Reducing yarn hairiness with a modified yarn path in worsted ring spinning

The spinning geometry of a ring frame plays an important role, and the twist triangle is the critical region in ring spinning. Changes in the spinning geometry may affect yarn properties. This paper examines the idea of ring spinning with a "diagonal" yarn path, and the effect of such a path on yam properties, particularly hairiness. Both "left diagonal" and "right diagonal" yam arrangements are tried on a 24-spindle Cognetex FLC worsted ring frame. The hairiness results obtained from the Zweigle hairiness meter show that the right diagonal yam path produces yams of lower hairiness than the conventional ring spun yarn in almost all the hair length groups. Yam evenness and tenacity are not as sensitive to the change in yarn path. The mean spindle speed at break is also tested, and there is some deterioration in spinning efficiency with the right diagonal yarn path, particularly at higher spinning speeds. Results from this study may help explain variations in yarns spun on poorly aligned ring frames.

Investigation of yarn hairiness

Yarn hairiness affects not only the quality of products, but also the productivity in spinning and weaving. Too much yarn hairiness is undesirable for many end uses as well as the spinning and post spinning processes. The main aims of this project are to examine the hairiness features of various yarns and to reduce yarn hairiness. The thesis covers five related areas – hairiness assessment, factors affecting yarn hairiness, the hairiness of newly developed yarns, yarn hairiness reduction, and effect of yarn hairiness on the energy consumption in ring spinning. The worsted cashmere, pure wool and wool/cashmere blend yarns were employed to investigate the effect of some fibre parameters on the yarn hairiness. A single exponential distribution of the hair-length was confirmed first, using the data from the Zweigle G565 Hairiness Meter. A linear relationship was observed between the blend ratio and the hairiness indexes. In particular, the effect of fibre crimp or curvature on yarn hairiness is examined. The theory of yarn hairiness composition was also developed further. The effect of draft ratio and spindle speed on the hairiness of worsted wool yarn was examined next with a factorial experiment design. Several new hairiness indexes, namely the relative hairiness indexes, have been used to explain the results obtained. In the investigation of the hairiness of newly developed yarns, the hairiness of the Compact Spun and Roller-Jet-Spun yarns was examined first. The composition of the yarn hairiness, the hair-length distribution, and the effect of test speed on yarn hairiness were then studied. An important finding is that for both yarns, the predominant hairiness feature is the looped hairs. A comparison of the hairiness of Solospun yarns and the equivalent ring spun wool yarns was undertaken. The hair-length distribution of the Solospun yarn was examined first. The Solospun yarns used had fewer hairs in most hair-length groups and lower variations in hairiness. In addition, the effect of twist level and spindle speed on the hairiness of Solospun and conventional ring spun yarns has also been discussed. A novel approach of reducing yarn hairiness – spinning with a ‘Diagonal’ yarn path was examined next. Both ‘Left Diagonal’ and ‘Right Diagonal’ yarn arrangements were studied. A new finding is that the ‘Right Diagonal’ yarn path leads to reduced hairiness for the Z-twist yarn, while yarn evenness and tenacity are not as sensitive to the modified yarn path. The mechanism of hairiness reduction with the ‘Diagonal’ yarn path has been discussed. The spinning performance of “Right Diagonal” yarn arrangement has also been evaluated. Finally, the effect of yarn hairiness on the energy consumption in ring spinning has been investigated theoretically and experimentally. A theoretical model has been developed, which represents the first attempt at theoretically investigating the influence of yarn hairiness on energy consumption during the winding stage of ring spinning. The experimental results have generally confirmed predictions of this model. Recommendations for further research in this area have also been made in the concluding chapter of this thesis.

Improving wool/polyester yarn quality by transposal spinning with movable balloon control ring

To improve yarn quality in ring spinning frame, this paper examines transposal spinning with the movable balloon control ring. The left-transposal spinning and the right-transposal spinning were experimented to spin two yarns; after installing the movable balloon control ring, the two methods were respectively used to spin two other yarns again. All the experiments were on the same ring frame and the raw material was wool/polyester blend roving with a ration of 30/70. The main quality indexes of the four yarns were tested and analyzed, including hairiness, tensile property, evenness and usual faults. The results show that the yarn spun by the left-transposal spinning has a better quality than the right-transposal spinning, and after adding the movable balloon control ring, the improvement of yarn hairiness strength and evenness, as well usual faults, is very obvious. So, in the advantage of transposal spinning, the method of installing the movable balloon control ring can improve some deteriorative problems and make yarn quality better. In addition, the method gives new insight into energy efficiency. The research in this field in on the way and the result is in accord with the Low-carbon Economy.

Race and equity in higher education : A harder path for Indigenous academics

Our experiences as Indigenous academics within universities often reflects the experiences we have as Indigenous people in broader society, yet I am still surprised and angered when it is others working in higher education who espouse notions of justice and equity with whom we experience tension and conflict in asserting our rights, values and cultural values. At times it is a constant struggle even when universities have Reconciliation Statements as most of them do now, Indigenous recruitment or employment strategies and university wide anti-racism and anti-discrimination policies and procedures.

Robot path planning in dynamic environments using a simulated annealing based approach

Mobile robots are widely used in many industrial fields. Research on path planning for mobile robots is one of the most important aspects in mobile robots research. Path planning for a mobile robot is to find a collision-free route, through the robot’s environment with obstacles, from a specified start location to a desired goal destination while satisfying certain optimization criteria. Most of the existing path planning methods, such as the visibility graph, the cell decomposition, and the potential field are designed with the focus on static environments, in which there are only stationary obstacles. However, in practical systems such as Marine Science Research, Robots in Mining Industry, and RoboCup games, robots usually face dynamic environments, in which both moving and stationary obstacles exist. Because of the complexity of the dynamic environments, research on path planning in the environments with dynamic obstacles is limited. Limited numbers of papers have been published in this area in comparison with hundreds of reports on path planning in stationary environments in the open literature. Recently, a genetic algorithm based approach has been introduced to plan the optimal path for a mobile robot in a dynamic environment with moving obstacles. However, with the increase of the number of the obstacles in the environment, and the changes of the moving speed and direction of the robot and obstacles, the size of the problem to be solved increases sharply. Consequently, the performance of the genetic algorithm based approach deteriorates significantly. This motivates the research of this work. This research develops and implements a simulated annealing algorithm based approach to find the optimal path for a mobile robot in a dynamic environment with moving obstacles. The simulated annealing algorithm is an optimization algorithm similar to the genetic algorithm in principle. However, our investigation and simulations have indicated that the simulated annealing algorithm based approach is simpler and easier to implement. Its performance is also shown to be superior to that of the genetic algorithm based approach in both online and offline processing times as well as in obtaining the optimal solution for path planning of the robot in the dynamic environment. The first step of many path planning methods is to search an initial feasible path for the robot. A commonly used method for searching the initial path is to randomly pick up some vertices of the obstacles in the search space. This is time consuming in both static and dynamic path planning, and has an important impact on the efficiency of the dynamic path planning. This research proposes a heuristic method to search the feasible initial path efficiently. Then, the heuristic method is incorporated into the proposed simulated annealing algorithm based approach for dynamic robot path planning. Simulation experiments have shown that with the incorporation of the heuristic method, the developed simulated annealing algorithm based approach requires much shorter processing time to get the optimal solutions in the dynamic path planning problem. Furthermore, the quality of the solution, as characterized by the length of the planned path, is also improved with the incorporated heuristic method in the simulated annealing based approach for both online and offline path planning.

Determinants of participation restriction among community dwelling stroke survivors : a path analysis

Background: Apart from promoting physical recovery and assisting in activities of daily living, a major challenge in stroke rehabilitation is to minimize psychosocial morbidity and to promote the reintegration of stroke survivors into their family and community. The identification of key factors influencing long-term outcome are essential in developing more effective rehabilitation measures for reducing stroke-related morbidity. The aim of this study was to test a theoretical model of predictors of participation restriction which included the direct and indirect effects between psychosocial outcomes, physical outcome, and socio-demographic variables at 12 months after stroke.--------- Methods: Data were collected from 188 stroke survivors at 12 months following their discharge from one of the two rehabilitation hospitals in Hong Kong. The settings included patients' homes and residential care facilities. Path analysis was used to test a hypothesized model of participation restriction at 12 months.---------- Results: The path coefficients show functional ability having the largest direct effect on participation restriction (β = 0.51). The results also show that more depressive symptoms (β = -0.27), low state self-esteem (β = 0.20), female gender (β = 0.13), older age (β = -0.11) and living in a residential care facility (β = -0.12) have a direct effect on participation restriction. The explanatory variables accounted for 71% of the variance in explaining participation restriction at 12 months.---------- Conclusion: Identification of stroke survivors at risk of high levels of participation restriction, depressive symptoms and low self-esteem will assist health professionals to devise appropriate rehabilitation interventions that target improving both physical and psychosocial functioning.

Guided chaos : path planning and control for a UAV-forced landing

In recent years, unmanned aerial vehicles (UAVs) have been widely used in combat, and their potential applications in civil and commercial roles are also receiving considerable attention by industry and the research community. There are numerous published reports of UAVs used in Earth science missions [1], fire-fighting [2], and border security [3] trials, with other speculative deployments, including applications in agriculture, communications, and traffic monitoring. However, none of these UAVs can demonstrate an equivalent level of safety to manned aircraft, particularly in the case of an engine failure, which would require an emergency or forced landing. This may be arguably the main factor that has prevented these UAV trials from becoming full-scale commercial operations, as well as restricted operations of civilian UAVs to only within segregated airspace.

UAS mission path planning system (MPPS) using hybrid-game coupled to multi-objective optimiser

This paper presents the application of advanced optimization techniques to unmanned aerial system mission path planning system (MPPS) using multi-objective evolutionary algorithms (MOEAs). Two types of multi-objective optimizers are compared; the MOEA nondominated sorting genetic algorithm II and a hybrid-game strategy are implemented to produce a set of optimal collision-free trajectories in a three-dimensional environment. The resulting trajectories on a three-dimensional terrain are collision-free and are represented by using Bézier spline curves from start position to target and then target to start position or different positions with altitude constraints. The efficiency of the two optimization methods is compared in terms of computational cost and design quality. Numerical results show the benefits of adding a hybrid-game strategy to a MOEA and for a MPPS.

Optimal mission path planning (MPP) for an air sampling unmanned aerial system

This paper presents advanced optimization techniques for Mission Path Planning (MPP) of a UAS fitted with a spore trap to detect and monitor spores and plant pathogens. The UAV MPP aims to optimise the mission path planning search and monitoring of spores and plant pathogens that may allow the agricultural sector to be more competitive and more reliable. The UAV will be fitted with an air sampling or spore trap to detect and monitor spores and plant pathogens in remote areas not accessible to current stationary monitor methods. The optimal paths are computed using a Multi-Objective Evolutionary Algorithms (MOEAs). Two types of multi-objective optimisers are compared; the MOEA Non-dominated Sorting Genetic Algorithms II (NSGA-II) and Hybrid Game are implemented to produce a set of optimal collision-free trajectories in three-dimensional environment. The trajectories on a three-dimension terrain, which are generated off-line, are collision-free and are represented by using Bézier spline curves from start position to target and then target to start position or different position with altitude constraints. The efficiency of the two optimization methods is compared in terms of computational cost and design quality. Numerical results show the benefits of coupling a Hybrid-Game strategy to a MOEA for MPP tasks. The reduction of numerical cost is an important point as the faster the algorithm converges the better the algorithms is for an off-line design and for future on-line decisions of the UAV.

UAS Mission Path Planning System, (MPPS) using hybrid-game coupled to multi-objective optimizer

This paper presents the application of advanced optimization techniques to unmanned aerial system mission path planning system (MPPS) using multi-objective evolutionary algorithms (MOEAs). Two types of multi-objective optimizers are compared; the MOEA nondominated sorting genetic algorithm II and a hybrid-game strategy are implemented to produce a set of optimal collision-free trajectories in a three-dimensional environment. The resulting trajectories on a three-dimensional terrain are collision-free and are represented by using Bézier spline curves from start position to target and then target to start position or different positions with altitude constraints. The efficiency of the two optimization methods is compared in terms of computational cost and design quality. Numerical results show the benefits of adding a hybrid-game strategy to a MOEA and for a MPPS.