This paper proposes a novel two-nozzle cable-driven parallel robot (CDPR) for 3D printing building construction. system has two independently moving nozzles mounted on the existing head. Thus, time can be reduced dramatically with this as travel path of head to almost half thanks those that print contour. To fully take advantage nozzle structures effectively, is optimized secure minimum length ...

Abstract A distributed online fiber sensing system based on the phase-sensitive optical time domain reflectometer (?-OTDR) enhanced by drawing tower Bragg grating (FBG) array is presented and investigated experimentally for monitoring galloping of overhead transmission lines. The chirped FBG ?-OTDR can be used to measure behavior lines (optical phase conductor or power ground wire), which are h...

Submerged floating tunnels with suspension supports (SFTSS) resemble to bridges on lands, which are installed a number of hangers the main tower and cables support girder. On other hand, as SFTSS underwater has resist buoyancy forces in an offshore environment, cable was at bottom tunnel body connected hanger. The concept first proposed by Won et al (2019, 2022). It found that generated itself ...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

This paper investigates the effect of metallic sheaths on losses and temperature of medium voltage power cables. Two grounding methods of sheaths, including both ends bonding and single point bonding that causes different situations on cable ampacity, are considered. Electrical losses of cables that are main sources of heat are calculated in both conductor and metallic sheath of the cables. She...

When measuring emissions of gases, particulate, and odor from animal buildings, the ventilation data are equally important as the concentration data, because emission rate of a pollutant is the product of its concentration and the ventilation rate. However, effectively measuring and monitoring building ventilation remains a technical challenge, especially in barns with numerous fans. Although s...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...