World Academy of Science, Engineering and Technology

Authors: M. Karami Khorramabadi, M. M. Najafizadeh, J. Alibabaei Shahraki, P. Khazaeinejad

Abstract:

Analytical solution of the first-order and third-order shear deformation theories are developed to study the free vibration behavior of simply supported functionally graded plates. The material properties of plate are assumed to be graded in the thickness direction as a power law distribution of volume fraction of the constituents. The governing equations of functionally graded plates are established by applying the Hamilton's principle and are solved by using the Navier solution method. The influence of side-tothickness ratio and constituent of volume fraction on the natural frequencies are studied. The results are validated with the known data in the literature.

Keywords: Free vibration, Functionally graded plate, Naviersolution method.

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Authors: M. Goodarzi, P. Lashgari

Abstract:

A major part of the flow field involves no complicated turbulent behavior in many turbulent flows. In this research work, in order to reduce required memory and CPU time, the flow field was decomposed into several blocks, each block including its special turbulence. A two dimensional backward facing step was considered here. Four combinations of the Prandtl mixing length and standard k- E models were implemented as well. Computer memory and CPU time consumption in addition to numerical convergence and accuracy of the obtained results were mainly investigated. Observations showed that, a suitable combination of turbulence models in different blocks led to the results with the same accuracy as the high order turbulence model for all of the blocks, in addition to the reductions in memory and CPU time consumption.

Keywords: Computer memory, CPU time, Multi-block method, Turbulence modeling.

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Authors: C. Perez, O. Reinoso, N. Garcia, J. M. Sabater, L. Gracia

Abstract:

For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). This work considers the cartesian robot coupled and non linear (contrary to normal considerations for this type of robots). The mechanical and control architecture proposed in this paper is efficient for industrial and research application in which high speed, well known model and very high accuracy are required.

Keywords: Robot modelling, parameter identification and validation, AC servo-motors.

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Authors: Ali Raad Hassan, G. Thanigaiyarasu, V. Ramamurti

Abstract:

Natural frequencies and dynamic response of a spur gear sector are investigated using a two dimensional finite element model that offers significant advantages for dynamic gear analyses. The gear teeth are analyzed for different operating speeds. A primary feature of this modeling is determination of mesh forces using a detailed contact analysis for each time step as the gears roll through the mesh. Transient mode super position method has been used to find horizontal and vertical components of displacement and dynamic stress. The finite element analysis software ANSYS has been used on the proposed model to find the natural frequencies by Block Lanczos technique and displacements and dynamic stresses by transient mode super position method. A comparison of theoretical (natural frequency and static stress) results with the finite element analysis results has also been done. The effect of rotational speed of the gears on the dynamic response of gear tooth has been studied and design limits have been discussed.

Keywords: Natural frequency, Modal and transientanalysis, Spur gear, Dynamic stress.

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Authors: Ali Ghaffari, A. Hosein Shamekhi, Akbar Saki, Ehsan Kamrani

Abstract:

In order to meet the limits imposed on automotive emissions, engine control systems are required to constrain air/fuel ratio (AFR) in a narrow band around the stoichiometric value, due to the strong decay of catalyst efficiency in case of rich or lean mixture. This paper presents a model of a sample spark ignition engine and demonstrates Simulink-s capabilities to model an internal combustion engine from the throttle to the crankshaft output. We used welldefined physical principles supplemented, where appropriate, with empirical relationships that describe the system-s dynamic behavior without introducing unnecessary complexity. We also presents a PID tuning method that uses an adaptive fuzzy system to model the relationship between the controller gains and the target output response, with the response specification set by desired percent overshoot and settling time. The adaptive fuzzy based input-output model is then used to tune on-line the PID gains for different response specifications. Experimental results demonstrate that better performance can be achieved with adaptive fuzzy tuning relative to similar alternative control strategies. The actual response specifications with adaptive fuzzy matched the desired response specifications.

Keywords: Modelling, Air–fuel ratio control, SI engine, Adaptive fuzzy Control.

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Authors: Byeong-Sam Kim, Kangsu Lee, Kyoungwoo Park, Samir Ben Chaabane

Abstract:

A Vehicle-s door wireing harness arrangement structure is provided. In vehicle-s door wiring harness(W/H) system is more toward to arrange a passenger compartment than a hinge and a weatherstrip. This article gives some insight into the dimensioning process, with special focus on large deflection analysis of wiring harness(W/H) in vehicle-s door structures for durability problem. An Finite elements analysis for door wiring harness(W/H) are used for residual stresses and dimensional stability with bending flexible. Durability test data for slim test specimens were compared with the numerical predicted fatigue life for verification. The final lifing of the component combines the effects of these microstructural features with the complex stress state arising from the combined service loading and residual stresses.

Keywords: Large deflection, wiring harness system, finite element analysis, vehicle's door.

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Authors: M. Abbaspour, D. Mansouri, N. Mansouri

Abstract:

There are reports of gas and oil wells fire due to different accidents. Many different methods are used for fire fighting in gas and oil industry. Traditional fire extinguishing techniques are mostly faced with many problems and are usually time consuming and needs lots of equipments. Besides, they cause damages to facilities, and create health and environmental problems. This article proposes innovative approach in fire extinguishing techniques in oil and gas industry, especially applicable for burning oil wells located offshore. Fire extinguishment employing a turbojet is a novel approach which can help to extinguishment the fire in short period of time. Divergent and convergent turbojets modeled in laboratory scale along with a high pressure flame were used. Different experiments were conducted to determine the relationship between output discharges of trumpet and oil wells. The results were corrected and the relationship between dimensionless parameters of flame and fire extinguishment distances and also the output discharge of turbojet and oil wells in specified distances are demonstrated by specific curves.

Keywords: Burning well, fire extinguishment, gas/oil industry, simulation.

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Authors: V. Tawiwat, P. Jumnong

Abstract:

Both the minimum energy consumption and smoothness, which is quantified as a function of jerk, are generally needed in many dynamic systems such as the automobile and the pick-and-place robot manipulator that handles fragile equipments. Nevertheless, many researchers come up with either solely concerning on the minimum energy consumption or minimum jerk trajectory. This research paper proposes a simple yet very interesting when combining the minimum energy and jerk of indirect jerks approaches in designing the time-dependent system yielding an alternative optimal solution. Extremal solutions for the cost functions of the minimum energy, the minimum jerk and combining them together are found using the dynamic optimization methods together with the numerical approximation. This is to allow us to simulate and compare visually and statistically the time history of state inputs employed by combining minimum energy and jerk designs. The numerical solution of minimum direct jerk and energy problem are exactly the same solution; however, the solutions from problem of minimum energy yield the similar solution especially in term of tendency.

Keywords: Optimization, Dynamic, Linear Systems, Jerks.

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Authors: V. Tawiwat, S. Sarawut

Abstract:

Applied a mouse-s roller with a gripper to increase the efficiency for a gripper can learn to a material handling without slipping. To apply a gripper, we use the optimize principle to develop material handling by use a signal for checking a roller mouse that rotate or not. In case of the roller rotates means that the material slips. A gripper will slide to material handling until the roller will not rotate. As this experiment has test material handling for comparing a grip force that uses to material handling of the 10-human with the applied gripper. We can summarize that human exert the material handling more than the applied gripper. Because of the gripper can exert more befit to material handling than human and may be a minimum force to lift a material without slipping.

Keywords: Optimize, Gripper, Mouse's Roller, Minimum Force.

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Authors: W. K. Yap, V. Karri

Abstract:

This paper presents a hybrid electric scooter model developed and simulated using Matlab/Simulink. This hybrid scooter modeled has a parallel hybrid structure. The main propulsion units consist of a two stroke internal combustion engine and a hub motor attached to the front wheel of the scooter. The methodology used to optimize the energy and fuel consumption of the hybrid electric scooter is the multi-mode approach. Various case studies were presented to check the model and were compared to the literatures. Results shown that the model developed was feasible and valuable.

Keywords: Hybrid electric scooters, modeling and simulation, hybrid scooter energy management.

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Authors: Kaveh PourAkbar Saffar, Nima JamilPour, Ahmad Raeisi Najafi, Gholamreza Rouhi, Ahmad Reza Arshi, Abdolhossein Fereidoon

Abstract:

The presence of chemical bonding between functionalized carbon nanotubes and matrix in carbon nanotube reinforced composites is modeled by elastic beam elements representing covalent bonding characteristics. Neglecting other reinforcing mechanisms in the composite such as relatively weak interatomic Van der Waals forces, this model shows close results to the Rule of Mixtures model-s prediction for effective Young-s modulus of a Representative Volume Element of composite for small volume fractions (~1%) and high aspect ratios (L/D>200) of CNTs.

Keywords: Beam Element, Carbon Nanotube Reinforced Composite, Cross-link, Young's modulus.

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Authors: Ion Miciu

Abstract:

The system is made with main distributed components: First Level: Industrial Computers placed in Control Room (monitors thermal and electrical processes based on the data provided by the second level); Second Level: PLCs which collects data from process and transmits information on the first level; also takes commands from this level which are further, passed to execution elements from third level; Third Level: field elements consisting in 3 categories: data collecting elements; data transfer elements from the third level to the second; execution elements which take commands from the second level PLCs and executes them after which transmits the confirmation of execution to them. The purpose of the automatic functioning is the optimization of the co-generative electrical energy commissioning in the national energy system and the commissioning of thermal energy to the consumers. The integrated system treats the functioning of all the equipments and devices as a whole: Gas Turbine Units (GTU); MT 20kV Medium Voltage Station (MVS); 0,4 kV Low Voltage Station (LVS); Main Hot Water Boilers (MHW); Auxiliary Hot Water Boilers (AHW); Gas Compressor Unit (GCU); Thermal Agent Circulation Pumping Unit (TPU); Water Treating Station (WTS).

Keywords: Automation System, Cogenerative Power Plant, Control, Monitoring, Real Time

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Authors: A. P. Kulkarni, P. Randive, A. R. Mache

Abstract:

In today-s era of plasma and laser cutting, machines using oxy-acetylene flame are also meritorious due to their simplicity and cost effectiveness. The objective to devise a Computer controlled Oxy-Fuel profile cutting machine arose from the increasing demand for metal cutting with respect to edge quality, circularity and lesser formation of redeposit material. The System has an 8 bit micro controller based embedded system, which assures stipulated time response. A new window based Application software was devised which takes a standard CAD file .DXF as input and converts it into numerical data required for the controller. It uses VB6 as a front end whereas MS-ACCESS and AutoCAD as back end. The system is designed around AT89C51RD2, powerful 8 bit, ISP micro controller from Atmel and is optimized to achieve cost effectiveness and also maintains the required accuracy and reliability for complex shapes. The backbone of the system is a cleverly designed mechanical assembly along with the embedded system resulting in an accuracy of about 10 microns while maintaining perfect linearity in the cut. This results in substantial increase in productivity. The observed results also indicate reduced inter laminar spacing of pearlite with an increase in the hardness of the edge region.

Keywords: Computer-Control, Profile, Oxy-Fuel.

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Authors: Roy J. Issa

Abstract:

Spray chilling using air-mist nozzles has received much attention in the food processing industry because of the benefits it has shown over forced air convection. These benefits include an increase in the heat transfer coefficient and a reduction in the water loss by the product during cooling. However, few studies have simulated the heat transfer and aerodynamics phenomena of the air-mist chilling process for optimal operating conditions. The study provides insight into the optimal conditions for spray impaction, heat transfer efficiency and control of surface flooding. A computational fluid dynamics model using a two-phase flow composed of water droplets injected with air is developed to simulate the air-mist chilling of food products. The model takes into consideration droplet-to-surface interaction, water-film accumulation and surface runoff. The results of this study lead to a better understanding of the heat transfer enhancement, water conservation, and to a clear direction for the optimal design of air-mist chilling systems that can be used in commercial applications in the food and meat processing industries.

Keywords: Droplets impaction efficiency, Droplet size, Heat transfer enhancement factor, Water runoff.

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Authors: Esam M. Alawadhi, Raed I. Bourisli

Abstract:

Periodic vortex shedding in pulsating flow inside wavy channel and the effect it has on heat transfer are studied using the finite volume method. A sinusoidally-varying component is superimposed on a uniform flow inside a sinusoidal wavy channel and the effects on the Nusselt number is analyzed. It was found that a unique optimum value of the pulsation frequency, represented by the Strouhal number, exists for Reynolds numbers ranging from 125 to 1000. Results suggest that the gain in heat transfer is related to the process of vortex formation, movement about the troughs of the wavy channel, and subsequent ejection/destruction through the converging section. Heat transfer is the highest when the frequencies of the pulsation and vortex formation approach being in-phase. Analysis of Strouhal number effect on Nu over a period of pulsation substantiates the proposed physical mechanism for enhancement. The effect of changing the amplitude of pulsation is also presented over a period of pulsation, showing a monotonic increase in heat transfer with increasing amplitude. The 60% increase in Nusselt number suggests that sinusoidal fluid pulsation can an effective method for enhancing heat transfer in laminar, wavy-channel flows.

Keywords: Vortex shedding, pulsating flow, wavy channel, CFD.

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Authors: Mahmoud Z. Iskandarani, Nidal F. Shilbayeh

Abstract:

The voltage/current characteristics and the effect of NO2 gas on the electrical conductivity of a PbPc gas sensor array is investigated. The gas sensor is manufactured using vacuum deposition of gold electrodes on sapphire substrate with the leadphathalocyanine vacuum sublimed on the top of the gold electrodes. Two versions of the PbPc gas sensor array are investigated. The tested types differ in the gap sizes between the deposited gold electrodes. The sensors are tested at different temperatures to account for conductivity changes as the molecular adsorption/desorption rate is affected by heat. The obtained results found to be encouraging as the sensors shoed stability and sensitivity towards low concentration of applied NO2 gas.

Keywords: Intelligent System, PbPc, Gas Sensor, Hardware, Software, Neural.

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Authors: Yi Liu

Abstract:

In this paper, computational fluid dynamics (CFD) is utilized to characterize a prototype biolistic delivery system, the biomedical device based on the contoured-shock-tube design (CST), with the aim at investigating shocks induced flow instabilities within the contoured shock tube. The shock/interface interactions, the growth of perturbation at an interface between two fluids of different density are interrogated. The key features of the gas dynamics and gas-particle interaction are discussed

Keywords: Simulation, Shock wave, Particle, Interface, Supersonic, Richtmyer-Meshkov Instability

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Authors: A. S. Jambhale, B. V. Barbadekar

Abstract:

Microwave energy can be used for drying purpose. It is unique process. It is distinctly different from conventional drying process. It is advantageous over conventional drying / heating processes. When microwave energy is used for drying purpose, the process can be accelerated with a better control to achieve uniform heating, more conversion efficiency, selective drying and ultimately improved product quality of the output. Also, less floor space and compact system are the added advantages. Existing low power microwave drying system is to be modified with suitable applicator. Appropriate sensors are to be used to measure parameters like moisture, temperature, weight of sample. Suitable high tech controller is to be used to control microwave power continuously from minimum to maximum. Phase - controller, cycle - controller and PWM - controller are some of the advanced power control techniques. It has been proposed to work on turmeric using high-tech phase controller to control the microwave power conveniently. The drying of turmeric with microwave energy employing phase controller gives better results as formulated in this paper and hence new approach of processing turmeric will open future doors of profit making to allied industries and the farmers.

Keywords: Applicator, microwave drying, phase controller.

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Authors: Manuel Martínez Martínez, Daniel Zavala Ríos

Abstract:

To determine the length of engagement threads of a bolt installed in a tapped part in order to avoid the threads stripping remains a very current problem in the design of the thread assemblies. It does not exist a calculation method formalized for the cases where the bolt is screwed directly in a ductile material. In this article, we study the behavior of the threads stripping of a loaded assembly by using a modelling by finite elements and a rupture criterion by damage. This modelling enables us to study the different parameters likely to influence the behavior of this bolted connection. We study in particular, the influence of couple of materials constituting the connection, of the bolt-s diameter and the geometrical characteristics of the tapped part, like the external diameter and the length of engagement threads. We established an experiments design to know the most significant parameters. That enables us to propose a simple expression making possible to calculate the resistance of the threads whatever the metallic materials of the bolt and the tapped part. We carried out stripping tests in order to validate our model. The estimated results are very close to those obtained by the tests.

Keywords: Bolt, damage, plasticity, stripping, thread assemblies.

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Authors: Gyu-Jin Shim, Seung-Moon Baek, Choon-Geun Moon, Ho-Saeng Lee, Jung-In Yoon

Abstract:

The experimental thermal performance of two heat exchangers in closed-wet cooling tower (CWCT) was investigated in this study. The test sections are heat exchangers which have multi path that is used as the entrance of cooling water and are consisting of bare-type copper tubes between 15.88mm and 19.05mm. The process fluids are the cooling water that flows from top part of heat exchanger to bottom side in the inner side of tube, and spray water that flows gravitational direction in the outer side of it. Air contacts its outer side of that as it counterflows. Heat and mass transfer coefficients and cooling capacity were calculated with variations of process fluids, multi path and different diameter tubes to figure out the performance of characteristics of CWCT. The main results were summarized as follows: The results show this experiment is reliable with values of heat and mass transfer coefficients comparing to values of correlations. Heat and mass transfer coefficients and cooling capacity of two paths are higher than these with one path using 15.88 and 19.05mm tubes. Cooling capacity per unit volume with 15.88mm tube using one and two paths are higher than 19.05mm tube due to increase of surface area per unit volume.

Keywords: Closed–Wet Cooling Tower, Cooling Capacity, Heatand Mass Transfer Coefficients.

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Authors: A. Niknejad, G. H. Liaghat, A. H. Behravesh, H. Moslemi Naeini

Abstract:

In this paper, a theoretical formula is presented to predict the instantaneous folding force of the first fold creation in a square column under axial loading. Calculations are based on analysis of “Basic Folding Mechanism" introduced by Wierzbicki and Abramowicz. For this purpose, the sum of dissipated energy rate under bending around horizontal and inclined hinge lines and dissipated energy rate under extensional deformations are equated to the work rate of the external force on the structure. Final formula obtained in this research, reasonably predicts the instantaneous folding force of the first fold creation versus folding distance and folding angle and also predicts the instantaneous folding force instead of the average value. Finally, according to the calculated theoretical relation, instantaneous folding force of the first fold creation in a square column was sketched versus folding distance and was compared to the experimental results which showed a good correlation.

Keywords: Instantaneous force, Folding force, Honeycomb, Square column.

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Authors: E. Hemmati Vand, R. H. Oskouei, T. N. Chakherlou

Abstract:

In this paper, the details of an experimental method to measure the clamping force value at bolted connections due to application of wrenching torque to tighten the nut have been presented. A simplified bolted joint including a holed plate with a single bolt was considered to carry out the experiments. This method was designed based on Hooke-s law by measuring compressive axial strain of a steel bush placed between the nut and the plate. In the experimental procedure, the values of clamping force were calculated for seven different levels of applied torque, and this process was repeated three times for each level of the torque. Moreover, the effect of lubrication of threads on the clamping value was studied using the same method. In both conditions (dry and lubricated threads), relation between the torque and the clamping force have been displayed in graphs.

Keywords: Clamping force, Bolted joints, Experimental method, Lubrication.

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Authors: Su Thet Mon Than, Khin Aung Lin, Mi Sandar Mon

Abstract:

This paper is intended to assist anyone with some general technical experience, but perhaps limited specific knowledge of heat transfer equipment. A characteristic of heat exchanger design is the procedure of specifying a design, heat transfer area and pressure drops and checking whether the assumed design satisfies all requirements or not. The purpose of this paper is how to design the oil cooler (heat exchanger) especially for shell-and-tube heat exchanger which is the majority type of liquid-to-liquid heat exchanger. General design considerations and design procedure are also illustrated in this paper and a flow diagram is provided as an aid of design procedure. In design calculation, the MatLAB and AutoCAD software are used. Fundamental heat transfer concepts and complex relationships involved in such exchanger are also presented in this paper. The primary aim of this design is to obtain a high heat transfer rate without exceeding the allowable pressure drop. This computer program is highly useful to design the shell-and-tube type heat exchanger and to modify existing deign.

Keywords: Shell-and-Tube Heat Exchanger, MatLAB and AutoCAD

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Authors: Dr. N.H. Mvungi

Abstract:

The control of commutation of switched reluctance (SR) motor has nominally depended on a physical position detector. The physical rotor position sensor limits robustness and increases size and inertia of the SR drive system. The paper describes a method to overcome these limitations by using magnetization characteristics of the motor to indicate rotor and stator teeth overlap status. The method is using active current probing pulses of same magnitude that is used to simulate flux linkage in the winding being probed. A microprocessor is used for processing magnetization data to deduce rotor-stator teeth overlap status and hence rotor position. However, the back-of-core saturation and mutual coupling introduces overlap detection errors, hence that of commutation control. This paper presents the concept of the detection scheme and the effects of backof core saturation.

Keywords: Microprocessor control, rotor position, sensorless, switched reluctance.

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Authors: Mostafa.A. Fellani, Dawo.E. Abaid

Abstract:

This paper presents a controller design technique for Synchronous Reluctance Motor to improve its dynamic performance with fast response and high accuracy. The sliding mode control is the most attractive and suitable method to use for this purpose, since it is simple in design and for its insensitivity to parameter variations or external disturbances. When this method implemented it yields fast dynamic response without overshoot and a zero steady-state error. The current loop control with decentralized sliding mode is presented in this paper. The mathematical model for the synchronous machine, the inverter and the controller is developed. The stability of the sliding mode controller is analyzed. Simulation of synchronous reluctance motor and the controller with PWM-inverter has been curried out, using the SIMULINK software package of MATLAB. Simulation results are presented to show the effectiveness of the approach.

Keywords: Dynamic Simulation, MATLAB, PWM-inverter, Reluctance Machine, Sliding-mode.

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Authors: Shine U P, EMS Nair

Abstract:

Fatigue is the major threat in service of steel structure subjected to fluctuating loads. With the additional effect of corrosion and presence of weld joints the fatigue failure may become more critical in structural steel. One of the apt examples of such structural is the sailing ship. This is experiencing a constant stress due to floating and a pulsating bending load due to the waves. This paper describes an attempt to verify theory of fatigue in fracture mechanics approach with experimentation to determine the constants of crack growth curve. For this, specimen is prepared from the ship building steel and it is subjected to a pulsating bending load with a known defect. Fatigue crack and its nature is observed in this experiment. Application of fracture mechanics approach in fatigue with a simple practical experiment is conducted and constants of crack growth equation are investigated.

Keywords: fatigue, fracture mechanics, fatigue testing machine

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Authors: E. Abedi, A. Ahmadi Nadooshan, S. Salehi

Abstract:

Modeling and vibration of a flexible link manipulator with tow flexible links and rigid joints are investigated which can include an arbitrary number of flexible links. Hamilton principle and finite element approach is proposed to model the dynamics of flexible manipulators. The links are assumed to be deflection due to bending. The association between elastic displacements of links is investigated, took into account the coupling effects of elastic motion and rigid motion. Flexible links are treated as Euler-Bernoulli beams and the shear deformation is thus abandoned. The dynamic behavior due to flexibility of links is well demonstrated through numerical simulation. The rigid-body motion and elastic deformations are separated by linearizing the equations of motion around the rigid body reference path. Simulation results are shown on for both position and force trajectory tracking tasks in the presence of varying parameters and unknown dynamics remarkably well. The proposed method can be used in both dynamic simulation and controller design.

Keywords: Flexible manipulator, flexible link, dynamicmodeling, end point.

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Authors: Farhad Kolahan, Mahdi Abachizadeh

Abstract:

In this paper, a simulated annealing algorithm has been developed to optimize machining parameters in turning operation on cylindrical workpieces. The turning operation usually includes several passes of rough machining and a final pass of finishing. Seven different constraints are considered in a non-linear model where the goal is to achieve minimum total cost. The weighted total cost consists of machining cost, tool cost and tool replacement cost. The computational results clearly show that the proposed optimization procedure has considerably improved total operation cost by optimally determining machining parameters.

Keywords: Optimization, Simulated Annealing, Machining Parameters, Turning Operation.

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Authors: Ardeshir Karami Mohammadi, Mohammadreza Saee

Abstract:

A variable structure model reference adaptive control (VS-MRAC) strategy for active steering assistance of a two wheel steering car is proposed. An ideal steering system with fixed properties and moving on an ideal road is used as the reference model, and the active steering assistance system is forced to attain the same behavior as the reference model. The proposed system can treat the nonlinear relationships between the side slip angles and lateral forces on tire, and the uncertainties on friction of the road surface, whose compensation are very important under critical situations. Simulation results show improvements on yaw rate and side slip.

Keywords: Variable Structure, Adaptive Control, Model reference, Active steering assistance.

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Authors: A. Ghaffari, A. Meghdari, D. Naderi, S. Eslami

Abstract:

In this paper an algorithm based on the adaptive neuro-fuzzy controller is provided to enhance the tipover stability of mobile manipulators when they are subjected to predefined trajectories for the end-effector and the vehicle. The controller creates proper configurations for the manipulator to prevent the robot from being overturned. The optimal configuration and thus the most favorable control are obtained through soft computing approaches including a combination of genetic algorithm, neural networks, and fuzzy logic. The proposed algorithm, in this paper, is that a look-up table is designed by employing the obtained values from the genetic algorithm in order to minimize the performance index and by using this data base, rule bases are designed for the ANFIS controller and will be exerted on the actuators to enhance the tipover stability of the mobile manipulator. A numerical example is presented to demonstrate the effectiveness of the proposed algorithm.

Keywords: Mobile Manipulator, Tipover Stability Enhancement, Adaptive Neuro-Fuzzy Inference Controller System, Soft Computing.

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