Abstract Estimation of mode II fracture toughness (KIIC) in composite materials is known as a troublous and crucial problem. Dissipated values of KIIC that are reported in different fracture mechanics references is the evidence of the mentioned claim. This problem can signify the necessity of modification on common test methods and fixtures. The present study focuses on the causes of shear test results scattering in composite materials and presents some solutions in the form of necessary corrections that should be performed on the common test fixtures. Mixed mode I/II fracture limit curves are employed to show that the scattering in test results have strong relation with the creation of a considerable Fracture Process Zone (FPZ). It is shown that common test fixtures are blind in confrontation with FPZ and are not able to active toughening mechanisms in pure mode II, correctly. Therefore, estimation of KIIC with available test fixtures has considerable standard deviation. After that, by employing some structural modifications on common fixtures, a new scheme of a shear fixture is proposed that in addition to include the FPZ effects, prepare suitable condition in order to activate the mode II toughening mechanisms. In this regard, it could be found that by applying these reforms, shear load concentration as well as the accuracy of empirical test and repeatability and reproducibility are enhanced. Furthermore, a 3D finite element method (FEM) was considered as the numerical method in which the Iosipesque and new fixture’s specimens were analyzed by ANSYS software. It was found that by applying major amendments in the new shear test fixture, a remarkable precision in results can be obtained in comparison with the previous Iosipesque one

In contrast to the case of known environments, path planning in unknown environments, mostly for humanoid robots, is yet to be opened for further development. This is mainly attributed to the fact that obtaining thorough sensory information about an unknown environment is not functionally or economically applicable. This study alleviates the latter problem by resorting to a novel approach through which the decision is made according to fuzzy Markov decision processes (FMDP), with regard to the pace. The experimental results show the efficiency of the proposed method.