Abstract: In this paper a real-time obstacle avoidance approach
for both autonomous and non-autonomous dynamical systems (DS) is
presented. In this approach the original dynamics of the controller
which allow us to determine safety margin can be modulated.
Different common types of DS increase the robot’s reactiveness in
the face of uncertainty in the localization of the obstacle especially
when robot moves very fast in changeable complex environments.
The method is validated by simulation and influence of different
autonomous and non-autonomous DS such as important
characteristics of limit cycles and unstable DS. Furthermore, the
position of different obstacles in complex environment is explained.
Finally, the verification of avoidance trajectories is described through
different parameters such as safety factor.
Abstract: In this paper, Bayesian online inference in models of
data series are constructed by change-points algorithm, which
separated the observed time series into independent series and study
the change and variation of the regime of the data with related
statistical characteristics. variation of statistical characteristics of time
series data often represent separated phenomena in the some
dynamical system, like a change in state of brain dynamical reflected
in EEG signal data measurement or a change in important regime of
data in many dynamical system. In this paper, prediction algorithm
for studying change point location in some time series data is
simulated. It is verified that pattern of proposed distribution of data
has important factor on simpler and smother fluctuation of hazard
rate parameter and also for better identification of change point
locations. Finally, the conditions of how the time series distribution
effect on factors in this approach are explained and validated with
different time series databases for some dynamical system.
Abstract: In this paper, we considered and applied parametric
modeling for some experimental data of dynamical system. In this
study, we investigated the different distribution of output
measurement from some dynamical systems. Also, with variance
processing in experimental data we obtained the region of
nonlinearity in experimental data and then identification of output
section is applied in different situation and data distribution. Finally,
the effect of the spanning the measurement such as variance to
identification and limitation of this approach is explained.
Abstract: In this paper, model order reduction method is used
for approximation in linear and nonlinearity aspects in some
experimental data. This method can be used for obtaining offline
reduced model for approximation of experimental data and can
produce and follow the data and order of system and also it can
match to experimental data in some frequency ratios. In this study,
the method is compared in different experimental data and influence
of choosing of order of the model reduction for obtaining the best and
sufficient matching condition for following the data is investigated in
format of imaginary and reality part of the frequency response curve
and finally the effect and important parameter of number of order
reduction in nonlinear experimental data is explained further.
Abstract: Negative pressure phenomenon appears in many
thermodynamic, geophysical and biophysical processes in the Nature
and technological systems. For more than 100 years of the laboratory
researches beginning from F. M. Donny’s tests, the great values of
negative pressure have been achieved. But this phenomenon has not
been practically applied, being only a nice lab toy due to the special
demands for the purity and homogeneity of the liquids for its
appearance. The possibility of creation of direct wave of negative
pressure in real heterogeneous liquid systems was confirmed
experimentally under the certain kinetic and hydraulic conditions.
The negative pressure can be considered as the factor of both useful
and destroying energies. The new approach to generation of the
negative pressure waves in impure, unclean fluids has allowed the
creation of principally new energy saving technologies and
installations to increase the effectiveness and efficiency of different
production processes. It was proved that the negative pressure is one
of the main factors causing hard troubles in some technological and
natural processes. Received results emphasize the necessity to take
into account the role of the negative pressure as an energy factor in
evaluation of many transient thermohydrodynamic processes in the
Nature and production systems.
Abstract: Laser beam welding of dissimilar sheet metal
combinations such as Ti/Al, SS/Al and Cu/Al are increasingly
demanded due to high energy densities with less fusion and heat
affected zones. A good weld joint strength involves combinations of
dissimilar metals and the formation of solid solution in the weld pool.
Many metal pairs suffer from significant intermetallic phase
formation during welding which greatly reduces their strength. The
three different sheet metal mentioned above is critically reviewed and
phase diagram for the combinations are given. The aim of this study
is to develop an efficient metal combinations and the influence on
their interfacial characteristics. For that the following parameters
such as weld geometry, residual distortion, micro hardness,
microstructure and mechanical properties are analyzed
systematically.
Abstract: Rotary draw bending is a method which is being used
in tube forming. In the tube bending process, the neutral axis moves
towards the inner arc and the wall thickness distribution changes for
tube’s cross section. Thinning takes place in the outer arc of the tube
(extrados) due to the stretching of the material, whereas thickening
occurs in the inner arc of the tube (intrados) due to the comparison of
the material. The calculations of the wall thickness distribution,
neutral axis shifting, and strain distribution have not been accurate
enough, so far. The previous model (the geometrical model)
describes the neutral axis shifting and wall thickness distribution. The
geometrical of the tube, bending radius and bending angle are
considered in the geometrical model, while the influence of the
material properties of the tube forming are ignored. The advanced
model is a modification of the previous model using material
properties that depends on the correction factor. The correction factor
is a purely empirically determined factor. The advanced model was
compared with the Finite element simulation (FE simulation) using a
different bending factor (Bf =bending radius/ diameter of the tube),
wall thickness (Wf = diameter of the tube/ wall thickness), and
material properties (strain hardening exponent). Finite element model
of rotary draw bending has been performed in PAM-TUBE program
(version: 2012). Results from the advanced model resemble the FE
simulation and the experimental test.
Abstract: For cycling, the analysis of the pedal force is one of the
important factors in the study of exercise ability assessment and
overuse injuries. In past studies, a two-axis measurement sensor was
used at the sagittal plane to measure the force only in the anterior,
posterior, and vertical directions and to analyze the loss of force and
the injury on the frontal plane due to the forces in the right and left
directions. In this study, which is a basic study on diverse analyses of
the pedal force that consider the forces on the sagittal plane and the
frontal plane, a three-axis pedal force measurement sensor was
developed to measure the anterior-posterior (Fx), medio-lateral (Fz),
and vertical (Fy) forces. The sensor was fabricated with a size and
shape similar to those of the general flat pedal, and had a 550g weight
that allowed smooth pedaling. Its measurement range was ±1000 N for
Fx and Fz and ±2000 N for Fy, and its non-linearity, hysteresis, and
repeatability were approximately 0.5%. The data were sampled at
1000 Hz using a signal collector. To use the developed sensor, the
pedaling efficiency (index of efficiency, IE) and the range of left and
right (medio-lateral, ML) forces were measured with two seat heights
(low and high). The results of the measurement showed that the IE was
higher and the force range in the ML direction was lower with the high
position than with the low position. The developed measurement
sensor and its application results will be useful in understanding and
explaining the complicated pedaling technique, and will enable
diverse kinematic analyses of the pedal force on the sagittal plane and
the frontal plane.
Abstract: Lightweight design represents an important key to
successful implementation of energy-saving, fuel-efficient and
environmentally friendly means of transport in the aerospace and
automotive industry. In this context the use of carbon fibre reinforced
plastics (CFRP) which are distinguished by their outstanding
mechanical properties at relatively low weight, promise significant
improvements. Due to the reduction of the total mass, with the
resulting lowered fuel or energy consumption and CO2 emissions
during the operational phase, commercial aircraft will increasingly be
made of CFRP. An auspicious technology for the efficient and
economic production of high performance thermoset composites and
hybrid structures for future lightweight applications is the
combination of carbon fibre sheet moulding compound, tailored
continuous carbon fibre reinforcements and metallic components in a
one-shot pressing and curing process. This paper deals with a hybrid
composite technology for aerospace industries, which was developed
with the help of a special innovation and development system.
Abstract: A thermosyphon system is a heat transfer loop which
operates on the basis of gravity and buoyancy forces. It guarantees a
good reliability and low maintenance cost as it does not involve any
mechanical pump. Therefore, it can be used in many industrial
applications such as refrigeration and air conditioning, electronic
cooling, nuclear reactors, geothermal heat extraction, etc. But flow
instabilities and loop configuration are the major problems in this
system. Several previous researchers studied that stabilities can be
suppressed by using nanofluids as loop fluid. In the present study a
rectangular thermosyphon loop with end heat exchangers are
considered for the study. This configuration is more appropriate for
many practical applications such as solar water heater, geothermal
heat extraction, etc. In the present work, steady-state analysis is
carried out on thermosyphon loop with parallel flow coaxial heat
exchangers at heat source and heat sink. In this loop nanofluid is
considered as the loop fluid and water is considered as the external
fluid in both hot and cold heat exchangers. For this analysis onedimensional
homogeneous model is developed. In this model,
conservation equations like conservation of mass, momentum, energy
are discretized using finite difference method. A computer code is
written in MATLAB to simulate the flow in thermosyphon loop. A
comparison in terms of heat transfer is made between water and
nanofluid as working fluids in the loop.
Abstract: This paper presents the scaling laws that provide the
criteria of geometry and dynamic similitude between the full-size
rotor-shaft system and its scale model, and can be used to predict the
torsional vibration characteristics of the full-size rotor-shaft system by
manipulating the corresponding data of its scale model. The scaling
factors, which play fundamental roles in predicting the geometry and
dynamic relationships between the full-size rotor-shaft system and its
scale model, for torsional free vibration problems between scale and
full-size rotor-shaft systems are firstly obtained from the equation of
motion of torsional free vibration. Then, the scaling factor of external
force (i.e., torque) required for the torsional forced vibration problems
is determined based on the Newton’s second law. Numerical results
show that the torsional free and forced vibration characteristics of a
full-size rotor-shaft system can be accurately predicted from those of
its scale models by using the foregoing scaling factors. For this reason,
it is believed that the presented approach will be significant for
investigating the relevant phenomenon in the scale model tests.
Abstract: Wet scrubbers have found widespread use in cleaning
contaminated gas streams because of their ability to remove
particulates and based on the applications of scrubbing of marine
engine exhaust gases by spraying sea-water. In order to examine the
flow characteristics inside the scrubber, the model is designated with
flow properties of hot air and water sprayer. The flow dynamics of
evaporation of hot air by the injection of water droplets is the key
factor considered in this paper. The flow behavior inside the scrubber
was investigated from the previous works and to sum up the
evaporation rate with respect to the concentration of water droplets are
predicted to bring out the competent modelling. The numerical
analysis using CFD facilitates in understanding the problem better and
empathies the behavior of the model over its entire operating envelope.
Abstract: Presently, engine cooling pump is driven by toothed
belt. Therefore, the pump speed is dependent on engine speed which
varies their output. At normal engine operating conditions (Higher
RPM and low load, Higher RPM and high load), mechanical water
pumps in existing engines are inevitably oversized and so the use of
an electric water pump together with state-of-the-art thermal
management of the combustion engine has measurable advantages.
Demand-driven cooling, particularly in the cold-start phase, saves
fuel (approx 3 percent) and leads to a corresponding reduction in
emissions. The lack of dependence on a mechanical drive also results
in considerable flexibility in component packaging within the engine
compartment. This paper describes the testing and comparison of
existing mechanical water pump with that of the electric water pump.
When the existing mechanical water pump is replaced with the new
electric water pump the percentage gain in system efficiency is also
discussed.
Abstract: In the present study, mixed convection in a horizontal
rectangular duct using Al2O3 is numerically investigated. The effects
of different Rayleigh number, Reynolds number and radiation on
flow and heat transfer characteristics are studied in detail. This study
covers Rayleigh number in the range of 2 × 10^6 ≤ Ra ≤ 2 × 10^7 and
Reynolds number in the range of 100 ≤ Re ≤ 1100. Results reveal that
the Nusselt number increases as Reynolds and Rayleigh numbers
increase. It is also found that the dimensionless temperature
distribution increases as Rayleigh number increases.
Abstract: This paper presents a combination of both robust
nonlinear controller and nonlinear controller for a class of nonlinear
4Y Octorotor UAV using Back-stepping and sliding mode controller.
The robustness against internal and external disturbance and
decoupling control are the merits of the proposed paper. The
proposed controller decouples the Octorotor dynamical system. The
controller is then applied to a 4Y Octortor UAV and its feature will
be shown.
Abstract: Environmental impacts of six 3D printers using
various materials were compared to determine if material choice
drove sustainability, or if other factors such as machine type, machine
size, or machine utilization dominate. Cradle-to-grave life-cycle
assessments were performed, comparing a commercial-scale FDM
machine printing in ABS plastic, a desktop FDM machine printing in
ABS, a desktop FDM machine printing in PET and PLA plastics, a
polyjet machine printing in its proprietary polymer, an SLA machine
printing in its polymer, and an inkjet machine hacked to print in salt
and dextrose. All scenarios were scored using ReCiPe Endpoint H
methodology to combine multiple impact categories, comparing
environmental impacts per part made for several scenarios per
machine. Results showed that most printers’ ecological impacts were
dominated by electricity use, not materials, and the changes in
electricity use due to different plastics was not significant compared
to variation from one machine to another. Variation in machine idle
time determined impacts per part most strongly. However, material
impacts were quite important for the inkjet printer hacked to print in
salt: In its optimal scenario, it had up to 1/38th the impacts coreper
part as the worst-performing machine in the same scenario. If salt
parts were infused with epoxy to make them more physically robust,
then much of this advantage disappeared, and material impacts
actually dominated or equaled electricity use. Future studies should
also measure DMLS and SLS processes / materials.
Abstract: This paper describes a novel application of Fiber
Braggs Grating (FBG) sensors in the assessment of human postural
stability and balance on an unstable platform. In this work, FBG
sensor Stability Analyzing Device (FBGSAD) is developed for
measurement of plantar strain to assess the postural stability of
subjects on unstable platforms during different stances in eyes open
and eyes closed conditions on a rocker board. The studies are
validated by comparing the Centre of Gravity (CG) variations
measured on the lumbar vertebra of subjects using a commercial
accelerometer. The results obtained from the developed FBGSAD
depict qualitative similarities with the data recorded by commercial
accelerometer. The advantage of the FBGSAD is that it measures
simultaneously plantar strain distribution and postural stability of the
subject along with its inherent benefits like non-requirement of
energizing voltage to the sensor, electromagnetic immunity and
simple design which suits its applicability in biomechanical
applications. The developed FBGSAD can serve as a tool/yardstick to
mitigate space motion sickness, identify individuals who are
susceptible to falls and to qualify subjects for balance and stability,
which are important factors in the selection of certain unique
professionals such as aircraft pilots, astronauts, cosmonauts etc.
Abstract: Starting in 2020, an EU-wide CO2-limitation of
95 g/km is scheduled for the average of an OEMs passenger car fleet.
Taking that into consideration additional improvement measures of
the Diesel cycle are necessary in order to reduce fuel consumption
and emissions while boosting, or at the least, keeping performance
values at the same time.
The present article deals with the possibilities of an optimized
air/water charge air cooler, also called iCAC (indirect Charge Air
Cooler) for a Diesel passenger car amongst extreme-boundary
conditions. In this context, the precise objective was to show the
impact of improved intercooling with reference to the engine working
process (fuel consumption and NOx-emissions). Several extremeboundaries
- e.g. varying ambient temperatures or mountainous
routes - that will become very important in the near future regarding
RDE (Real Driving emissions) were subject of the investigation.
With the introduction of RDE in 2017 (EU6c measure), the
controversial NEDC (New European Driving Cycle) will belong to
the past and the OEMs will have to avoid harmful emissions in any
conceivable real life situation.
This is certainly going to lead to optimization-measurements at the
powertrain, which again is going to make the implementation of
iCACs, presently solely used for the premium class, more and more
attractive for compact class cars. The investigations showed a benefit
in FC between 1 and 3% for the iCAC in real world conditions.
Abstract: Water spray cooling is a technique typically used in
heat treatment and other metallurgical processes where controlled
temperature regimes are required. Water spray cooling is used in
static (without movement) or dynamic (with movement of the steel
plate) regimes. The static regime is notable for the fixed position of
the hot steel plate and fixed spray nozzle. This regime is typical for
quenching systems focused on heat treatment of the steel plate. The
second application of spray cooling is the dynamic regime. The
dynamic regime is notable for its static section cooling system and
moving steel plate. This regime is used in rolling and finishing mills.
The fixed position of cooling sections with nozzles and the
movement of the steel plate produce nonhomogeneous water
distribution on the steel plate. The length of cooling sections and
placement of water nozzles in combination with the nonhomogeneity
of water distribution lead to discontinued or interrupted cooling
conditions. The impact of static and dynamic regimes on cooling
intensity and the heat transfer coefficient during the cooling process
of steel plates is an important issue.
Heat treatment of steel is accompanied by oxide scale growth. The
oxide scale layers can significantly modify the cooling properties and
intensity during the cooling. The combination of static and dynamic
(section) regimes with the variable thickness of the oxide scale layer
on the steel surface impact the final cooling intensity. The study of
the influence of the oxide scale layers with different cooling regimes
was carried out using experimental measurements and numerical
analysis. The experimental measurements compared both types of
cooling regimes and the cooling of scale-free surfaces and oxidized
surfaces. A numerical analysis was prepared to simulate the cooling
process with different conditions of the section and samples with
different oxide scale layers.
Abstract: The thermal conductivity of a fluid can be
significantly enhanced by dispersing nano-sized particles in it, and
the resultant fluid is termed as "nanofluid". A theoretical model for
estimating the thermal conductivity of a nanofluid has been proposed
here. It is based on the mechanism that evenly dispersed
nanoparticles within a nanofluid undergo Brownian motion in course
of which the nanoparticles repeatedly collide with the heat source.
During each collision a rapid heat transfer occurs owing to the solidsolid
contact. Molecular dynamics (MD) simulation of the collision
of nanoparticles with the heat source has shown that there is a pulselike
pick up of heat by the nanoparticles within 20-100 ps, the extent
of which depends not only on thermal conductivity of the
nanoparticles, but also on the elastic and other physical properties of
the nanoparticle. After the collision the nanoparticles undergo
Brownian motion in the base fluid and release the excess heat to the
surrounding base fluid within 2-10 ms. The Brownian motion and
associated temperature variation of the nanoparticles have been
modeled by stochastic analysis. Repeated occurrence of these events
by the suspended nanoparticles significantly contributes to the
characteristic thermal conductivity of the nanofluids, which has been
estimated by the present model for a ethylene glycol based nanofluid
containing Cu-nanoparticles of size ranging from 8 to 20 nm, with
Gaussian size distribution. The prediction of the present model has
shown a reasonable agreement with the experimental data available
in literature.