Search results for: sliding motion

Authors: Getnet Ayele Kebede, Tasew Tadiwose Zewdie

Abstract:

In this study, a novel design of a wind-powered water pump for small-scale irrigation application by using the Savonius wind turbine of Vertical Axis Wind Turbine(VAWT) with 2 blades has been used. Calculations have been made on the energy available in the wind and an energy analysis was then performed to see what wind speed is required for the system to work. The rotor has a radius of 0.53 m giving a swept area of 1.27 m2 and this gives a solidity of 0.5, which is the minimum theoretical optimum value for wind turbine. The average extracted torque of the wind turbine is 0.922 Nm and Tip speed ratio is one this shows, the tips are moving at equal the speed of the wind and by 2 rotating of blades. This is sufficient to sustain the desired flow rate of (0.3125X 10-3) m3 per second with a maximum head of 10m and the expected working is 4hr/day, and also overcome other barriers to motion such as friction. Based on this novel design, we are able to achieve a cost-effective solution and simultaneously effective in self-starting under low wind speeds and it can catch the wind from all directions.

Keywords: Savonius wind turbine, Small-scale irrigation, Vertical Axis Wind Turbine, Water pump

Procedia PDF Downloads 162

Authors: Y. Benabid, K. Benfriha, V. Rieuf, J. F. Omhover

Abstract:

This paper describes an approach to create custom concepts for innovative products; this approach describes relations between innovation tools and Computer Aided Design environment (use creativity session and design tools). A model for the design process is proposed and explored in order to describe the power tool used to create and ameliorate an innovative product all based upon a range of data (cloud points) in this study. Comparison between traditional method and innovative method we help to generate and put forward a new model of the design process in order to create a custom Ankle Foot Orthosis (AFO) in a CAD environment in order to ameliorate and controlling the motion. The custom concept needs big development in different environments; the relation between these environments is described. The results can help the surgeons in the upstream treatment phases. CAD models can be applied and accepted by professionals in the design and manufacture systems. This development is based on the anatomy of the population of North Africa.

Keywords: ankle foot orthosis, CAD, reverse engineering, sketch

Procedia PDF Downloads 455

Authors: Abdolreza Esmaeilzadeh, Mehri Mirzaei

Abstract:

Objective: Rheumatic disease is a chronic disease that causes pain, stiffness, swelling and limited motion and function of many joints. RA is the most common form of autoimmune arthritis, affecting more than 1.3 million Americans. Of these, about 75% are women. Materials and Methods: This study was formed due to the misconception about ANA test, which is frequently performed with methods based upon solid phase as ELISA. This experiment was conducted on 430 patients, with clinical symptoms that are likely affected with rheumatic diseases, simultaneously by means of ANA and FANA. Results: 36 cases (8.37%) of patients, despite positive ANA, have demonstrated negative results via Indirect Immunofluorescence Assay (IIFA), (false positive). 116 cases (27%) have demonstrated negative ANA results, by means of the ELISA technique, although they had positive IIFA results. Conclusion: Other advantages of IIFA are antibody titration and specific pattern detection that have the capability of distinguishing positive dsDNA results. According to the restrictions and false negative cases, in patients, IIFA test is highly recommended for these disease's diagnosis.

Keywords: autoimmune disease, IIFA, EIA, rheumatic disease

Procedia PDF Downloads 499

Authors: Abdulhakeem Yusuf, Yomi Monday Aiyesimi, Mohammed Jiya

Abstract:

The failure in an ordinary heat transfer fluid to meet up with today’s industrial cooling rate has resulted in the development of high thermal conductivity fluid which nanofluids belongs. In this work, the problem of unsteady one dimensional laminar flow of an incompressible fluid within a parallel wall is considered with one wall assumed to be wavy. The model is presented in its rectangular coordinate system and incorporates the effects of thermophoresis and Brownian motion. The local similarity solutions were also obtained which depends on Soret number, Dufour number, Biot number, Lewis number, and heat generation parameter. The analytical solution is obtained in a closed form via the Adomian decomposition method. It was found that the method has a good agreement with the numerical method, and it is also established that the heat generation parameter has to be kept low so that heat energy are easily evacuated from the system.

Keywords: Adomian decomposition method, Biot number, Dufour number, nanofluid

Procedia PDF Downloads 329

Authors: Aliza Lee, Mark Wilt, John Bonk, Scott Floyd, Bradley Hoffman, Karen Uchmanowicz

Abstract:

Bipartite medial cuneiforms are relatively rare but may play a significant role in biomechanical and gait abnormalities. It is believed that a bipartite medial cuneiform may alter the available range of motion due to its larger morphological variant, thus limiting the metatarsal plantarflexion needed to achieve adequate hallux dorsiflexion for normal gait. Radiographic and clinical assessments were performed on 2 patients who reported foot pain along the first ray. Both patients had visible bipartite medial cuneiforms on MRI. Using gait plate and Metascan™ analysis, both were noted to have four measurements far beyond the expected range. Medial and lateral heel peak pressure, hallux peak pressure, and 1st metatarsal peak pressure were all noted to be increased. These measurements are believed to be increased due to the hindrance placed on the available ROM of the 1st ray by the increased size of the medial cuneiform. A larger patient population would be needed to fully understand this developmental anomaly.

Keywords: bipartite medial cuneiforms, cuneiform, developmental anomaly, gait abnormality

Procedia PDF Downloads 156

Authors: Ali Raheli, Rahim Habibifar, Behzad Mohammadi-Alasti, Mahdi Abbasgholipour

Abstract:

This paper presents vibration behavior of a FGM micro-beam and its pull-in instability under a nonlinear electrostatic pressure. An exponential function has been applied to show the continuous gradation of the properties along thickness. Nonlinear integro-differential-electro-mechanical equation based on Euler–Bernoulli beam theory has been derived. The governing equation in the static analysis has been solved using Step-by-Step Linearization Method and Finite Difference Method. Fixed points or equilibrium positions and singular points have been shown in the state control space. In order to find the response to a step DC voltage, the nonlinear equation of motion has been solved using Galerkin-based reduced-order model and time histories and phase portrait for different applied voltages have been shown. The effects of electrostatic pressure on stability of FGM micro-beams having various amounts of the ceramic constituent have been investigated.

Keywords: FGM, MEMS, nonlinear vibration, electrical, dynamic pull-in voltage

Procedia PDF Downloads 456

Authors: Rania Ahmed Kadry Abdel Gawad Birry, Mohamed El-Habrouk

Abstract:

This paper presents a brief survey of the techniques used for sign language recognition along with the types of sensors used to perform the task. It presents a modified method for identification of an isolated sign language gesture using Microsoft Kinect with the OpenNI framework. It presents the way of extracting robust features from the depth image provided by Microsoft Kinect and the OpenNI interface and to use them in creating a robust and accurate gesture recognition system, for the purpose of ASL translation. The Prime Sense’s Natural Interaction Technology for End-user - NITE™ - was also used in the C++ implementation of the system. The algorithm presents a simple finger counting algorithm for static signs as well as directional Finite State Machine (FSM) description of the hand motion in order to help in translating a sign language gesture. This includes both letters and numbers performed by a user, which in-turn may be used as an input for voice pronunciation systems.

Keywords: American sign language, finger counting, hand tracking, Microsoft Kinect

Procedia PDF Downloads 296

Authors: A. L. Qureshi, A. A. Mahessar, A. Baloch

Abstract:

Flood wave propagation in river channel flow can be enunciated by nonlinear equations of motion for unsteady flow. However, it is difficult to find analytical solution of these complex non-linear equations. Hence, verification of the numerical model should be carried out against field data and numerical predictions. This paper presents the verification of developed finite element model applying for unsteady flow in the open channels. The results of a proposed model indicate a good matching with both Preissmann scheme and HEC-RAS model for a river reach of 29 km at both sites (15 km from upstream and at downstream end) for discharge hydrographs. It also has an agreeable comparison with the Preissemann scheme for the flow depth (stage) hydrographs. The proposed model has also been applying to forecast daily discharges at 400 km downstream from Sukkur barrage, which demonstrates accurate model predictions with observed daily discharges. Hence, this model may be utilized for predicting and issuing flood warnings about flood hazardous in advance.

Keywords: finite element method, Preissmann scheme, HEC-RAS, flood forecasting, Indus river

Procedia PDF Downloads 504

Authors: Natia Jalagonia, Tinatin Kuchukhidze

Abstract:

Polymer electrolytes (PE) play an important part in electrochemical devices such as batteries and fuel cells. To achieve optimal performance, the PE must maintain a high ionic conductivity and mechanical stability at both high and low relative humidity. The polymer electrolyte also needs to have excellent chemical stability for long and robustness. According to the prevailing theory, ionic conduction in polymer electrolytes is facilitated by the large-scale segmental motion of the polymer backbone, and primarily occurs in the amorphous regions of the polymer electrolyte. Crystallinity restricts polymer backbone segmental motion and significantly reduces conductivity. Consequently, polymer electrolytes with high conductivity at room temperature have been sought through polymers which have highly flexible backbones and have largely amorphous morphology. The interest in polymer electrolytes was increased also by potential applications of solid polymer electrolytes in high energy density solid state batteries, gas sensors and electrochromic windows. Conductivity of 10-3 S/cm is commonly regarded as a necessary minimum value for practical applications in batteries. At present, polyethylene oxide (PEO)-based systems are most thoroughly investigated, reaching room temperature conductivities of 10-7 S/cm in some cross-linked salt in polymer systems based on amorphous PEO-polypropylene oxide copolymers.. It is widely accepted that amorphous polymers with low glass transition temperatures Tg and a high segmental mobility are important prerequisites for high ionic conductivities. Another necessary condition for high ionic conductivity is a high salt solubility in the polymer, which is most often achieved by donors such as ether oxygen or imide groups on the main chain or on the side groups of the PE. It is well established also that lithium ion coordination takes place predominantly in the amorphous domain, and that the segmental mobility of the polymer is an important factor in determining the ionic mobility. Great attention was pointed to PEO-based amorphous electrolyte obtained by synthesis of comb-like polymers, by attaching short ethylene oxide unit sequences to an existing amorphous polymer backbone. The aim of presented work is to obtain of solid polymer electrolyte membranes using PMHS as a matrix. For this purpose the hydrosilylation reactions of α,ω-bis(trimethylsiloxy)methyl¬hydrosiloxane with allyl triethylene-glycol mo¬nomethyl ether and vinyltriethoxysilane at 1:28:7 ratio of initial com¬pounds in the presence of Karstedt’s catalyst, platinum hydrochloric acid (0.1 M solution in THF) and platinum on the carbon catalyst in 50% solution of anhydrous toluene have been studied. The synthesized olygomers are vitreous liquid products, which are well soluble in organic solvents with specific viscosity ηsp ≈ 0.05 - 0.06. The synthesized olygomers were analysed with FTIR, 1H, 13C, 29Si NMR spectroscopy. Synthesized polysiloxanes were investigated with wide-angle X-ray, gel-permeation chromatography, and DSC analyses. Via sol-gel processes of doped with lithium trifluoromethylsulfonate (triflate) or lithium bis¬(trifluoromethylsulfonyl)¬imide polymer systems solid polymer electrolyte membranes have been obtained. The dependence of ionic conductivity as a function of temperature and salt concentration was investigated and the activation energies of conductivity for all obtained compounds are calculated

Keywords: synthesis, PMHS, membrane, electrolyte

Procedia PDF Downloads 257

Authors: Young-Tae Lee, Hee-Chang Lim

Abstract:

This paper presents the performance characteristics of Darrieus-type vertical axis wind turbine (VAWT) with NACA airfoil blades. The performance of Darrieus-type VAWT can be characterized by torque and power. There are various parameters affecting the performance such as chord length, helical angle, pitch angle and rotor diameter. To estimate the optimum shape of Darrieustype wind turbine in accordance with various design parameters, we examined aerodynamic characteristics and separated flow occurring in the vicinity of blade, interaction between flow and blade, and torque and power characteristics derived from it. For flow analysis, flow variations were investigated based on the unsteady RANS (Reynolds-averaged Navier-Stokes) equation. Sliding mesh algorithm was employed in order to consider rotational effect of blade. To obtain more realistic results we conducted experiment and numerical analysis at the same time for three-dimensional shape. In addition, several parameters (chord length, rotor diameter, pitch angle, and helical angle) were considered to find out optimum shape design and characteristics of interaction with ambient flow. Since the NACA airfoil used in this study showed significant changes in magnitude of lift and drag depending on an angle of attack, the rotor with low drag, long cord length and short diameter shows high power coefficient in low tip speed ratio (TSR) range. On the contrary, in high TSR range, drag becomes high. Hence, the short-chord and long-diameter rotor produces high power coefficient. When a pitch angle at which airfoil directs toward inside equals to -2° and helical angle equals to 0°, Darrieus-type VAWT generates maximum power.

Keywords: darrieus wind turbine, VAWT, NACA airfoil, performance

Procedia PDF Downloads 373

Authors: Marianna I. Triantou, Konstantina I. Stathi, Petroula A. Tarantili

Abstract:

In the present study, the incorporation of graphene into blends of acrylonitrile-butadiene-styrene terpolymer with polypropylene (ABS/PP) was investigated focusing on the improvement of their thermomechanical characteristics and the effect on their rheological behavior. The blends were prepared by melt mixing in a twin-screw extruder and were characterized by measuring the MFI as well as by performing DSC, TGA and mechanical tests. The addition of graphene to ABS/PP blends tends to increase their melt viscosity, due to the confinement of polymer chains motion. Also, graphene causes an increment of the crystallization temperature (Tc), especially in blends with higher PP content, because of the reduction of surface energy of PP nucleation, which is a consequence of the attachment of PP chains to the surface of graphene through the intermolecular CH-π interaction. Moreover, the above nanofiller improves the thermal stability of PP and increases the residue of thermal degradation at all the investigated compositions of blends, due to the thermal isolation effect and the mass transport barrier effect. Regarding the mechanical properties, the addition of graphene improves the elastic modulus, because of its intrinsic mechanical characteristics and its rigidity, and this effect is particularly strong in the case of pure PP.

Keywords: acrylonitrile-butadiene-styrene terpolymer, blends, graphene, polypropylene

Procedia PDF Downloads 369

Authors: Mohammad Moonesun, Ehsan Asadi Asrami, Julia Bodnarchuk

Abstract:

In the case of Solar Autonomous Underwater Vehicle, which uses photovoltaic panels to provide its required power, due to limitation of energy, accurate estimation of resistance and energy has major sensitivity. In this work, hydrodynamic calculations by numerical method for a solar autonomous underwater vehicle equipped by two 50 W photovoltaic panels has been studied. To evaluate the required power and energy, hull hydrodynamic resistance in several velocities should be taken into account. To do this assessment, the ANSYS FLUENT 18 applied as Computational Fluid Dynamics (CFD) tool that solves Reynolds Average Navier Stokes (RANS) equations around AUV hull, and K-ω SST is used as turbulence model. To validate of solution method and modeling approach, the model of Myring submarine that it’s experimental data was available, is simulated. There is good agreement between numerical and experimental results. Also, these results showed that the K-ω SST Turbulence model is an ideal method to simulate the AUV motion in low velocities.

Keywords: underwater vehicle, hydrodynamic resistance, numerical modelling, CFD, RANS

Procedia PDF Downloads 205

Authors: David Morton

Abstract:

This work discusses the relationship between the Vitagraph Company of America (VCA) and the neighborhood of Midwood, Brooklyn, where the company’s largest production studio was located. The relationship between VCA and the Borough of Brooklyn was unique from other production companies in that despite the nationwide popularity of Vitagraph’s films, the content of the films produced by Vitagraph were directly influenced by the cinematic preferences of one specific urban center. In contrast to the national aspirations of the leading production companies of the period such as Twentieth Century Fox, Paramount, and Universal, who set out to attract the broadest audience possible, VCA’s films were aimed to appeal to specific a niche group that embodied Brooklyn’s conservative principles. As a result of the VCA’s alliance with theater owners and movie spectators in Brooklyn, the Vitagraph studio in Midwood became one of the Borough’s most recognizable cultural institutions, and through the production of Vitagraph’s quality films Brooklynites had a significant means of sharing their unique cultural identity with the rest of the United States.

Keywords: Vitagraph Company of America, Midwood, Brooklyn, Vitagrapheville, New York Motion Picture History, silent era, J. Stuart Blackton, Albert Smith

Procedia PDF Downloads 415

Authors: Jessyca A. Bessa, Darlan A. Barroso, Jonas P. Reges, Auzuir R. Alexandria

Abstract:

This work aims to study the rocker. This is a device of the suspension of Formula SAE vehicle that receives efforts from the motion scrolling of the vehicle and transmits them to the chassis frame minimized by a momentum ratio and smoothed by the set spring - damper. A review of parameters used in vehicle dynamics and a geometric analysis of the forces and stresses caused by such was carried out. The main function of the rocker is to reduce the force transmitted to the frame due to movement of rolling and subsequent application of the suspension. This functions is taken as satisfactory, since the force applied to the wheel and which would be transmitted to the chassis is reduced from 3833.9N to 3496.48N. From these values can be further more detailed simulations using the finite element method aimed at mass reduction or even rocker manufacturing feasibility aluminum. Then, the analysis by the finite element method was applied. This analysis uses the theory of discretization of systems and examines the strength of the component based on the distortion energy, determining the maximum straining experienced by the component and the region of higher demand.

Keywords: rocker, suspension, the finite element method, mechatronics engineering

Procedia PDF Downloads 541

Authors: Yagya Sharma, Basanta K. Rana, Arup K. Das

Abstract:

Rotary entrainment is a phenomenon in which the interfaces of two immiscible fluids are subjected to external flux in the form of rotation. Present work reports the experimental study on rotary motion of a horizontal cylinder between the interface of air and water to observe the penetration of gas inside the liquid. Experiments have been performed to establish entrainment of air mass in water alongside the cylindrical surface. The movement of tracer and seeded particles have been tracked to calculate the speed and path of the entrained air inside water. Simplified particle image velocimetry technique has been used to trace the movement of particles/tracers at the moment they are injected inside the entrainment zone and suspended beads have been used to replicate the particle movement with respect to time in order to determine the flow dynamics of the fluid along the cylinder. Present paper establishes a thorough experimental analysis of the rotary entrainment phenomenon between air and water keeping in interest the extent to which we can intermix the two and also to study its entrainment trajectories.

Keywords: entrainment, gas-liquid flow, particle image velocimetry, stratified layer mixing

Procedia PDF Downloads 339

Authors: Lemoussi Somia, Ouali Mohammed, Zemirline Adel

Abstract:

In precision engineering, including precision positioning, micro-manipulation, robotic systems... a majority of these applications actuated by piezo stack used the compliant amplifier mechanism to amplifying motion and guiding it as needed utilize the flexibility of their components, in this paper, we present a novel approach introducing a symmetric structure comprising three stages, featuring rectangular flexure hinges with a compact size of 77mm×42mm×10mm. This design provides the capability for rotation, translation or a combination of both movements in both directions. The system allows for a displacement of 2107.5 μm when the input displacement of PZT is 50 μm while considering the material constraints of the aluminum alloy (7075 T6) which has a maximum admissible stress of 500 MPa However, our proposed design imposes additional constraints to ensure the stress remains below 361 MPa for optimal performance. These findings were obtained through finite element simulations conducted using ANSYS Workbench. Furthermore, our module facilitates precise control of various components within robotic systems, allowing for adjustable speeds based on specific requirements or desired outcomes.

Keywords: robotic, piezoelectric, compliant mechanism, flexure hinge

Procedia PDF Downloads 79

Authors: Norjan Jumaa, David Graham

Abstract:

We present a Lattice Boltzmann Method (LBM) for multiphase flows with high viscosity and density ratios. The motion of the interface between fluids is modelled by solving the Cahn-Hilliard (CH) equation with LBM. Incompressibility of the velocity fields in each phase is imposed by using a pressure correction scheme. We use a unified LBM approach with separate formulations for the phase field, the pressure less Naiver-Stokes (NS) equations and the pressure Poisson equation required for correction of the velocity field. The implementation has been verified for various test case. Here, we present results for some complex flow problems including two dimensional single and multiple mode Rayleigh-Taylor instability and we obtain good results when comparing with those in the literature. The main focus of our work is related to interactions between aerated or non-aerated waves and structures so we also present results for both high viscosity and low viscosity waves.

Keywords: lattice Boltzmann method, multiphase flows, Rayleigh-Taylor instability, waves

Procedia PDF Downloads 234

Authors: Giovanni Forte, Melania De Falco, Antonio Santo

Abstract:

On 24th August 2016, central Italy was affected by a Mw 6.0 earthquake, representing the main shock of a long seismic sequence, which had a second shock Mw 6.6 on 26th October and lasts still nowadays. After the event, several field survey were carried out in the affected areas, which is made of historical masonry buildings. The post event reconnaissance missions were aimed at collecting information on the damage states of the buildings, the triggering of the landslides and the relationships with site effects. In this paper, the data collected after the event are analyzed considering the role of the geological and geomorphological setting and the ground motion scenario. The buildings displayed an uneven damage distribution, which was affected by both topographic and stratigraphic amplification. As pertains the landslides, which were the most recurrent among the ground failures, consisted mainly of rock falls and subordinately of translational slides. Finally, the collected knowledge showed a strong contribution of the local geological and geomorphological site condition on the resulting damage.

Keywords: Amatrice earthquake, damage states, landslides, site effects

Procedia PDF Downloads 323

Authors: Mohammed Qasim, Kyoung-Dae Kim

Abstract:

In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: artificial potential function, autonomous collision avoidance, teleoperation, quadrotor

Procedia PDF Downloads 399

Authors: Hong-Ming Chen

Abstract:

This work considers the resolution of the Hull and White interest rate model with the jump process. A deterministic process is adopted to model the random behavior of interest rate variation as deterministic perturbations, which is depending on the time t. The Brownian motion and jumps uncertainty are denoted as the integral functions piecewise constant function w(t) and point function θ(t). It shows that the interest rate function and the yield function of the Hull and White interest rate model with jump process can be obtained by solving a nonlinear semi-infinite programming problem. A relaxed cutting plane algorithm is then proposed for solving the resulting optimization problem. The method is calibrated for the U.S. treasury securities at 3-month data and is used to analyze several effects on interest rate prices, including interest rate variability, and the negative correlation between stock returns and interest rates. The numerical results illustrate that our approach essentially generates the yield functions with minimal fitting errors and small oscillation.

Keywords: optimization, interest rate model, jump process, deterministic

Procedia PDF Downloads 161

Authors: Sandeep Kumar, Naveen Gupta

Abstract:

Terahertz (THz) generation has been investigated by beating two cosh-Gaussian laser beams of the same amplitude but different wavenumbers and frequencies through rippled collisionless plasma. The ponderomotive force is operative which is induced due to the intensity gradient of the laser beam over the cross-section area of the wavefront. The electrons evacuate towards a low-intensity regime, which modifies the dielectric function of the medium and results in cross focusing of cosh-Gaussian laser beams. The evolution of spot size of laser beams has been studied by solving nonlinear Schrodinger wave equation (NLSE) with variational technique. The laser beams impart oscillations to electrons which are enhanced with ripple density. The nonlinear oscillatory motion of electrons gives rise to a nonlinear current density driving THz radiation. It has been observed that the periodicity of the ripple density helps to enhance the THz radiation.

Keywords: rippled collisionless plasma, cosh-gaussian laser beam, ponderomotive force, variational technique, nonlinear current density

Procedia PDF Downloads 201

Authors: D. Maneetham, L. Sivhour

Abstract:

Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: forward kinematics, D-H model, robotic toolbox, PC- and EtherCAT-based control

Procedia PDF Downloads 179

Authors: Junichiro Kawaguchi

Abstract:

Space debris problems have emerged and threatened the use of low earth orbit around the Earth owing to a large number of spacecraft. In debris removal, a number of research and patents have been proposed and published so far. They assume servicing spacecraft, robots to be built for accessing the target debris objects. The robots should be sophisticated enough automatically to access the debris articulating the attitude and the translation motion with respect to the debris. This paper presents the idea of using the torpedo-like third unsophisticated and disposable body, in addition to the first body of the servicing robot and the second body of the target debris. The third body is launched from the first body from a distance farer than the size of the second body. This paper presents the method and the system, so that the third body is launched from the first body. The third body carries both a net and an inflatable or extendible drag deceleration device and is built small and light. This method enables even a micro to nano satellite to perform contactless and multiple debris removal even via a single flight.

Keywords: ballute, debris removal, echo satellite, gossamer, gun-net, inflatable space structure, small satellite, un-cooperated target

Procedia PDF Downloads 121

Authors: Hussein Altartouri

Abstract:

The purpose of this paper is to present a modeling and control of the active suspension system using robust state feedback controller implemented for a half car model. This system represents a mechatronic system which contains all the essential components to be considered a complete mechatronic system. This system must adapt different conditions which are difficult to compromise, such as disturbances, slippage, and motion on rough road (that contains rocks, stones, and other miscellanies). Some current automobile suspension systems use passive components only by utilizing spring and damping coefficient with fixed rates. Vehicle suspensions systems are used to provide good road handling and improve passenger comfort. Passive suspensions only offer compromise between these two conflicting criteria. Active suspension poses the ability to reduce the traditional design as a compromise between handling and comfort by directly controlling the suspensions force actuators. In this study, the robust state feedback controller implemented to the active suspensions system for half car model.

Keywords: half-car model, active suspension system, state feedback, road profile

Procedia PDF Downloads 393

Authors: Kun Qi, Yuman Zhou, Jianxin He

Abstract:

A facile fabrication strategy via electrospinning and followed by in situ polymerization to fabricate a highly stretchable and conductive Poly(3,4-ethylenedioxythiophene)/Polyurethane (PEDOT/PU) nanofibrous membrane is reported. PU nanofibers were prepared by electrospinning and then PEDOT was coated on the plasma modified PU nanofiber surface via in-situ polymerization to form flexible PEDOT/PU composite nanofibers with conductivity. The results show PEDOT is successfully synthesized on the surface of PU nanofiber and PEDOT/PU composite nanofibers possess skin-core structure. Furthermore, the experiments indicate the optimal technological parameters of the polymerization process are as follow: The concentration of EDOT monomers is 50 mmol/L, the polymerization time is 24 h and the temperature is 25℃. The PEDOT/PU nanofibers exhibit excellent electrical conductivity ( 27.4 S/cm). In addition, flexible sensor made from conductive PEDOT/PU nanofibers shows highly sensitive response towards tensile strain and also can be used to detect finger motion. The results demonstrate promising application of the as-obtained nanofibrous membrane in flexible wearable electronic fields.

Keywords: electrospinning, polyurethane, PEDOT, conductive nanofiber, flexible senor

Procedia PDF Downloads 359

Authors: Alexander Winkler, Jozef Suchý

Abstract:

This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: robot force control, stiffness control, damping control, impedance control, stability

Procedia PDF Downloads 520

Authors: Yusri Yusof, Kamran Latif

Abstract:

Computer Numeric Control (CNC) machine has been widely used in the industries since its inception. Currently, in CNC technology has been used for various operations like milling, drilling, packing and welding etc. with the rapid growth in the manufacturing world the demand of flexibility in the CNC machines has rapidly increased. Previously, the commercial CNC failed to provide flexibility because its structure was of closed nature that does not provide access to the inner features of CNC. Also CNC’s operating ISO data interface model was found to be limited. Therefore, to overcome that problem, Open Architecture Control (OAC) technology and STEP-NC data interface model are introduced. At present the Personal Computer (PC) has been the best platform for the development of open-CNC systems. In this paper, both ISO data interface model interpretation, its verification and execution has been highlighted with the introduction of the new techniques. The proposed is composed of ISO data interpretation, 3D simulation and machine motion control modules. The system is tested on an old 3 axis CNC milling machine. The results are found to be satisfactory in performance. This implementation has successfully enabled sustainable manufacturing environment.

Keywords: CNC, ISO 6983, ISO 14649, LabVIEW, open architecture control, reconfigurable manufacturing systems, sustainable manufacturing, Soft-CNC

Procedia PDF Downloads 516

Authors: Cemre Polat, Mustafa Soyler, Bulent Yaniktepe, Coskun Ozalp

Abstract:

In this study, it was aimed to control the flow actively by giving an oscillating rotational motion to a vertically placed cylinder, and flow characteristics were determined. In the study, firstly, the flow structure around the flat cylinder was investigated with dye experiments, and then the cylinders with different oscillation angles (θ = 60°, θ = 120°, and θ = 180°) and different rotation speeds (15 rpm and 30 rpm) the flow structure around it was examined. Thus, the effectiveness of oscillation and rotation speed in flow control has been investigated. In the dye experiments, the dye/water mixture obtained by mixing Rhodamine 6G in powder form with water, which shines under laser light and allows detailed observation of the flow structure, was used. During the experiments, the dye was injected into the flow with the help of a thin needle at a distance that would not affect the flow from the front of the cylinder. In dye experiments, 100 frames per second were taken with a Canon brand EOS M50 (24MP) digital mirrorless camera at a resolution of 1280 * 720 pixels. Then, the images taken were analyzed, and the pictures representing the flow structure for each experiment were obtained. As a result of the study, it was observed that no separation points were formed at 180° swing angle at 15 rpm speed, 120° and 180° swing angle at 30 rpm, and the flow was controlled according to the fixed cylinder.

Keywords: active flow control, cylinder, flow visualization rotationally oscillating

Procedia PDF Downloads 175

Authors: Harpa Ragnarsdóttir, Magnús Kjartan Gíslason, Kristín Briem, Guðný Lilja Oddsdóttir

Abstract:

Introduction: Whiplash-Associated Disorder (WAD) is a health problem characterized by motor, neurological and psychosocial symptoms, stressing the need for a multimodal treatment approach. To achieve individualized multimodal approach, prognostic factors need to be identified early using validated patient-reported and objective outcome measures. The aim of this study is to demonstrate the degree of association between patient-reported and clinical outcome measures of WAD patients in the subacute phase. Methods: Individuals (n=41) with subacute (≥1, ≤3 months) WAD (I-II), medium to high-risk symptoms, or neck pain rating ≥ 4/10 on the Visual Analog Scale (VAS) were examined. Outcome measures included measurements for movement control (Butterfly test) and cervical active range of motion (cAROM) using the NeckSmart system, a computer system using an inertial measurement unit (IMU) that connects to a computer. The IMU sensor is placed on the participant’s head, who receives visual feedback about the movement of the head. Patient-reported neck disability, pain intensity, general health, self-perceived handicap, central sensitization, and difficulties due to dizziness were measured using questionnaires. Excel and R statistical software were used for statistical analyses. Results: Forty-one participants, 15 males (37%), 26 females (63%), mean (SD) age 36.8 (±12.7), underwent data collection. Mean amplitude accuracy (AA) (SD) in the Butterfly test for easy, medium, and difficult paths were 2.4mm (0.9), 4.4mm (1.8), and 6.8mm (2.7), respectively. Mean cAROM (SD) for flexion, extension, left-, and right rotation were 46.3° (18.5), 48.8° (17.8), 58.2° (14.3), and 58.9° (15.0), respectively. Mean scores on the Neck Disability Index (NDI), VAS, Dizziness Handicap Inventory (DHI), Central Sensitization Inventory (CSI), and 36-Item Short Form Survey RAND version (RAND) were 43% (17.4), 7 (1.7), 37 (25.4), 51 (17.5), and 39.2 (17.7) respectively. Females showed significantly greater deviation for AA compared to males for easy and medium Butterfly paths (p<0.05). Statistically significant moderate to strong positive correlation was found between the DHI and easy (r=0.6, p=0.05), medium (r=0.5, p=0.05)) and difficult (r=0.5, p<0.05) Butterfly paths, between the total RAND score and all cAROMs (r between 0.4-0.7, p≤0.05) except flexion (r=0.4, p=0.7), and between the NDI score and CSI (r=0.7, p<0.01), VAS (r=0.5, p<0.01), and DHI (r=0.7, p<0.01) scores respectively. Discussion: All patient-reported and objective measures were found to be outside the reference range. Results suggest females have worse movement control in the neck in the subacute WAD phase. However, no statistical difference based on gender was found in patient-reported measures. Suggesting females might have worse movement control than males in general in this phase. The correlation found between DHI and the Butterfly test can be explained because the DHI measures proprioceptive symptoms like dizziness and eye movement disorders that can affect the outcome of movement control tests. A correlation was found between the total RAND score and cAROM, suggesting that a reduced range of motion affects the quality of life. Significance: The NeckSmart system can detect abnormalities in cAROM, fine movement control, and kinesthesia of the neck. Results suggest females have worse movement control than males. Results show a moderate to a high correlation between several patient-reported and objective measurements.

Keywords: whiplash associated disorders, car-collision, neck, trauma, subacute

Procedia PDF Downloads 70

Authors: M. Maatar, M. Mekadem, M. Medale, B. Hadjed, B. Imine

Abstract:

In this paper, numerical simulations have been carried out to study the performances of a flapping wing used as an energy collector. Metamodeling and genetic algorithms are used to detect the optimal configuration, improving power coefficient and/or efficiency. Radial basis functions and genetic algorithms have been applied to solve this problem. Three optimization factors are controlled, namely dimensionless heave amplitude h₀, pitch amplitude θ₀ and flapping frequency f. ANSYS FLUENT software has been used to solve the principal equations at a Reynolds number of 1100, while the heave and pitch motion of a NACA0015 airfoil has been realized using a developed function (UDF). The results reveal an average power coefficient and efficiency of 0.78 and 0.338 with an inexpensive low-fidelity model and a total relative error of 4.1% versus the simulation. The performances of the simulated optimum RBF-NSGA-II have been improved by 1.2% compared with the validated model.

Keywords: numerical simulation, flapping wing, energy extraction, power coefficient, efficiency, RBF, NSGA-II

Procedia PDF Downloads 43