A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

SUMMARY This paper aims at developing a novel method to assess the kinematic reliability of robotic manipulators based on the fuzzy theory. The kinematic reliability quantifies the probability of obtaining positioning errors within acceptable limits. For this purpose, the fuzzy reliability evaluates the effect of the joint clearances on the end-effector position to compute a failure possibility index. As an alternative to the conventional methods reported in the literature, this failure possibility index conveys a novel assessment of the kinematic performance. The numerical results are compared with the well-known probabilistic approach based on the Monte Carlo simulation.

ENGINEERING GEOLOGICAL ASSESSMENT OF THE ROCK SLOPE STABILITY ALONG THE PROPOSED LERABIRE ROAD IN THE MERGASUR CITY, KURDISTAN, IRAQ

The study of slope stability along the proposed Lerabire road in the Mergasur town, in Erbil city, Kurdistan region of NE-Iraq is carried out. To evaluate the stability of slopes, twenty stations were selected along the mentioned road, two stations in the rock slopes of the Shiranish Formation, eleven stations in the Bekhme Formation, six stations in the Qamchuqa Formation, and one station in the Sarmord Formation. In this study, the stability of rock slopes has been evaluated by the Landslide Possibility Index system. The results of the Landslide Possibility Index category in the rock slopes along the proposed Lerabire road ranges from a very low to low for rock slopes in stations 1 and 2 (marl and marly limestone of the Shiranish Formation, Moderate for rock slopes in stations 3, 4 and 19 (limestone of the Bekhme Formation), High for rock slopes in the stations 5, 6, 7, 8, 9, 10, 11 (limestone of the Bekhme Formation), stations 12, 17 (limestone and marly limestone of the Qamchuqa Formation), station 20 (limestone of the Sarmord Formation and very high for rock slopes in the stations 13, 14, 15, 16 (limestone and marly limestone of the Qamchuqa Formation), station 18 (limestone of the Bekhme Formation). According to Landslide Possibility Index category, the hazard category is Low in station 1 in the Shiranish Formation, but in station 2, 3, 4 and 19 are Moderate, moreover, in the station 5, 11, 12, 17, 18 and 20 are high. The rock slope assessment indicated that the height of the slope face, slope angle, a high degree of weathering, and discontinuities spacing are the factors that increase the failure possibility. To prevent landslide the ditch method is used in the Shiranish Formation rock slopes, the reinforcement techniques are used in the Behkme Formation rock slopes and rock removal methods are used in Qamchuqa and Sarmord Formation rock slopes.