Abstract: The paper presents a method for a simple and
immediate motion planning of a SCARA robot, whose end-effector
has to move along a given trajectory; the calculation procedure
requires the user to define in analytical form or by points the
trajectory to be followed and to assign the curvilinear abscissa as
function of the time. On the basis of the geometrical characteristics
of the robot, a specifically developed program determines the motion
laws of the actuators that enable the robot to generate the required
movement; this software can be used in all industrial applications for
which a SCARA robot has to be frequently reprogrammed, in order
to generate various types of trajectories with different motion times.
Abstract: Transmission shafts are affected by various forces, for
example, during acceleration or sudden breaks, bending during
transportation, vertical forces that lead to cuts. One of the main
failures in combines is breaking shaft which repairmen refer it.
Structural resistance of canal against torque is very important in the
beginning of the movement. For analyzing stress, a typical sample
from a type of combine was selected, called JD955 combine. Long
shaft in this combine was analyzed with finite element method by
Ansys13 generic package under static load. Conducted analysis
showed that there is a maximum stress in contact surfaces of
indentations and also in place of changing diameter. Safety factor
value is low in parts of the shaft and this increases the probability of
failure at these points. To improve the conditions with the least cost
and an approach of product improvement, using alternative alloy is
important.
Abstract: The efficiency of the actuation system of exoskeletons
and active orthoses for lower limbs is a significant aspect of the
design of such devices because it affects their efficacy. The F-IVT is
an innovative actuation system to power artificial knee joint with
energy recovery capabilities. Its key and non-conventional elements
are a flywheel that acts as a mechanical energy storage system, and
an Infinitely Variable Transmission (IVT). The design of the F-IVT
can be optimized for a certain walking condition, resulting in a heavy
reduction of both the electric energy consumption and of the electric
peak power. In this work, by means of simulations of level ground
walking at different speeds, it is demonstrated that the F-IVT is still
an advantageous actuator which permits to save energy consumption
and to downsize the electric motor even when it does not work in
nominal conditions.
Abstract: An Australian manufacturer has fabricated an
innovative GFRP sandwich panel made from E-glass fiber skin and a
modified phenolic core for structural applications. Debonding, which
refers to separation of skin from the core material in composite
sandwiches, is one of the most common types of damage in
composites. The presence of debonding is of great concern because it
not only severely affects the stiffness but also modifies the dynamic
behaviour of the structure. Generally it is seen that the majority of
research carried out has been concerned about the delamination of
laminated structures whereas skin-core debonding has received
relatively minor attention. Furthermore it is observed that research
done on composite slabs having multiple skin-core debonding is very
limited. To address this gap, a comprehensive research investigating
dynamic behaviour of composite panels with single and multiple
debonding is presented. The study uses finite-element modelling and
analyses for investigating the influence of debonding on free
vibration behaviour of single and multilayer composite sandwich
panels. A broad parametric investigation has been carried out by
varying debonding locations, debonding sizes and support conditions
of the panels in view of both single and multiple debonding.
Numerical models were developed with Strand7 finite element
package by innovatively selecting the suitable elements to diligently
represent their actual behavior. Three-dimensional finite element
models were employed to simulate the physically real situation as
close as possible, with the use of an experimentally and numerically
validated finite element model. Comparative results and conclusions
based on the analyses are presented. For similar extents and locations
of debonding, the effect of debonding on natural frequencies appears
greatly dependent on the end conditions of the panel, giving greater
decrease in natural frequency when the panels are more restrained.
Some modes are more sensitive to debonding and this sensitivity
seems to be related to their vibration mode shapes. The fundamental
mode seems generally the least sensitive mode to debonding with
respect to the variation in free vibration characteristics. The results
indicate the effectiveness of the developed three dimensional finite
element models in assessing debonding damage in composite
sandwich panels.
Abstract: In this study, out-of-plane free vibrations of a circular
rods is investigated theoretically. The governing equations for
naturally twisted and curved spatial rods are obtained using
Timoshenko beam theory and rewritten for circular rods. Effects of
the axial and shear deformations are considered in the formulations.
Ordinary differential equations in scalar form are solved analytically
by using transfer matrix method. The circular rods of the mass matrix
are obtained by using straight rod of consistent mass matrix. Free
vibrations frequencies obtained by solving eigenvalue problem. A
computer program coded in MATHEMATICA language is prepared.
Circular beams are analyzed through various examples for free
vibrations analysis. Results are compared with ANSYS results based
on finite element method and available in the literature.
Abstract: Pipa is one of the most important Chinese traditional
plucked instruments, but its directivity has never been measured
systematically. In western, directivity of loudness for western
instruments is deeply researched through analysis of sound pressure
level, whereas the directivity of timbre is seldom studied. In this paper,
a new method for directivity of timbre was proposed, and horizontal
directivity patterns of loudness and timbre of Pipa were measured.
Directivity of Pipa radiation was measured in an anechoic room. The
sound of Pipa played by a musician was recorded simultaneously by
32 microphones with Pipa in the center. The measuring results were
examined through listening test. According to the measurement of
Pipa directivity radiation, we put forward the best localization of Pipa
in the Chinese traditional orchestra and the optimal recording region.
Abstract: In this study, ultrasonic assisted machining (UAM) technique is applied in side-surface milling experiment for glass-ceramic workpiece material. The tungsten carbide cutting-tool with diamond coating is used in conjunction with two kinds of cooling/lubrication mediums such as water-soluble (WS) cutting fluid and minimum quantity lubricant (MQL). Full factorial process parameter combinations on the milling experiments are planned to investigate the effect of process parameters on cutting performance. From the experimental results, it tries to search for the better process parameter combination which the edge-indentation and the surface roughness are acceptable. In the machining experiments, ultrasonic oscillator was used to excite a cutting-tool along the radial direction producing a very small amplitude of vibration frequency of 20KHz to assist the machining process. After processing, toolmaker microscope was used to detect the side-surface morphology, edge-indentation and cutting tool wear under different combination of cutting parameters, and analysis and discussion were also conducted for experimental results. The results show that the main leading parameters to edge-indentation of glass ceramic are cutting depth and feed rate. In order to reduce edge-indentation, it needs to use lower cutting depth and feed rate. Water-soluble cutting fluid provides a better cooling effect in the primary cutting area; it may effectively reduce the edge-indentation and improve the surface morphology of the glass ceramic. The use of ultrasonic assisted technique can effectively enhance the surface finish cleanness and reduce cutting tool wear and edge-indentation.
Abstract: Reflux condensation occurs in vertical channels and tubes when there is an upward core flow of vapour (or gas-vapour mixture) and a downward flow of the liquid film. The understanding of this condensation configuration is crucial in the design of reflux condensers, distillation columns, and in loss-of-coolant safety analyses in nuclear power plant steam generators. The unique feature of this flow is the upward flow of the vapour-gas mixture (or pure vapour) that retards the liquid flow via shear at the liquid-mixture interface. The present model solves the full, elliptic governing equations in both the film and the gas-vapour core flow. The computational mesh is non-orthogonal and adapts dynamically the phase interface, thus produces a sharp and accurate interface. Shear forces and heat and mass transfer at the interface are accounted for fundamentally. This modeling is a big step ahead of current capabilities by removing the limitations of previous reflux condensation models which inherently cannot account for the detailed local balances of shear, mass, and heat transfer at the interface. Discretisation has been done based on finite volume method and co-located variable storage scheme. An in-house computer code was developed to implement the numerical solution scheme. Detailed results are presented for laminar reflux condensation from steam-air mixtures flowing in vertical parallel plate channels. The results include velocity and gas mass fraction profiles, as well as axial variations of film thickness.
Abstract: This paper is focused on the CFD simulation of the radiaxial pump (i.e. mixed flow pump) with the aim to detect the reasons of Y-Q characteristic instability. The main reasons of pressure pulsations were detected by means of the analysis of velocity and pressure fields within the pump combined with the theoretical approach. Consequently, the modifications of spiral case and pump suction area were made based on the knowledge of flow conditions and the shape of dissipation function. The primary design of pump geometry was created as the base model serving for the comparison of individual modification influences. The basic experimental data are available for this geometry. This approach replaced the more complicated and with respect to convergence of all computational tasks more difficult calculation for the compressible liquid flow. The modification of primary pump consisted in inserting the three fins types. Subsequently, the evaluation of pressure pulsations, specific energy curves and visualization of velocity fields were chosen as the criterion for successful design.
Abstract: In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.
Abstract: The present work attempts to investigate the
combustion, performance and emission characteristics of an existing
single-cylinder four-stroke compression-ignition engine operated in
dual-fuel mode with hydrogen as an alternative fuel. Environmental
concerns and limited amount of petroleum fuels have caused interests
in the development of alternative fuels like hydrogen for internal
combustion (IC) engines. In this experimental investigation, a diesel
engine is made to run using hydrogen in dual fuel mode with diesel,
where hydrogen is introduced into the intake manifold using an LPGCNG
injector and pilot diesel is injected using diesel injectors. A
Timed Manifold Injection (TMI) system has been developed to vary
the injection strategies. The optimized timing for the injection of
hydrogen was 10^0 CA after top dead center (ATDC). From the study
it was observed that with increasing hydrogen rate, enhancement in
brake thermal efficiency (BTHE) of the engine has been observed
with reduction in brake specific energy consumption (BSEC).
Furthermore, Soot contents decrease with an increase in indicated
specific NOx emissions with the enhancement of hydrogen flow rate.
Abstract: This paper presents effects of the mean operating
pressure on the optimal operating frequency based on temperature
differences across stack ends in a thermoacoustic refrigerator. In
addition to the length of the resonance tube, components of the
thermoacoustic refrigerator have an influence on the operating
frequency due to their acoustic properties, i.e., absorptivity,
reflectivity and transmissivity. The interference of waves incurs and
distorts the original frequency generated by the driver so that the
optimal operating frequency differs from the designs. These acoustic
properties are not parameters in the designs and be very complicated
to infer their responses. A prototype thermoacoustic refrigerator is
constructed and used to investigate its optimal operating frequency
compared to the design at various operating pressures. Helium and air
are used as working fluids during the experiments. The results
indicate that the optimal operating frequency of the prototype
thermoacoustic refrigerator using helium is at 6 bar and 490Hz or
approximately 20% away from the design frequency. The optimal
operating frequency at other mean pressures differs from the design
in an unpredictable manner, however, the optimal operating
frequency and pressure can be identified by testing.
Abstract: A cold, thin film of liquid impinging on an isothermal
hot, horizontal surface has been investigated. An approximate
solution for the velocity and temperature distributions in the flow
along the horizontal surface is developed, which exploits the
hydrodynamic similarity solution for thin film flow. The approximate
solution may provide a valuable basis for assessing flow and heat
transfer in more complex settings.
Abstract: The thermal performance of a solar water heating with
1.00 m2 flat plate collectors in Cascavel - PR, is which presented in
this article, paper presents the solution to leverage the marketing of
solar heating systems through detailed constituent materials of the
solar collector studies, these abundant materials in construction, such
as expanded polyethylene, PVC, aluminum and glass tubes, mixing
them with new materials to minimize loss of efficiency while
decreasing its cost. The system was tested during months and the
collector obtained maximum recorded temperature of outlet fluid of
55°C, while the maximum temperature of the water at the bottom of
the hot water tank was 35°C. The average daily energy collected was
19.6 MJ/d; the energy supplied by the solar plate was 16.2 MJ/d; the
loss in the feed pipe was 3.2 MJ/d; the solar fraction was 32.2%, the
efficiency of the collector was 45.6% and the efficiency of the system
was 37.8%.
Abstract: This paper deals with the theoretical and numerical
investigation of magneto hydrodynamic boundary layer flow of a
nanofluid past a wedge shaped wick in heat pipe used for the cooling
of electronic components and different type of machines. To
incorporate the effect of nanoparticle diameter, concentration of
nanoparticles in the pure fluid, nanothermal layer formed around the
nanoparticle and Brownian motion of nanoparticles etc., appropriate
models are used for the effective thermal and physical properties of
nanofluids. To model the rotation of nanoparticles inside the base
fluid, microfluidics theory is used. In this investigation ethylene
glycol (EG) based nanofluids, are taken into account. The non-linear
equations governing the flow and heat transfer are solved by using a
very effective particle swarm optimization technique along with
Runge-Kutta method. The values of heat transfer coefficient are
found for different parameters involved in the formulation viz.
nanoparticle concentration, nanoparticle size, magnetic field and
wedge angle etc. It is found that, the wedge angle, presence of
magnetic field, nanoparticle size and nanoparticle concentration etc.
have prominent effects on fluid flow and heat transfer characteristics
for the considered configuration.
Abstract: This paper presents a study the effect of nose radius
(Rz-mm) on cutting force components and temperatures during the
machining simulation in an orthogonal cutting process for titanium
alloy (Ti-6Al-4V). The cutting process was performed at various
nose radiuses (Rz-mm) while the depth of cut (d-mm), feed rate (fmm/
tooth) and cutting speed (vc-m/ min) were remained constant.
The main cutting force (Fc), feed cutting force (Ft) and temperatures
were estimated by using finite element modeling (FEM) through
ABAQUS/EXPLICIT software and the simulation was developed the
two-dimension via an orthogonal cutting process during machining
titanium alloy (Ti-6Al-4V). The results led to the conclusion that the
nose radius (Rz-mm) has affected directly on the cutting force
components. However, temperature gave no indication or has no
significant relation with nose radius during machining titanium alloy
(Ti-6Al-4V). Hence, any increase or decrease in the nose radius (Rzmm)
during machining operation led to effect on the cutting forces
and thus it will be effective on surface finish, quality, and quantity of
products.
Abstract: Reliability of long-term storage products is related to
the availability of the whole system, and the evaluation of storage life
is of great necessity. These products are usually highly reliable and
little failure information can be collected. In this paper, an analytical
method based on data from accelerated storage life test is proposed to
evaluate the reliability index of the long-term storage products. Firstly,
singularities are eliminated by data normalization and residual
analysis. Secondly, with the preprocessed data, the degradation path
model is built to obtain the pseudo life values. Then by life distribution
hypothesis, we can get the estimator of parameters in high stress levels
and verify failure mechanism consistency. Finally, the life distribution
under the normal stress level is extrapolated via the acceleration model
and evaluation of the actual average life is available. An application
example with the camera stabilization device is provided to illustrate
the methodology we proposed.
Abstract: A cyclostationary Gaussian linearization method is
formulated for investigating the time average response of nonlinear
system under sinusoidal signal and white noise excitation. The
quantitative measure of cyclostationary mean, variance, spectrum of
mean amplitude, and mean power spectral density of noise are
analyzed. The qualitative response behavior of stochastic jump and
bifurcation are investigated. The validity of the present approach in
predicting the quantitative and qualitative statistical responses is
supported by utilizing Monte Carlo simulations. The present analysis
without imposing restrictive analytical conditions can be directly
derived by solving non-linear algebraic equations. The analytical
solution gives reliable quantitative and qualitative prediction of mean
and noise response for the Duffing system subjected to both sinusoidal
signal and white noise excitation.
Abstract: This paper presents a model for a modified T-junction
device for microspheres generation. The numerical model is
developed using a commercial software package: COMSOL
Multiphysics. In order to test the accuracy of the numerical model,
multiple variables, such as the flow rate of cross-flow, fluid properties,
structure, and geometry of the microdevice are applied. The results
from the model are compared with the experimental results in the
diameter of the microsphere generated. The comparison shows a good
agreement. Therefore the model is useful in further optimization of the
device and feedback control of microsphere generation if any.
Abstract: Exact solution of an unsteady MHD flow of elasticoviscous
fluid through a porous media in a tube of spherical cross
section under the influence of magnetic field and constant pressure
gradient has been obtained in this paper. Initially, the flow is
generated by a constant pressure gradient. After attaining the steady
state, the pressure gradient is suddenly withdrawn and the resulting
fluid motion in a tube of spherical cross section by taking into
account of the porosity factor and magnetic parameter of the
bounding surface is investigated. The problem is solved in two-stages
the first stage is a steady motion in tube under the influence of a
constant pressure gradient, the second stage concern with an unsteady
motion. The problem is solved employing separation of variables
technique. The results are expressed in terms of a non-dimensional
porosity parameter (K), magnetic parameter (m) and elasticoviscosity
parameter (β), which depends on the Non-Newtonian
coefficient. The flow parameters are found to be identical with that of
Newtonian case as elastic-viscosity parameter and magnetic
parameter tends to zero and porosity tends to infinity. It is seen that
the effect of elastico-viscosity parameter, porosity parameter and
magnetic parameter of the bounding surface has significant effect on
the velocity parameter.