Abstract: This article proposes modeling, simulation and
kinematic and workspace analysis of a spatial cable suspended robot
as incompletely Restrained Positioning Mechanism (IRPM). These
types of robots have six cables equal to the number of degrees of
freedom. After modeling, the kinds of workspace are defined then an
statically reachable combined workspace for different geometric
structures of fixed and moving platform is obtained. This workspace
is defined as the situations of reference point of the moving platform
(center of mass) which under external forces such as weight and with
ignorance of inertial effects, the moving platform should be in static
equilibrium under conditions that length of all cables must not be
exceeded from the maximum value and all of cables must be at
tension (they must have non-negative tension forces). Then the effect
of various parameters such as the size of moving platform, the size of
fixed platform, geometric configuration of robots, magnitude of
applied forces and moments to moving platform on workspace of
these robots with different geometric configuration are investigated.
Obtained results should be effective in employing these robots under
different conditions of applied wrench for increasing the workspace
volume.
Abstract: This paper examines the use of mechanical aerator for
oxidation-ditch process. The rotor, which controls the aeration, is the
main component of the aeration process. Therefore, the objective of
this study is to find out the variations in overall oxygen transfer
coefficient (KLa) and aeration efficiency (AE) for different
configurations of aerator by varying the parameters viz. speed of
aerator, depth of immersion, blade tip angles so as to yield higher
values of KLa and AE. Six different configurations of aerator were
developed and fabricated in the laboratory and were tested for abovementioned
parameters. The curved blade rotor (CBR) emerged as a
potential aerator with blade tip angle of 47°.
The mathematical models are developed for predicting the
behaviour of CBR w.r.t kLa and power. In laboratory studies, the
optimum value of KLa and AE were observed to be 10.33 h-1 and
2.269 kg O2/ kWh.
Abstract: Owning to the high-speed feed rate and ultra spindle
speed have been used in modern machine tools, the tool-path
generation plays a key role in the successful application of a
High-Speed Machining (HSM) system. Because of its importance in
both high-speed machining and tool-path generation, approximating a
contour by NURBS format is a potential function in CAD/CAM/CNC
systems. It is much more convenient to represent an ellipse by
parametric form than to connect points laboriously determined in a
CNC system. A new approximating method based on optimum
processes and NURBS curves of any degree to the ellipses is presented
in this study. Such operations can be the foundation of tool-radius
compensation interpolator of NURBS curves in CNC system. All
operating processes for a CAD tool is presented and demonstrated by
practical models.
Abstract: Safety Critical hard Real-Time Systems are ever
present in the avionics industry. The Model Driven Architecture
(MDA) offers different levels of model abstraction and generation.
This paper discusses our concerns relating to model development and
generation when using the MDA approach in the avionics industry.
These concerns are based on our experience when looking into
adopting the MDA as part of avionics systems development. We
place emphasis on transformations between model types and discuss
possible benefits of adopting an MDA approach as part of the
software development life cycle.
Abstract: The value of overall oxygen transfer Coefficient
(KLa), which is the best measure of oxygen transfer in water through
aeration, is obtained by a simple approach, which sufficiently
explains the utility of the method to eliminate the discrepancies due
to inaccurate assumption of saturation dissolved oxygen
concentration. The rate of oxygen transfer depends on number of
factors like intensity of turbulence, which in turns depends on the
speed of rotation, size, and number of blades, diameter and
immersion depth of the rotor, and size and shape of aeration tank, as
well as on physical, chemical, and biological characteristic of water.
An attempt is made in this paper to correlate the overall oxygen
transfer Coefficient (KLa), as an independent parameter with other
influencing parameters mentioned above. It has been estimated that
the simulation equation developed predicts the values of KLa and
power with an average standard error of estimation of 0.0164 and
7.66 respectively and with R2 values of 0.979 and 0.989 respectively,
when compared with experimentally determined values. The
comparison of this model is done with the model generated using
Computational fluid dynamics (CFD) and both the models were
found to be in good agreement with each other.
Abstract: This paper presents the adaptive control scheme
with sliding mode compensator for vibration control problem
in the presence of disturbance. The dynamic model of the
flexible cantilever beam using finite element modeling is
derived. The adaptive control with sliding mode compensator
using output feedback for output tracking is developed to
reject the external disturbance, and to improve the tracking
performance. Satisfactory simulation results verify that the
effectiveness of adaptive control scheme with sliding mode
compensator.
Abstract: In inspection and workpiece localization, sampling point data is an important issue. Since the devices for sampling only sample discrete points, not the completely surface, sampling size and location of the points will be taken into consideration. In this paper a method is presented for determining the sampled points size and location for achieving efficient sampling. Firstly, uncertainty analysis of the localization parameters is investigated. A localization uncertainty model is developed to predict the uncertainty of the localization process. Using this model the minimum size of the sampled points is predicted. Secondly, based on the algebra theory an eigenvalue-optimal optimization is proposed. Then a freeform surface is used in the simulation. The proposed optimization is implemented. The simulation result shows its effectivity.
Abstract: Sharing the manufacturing facility through remote
operation and monitoring of a machining process is challenge for
effective use the production facility. Several automation tools in term
of hardware and software are necessary for successfully remote
operation of a machine. This paper presents a prototype of workpiece
holding attachment for remote operation of milling process by self
configuration the workpiece setup. The prototype is designed with
mechanism to reorient the work surface into machining spindle
direction with high positioning accuracy. Variety of parts geometry
is hold by attachment to perform single setup machining. Pin type
with array pattern additionally clamps the workpiece surface from
two opposite directions for increasing the machining rigidity.
Optimum pins configuration for conforming the workpiece geometry
with minimum deformation is determined through hybrid algorithms,
Genetic Algorithms (GA) and Particle Swarm Optimization (PSO).
Prototype with intelligent optimization technique enables to hold
several variety of workpiece geometry which is suitable for
machining low of repetitive production in remote operation.
Abstract: The integral form of equations of motion of composite
beams subjected to varying time loads are discretized using a
developed finite element model. The model consists of a straight five
node twenty-two degrees of freedom beam element. The stability
analysis of the beams is studied by solving the matrix form
characteristic equations of the system. The principle of virtual work
and the first order shear deformation theory are employed to analyze
the beams with large deformation and small strains. The regions of
dynamic instability of the beam are determined by solving the
obtained Mathieu form of differential equations. The effects of nonconservative
loads, shear stiffness, and damping parameters on
stability and response of the beams are examined. Several numerical
calculations are presented to compare the results with data reported
by other researchers.
Abstract: This paper was aimed at developing a computer aided
design and manufacturing system for spatial cylindrical cams. In the
proposed system, a milling tool with a diameter smaller than that of the
roller, instead of the standard cutter for traditional machining process,
was used to generate the tool path for spatial cams. To verify the
feasibility of the proposed method, a multi-axis machining simulation
software was further used to simulate the practical milling operation of
spatial cams. It was observed from computer simulation that the tool
path of small-sized cutter were within the motion range of a standard
cutter, no occurrence of overcutting. Examination of a finished cam
component clearly verifies the accuracy of the tool path generated for
small-sized milling tool. It is believed that the use of small-sized cutter
for the machining of the spatial cylindrical cams can generate a better
surface morphology with higher accuracy. The improvement in
efficiency and cost for the manufacturing of the spatial cylindrical cam
can be expected through the proposed method.
Abstract: This work presents a numerical model developed to
simulate the dynamics and vibrations of a multistage tractor gearbox.
The effect of time varying mesh stiffness, time varying frictional
torque on the gear teeth, lateral and torsional flexibility of the shafts
and flexibility of the bearings were included in the model. The model
was developed by using the Lagrangian method, and it was applied to
study the effect of three design variables on the vibration and stress
levels on the gears. The first design variable, module, had little effect
on the vibration levels but a higher module resulted to higher bending
stress levels. The second design variable, pressure angle, had little
effect on the vibration levels, but had a strong effect on the stress
levels on the pinion of a high reduction ratio gear pair. A pressure
angle of 25o resulted to lower stress levels for a pinion with 14 teeth
than a pressure angle of 20o. The third design variable, contact ratio,
had a very strong effect on both the vibration levels and bending
stress levels. Increasing the contact ratio to 2.0 reduced both the
vibration levels and bending stress levels significantly. For the gear
train design used in this study, a module of 2.5 and contact ratio of
2.0 for the various meshes was found to yield the best combination
of low vibration levels and low bending stresses. The model can
therefore be used as a tool for obtaining the optimum gear design
parameters for a given multistage spur gear train.
Abstract: Partial combustion of biomass in the gasifier generates producer gas that can be used for heating purposes and as supplementary or sole fuel in internal combustion engines. In this study, the virgin biomass obtained from hingan shell is used as the feedstock for gasifier to generate producer gas. The gasifier-engine system is operated on diesel and on esters of vegetable oil of hingan in liquid fuel mode operation and then on liquid fuel and producer gas combination in dual fuel mode operation. The performance and emission characteristics of the CI engine is analyzed by running the engine in liquid fuel mode operation and in dual fuel mode operation at different load conditions with respect to maximum diesel savings in the dual fuel mode operation. It was observed that specific energy consumption in the dual fuel mode of operation is found to be in the higher side at all load conditions. The brake thermal efficiency of the engine using diesel or hingan oil methyl ester (HOME) is higher than that of dual fuel mode operation. A diesel replacement in the tune of 60% in dual fuel mode is possible with the use of hingan shell producer gas. The emissions parameters such CO, HC, NOx, CO2 and smoke are higher in the case of dual fuel mode of operation as compared to that of liquid fuel mode.
Abstract: In this paper an attempt has been made to correlate the usefulness of electrodes made through powder metallurgy (PM) in comparison with conventional copper electrode during electric discharge machining. Experimental results are presented on electric discharge machining of AISI D2 steel in kerosene with copper tungsten (30% Cu and 70% W) tool electrode made through powder metallurgy (PM) technique and Cu electrode. An L18 (21 37) orthogonal array of Taguchi methodology was used to identify the effect of process input factors (viz. current, duty cycle and flushing pressure) on the output factors {viz. material removal rate (MRR) and surface roughness (SR)}. It was found that CuW electrode (made through PM) gives high surface finish where as the Cu electrode is better for higher material removal rate.