Abstract: Variable speed drives are growing and varying. Drives expanse depend on progress in different part of science like power system, microelectronic, control methods, and so on. Artificial intelligent contains hard computation and soft computation. Artificial intelligent has found high application in most nonlinear systems same as motors drive. Because it has intelligence like human but there are no sentimental against human like angriness and.... Artificial intelligent is used for various points like approximation, control, and monitoring. Because artificial intelligent techniques can use as controller for any system without requirement to system mathematical model, it has been used in electrical drive control. With this manner, efficiency and reliability of drives increase and volume, weight and cost of them decrease.
Abstract: Time delay in bilateral teleoperation system was
introduced as a sufficient reason to make the system unstable or
certainly degrade the system performance. In this paper, simulations
and experimental results of implementing p-like control scheme,
under different ranges of variable time delay, will be presented to
verify a certain criteria, which guarantee the system stability and
position tracking. The system consists of two Phantom premium 1.5A
devices. One of them acts as a master and the other acts as a slave.
The study includes deriving the Phantom kinematic and dynamic
model, establishing the link between the two Phantoms over
Simulink in Matlab, and verifying the stability criteria with
simulations and real experiments.
Abstract: This paper describes various stages of design and prototyping of a modular robot for use in various industrial applications. The major goal of current research has been to design and make different robotic joints at low cost capable of being assembled together in any given order for achieving various robot configurations. Five different types of joins were designed and manufactured where extensive research has been carried out on the design of each joint in order to achieve optimal strength, size, modularity, and price. This paper presents various stages of research and development undertaken to engineer these joints that include material selection, manufacturing, and strength analysis. The outcome of this research addresses the birth of a new generation of modular industrial robots with a wider range of applications and greater efficiency.
Abstract: The objective of this paper is to study the analysis and testing for determining the torsional stiffness of the student formula-s space frame. From past study, the space frame for Chulalongkorn University Student Formula team used in 2011 TSAE Auto Challenge Student Formula in Thailand was designed by considering required mass and torsional stiffness based on the numerical method and experimental method. The numerical result was compared with the experimental results to verify the torsional stiffness of the space frame. It can be seen from the large error of torsional stiffness of 2011 frame that the experimental result can not verify by the numerical analysis due to the different between the numerical model and experimental setting. In this paper, the numerical analysis and experiment of the same 2011 frame model is performed by improving the model setting. The improvement of both numerical analysis and experiment are discussed to confirm that the models from both methods are same. After the frame was analyzed and tested, the results are compared to verify the torsional stiffness of the frame. It can be concluded that the improved analysis and experiments can used to verify the torsional stiffness of the space frame.
Abstract: Development of artificial neural network (ANN) for
prediction of aluminum workpieces' surface roughness in ultrasonicvibration
assisted turning (UAT) has been the subject of the present
study. Tool wear as the main cause of surface roughness was also
investigated. ANN was trained through experimental data obtained
on the basis of full factorial design of experiments. Various
influential machining parameters were taken into consideration. It
was illustrated that a multilayer perceptron neural network could
efficiently model the surface roughness as the response of the
network, with an error less than ten percent. The performance of the
trained network was verified by further experiments. The results of
UAT were compared with the results of conventional turning
experiments carried out with similar machining parameters except for
the vibration amplitude whence considerable reduction was observed
in the built-up edge and the surface roughness.
Abstract: For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). This work considers the cartesian robot coupled and non linear (contrary to normal considerations for this type of robots). The mechanical and control architecture proposed in this paper is efficient for industrial and research application in which high speed, well known model and very high accuracy are required.
Abstract: Dense slurry flow through centrifugal pump casing
has been modeled using the Eulerian-Eulerian approach with
Eulerian multiphase model in FLUENT 6.1®. First order upwinding
is considered for the discretization of momentum, k and ε terms.
SIMPLE algorithm has been applied for dealing with pressurevelocity
coupling. A mixture property based k-ε turbulence model
has been used for modeling turbulence. Results are validated first
against mesh independence and experiments for a particular set of
operational and geometric conditions. Parametric analysis is then
performed to determine the effect on important physical quantities
viz. solid velocities, solid concentration and solid stresses near the
wall with various operational geometric conditions of the pump.
Abstract: In this paper the development of a heat exchanger as a
pilot plant for educational purpose is discussed and the use of neural
network for controlling the process is being presented. The aim of the
study is to highlight the need of a specific Pseudo Random Binary
Sequence (PRBS) to excite a process under control. As the neural
network is a data driven technique, the method for data generation
plays an important role. In light of this a careful experimentation
procedure for data generation was crucial task. Heat exchange is a
complex process, which has a capacity and a time lag as process
elements. The proposed system is a typical pipe-in- pipe type heat
exchanger. The complexity of the system demands careful selection,
proper installation and commissioning. The temperature, flow, and
pressure sensors play a vital role in the control performance. The
final control element used is a pneumatically operated control valve.
While carrying out the experimentation on heat exchanger a welldrafted
procedure is followed giving utmost attention towards safety
of the system. The results obtained are encouraging and revealing
the fact that if the process details are known completely as far as
process parameters are concerned and utilities are well stabilized then
feedback systems are suitable, whereas neural network control
paradigm is useful for the processes with nonlinearity and less
knowledge about process. The implementation of NN control
reinforces the concepts of process control and NN control paradigm.
The result also underlined the importance of excitation signal
typically for that process. Data acquisition, processing, and
presentation in a typical format are the most important parameters
while validating the results.
Abstract: In this work, thermoelastic damping effect on the hemi- spherical shells is investigated. The material is selected silicon, and heat conduction equation for thermal flow is solved to obtain the temperature profile in which bending approximation with inextensional assumption of the model. Using the temperature profile, eigen-value analysis is performed to get the natural frequencies of hemispherical shells. Effects of mode numbers, radii and radial thicknesses of the model on the natural frequencies are analyzed in detail. Furthermore, the quality factor (Q-factor) is defined, and discussed for the ring and hemispherical shell.
Abstract: In this research work, investigations are carried out on
Continuous Wave (CW) Nd:YAG laser welding system after
preliminary experimentation to understand the influencing parameters
associated with laser welding of AISI 304. The experimental
procedure involves a series of laser welding trials on AISI 304
stainless steel sheets with various combinations of process parameters
like beam power, beam incident angle and beam incident angle. An
industrial 2 kW CW Nd:YAG laser system, available at Welding
Research Institute (WRI), BHEL Tiruchirappalli, is used for
conducting the welding trials for this research. After proper tuning of
laser beam, laser welding experiments are conducted on AISI 304
grade sheets to evaluate the influence of various input parameters on
weld bead geometry i.e. bead width (BW) and depth of penetration
(DOP). From the laser welding results, it is noticed that the beam
power and welding speed are the two influencing parameters on
depth and width of the bead. Three dimensional finite element
simulation of high density heat source have been performed for laser
welding technique using finite element code ANSYS for predicting
the temperature profile of laser beam heat source on AISI 304
stainless steel sheets. The temperature dependent material properties
for AISI 304 stainless steel are taken into account in the simulation,
which has a great influence in computing the temperature profiles.
The latent heat of fusion is considered by the thermal enthalpy of
material for calculation of phase transition problem. A Gaussian
distribution of heat flux using a moving heat source with a conical
shape is used for analyzing the temperature profiles. Experimental
and simulated values for weld bead profiles are analyzed for stainless
steel material for different beam power, welding speed and beam
incident angle. The results obtained from the simulation are
compared with those from the experimental data and it is observed
that the results of numerical analysis (FEM) are in good agreement
with experimental results, with an overall percentage of error
estimated to be within ±6%.
Abstract: The experimental study of position control of a light
weight and small size robotic finger during non-contact motion is
presented in this paper. The finger possesses fingertip pinching and
self adaptive grasping capabilities, and is made of a seven bar linkage
mechanism with a slider in the middle phalanx. The control system is
tested under the Proportional Integral Derivative (PID) control
algorithm and Recursive Least Square (RLS) based Feedback Error
Learning (FEL) control scheme to overcome the uncertainties present
in the plant. The experiments conducted in Matlab Simulink and xPC
Target environments show that the overall control strategy is efficient
in controlling the finger movement.
Abstract: Reliable information about tool temperature
distribution is of central importance in metal cutting. In this study,
tool-chip interface temperature was determined in cutting of ST37
steel workpiece by applying HSS as the cutting tool in dry turning.
Two different approaches were implemented for temperature
measuring: an embedded thermocouple (RTD) in to the cutting tool
and infrared (IR) camera. Comparisons are made between
experimental data and results of MSC.SuperForm and FLUENT
software.
An investigation of heat generation in cutting tool was performed
by varying cutting parameters at the stable cutting tool geometry and
results were saved in a computer; then the diagrams of tool
temperature vs. various cutting parameters were obtained. The
experimental results reveal that the main factors of the increasing
cutting temperature are cutting speed (V ), feed rate ( S ) and depth
of cut ( h ), respectively. It was also determined that simultaneously
change in cutting speed and feed rate has the maximum effect on
increasing cutting temperature.
Abstract: In the present study, a steady-state simulation model
has been developed to evaluate the system performance of a
transcritical carbon dioxide heat pump system for simultaneous water
cooling and heating. Both the evaporator (including both two-phase
and superheated zone) and gas cooler models consider the highly
variable heat transfer characteristics of CO2 and pressure drop. The
numerical simulation model of transcritical CO2 heat pump has been
validated by test data obtained from experiments on the heat pump
prototype. Comparison between the test results and the model
prediction for system COP variation with compressor discharge
pressure shows a modest agreement with a maximum deviation of
15% and the trends are fairly similar. Comparison for other operating
parameters also shows fairly similar deviation between the test
results and the model prediction. Finally, the simulation results are
presented to study the effects of operating parameters such as,
temperature of heat exchanger fluid at the inlet, discharge pressure,
compressor speed on system performance of CO2 heat pump, suitable
in a dairy plant where simultaneous cooling at 4oC and heating at
73oC are required. Results show that good heat transfer properties of
CO2 for both two-phase and supercritical region and efficient
compression process contribute a lot for high system COPs.
Abstract: A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.
Abstract: Stress Concentration Factors are significant in
machine design as it gives rise to localized stress when any change in
the design of surface or abrupt change in the cross section occurs.
Almost all machine components and structural members contain
some form of geometrical or microstructural discontinuities. These
discontinuities are very dangerous and lead to failure. So, it is very
much essential to analyze the stress concentration factors for critical
applications like Turbine Rotors. In this paper Finite Element
Analysis (FEA) with extremely fine mesh in the vicinity of the
blades of Steam Turbine Rotor is applied to determine stress
concentration factors. A model of Steam Turbine Rotor is shown in
Fig. 1.
Abstract: This paper proposes a robot able to climb Columns.
This robot is not dependent on the diameter and material of the
columns. Some climbing robots have been designed up to now but
Koala robot was designed and fabricated for climbing columns
exclusively. Simple kinematics of climbing in the nature inspired us
to design this robot. We used two linear mechanisms to grip the
column. The gripper consists of a DC motor and a power screw
mechanism with a linear bushing as a guide. This mechanism
provides enough force to grip the column. In addition we needed an
actuator for climbing the column; hence, two pneumatic jacks were
used. All the mechanical parts were designed according to the
exerted forces and operational condition. The prototype can be
simply installed and controlled on the column by an inexperienced
operator. This robot is intended for inspection and surveillance of
pipes in oil industries and power poles in electric industries.
Abstract: Analysis of reciprocating equipment piston rod leads
to nonlinear elastic-plastic deformation analysis of rod with initial
imperfection under axial dynamic load. In this paper a new and
effective model and analytical formulations are presented to evaluate
dynamic deformation and elastic-plastic stresses of reciprocating
machine piston rod. This new method has capability to account for
geometric nonlinearity, elastic-plastic deformation and dynamic
effects. Proposed method can be used for evaluation of piston rod
performance for various reciprocating machines under different
operation situations. Rod load curves and maximum allowable rod
load are calculated with presented method for a refinery type
reciprocating compressor. Useful recommendations and guidelines
for rod load, rod load reversal and rod drop monitoring are also
addressed.
Abstract: Bicycle configuration is not as large as those of motorcycles or automobiles, while it indeed composes a complicated dynamic system. People-s requirements on comfortability, controllability and safety grow higher as the research and development technologies improve. The shock absorber affects the vehicle suspension performances enormously. The absorber takes the vibration energy and releases it at a suitable time, keeping the wheel under a proper contact condition with road surface, maintaining the vehicle chassis stability. Suspension design for mountain bicycles is more difficult than that of city bikes since it encounters dynamic variations on road and loading conditions. Riders need a stiff damper as they exert to tread on the pedals when climbing, while a soft damper when they descend downhill. Various switchable shock absorbers are proposed in markets, however riders have to manually switch them among soft, hard and lock positions. This study proposes a novel design of the bicycle shock absorber, which provides automatic smooth tuning of the damping coefficient, from a predetermined lower bound to theoretically unlimited. An automatic quick releasing valve is involved in this design so that it can release the peak pressure when the suspension fork runs into a square-wave type obstacle and prevent the chassis from damage, avoiding the rider skeleton from injury. This design achieves the automatic tuning process by innovative plunger valve and fluidic passage arrangements without any electronic devices. Theoretical modelling of the damper and spring are established in this study. Design parameters of the valves and fluidic passages are determined. Relations between design parameters and shock absorber performances are discussed in this paper. The analytical results give directions to the shock absorber manufacture.
Abstract: Resistance spot welding process comprises of electric,
thermal and mechanical phenomenon, which makes this process
complex and highly non-linear and thus, it becomes difficult to model
it. In order to obtain good weld nugget during spot welding, hit and
trial welds are usually done which is very costly. Therefore the
numerical simulation research has been conducted to understand the
whole process. In this paper three different cases were analyzed by
varying the tip contact area and it was observed that, with the
variation of tip contact area the nugget formation at the faying
surface is affected. The tip contact area of the welding electrode
becomes large with long welding cycles. Therefore in order to
maintain consistency of nugget formation during the welding process,
the current compensation in control feedback is required. If the
contact area of the welding electrode tip is reduced, a large amount of
current flows through the faying surface, as a result of which
sputtering occurs.
Abstract: The increasing industrialization and motorization of the world has led to a steep rise for the demand of petroleum-based fuels. Petroleum-based fuels are obtained from limited reserves. These finite reserves are highly concentrated in certain regions of the world. Therefore, those countries not having these resources are facing energy/foreign exchange crisis, mainly due to the import of crude petroleum. Hence, it is necessary to look for alternative fuels which can be produced from resources available locally within the country such as alcohol, biodiesel, vegetable oils etc. Biodiesel is a renewable, domestically produced fuel that has been shown to reduce particulate, hydrocarbon, and carbon monoxide emissions from combustion. In the present study an experimental investigation on emission characteristic of a liquid burner system operating on several percentage of biodiesel and gas oil is carried out. Samples of exhaust gas are analysed with Testo 350 Xl. The results show that biodiesel can lower some pollutant such as CO, CO2 and particulate matter emissions while NOx emission would increase in comparison with gas oil. The results indicate there may be benefits to using biodiesel in industrial processes.