end analysis through a dynamic physics simulation to determine the sequence of linear pushes to clear the necessary space. Simulation experiments show that our approach finds solutions in higher clutter percentages (up to 49%) compared to the straight-line push planner (37%) and RRT without pushing (18%).

Keywords: motion planning, path planning, push planning, robot navigation

Procedia PDF Downloads 147

Authors: Jean Berger, Mohamed Barkaoui

Abstract:

Discrete search path planning in time-constrained uncertain environment relying upon imperfect sensors is known to be hard, and current problem-solving techniques proposed so far to compute near real-time efficient path plans are mainly bounded to provide a few move solutions. A new information-theoretic –based open-loop decision model explicitly incorporating false alarm sensor readings, to solve a single agent military logistics search-and-delivery path planning problem with anticipated feedback is presented. The decision model consists in minimizing expected entropy considering anticipated possible observation outcomes over a given time horizon. The model captures uncertainty associated with observation events for all possible scenarios. Entropy represents a measure of uncertainty about the searched target location. Feedback information resulting from possible sensor observations outcomes along the projected path plan is exploited to update anticipated unit target occupancy beliefs. For the first time, a compact belief update formulation is generalized to explicitly include false positive observation events that may occur during plan execution. A novel genetic algorithm is then proposed to efficiently solve search path planning, providing near-optimal solutions for practical realistic problem instances. Given the run-time performance of the algorithm, natural extension to a closed-loop environment to progressively integrate real visit outcomes on a rolling time horizon can be easily envisioned. Computational results show the value of the approach in comparison to alternate heuristics.

Keywords: search path planning, false alarm, search-and-delivery, entropy, genetic algorithm

Procedia PDF Downloads 343

Authors: Revant Nayar

Abstract:

In this work, we recast the equations describing large scale structure, and by extension all nonlinear fluids, in the path integral formalism. We first calculate the well known two and three point functions using Schwinger Keldysh formalism used commonly to perturbatively solve path integrals in non- equilibrium systems. Then we include EFT corrections due to pressure, viscosity, and noise as effects on the time-dependent propagator. We are able to express results for arbitrary two and three point correlation functions in LSS in terms of differential operators acting on a triple K master intergral. We also, for the first time, get analytical results for more general initial conditions deviating from the usual power law P∝kⁿ by introducing a mass scale in the initial conditions. This robust field theoretic formalism empowers us with tools from strongly coupled QFT to study the strongly non-linear regime of LSS and turbulent fluid dynamics such as OPE and holographic duals. These could be used to capture fully the strongly non-linear dynamics of fluids and move towards solving the open problem of classical turbulence.

Keywords: quantum field theory, cosmology, effective field theory, renormallisation

Procedia PDF Downloads 111

Authors: Mario C. Nierras

Abstract:

This study aimed to determine the extension services’ needs of small farmers in Biliran province, Philippines. It also sought to find out other issues/concerns of the small farmers. Extension services’ needs of small farmers were gathered through personal interviewing and observational analysis of randomly-selected small farmers in Biliran, Philippines. Biliran small farmers extension services’ needs include: raising fruits, raising legumes, raising vegetables, raising swine, raising cattle, and raising chicken (as priority broad skills). For the specific skills, diagnosing symptoms on fertilizer deficiencies, controlling plant pests and diseases, diagnosing signs on specific pest and disease damage, controlling animal pests and diseases, and doing artificial insemination were the priority skills. They considered an on-farm trial of new technology as most needed to be coupled with industry and quality-orientedness, as positive behaviors needed in farming success. The farmers still adhere to the so-called wait-and-see attitude, thus they are more convinced to follow a particular technology if they see a concrete result of the introduced changes. Technical needs prioritization of Biliran small farmers showed that they have a real need for crop and animal production skills to include the other issues/concerns. Extension service program planning for small farmers should be patterned after their technical needs giving due attention to some issues/concerns so that extension work could deliver the right skills for the right needs of the farmers.

Keywords: extension, extension service, extension service needs, extension service program, farmers, small farmers, marginal farmers

Procedia PDF Downloads 419

Authors: Nurhak Altın, Ayhan Kucukmanisa, Oguzhan Urhan

Abstract:

It is important that highways are in good condition for traffic safety. Road crashes (road cracks, erosion of lane markings, etc.) can cause accidents by affecting driving. Image processing based methods for detecting road cracks are available in the literature. In this paper, a deep learning based road crack detection approach is proposed. YOLO (You Look Only Once) is adopted as core component of the road crack detection approach presented. The YOLO network structure, which is developed for object detection, is trained with road crack images as a new class that is not previously used in YOLO. The performance of the proposed method is compared using different training methods: using randomly generated weights and training their own pre-trained weights (transfer learning). A similar training approach is applied to the simplified version of the YOLO network model (tiny yolo) and the results of the performance are examined. The developed system is able to process 8 fps on NVIDIA Jetson TX1 development kit.

Keywords: deep learning, embedded platform, real-time processing, road crack detection

Procedia PDF Downloads 321