Multi-Agent Path Finding (MAPF) is an algorithm designed to identify collision-free paths for multiple agents, commonly used in fields like robotics and drone navigation. Conflict-Based Search with Continuous Time (CCBS) is particularly beneficial for real-world applications due to its capability to find paths in continuous time; however, it often experiences lengthy computation times. Although techniques such as prioritizing conflicts (PC), disjoint splitting (DS), and high-level heuristics have been implemented to reduce these times, challenges remain. To address these issues, this paper introduces methods to improve space utilization by calculating agent congestion. By optimizing space usage, we can identify paths that avoid potential collisions, even when those paths share the same cost. We propose enhancements to high-level heuristics, conflict prioritization, and low-level heuristics, as well as a method for calculating congestion in continuous time. These improvements lead to a reduction in agent collisions and a decrease in high-level expansions, resulting in a 30% increase in computational success rates compared to the existing CCBS. Incorporating space utilization into the search process significantly enhances MAPF performance.

The rising demand for robots in warehouses has highlighted the need for efficient multi-robot algorithms. In response, researchers have focused on Multi-Agent Path Finding (MAPF), which enables multiple agents to calculate conflict-free paths to their individual goals. However, the computation time of conflict-based MAPF algorithms significantly increases as the number of conflicts rises, a common challenge in warehouse environments with narrow passages or corridors. To tackle this issue, this study introduces a new type of conflict called “Overlap Conflict.” Overlap Conflicts occur when an agent stops, causing chain conflicts among subsequent agents traveling in the same direction. When an Overlap Conflict arises, the affected agents are dynamically merged into a single group, shifting the conflicts from an individual level to a group level. If the merged agents find themselves with unreachable goals, they are split back into individual agents to continue calculating paths to their respective destinations. This approach effectively reduces computation time in congested environments, particularly in narrow corridors where alternative routes exist.

Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.

Composite materials have a higher specific strength and modulus than traditional metallic materials. Additionally, these materials offer new design flexibilities, corrosion and wear resistance, low thermal conductivity and increased fatigue life. These, however, are susceptible to impact damage due to their lack of through-thickness reinforcement and it causes large drops in the load-carrying capacity of a structure. Therefore, the impact damage behavior and subsequently load-carrying capacity of impacted composite materials deserve careful investigation. In this study, the residual strength and impact characteristics of plain-woven CFRP composites with impact damage are investigated under axial tensile test. Impact test was performed using drop weight impact tester. And residual strength behavior by impact was evaluated using the caprino model. Also we evaluated behavior of residual strength by change of mass and size of impactor. Examined change of residual strength by impact energy change through this research and consider impactor diameter in caprino model.

Recently, carbon fiber reinforced plastic(CFRP) composite materials have been widely used in various fields of engineering because of its advanced properties. Also, CFRP composite materials offer new design flexibilities, corrosion and wear resistance, low thermal conductivity and increased fatigue life. However CFRP composite materials are susceptible to impact damage due to their lack of through-thickness reinforcement and it causes large drops in the load-carrying capacity of a structure. Therefore, the impact damage behavior and subsequently load-carrying capacity of impacted composite materials deserve careful investigation. In this study, the residual strength and impact characteristics of plain-woven CFRP composites with impact damage are investigated under axial tensile test. By using obtained residual strength and Tan-Cheng failure criterion, residual strength of CFRP laminate with arbitrary fiber angle were evaluated.

A straight pipe is used after complicated bending work in a mechanical system. In this work process, the plastic deformation of the pipe produces residual stress in the pipe. This residual stress significantly affects the behavior of pipe fracture. For this reason, residual stress must be evaluated. Measuring the residual stress of a U-shaped pipe is difficult with existing destructive and nondestructive measurement methods. In this paper, the residual stress of a U-shaped aluminum pipe (99.7% pure aluminum) was evaluated from the Raman shift by Raman spectroscopy and FEM(Finite Element Method, FEM) analysis. The results of the stiffness test by FEM analysis are compared with those by experiments. The analyzed results of the Raman spectra showed a similar tendency with the results of the FEM analysis with respect to the residual stress distributions in U-shaped pipes. Also, the results of the bending tests showed resemblance to each other.