This paper presents a geometrical path planning method, and it can help unmanned aerial vehicle to find a collision-free path in two-dimensional and three-dimensional (2D and 3D) complex environment quickly. First, a list of tree is designed to describe obstacles, and it is used to query the obstacles which block the line from starting point to finishing point (blocking obstacle). Specially, the list also stores the edge information of blocking obstacle. For the obstacles with short distance, a reasonable way to fly over is studied. Then, a shortest path planning method based on geometrical computation is proposed according to different shapes of obstacles. The obstacles are convex and divided into two cases of 2D and 3D. 2D environment includes rectangular obstacle, trapezoidal obstacle, triangular obstacle, circular obstacle and elliptic obstacle. In 3D, it includes cuboid, sphere and ellipsoid. To compare with other methods, the simulation is made in different environments. In 2D environment with circular obstacles, the method is similar to the artificial potential field. In 2D environment with rectangular obstacles, the performance of the proposed method is better than A-star. Compared with genetic algorithm, the proposed method gives a better result in 3D environment with cuboid obstacles. In 3D environment with hybrid obstacles, it is similar to interfered fluid dynamical system. Through comprehensive comparison and analysis, the conclusion is that the method has good adaptability and does not require grid modeling. It can find a shorter path in 2D/3D complex environment within a short time, so it has the ability of real-time path planning. Keywords Unmanned aerial vehicle (UAV) • Path planning • Geometrical shortest path • 2D/3D complex environment • Convex obstacles • Optimal and real-time planning B Xiao Liang
Aiming at the problems that the temperature in the welding area of friction stir welding (FSW) is difficult to measure and the joints are prone to defects. Hence, it is particularly important to study the material flow in the welding area and improve the welding quality. The temperature of the tool shoulder and the tool pin was monitored by the wireless temperature measuring system. The finite element model of friction stir welding was established and the welding conditions were numerically simulated. The flow law of material of the friction stir welding process was studied by numerical simulation. The material flow model was established by combining the microstructure analysis results, and the forming mechanism of the defects was analyzed. The results show that the temperature in the welding zone is the highest at 1300 rpm, and the temperature at the tool shoulder is significantly higher than that at the tool pin in the welding stage. When high-rotation speeds (HRS) are chosen, the material beneath the tool shoulder tends to be extruded into the pin stirred zone (PSZ) after flowing back to the advancing side. This will cause turbulence phenomenon in the advancing side of the joint, which will easily lead to the formation of welding defects. In the future, temperature monitoring methods and the flow model of material can be used to optimize the welding parameters.
The friction stir welding robot for aerospace applications developed by the research group is subject to the effects of size, working conditions, and other conditions during the operation. The load conditions of the friction stir welding robot are harsh, and the strength and stiffness tests of the whole machine need to be carried out. Five typical working conditions of the friction stir welding robot are analyzed. By analyzing the system composition and configuration of the robot, the loading conditions of the robot stirring head during the welding process are accurately simulated, and this is used as the stiffness and strength check. The boundary conditions of the robot are simulated and analyzed under typical working conditions. The results show that the data of each part of the robot under load are obtained for a given size of the rocket cap welding. After analysis, the maximum normal displacement of the friction stir welding robot reached 0.6424 mm and the maximum stress was 79.21 MPa under the condition of melon flap welding.
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