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Go to Editorial ManagerThis paper presents the effect of fiber orientation angle on the stress intensity factor SIF for carbon epoxy composite plates with single-edge, center, and inclined cracks of varying lengths under tensile load. The stress intensity factor and shape factor were calculated individually for each case, with nine different fiber orientation angles computed using the extended finite element method XFEM concepts. It is found the stress intensity factor increases with increasing crack lengths while the shape factor decreases. In the case of single edge cracks, the SIF increases in the average value reached (173 %) for composite plates with different fiber orientation angles, while in the case of the center crack, the average value of SIF reaches (81 %). It was observed in this study that the increases in stress intensity factor and the decreases in the shape factor with different crack lengths were more stable in the composite plate with a fiber orientation angle of 75°. The higher values of SIF at an angle of 75° are because of the high probability of fiber slippage at 75° due to induced shear stresses in addition to the tensile stresses at the fiber-matrix interface. As a result, the crack tip has a high-stress intensity factor.
A two-dimensional finite element method for analysis and determination of second mode stress intensity factor (KII) of several crack configurations in plates under uniaxial compression is presented in this study. Various cases including diagonal crack (i.e. corner crack, central crack as well as at different locations on the diagonal) and central kinked crack are investigated with different crack's length, orientation and location. The influence of the contact between two crack surfaces is taken into account by applying contact element procedure with desired friction coefficient. The stress intensity factor is calculated by a crack surface displacement extrapolation technique. From the obtained results of the analysis it is found that, the corner cracked plates more dangerous than the other cracked plates, since it has the highest stress intensity factor. Also, the length and orientation of the kinked crack have significant effects on the stress intensity factor. The results of this investigation is illustrated graphically, exposing some novel knowledge about the stress intensity factor and its dependence on crack configuration.
This paper deals with a new algorithm called circular paths for leader follower tracking with obstacle avoidance using. In leader follower tracking, one robot acts as a leader with defined motion and the other robot acts as a follower which position itself in accordance with the position and orientation of the leader. The leader movement is dependent on an assigned trajectory and the follower movement is dependent on the circular paths algorithm. In each step, this algorithm constructs a circular path using three points represented by the next step position of the leader robot, the last step position and the current step position of the follower robot. The next position of the follower robot lays on the circumstance of the circular path and the orientation is represented by the tangent line to this circular path at this next position of the follower robot. When an obstacle intersect any circular path for the follower robot, then this path must be replaced by another circular path construct from the two positions of the follower robot and the leader position is replaced by the tangent point to the obstacle. Simulation results illustrate the soundness of this algorithm.
In this paper, a new approach for the positioning (localization) of multi-node systems is presented. Each node including the beacon node contains two types of sensors: one for the distance sensing and the other type is for communication. The main idea of our proposed approach is to use the control of beacon to construct a nodes' tree which is going to be used later by the nodes to know the paths in which the information will flow. During the tree construction the identities of nodes will be known. Every node except the beacon will use the information obtained from its previous neighbor in the tree to find its own location and orientation. Several simulations using visual basic 2012 are implemented to discern the performance of this algorithm.
The shear panels of plate girder made from corrugated in the web is investigated in this research. A corrugated web beam of plate is attached in the shear zone of the web as part of an experimental and theoretical investigation into plate girders. In experiments, seven plate girder specimens were tested under two points of load. Six of them were made of different shape of corrugated plate in the web, the last specimen was tested without corrugation as a reference specimen called control. In this study investigated the effected of (corrugation plate, thickness of corrugation with number layers of corrugated and the shape of corrugated plate) on (buckling and ultimate loads also on lateral and vertical deflection) and compared with reference specimen, these specimens have the same dimensions, the main variable was the thickness of the corrugated plate in the web (0.5, 1, and 2) mm, the depth was constant (300 mm). According to results of the experiment, the corrugated plates primarily increase the plate girder's stability. A corrugation of plate increases the buckling load and ultimate load significantly through the contribution of the corrugation to delay buckling of the plate girder in the web. In addition, it was found that increasing the plate-girder thickness leads to increased buckling and ultimate loads, because the stiffness will increase and delay the buckling. Also, the trapezoidal corrugation and the diagonal corrugate that placed perpendicular on the tension field action, give higher buckling and ultimate load than control beam. Ansys (version 17.0) computer program was used in this research represent the steel and nonlinear large structural shell was used to represent the corrugated web beam of the plate in the finite element analysis model.
Formation control is a critical task in the coordination of multi-mobile robot systems operating in structured environments with limited local knowledge and low-cost hardware. Achieving reliable formations requires effective localization, path planning, and obstacle avoidance capabilities. This study presents a static strategy for forming polygon-shaped configurations using multiple mobile robots. The proposed strategy improves formation efficiency by employing a cluster matching algorithm instead of the conventional triangulation approach to complete the formation process. In addition, the visibility binary tree algorithm and the reciprocal orientation algorithm are integrated to enhance robot coordination and spatial awareness. Simulation results demonstrate that the proposed strategy achieves superior performance in multi-robot formation tasks, offering improved efficiency and robustness compared with traditional triangulation-based methods.