Florian Ion Tiberiu Petrescu
IFToMM, Romania
E-mail: fitpetrescu@gmail.com
Relly Victoria Virgil Petrescu
IFToMM, Romania
E-mail: rvvpetrescu@gmail.com
Submission: 11/5//2019
Revision: 12/3/2019
Accept: 12/15/2020
ABSTRACT
In the industrial
halls it is often necessary to handle large objects, with a large and large
table, which have to be transported not over long distances but moved from one
place to another, raised, then lowered to various levels, left or right. Such
repeated manipulations of heavy and dangerous objects can be done only with the
help of a manipulator, which can be a crane, a specially designed trolley, a
complicated robot or a simple manipulator as is the case for the one presented
in the paper. The paper briefly presents the kinematic study of a manipulator
with three mobilities, which can be used both in industrial halls and in
garages, depending on its suitably chosen constructive size, which at smaller
dimensions can be handled very easily. This manipulator can carry large loads,
thus easing the work of the human being and preventing it from major dangers
that can occur during the transport of large pieces and a large mass.
Keywords:
Robots; Mechatronic Systems; Structure; Kinematics; Machines; Balancing
1.
INTRODUCTION
In the
industrial halls it is often necessary to handle large objects, with a large
and large table, which have to be transported not over long distances but moved
from one place to another, raised, then lowered to various levels, left or
right. Such repeated manipulations of heavy and dangerous objects can be done
only with the help of a manipulator, which can be a crane, a specially designed
trolley, a complicated robot or a simple manipulator as is the case for the one
presented in the paper.
Figure 1:
The crane with ECO5 column is extremely easy to handle, it provides convenient
access to all points of the space, with a pivoting angle of maximum 270 °,
being the indispensable accessory of all workstations.
Workers
are prevented from using it to get various diseases because of the repeated
lifting of heavy objects. In the past, an interior crane built on different
systems walks through the respective hall to carry the heavy objects.
The system
was cumbersome to operate and even a little dangerous without permanent
attention to the fact that it is moving so that workers can be warned
permanently about its movements. Such expensive and difficult systems to handle
and maintain are today generally on the verge of extinction, because the vast
majority of industrial operations have been taken over by specialized
intelligent robots, but in some places a manipulator may be needed which can be
automated or manually depending by the size of the place where it is
implemented.
In the maritime ports there are
still used systems with large cranes, but also there the systems that traveled
on large surfaces began to reduce or even disappear, being replaced by the
individual, punctual cranes, some of them even being robotic, specialized on
different unloading-loading operations.
The
swivel crane with ECO5 column is extremely easy to handle, it provides
convenient access to all points of the space, with a pivoting angle of maximum
270 °, being the indispensable accessory of all workstations.
Manufactured
from rigid torsion steel, fixed by means of anchor bolts to the concrete
foundation. Up to 2 m, the electricity supply is made in the cable tube, with a
rubber cable of circular diameter, in the case of the arm with larger openings
with the help of the C rail, with a cable trolley and a flat cable. The power
switch is mounted on the column (Figure 1).
The ECO3 pivoting wall crane is
extremely easy to handle, with a pivoting angle of maximum 180 °, being the
indispensable accessory of all workplaces. Thanks to the height-mounted
console, it makes optimal use of the lifting height even in the lower rooms.
Made of rigid profile steel at torsion, fixed by the console to a steel beam,
concrete pole. Up to 2 m, the electricity supply is made in the cable tube,
with a rubber cable of circular diameter, in the case of the arm with larger
openings with the help of the C rail, with a cable trolley and a flat cable (Figure
2).
The ECO6
mobile pivoting crane is successfully folded to different situations in the
factory. It can be moved manually to the desired location and fastened with the
support screws. It has a lifting capacity of up to 500 kg and a pivoting angle
of 360 °. The electricity supply is made using the contacts through the
collector rings.
For
lifting loads, this variant requires filling the body of the crane with
counterweights (Figure
3).
|
|
Figure 2: The ECO3 pivoting wall crane |
Figure
3: The ECO6 mobile pivoting crane |
The ECO6 mobile pivoting crane is
successfully folded to different situations within a section, halls, factories,
or even in a hangar, or larger garage, which can be moved manually to the
desired location and fixed with the support screws, having a capacity of
lifting up to 500 kg. Such a crane model was inspired by modern manipulative
robots, which instead of the drilling, welding, handling, dyeing, crane system
was added. Its advantage is that it can be more penetrating, like a specialized
robot, but with a lower purchase price than robotic systems.
Such a crane is generally easier to handle itself, to
implement, to use, to maintain, and also to have a lower purchase price, which
is often more convenient than robotization, where handling of heavy objects and
bulky is necessary, but not the automation of the operation itself (Aabadi, 2019; Antonescu et al., 2000a; 2000b; 2001; Aversa et
al., 2019; 2017a; 2017b; 2017c; 2017d; 2017e; 2017f; 2016a; 2016b; 2016c; 2016d;
2016e; 2016f; 2016g; 2016h; 2016i; 2016j; 2016k; 2016l; 2016m; 2016n; 2016o;
Cao et al., 2013; Dong et al., 2013; Duan et al., 2019; Comanescu, 2010; He et al.,
2013; Lee, 2013; Lin et al., 2013; Liu et al., 2013; Padula and
Perdereau, 2013; Perumaal and Jawahar, 2013; Petrescu, 2019; 2011; 2015a; 2015b; Petrescu
and Petrescu, 2000a; 2000b; 2002a; 2002b; 2003; 2005a; 2005b; 2005c; 2005d;
2005e; 2011a; 2011b; 2012a; 2012b; 2013a; 2013b; 2013c; 2013d; 2013e; 2016a;
2016b; 2016c; Petrescu et al., 2009; 2016; 2017a; 2017b; 2017c; 2017d;
2017e; 2017f; 2017g; 2017h; 2017i; 2017j; 2017k; 2017l; 2017m; 2017n; 2017o;
2017p; 2017q; 2017r; 2017s; 2017t; 2017u; 2017v; 2017w; 2017x; 2017y; 2017z;
2017aa; 2017ab; 2017ac; 2017ad; 2017ae; 2018a; 2018b; 2018c; 2018d; 2018e;
2018f; 2018g; 2018h; 2018i; 2018j; 2018k; 2018l; 2018m; 2018n; Rulkov et al.,
2016; Agarwala, 2016; Babayemi, 2016; Ben-Faress et al., 2019; Gusti and Semin, 2016; Mohamed et al., 2016;
Wessels and Raad, 2016; Maraveas et al., 2015; Khalil, 2015;
Rhode-Barbarigos et al., 2015; Takeuchi et al., 2015; Li et al.,
2015; Vernardos and Gantes, 2015; Bourahla and
Blakeborough, 2015; Stavridou et al., 2015; Ong et al., 2015; Dixit and Pal, 2015;
Rajput et al., 2016; Rea and Ottaviano, 2016; Zurfi and Zhang, 2016 a-b;
Zheng and Li, 2016; Buonomano et al., 2016a; 2016b; Faizal et
al., 2016; Ascione et al., 2016; Elmeddahi et al., 2016; Calise et al.,
2016; Morse et al., 2016; Abouobaida, 2016; Rohit and Dixit,
2016; Kazakov et al., 2016; Alwetaishi, 2016; Riccio et al., 2016a;
2016b; Iqbal, 2016; Hasan and El-Naas, 2016; Al-Hasan and Al-Ghamdi, 2016;
Jiang et al., 2016; Sepúlveda, 2016; Martins et al., 2016;
Pisello et al., 2016; Jarahi, 2016; Mondal et al., 2016; Mansour,
2016; Al Qadi et al., 2016b; Campo et al., 2016; Samantaray et
al., 2016; Malomar et al., 2016; Rich and Badar, 2016; Hirun, 2016;
Bucinell, 2016; Nabilou, 2016b; Barone et al., 2016; Bedon and Louter,
2016; Santos and Bedon, 2016; Fontánez et al., 2019; De León et al., 2019; Hypolite et al., 2019; Minghini et al., 2016; Bedon, 2016; Jafari et al.,
2016; Orlando and Benvenuti, 2016; Wang and Yagi, 2016; Obaiys et al.,
2016; Ahmed et al., 2016; Jauhari et al., 2016; Syahrullah and
Sinaga, 2016; Shanmugam, 2016; Jaber and Bicker, 2016; Wang et al.,
2016; Moubarek and Gharsallah, 2016; Amani, 2016; Shruti, 2016; Pérez-de León et
al., 2016; Mohseni and Tsavdaridis, 2016; Abu-Lebdeh et al., 2016;
Serebrennikov et al., 2016; Budak et al., 2016; Augustine et
al., 2016; Jarahi and Seifilaleh, 2016; Nabilou, 2016a; You et al.,
2016; AL Qadi et al., 2016a; Rama et al., 2016; Sallami et al.,
2016; Huang et al., 2016; Ali et al., 2016; Kamble and Kumar,
2016; Saikia and Karak, 2016; Zeferino et al., 2016; Pravettoni et al.,
2016; Bedon and Amadio, 2016; Mavukkandy et al., 2016; Yeargin et al.,
2016; Madani and Dababneh, 2016; Alhasanat et al., 2016; Elliott et
al., 2016; Suarez et al., 2016; Kuli et al., 2016; Waters et
al., 2016; Montgomery
et al., 2016; Lamarre et al., 2016; Daud et al., 2008;
Taher et al., 2008; Zulkifli et al., 2008; Pourmahmoud, 2008;
Pannirselvam et al., 2008; Ng et al., 2008; El-Tous, 2008; Akhesmeh et
al., 2008; Nachiengtai et al., 2008; Moezi et al., 2008;
Boucetta, 2008; Darabi et al., 2008; Semin and Bakar, 2008; Al-Abbas,
2009; Abdullah et al., 2009; Abu-Ein, 2009; Opafunso et al.,
2009; Semin et al., 2009a; 2009b; 2009c; Zulkifli et al., 2009;
Marzuki et al., 2015; Bier and Mostafavi, 2015; Momta et al.,
2015; Farokhi and Gordini, 2015; Khalifa et al., 2015; Yang and Lin,
2015; Demetriou et al.,
2015; Rajupillai et al., 2015; Sylvester et al., 2015;
Ab-Rahman et al., 2009; Abdullah and Halim, 2009; Zotos and Costopoulos,
2009; Feraga et al., 2009; Bakar et al., 2009; Cardu et al., 2009; Bolonkin, 2009a;
2009b; Nandhakumar et al., 2009; Odeh et al., 2009; Lubis et
al., 2009; Fathallah and Bakar, 2009; Marghany and Hashim, 2009; Kwon et
al., 2010; Aly and Abuelnasr, 2010; Farahani et al., 2010; Ahmed et
al., 2010; Kunanoppadon, 2010; Helmy and El-Taweel, 2010; Qutbodin, 2010;
Pattanasethanon, 2010; Fen et al., 2011; Taher et al., 2019; Thongwan et al.,
2011; Theansuwan and Triratanasirichai, 2011; Al Smadi, 2011; Tourab et al.,
2011;
Raptis et al., 2011; Momani et al., 2011; Ismail et al., 2011; Anizan et al.,
2011; Tsolakis and Raptis, 2011; Abdullah et al., 2011; Kechiche et
al., 2011; Ho et al., 2011; Rajbhandari et al., 2011; Aleksic
and Lovric, 2011; Kaewnai and Wongwises, 2011; Idarwazeh, 2011; Ebrahim
et al., 2012; Abdelkrim et al., 2012; Mohan et al., 2012; Abam et al.,
2012; Hassan et al., 2012; Jalil and Sampe, 2013; Jaoude and El-Tawil,
2013; Ali and Shumaker, 2013; Zhao, 2013; El-Labban et al., 2013; Djalel
et al., 2013; Nahas and Kozaitis, 2013; Petrescu and Petrescu, 2019a-b; 2014a; 2014b; 2014c; 2014d;
2014e; 2014f; 2014g; 2014h; 2014i; 2015a; 2015b; 2015c; 2015d; 2015e; 2016a;
2016b; 2016c; 2016d; Fu et al., 2015; Al-Nasra et al., 2015; Amer
et al., 2015; Sylvester et al.,
2015b; Kumar et al., 2015; Gupta et al., 2015; Stavridou et al.,
2015b; Casadei, 2015; Ge and Xu, 2015; Moretti, 2015; Wang et al., 2015; Petrescu et al., 2017 af-al, 2018 o-w; Petrescu, 2015c, 2018 a-b; Petrescu and
Petrescu, 2018 a-b; Petrescu, 2011; 2015a; 2015b; Petrescu and Petrescu, 2000a;
2000b; 2002a; 2002b; 2003; 2005a; 2005b; 2005c; 2005d; 2005e; 2011a; 2011b;
2012a; 2012b; 2013a; 2013b; 2013c; 2013d; 2013e; 2016a; 2016b; 2016c; Petrescu et
al., 2009; 2016; 2017a; 2017b; 2017c; 2017d; 2017e; 2017f; 2017g; 2017h;
2017i; 2017j; 2017k; 2017l; 2017m; 2017n; 2017o; 2017p; 2017q; 2017r; 2017s;
2017t; 2017u; 2017v; 2017w; 2017x; 2017y; 2017z; 2017aa; 2017ab; 2017ac;
2017ad; 2017ae; 2018a; 2018b; 2018c; 2018d; 2018e; 2018f; 2018g; 2018h; 2018i;
2018j; 2018k; 2018l; 2018m; 2018n; Petrescu and Petrescu, 2014a; 2014b; 2014c; 2014d; 2014e;
2014f; 2014g; 2014h; 2014i; 2015a; 2015b; 2015c; 2015d; 2015e; 2016a; 2016b;
2016c; 2016d; Petrescu et al., 2017 af-aj, 2018 o-v; Petrescu, 2015c, 2018 a-b; Petrescu
and Petrescu, 2018 a-b; Petrescu and
Petrescu, 2014 f, 2014 g, 2014 h, 2014 I; Petrescu et al., 2018 a-ac; Petrescu and Petrescu, 2019 a-d; Petrescu,
2019 a-m).
2.
MATERIALS AND METHODS
Such a
manipulator that is also a crane can be built even simpler, in various
dimensions, depending on where the system will have to work. It can be fully or
partially machined, it can be constructed so that it can be manipulated and
manually. He will be presented from a constructive, geometrical and kinematic
point of view, within the present work, presenting briefly its direct
kinematics.
In
figure 4 is presented such a constructive model capable of moving and
transporting various heavy objects through a whole section. The manipulator
with three degrees of mobility, can lift a heavy and bulky object and then
transport it from one place to another, over short or even greater distances.
The man can push a stroller to be fixed such a manipulator with three
mobilities. The constructive model presented can be adapted and redesigned in
other mechanical variants, the one that will be presented in the paper being
only a possible constructive variant. It balances simply, according to the
classic balancing model with the companion, generally achieving a static or
almost total static balance. In addition, not only does the counterweight
mounted on the extension of arm 3 (Figure 5) help but also the constructive
scheme, because a great part of the efforts and even a partial balancing will
be supported by the upper-class D coupling of the fourth class, which allows
simultaneous rotation. and relative translation of its component elements 3 and
0 (Figure 5).
It
should also be mentioned that in the direct kinematic study performed in figure
5, only three movable elements, 1, 2, 3, and a planning mechanism with two
mobilities are considered, in order to simplify the study of the mechanism. In
fact, as can be seen from the construction scheme (Figure 4), the supporting
element 0 is also a movable part having a rotation around its own axis,
vertically, so that the whole system can be rotated at the desired angle,
increasing thus the workspace and transforming the flat movement of the 2R
system into a spatial movement 3R. The rotation can be left to be complete if
this is considered necessary.
|
|
Figure 4: Constructive scheme of a manipulator with
three mobilities |
Figure 5: Kinematic diagram of the planar mechanism 2R
from the component of the 3R space manipulator. |
In the
direct kinematics we know, (Give): L1 [m]; L1 [m]; L2 [m]; L3 [m]; hD [m];
harness]; The input parameters are also required: sD [m], FI2 [deg], and four
output parameters of the mechanism must be determined kinematically (see
kinematic diagram):
FI1
[deg]; Fi3 [deg]; and [m]; se [m], for both possible variants I and II. It must
be specified that the mechanism can be positioned in two different ways when
setting the input parameters so that at the output we will have one of the two
real working situations, both variants (I and II) can be determined with the
computation relays. lower:
|
(1) |
|
(2) |
3.
RESULTS AND DISCUSSION
S In a calculation
example, in the diagram in figure 6 (for version I) and figure 7 (for version II) one can observe the
output values of the angles FI1 and FI3, depending on the value imposed at the
input of the angle FI2 on the abscissa.
|
|
Figure
6: Output values of the angles FI1 and FI3, depending on the value imposed
at the input of the angle FI2 on the abscissa, for version I |
Figure
7: Output values of the angles FI1 and FI3, depending on the value imposed
at the input of the angle FI2 on the abscissa, for version I |
The
variation of FI3 is represented by blue and the angle of FI1 with red. The values used for the
lengths in the calculation example are given in table 1.
Table 1: The values used for the
lengths
L1 [m] |
2 |
l1 [m] |
0.25 |
l2 [m] |
2 |
l3 [m] |
1.8 |
hD [m] |
2.3 |
hA [m] |
2.5 |
The values of sD [m]
corresponding to the angle FI2 [deg] of input are collected from the graph
shown in figure 8.
Figure 8: The values
of sD [m] corresponding to the angle FI2 [deg]
4.
CONCLUSIONS
In the
industrial halls it is often necessary to handle large objects, with a large
and large table, which have to be transported not over long distances but moved
from one place to another, raised, then lowered to various levels, left or
right. Such repeated manipulations of heavy and dangerous objects can be done
only with the help of a manipulator, which can be a crane, a specially designed
trolley, a complicated robot or a simple manipulator as is the case for the one
presented in the paper.
The paper
briefly presents the kinematic study of a manipulator with three mobilities,
which can be used both in industrial halls and in garages, depending on its
suitably chosen constructive size, which at smaller dimensions can be handled
very easily. This manipulator can carry large loads, thus easing the work of
the human being and preventing it from major dangers that can occur during the
transport of large pieces and a large mass.
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Aversa, R., Parcesepe, D., Petrescu, R.
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Aversa, R., Tamburrino, F., Petrescu, R.
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Babayemi, A. K. (2016).
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Barone, G., Buonomano, A., Forzano, C., & Palombo, A. (2016). WLHP systems
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Bedon, C. (2016). Review on
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Bedon, C., & Amadio, C. (2016). A unified
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Bedon, C., & Louter, C. (2016). Finite-element
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Campo, T., Cotto, M., Marquez, F., Elizalde, E., & Morant, C. (2016). Graphene
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Cardu, M., Oreste, P., & Cicala, T. (2009). Analysis of the tunnel boring machine advancement on the
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Cardu, M., Oreste, P., & Cicala, T. (2009). Analysis of
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Daud, H., Yahya, N., Aziz, A. A., & Jusoh, M. F. (2008). Development of wireless electric concept powering electrical appliances.
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De León, J., Cotto, M. C., & Márquez, F. (2019).
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Demetriou, D., Nikitas, N., & Tsavdaridis,
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Dixit, S., & Pal, S. (2015). Synthesis
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Djalel, D., Mourad, M., & Labar,
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Dong, H., Giakoumidis, N., Figueroa, N., & Mavridis, N. (2013). Approaching
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Ebrahim, N. A., Ahmed, S., Rashid, S. H. A., & Taha, Z. (2012). Technology use in the virtual R&D teams. Am. J. Eng. Applied Sci., 5, 9-14. DOI: 10.3844/ajeassp.2012.9.14
El-Labban, H. F., Abdelaziz, M., & Mahmoud, E. R. I. (2013).
Modification of carbon steel by laser surface melting: Part I: Effect of laser
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Elliott, A.,
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printed parts. Am. J. Eng. Applied Sci.,
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Elmeddahi, Y., Mahmoudi, H., Issaadi, A., Goosen, M. F. A., & Ragab, R. (2016). Evaluating the effects of climate change and variability on water
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El-Tous, Y. (2008). Pitch angle
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Faizal, A., Mulyono, S., Yendra, R., & Fudholi, A. (2016). Design Maximum Power Point Tracking (MPPT) on photovoltaic panels using
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Farahani, A. S., Adam, N. M., & Ariffin, M. K. A. (2010). Simulation of airflow and aerodynamic forces acting on a rotating
turbine ventilator. Am. J. Eng. Applied
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Farokhi,
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knee braced steel structures. Am. J.
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Fathallah, A. Z. M., &
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linier engine with spring mechanism as return cycle. Am. J. Eng. Applied Sci., 2, 713-720. DOI: 10.3844/ajeassp.2009.713.720
Fen, Y. W., Yunus, W. M. M., Moksin, M. M., Talib, Z. A., & Yusof, N. A. (2011). Optical properties of crosslinked chitosan thin film with glutaraldehyde
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Feraga, C. E.,
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Fontánez, K., García, A., Cotto-Maldonado, M., C., Duconge,
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Fu, Y. F., Gong, J., Huang, H., Liu, Y. J., & Zhu, D. (2015). Parameters optimization of adaptive cashew shelling cutter based on BP
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Ge, L., & Xu, X. (2015). A scheme
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Gupta, P., Gupta, A., & Asati, A. (2015). Ultra low power MUX based compressors for wallace and dadda multipliers
in sub-threshold regime. Am. J. Eng.
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Gusti, A. P., &
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Hassan, M., Mahjoub, H., & Obed, M. (2012). Voice-based control of a DC servo motor. Am. J. Eng. Applied Sci., 5, 89-92. DOI: 10.3844/ajeassp.2012.89.92
Hasan, S., & El-Naas, M. H. (2016).
Optimization of a combined approach for the treatment of carbide slurry and
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He, B., Wang, Z., Li, Q., Xie, H., & Shen, R. (2013). An analytic method for the kinematics and dynamics of a
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Helmy, A. K., &
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Hirun, W. (2016). Evaluation
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Ho, C. Y. F., Ling, B. W. K., Blasi, S. G., Chi, Z. W., & Siu, W. C. (2011). Single step optimal block matched motion estimation with motion vectors
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Huang, B., Masood, S. H., Nikzad, M., Venugopal, P. R., & Arivazhagan,
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modelling processed polyphenylsulfone material. Am. J. Eng. Applied Sci., 9, 1-11. DOI: 10.3844/ajeassp.2016.1.11
Hypolite, B. P., Evariste, W. T., & Adolphe, M. I. (2019).
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Idarwazeh, S. (2011). Inverse
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Iqbal (2016). An overview of Energy Loss Reduction (ELR) software used in Pakistan by
WAPDA for calculating transformer overloading, line losses and energy losses. Am. J. Eng. Applied Sci., 9, 442-448.
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Ismail, M. I. S., Okamoto,
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Experimental investigation on micro-welding of thin stainless steel sheet by
fiber laser. Am. J. Eng. Applied Sci.,
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Jaber, A. A., &
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control chart. Am. J. Eng. Applied Sci.,
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Jafari, N., Alsadoon, A., Withana, C. P., Beg, A., & Elchouemi,
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Jalil, M. I. A., & Sampe, J. (2013).
Experimental investigation of thermoelectric generator modules with different
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Jaoude, A. A., &
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Jarahi, H. (2016).
Probabilistic seismic hazard deaggregation for Karaj City (Iran). Am. J. Eng. Applied Sci., 9, 520-529.
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Jarahi, H., & Seifilaleh, S. (2016). Rock fall
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Eng. Applied Sci., 9, 371-379. DOI: 10.3844/ajeassp.2016.371.379
Jauhari, K., Widodo, A., & Haryanto, I. (2016).
Identification of a machine tool spindle critical frequency through modal and
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Jiang, J., Chen, Q., & Nimbalkar,
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Kaewnai, S., &
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Improvement of the runner design of Francis turbine using computational fluid
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Khalifa, A. H. N., Jabbar, A. H., & And Muhsin,
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Khalil, R. (2015). Credibility
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Kamble, V. G., &
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Kazakov, V. V., Yusupov,
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Kechiche, O. B. H. B., Sethom,
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Kuli, I., Abu-Lebdeh, T. M., Fini, E. H., & Hamoush,
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Kumar, N. D., Ravali, R. D., & Srirekha, P. R. (2015). Design and
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Kunanoppadon, J. (2010). Thermal
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Kwon, S., Tani, Y., Okubo, H., & Shimomura,
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Lamarre, A., Fini, E. H., & Abu-Lebdeh,
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Madani, D.A., & Dababneh, A. (2016). Rapid entire body assessment: A literature review. Am. J. Eng. Applied Sci., 9, 107-118. DOI:
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J. Eng. Applied Sci., 9, 591-598. DOI: 10.3844/ajeassp.2016.591.598
Mansour, M. A. A. (2016). Developing
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Maraveas, C., Fasoulakis, Z. C., & Tsavdaridis,
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Petrescu, R. V., Aversa,
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Petrescu, R. V., Aversa,
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Anthropomorphic solid structures n-r kinematics. Am. J. Eng. Applied Sci., 10, 279-291. DOI:
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Petrescu, R. V., Aversa,
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Petrescu, R. V., Aversa,
R., Apicella, A., & Kozaitis, S. (2018a). NASA started a propeller set on board voyager 1 after 37
years of break. Am. J. Eng. Applied Sci.,
11, 66-77. DOI: 10.3844/ajeassp.2018.66.77
Petrescu, R. V., Aversa,
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10.3844/ajeassp.2018.78.91
Petrescu, R. V., Aversa,
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10.3844/ajeassp.2018.154.165
Petrescu, R. V., Aversa,
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gas. Am. J. Eng. Applied Sci., 11,
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Petrescu, R. V., Aversa, R., Akash, B., Abu-Lebdeh, T. M., & Apicella, A. (2018e). Some aspects of the structure of planar mechanisms. Am. J. Eng. Applied Sci., 11, 245-259.
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Petrescu, R. V., Aversa,
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simple carrier manipulator. Am. J. Eng.
Applied Sci., 11, 260-272. DOI: 10.3844/ajeassp.2018.260.272
Petrescu, R. V., Aversa,
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otto engine. Am. J. Eng. Applied Sci.,
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Petrescu, R. V., Aversa, R., Abu-Lebdeh, T. M., Apicella, A., &
Petrescu, F. I. T. (2018h). NASA satellites help us to quickly detect forest fires. Am. J. Eng. Applied Sci., 11, 288-296.
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Petrescu, R. V., Aversa,
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Applied Sci., 11, 297-308. DOI: 10.3844/ajeassp.2018.297.308
Petrescu, R. V., Aversa,
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engineering "on the wings of the wind". J. Aircraft Spacecraft Technol., 2, 1-18. DOI:
10.3844/jastsp.2018.1.18
Petrescu, R. V., Aversa,
R., Apicella, A., & Petrescu, F. I. T. (2018k). NASA Data
used to discover eighth planet circling distant star. J. Aircraft Spacecraft Technol., 2, 19-30. DOI:
10.3844/jastsp.2018.19.30
Petrescu, R. V., Aversa,
R., Apicella, A., & Petrescu, F. I. T. (2018l). NASA has
found the most distant black hole. J.
Aircraft Spacecraft Technol., 2, 31-39. DOI: 10.3844/jastsp.2018.31.39
Petrescu, R. V., Aversa,
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selects concepts for a new mission to titan, the moon of saturn. J. Aircraft Spacecraft Technol., 2, 40-52.
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Petrescu, R. V., Aversa,
R., Apicella, A., & Petrescu, F. I. T. (2018n). NASA sees
first in 2018 the direct proof of ozone hole recovery. J. Aircraft Spacecraft Technol., 2, 53-64. DOI:
10.3844/jastsp.2018.53.64
Petrescu, R. V., Aversa,
R., Akash, B., Bucinell, R., & Corchado, J. (2017a). Yield at
thermal engines internal combustion. Am.
J. Eng. Applied Sci., 10, 243-251. DOI: 10.3844/ajeassp.2017.243.251
Petrescu, R. V., Aversa,
R., Akash, B., Ronald, B., & Corchado, J. (2017b). Velocities and
accelerations at the 3R mechatronic systems. Am. J. Eng. Applied Sci., 10, 252-263. DOI:
10.3844/ajeassp.2017.252.263
Petrescu, R. V., Aversa,
R., Akash, B., Bucinell, R., & Corchado, J. (2017c).
Anthropomorphic solid structures n-r kinematics. Am. J. Eng. Applied Sci., 10, 279-291. DOI:
10.3844/ajeassp.2017.279.291
Petrescu, R. V., Aversa,
R., Akash, B., Bucinell, R., & Corchado, J. (2017d). Inverse
kinematics at the anthropomorphic robots, by a trigonometric method. Am. J. Eng. Applied Sci., 10, 394-411.
DOI: 10.3844/ajeassp.2017.394.411
Petrescu, R. V., Aversa,
R., Akash, B., Bucinell, R., & Corchado, J. (2017e). Forces at
internal combustion engines. Am. J. Eng.
Applied Sci., 10, 382-393. DOI: 10.3844/ajeassp.2017.382.393
Petrescu, R. V., Aversa,
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of transport and environmental protection, part I. Am. J. Eng. Applied Sci., 10, 738-755. DOI:
10.3844/ajeassp.2017.738.755
Petrescu, R. V., Aversa,
R., Akash, B., Bucinell, R., & Corchado, J. (2017m). Modern
propulsions for aerospace-a review. J.
Aircraft Spacecraft Technol., 1, 1-8. DOI: 10.3844/jastsp.2017.1.8
Petrescu, R. V., Aversa,
R., Akash, B., Bucinell, R., & Corchado, J. (2017n). Modern
propulsions for aerospace-part II. J.
Aircraft Spacecraft Technol., 1, 9-17. DOI: 10.3844/jastsp.2017.9.17
Petrescu, R. V., Aversa, R.,
Akash, B., Bucinell, R., & Corchado, J. (2017o). History of
aviation-a short review. J. Aircraft
Spacecraft Technol., 1, 30-49. DOI: 10.3844/jastsp.2017.30.49
Petrescu, R. V., Aversa,
R., Akash, B., Bucinell, R., & Corchado, J. (2017p). Lockheed
martin-a short review. J. Aircraft
Spacecraft Technol., 1, 50-68. DOI: 10.3844/jastsp.2017.50.68
Petrescu, R. V., Aversa, R., Akash, B., & Corchado, J.
(2017q). Our universe. J. Aircraft
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Petrescu, R. V., Aversa,
R., Akash, B., & Corchado, J. (2017r). What is a UFO? J. Aircraft Spacecraft Technol., 1,
80-90. DOI: 10.3844/jastsp.2017.80.90
Petrescu, R. V., Aversa, R., Akash, B., & Corchado, J. (2017s). About bell helicopter FCX-001 concept aircraft-a short
review. J. Aircraft Spacecraft Technol.,
1, 91-96. DOI: 10.3844/jastsp.2017.91.96
Petrescu, R. V., Aversa, R., Apicella,
A., &
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started a propeller set on board voyager 1 after 37 years of break. Am. J. Eng. Applied Sci., 11, 66-77.
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Petrescu, R. V., Aversa, R., Apicella,
A., & Kozaitis, S. (2018b). There is
life on mars? Am. J. Eng. Applied Sci.,
11, 78-91. DOI: 10.3844/ajeassp.2018.78.91
Petrescu, R. V., Aversa, R., Apicella,
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Applied Sci., 11, 154-165. DOI: 10.3844/ajeassp.2018.154.165
Petrescu, R. V., Aversa, R., Akash, B.,
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Petrescu, R. V.,
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Petrescu, R. V., Aversa,
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Petrescu, R. V., Aversa,
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10.3844/ajeassp.2018.273.287
Petrescu, F. I.
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Nuclear hydrogen structure and dimensions. Int. J. Hydrogen Energy, 44, 10833-10837. DOI: 10.1016/J.IJHYDENE.2019.02.140
Petrescu, R. V. V. (2019a). About the Space Robots. Journal of Mechatronics and Robotics 3,
1-32. DOI: 10.3844/jmrsp.2019.1.32
Petrescu, R. V. V. (2019c). Dynamics at Classical Distribution. Journal of Mechatronics and Robotics 3,
82-101. DOI: 10.3844/jmrsp.2019.82.101
Petrescu, R. V. V. (2019d). Time Factory. Journal of Mechatronics and Robotics 3, 102-121. DOI:
10.3844/jmrsp.2019.102.121
Petrescu, R. V. V. (2019e). About Robotics, Mechatronics and
Automation that Help us Conquer the Cosmic Space. Journal of Mechatronics and Robotics 3, 129-155. DOI:
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Petrescu, R. V. V. (2019h). Face Recognition as a Biometric
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Robotics 3, 237-257. DOI: 10.3844/jmrsp.2019.237.257
Pisello, A. L., Pignatta,
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Investigating the dynamic thermal behavior of building envelope in summer
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Pourmahmoud, N. (2008). Rarefied gas flow modeling inside rotating circular
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Pravettoni, M., Lòpez, C. S. P., & Kenny, R. P. (2016). Impact of
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Qutbodin, K. (2010). Merging
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Rajbhandari, S., Ghassemlooy, Z., & Angelova, M. (2011). The
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Rajput, R.S., Pandey, S., & Bhadauria,
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Rajupillai, K., Palaniammal, S., & Bommuraju, K. (2015). Computational
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Raptis, K. G.,
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Rama, G., Marinkovic, D., & Zehn, M. (2016). Efficient co-rotational 3-node shell element. Am. J. Eng. Applied Sci., 9, 420-431. DOI:
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Rea, P., & Ottaviano, E. (2016). Analysis
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Riccio, A., Cristiano, R., & Saputo, S. (2016b). A brief
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Rohit, K., & Dixit, S. (2016). Mechanical properties of waste Biaxially Oriented Polypropylene
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Rulkov, N. F., Hunt, A. M., Rulkov, P. N., & Maksimov, A. G. (2016).
Quantization of map-based neuronal model for embedded simulations of
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Saikia, A., & Karak, N. (2016). Castor oil based epoxy/clay nanocomposite for advanced applications. Am. J. Eng. Applied Sci., 9, 31-40.
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Samantaray, K. S., Sahoo, S., & Rout, C. S. (2016). Hydrothermal synthesis of CuWO4-reduced graphene oxide hybrids and
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Santos, F. A., &
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Semin, A. R., Ismail, & Bakar, R. A. (2009a). Combustion temperature effect of diesel engine convert to compressed
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Semin, A. R., Ismail, & Bakar, R. A. (2009b). Effect of diesel engine converted to sequential port injection
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Semin, A. R., Ismail, & Bakar, R. A. (2009c). Diesel engine convert to port injection CNG engine using gaseous
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Semin, A. R., & Bakar, R. A. (2008).
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Sepúlveda, J. A. M.
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Serebrennikov, A., Serebrennikov, D., & Hakimov, Z. (2016). Polyethylene pipeline bending stresses at an installation. Am. J. Eng. Applied Sci., 9, 350-355.
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Shanmugam, K. (2016). Flow dynamic behavior of fish oil/silver nitrate
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Shruti,
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Stavridou, N., Efthymiou, E., & Baniotopoulos, C. C. (2015a). Welded
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Stavridou, N., Efthymiou, E., &
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Suarez, L., Abu-Lebdeh, T. M., Picornell, M., & Hamoush, S. A. (2016). Investigating the role of fly ash and silica fume in the cement
hydration process. Am. J. Eng. Applied
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Syahrullah, O. I., &
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Takeuchi, T., Kinouchi, Y., Matsui, R., & Ogawa, T. (2015). Optimal
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Theansuwan, W., & Triratanasirichai,
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Thongwan, T., Kangrang, A., &
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Vernardos, S. M., &
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Waters, C., Ajinola, S., &
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Wessels, L., & Raad, H. (2016). Recent
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Yang, M. F., &
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Zhao, B. (2013).
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Applied Sci., 6, 309-319. DOI: 10.3844/ajeassp.2013.309.319
Zheng, H., & Li, S. (2016). Fast and robust maximum power point tracking for solar photovoltaic
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Zotos, I. S., &
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Zurfi, A., & Zhang, J. (2016b). Exploitation of battery energy storage in load frequency control-a
literature survey. Am. J. Eng. Applied
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SOURCE OF FIGURES
Figure 01, https://www.ecocranes.ro/wp-content/uploads/2016/01/ECO5.jpg
Figure 02, https://www.ecocranes.ro/wp-content/uploads/2016/01/ECO3.jpg
Figure 03, https://www.ecocranes.ro/wp-content/uploads/2016/01/ECO6.jpg