Search results for: robot force control

Authors: Young-Jun You, Youn-Ju Jeong, Min-Su Park, Du-Ho Lee

Abstract:

Due to a lot of limited conditions, a large box type floating structure is inevitably constructed by connecting many pontoons. When a floating structure is made with concrete, concrete shear key with saw-teeth shape is often used to carry shear force. Match casting for the shear key and precise construction on a sea are very important for making separated two pontoons as one body but those are not easy work and may increase construction time and cost. To solve this problem, one-way shear key is studied in this paper for a connected part where there is some difference between upward and downward shear force. It has only one inclined plane and can resist shear force in one direction. Big shear force is resisted by concrete which forms an inclined plane and small shear force is resisted by steel bar. This system can reduce manufacturing cost of individual pontoon and construction time and cost for constructing a floating structure on a sea. In this paper, the feasibility study about one-way shear key system is performed by comparing with design example.

Keywords: Connection, floating container terminal, pontoon, pre-stressing, shear key.

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Authors: Moulay A. Akhloufi

Abstract:

This paper presents an new vision technique for robotic manipulation of randomly oriented objects in industrial applications. The proposed approach uses 2D and 3D vision for efficiently extracting the 3D pose of an object in the presence of multiple randomly positioned objects. 2D vision permits to quickly select the objects of interest for 3D processing with a new modified ICP algorithm (FaR-ICP), thus reducing significantly the processing time. The extracted 3D pose is then sent to the robot manipulator for picking. The tests show that the proposed system achieves high performances

Keywords: 3D vision, Hand-Eye calibration, robot visual servoing, random bin picking.

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Authors: Ellips Masehian, Davoud Sedighizadeh

Abstract:

This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year period, from classic approaches to heuristic algorithms. Due to the NP-Hardness of the MP problem, heuristic methods have outperformed the classic approaches and have gained wide popularity. After surveying around 1400 papers in the field, the amount of existing works for each method is identified and classified. Especially, the history and applications of numerous heuristic methods in MP is investigated. The paper concludes with comparative tables and graphs demonstrating the frequency of each MP method's application, and so can be used as a guideline for MP researchers.

Keywords: Robot motion planning, Heuristic algorithms.

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Authors: Hiroyuki Nishida, Taku Nonomura, Takashi Abe

Abstract:

Wall-surface jet induced by the dielectric barrier discharge (DBD) has been proposed as an actuator for active flow control in aerodynamic applications. Discharge plasma evolution of the DBD plasma actuator was simulated based on a simple fluid model, in which the electron, one type of positive ion and negative ion were taken into account. Two-dimensional simulation was conducted, and the results are in agreement with the insights obtained from experimental studies. The simulation results indicate that the discharge mode changes depending on applied voltage slope; when the applied voltage is positive-going with high applied voltage slope, the corona-type discharge mode turns into the streamer-type discharge mode and the threshold voltage slope is around 300 kV/ms in this simulation. The characteristics of the electrohydrodynamic (EHD) force, which is the source of the wall-surface jet, also change depending on the discharge mode; the tentative peak value of the EHD force during the positive-going voltage phase is saturated by the periodical formation of the streamer-type discharge.

Keywords: Dielectric barrier discharge, Plasma actuator, Fluid simulation.

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Authors: Tianlai Yu, Zhengguo Yuan, Sidi Shan

Abstract:

Adopting the measured constitutive relationship of stress-strain of river ice, the finite element analysis model of percussive force of river ice and pier is established, by the explicit dynamical analysis software package LS-DYNA. Effects of element types, contact method and arithmetic of ice and pier, coupled modes between different elements, mesh density of pier, and ice sheet in contact area on the collision force are studied. Some of measures for the collision force analysis of river ice and pier are proposed as follows: bridge girder can adopt beam161 element with 3-node; pier below the line of 1.30m above ice surface and ice sheet use solid164 element with 8-node; in order to accomplish the connection of different elements, the rigid body with 0.01-0.05m thickness is defined between solid164 and beam161; the contact type of ice and pier adopts AUTOMATIC_SURFACE_TO_SURFACE, using symmetrical penalty function algorithms; meshing size of pier below the line of 1.30m above ice surface should not less than 0.25×0.25×0.5m3. The simulation results have the advantage of high precision by making a comparison between measured and computed data. The research results can be referred for collision force study between river ice and pier.

Keywords: River ice, collision force, simulation analysis, ANSYS/LS-DYNA

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Authors: Wei Sun, Yan Dong

Abstract:

There is an increasing interest in introducing computational thinking at an early age. Computational thinking, like mathematical thinking, engineering thinking, and scientific thinking, is a kind of analytical thinking. Learning computational thinking skills is not only to improve technological literacy, but also allows learners to equip with practicable skills such as problem-solving skills. As people realize the importance of computational thinking, the field of educational technology faces a problem: how to choose appropriate tools and activities to help students develop computational thinking skills. Robots are gradually becoming a popular teaching tool, as robots provide a tangible way for young children to access to technology, and controlling a robot through programming offers them opportunities to engage in developing computational thinking. This study explores whether the introduction of flowcharts into the robotics programming courses can help children convert natural language into a programming language more easily, and then to better cultivate their computational thinking skills. An experimental study was adopted with a sample of children ages six to seven (N = 16) participated, and a one-meter-tall humanoid robot was used as the teaching tool. Results show that children can master basic programming concepts through robotic courses. Children's computational thinking has been significantly improved. Besides, results suggest that flowcharts do have an impact on young children’s computational thinking skills development, but it only has a significant effect on the "sequencing" and "correspondence" skills. Overall, the study demonstrates that the humanoid robot and flowcharts have qualities that foster young children to learn programming and develop computational thinking skills.

Keywords: Robotics, computational thinking, programming, young children, flowcharts.

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Authors: V. B. Bastos, M. P. Lima, P. R. G. Kurka

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This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.

Keywords: Simulation, visual navigation, mobile robot, data visualization.

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Authors: Bhatti A., Nahavandi S., Hossny M.

Abstract:

Current advancements in nanotechnology are dependent on the capabilities that can enable nano-scientists to extend their eyes and hands into the nano-world. For this purpose, a haptics (devices capable of recreating tactile or force sensations) based system for AFM (Atomic Force Microscope) is proposed. The system enables the nano-scientists to touch and feel the sample surfaces, viewed through AFM, in order to provide them with better understanding of the physical properties of the surface, such as roughness, stiffness and shape of molecular architecture. At this stage, the proposed work uses of ine images produced using AFM and perform image analysis to create virtual surfaces suitable for haptics force analysis. The research work is in the process of extension from of ine to online process where interaction will be done directly on the material surface for realistic analysis.

Keywords: Haptics, AFM, force feedback, image analysis.

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Authors: G. Guramishvili, M. Moistsrapishvili, L. Andghuladze

Abstract:

In the article are considered the problems arising at increasing of transferring from rolling stock axles on rail loading from 210 KN up to 270 KN and is offered for rail strength analysis definition of rail force loading complex integral characteristic with taking into account all affecting force factors that is characterizing specific operation condition of rail structure and defines the working capability of structure.

As result of analysis due mentioned method is obtained that in the conditions of 270 KN loading the rail meets the working assessment criteria of rail and rail structures: Strength, rail track stability, rail links stability and its transverse stability, traffic safety condition that is rather important for post-Soviet countries railways.

Keywords: Axial loading, rail force loading, rail structure, rail strength analysis, rail track stability.

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Authors: Wim Dierckxsens, Andrés Piqueras

Abstract:

Throughout its history, Capital has established a decisive form of discrimination that has effectively strengthened its power against Labor: discrimination between an endogenous labor force (integrated, with certain guarantees and rights in the capitalist nexus) and an exogenous labor force (yet to be incorporated or incorporated as ‘heterochthonous’, without such guarantees and rights). We refer to the historical incorporation of the exogenous population from the non-capitalist to the capitalist nexus (with the consequent replaceability of the endogenous labor force) as absolute mobility.

The more possibilities Capital has of accessing a population in the non-capitalist nexus and of being able to incorporate it through absolute mobility into the capitalist nexus, the greater its unilaterality or class domination. In contrast, when these possibilities run dry, Capital is more inclined towards reformism or negotiation.

However, this absolute mobility has historically been combined with relative mobility of the labor force, which includes various processes of which labor force migration is a fundamental component.

This paper holds that both types of mobility are at the core of class struggles.

Keywords: Absolute mobility, capital-labor antagonism, relative mobility, substitutability.

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Authors: Bhatti A., Nahavandi S., Hossny M.

Abstract:

Current advancements in nanotechnology are dependent on the capabilities that can enable nano-scientists to extend their eyes and hands into the nano-world. For this purpose, a haptics (devices capable of recreating tactile or force sensations) based system for AFM (Atomic Force Microscope) is proposed. The system enables the nano-scientists to touch and feel the sample surfaces, viewed through AFM, in order to provide them with better understanding of the physical properties of the surface, such as roughness, stiffness and shape of molecular architecture. At this stage, the proposed work uses of ine images produced using AFM and perform image analysis to create virtual surfaces suitable for haptics force analysis. The research work is in the process of extension from of ine to online process where interaction will be done directly on the material surface for realistic analysis.

Keywords: Haptics, AFM, force feedback, image analysis.

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Authors: Asghar Shirazpour, Seyed Moein Rassoulinejad Mousavi, Hamid Reza Seyf

Abstract:

In this paper an analytical solution is presented for fully developed flow in a parallel plates channel under the action of Lorentz force, by use of Homotopy Perturbation Method (HPM). The analytical results are compared with exact solution and an excellent agreement has been observed between them for both Couette and Poiseuille flows. Moreover, the effects of key parameters have been studied on the dimensionless velocity profile.

Keywords: Lorentz Force, Porous Media, Homotopy Perturbation method

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Authors: Marco Soares dos Santos, Jorge Augusto Ferreira, Camila Nicola Boeri, Fernando Neto da Silva

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The present paper proposes high performance nonlinear force controllers for a servopneumatic real-time fatigue test machine. A CompactRIO® controller was used, being fully programmed using LabVIEW language. Fuzzy logic control algorithms were evaluated to tune the integral and derivative components in the development of hybrid controllers, namely a FLC P and a hybrid FLC PID real-time-based controllers. Their behaviours were described by using state diagrams. The main contribution is to ensure a smooth transition between control states, avoiding discrete transitions in controller outputs. Steady-state errors lower than 1.5 N were reached, without retuning the controllers. Good results were also obtained for sinusoidal tracking tasks from 1/¤Ç to 8/¤Ç Hz.

Keywords: Hybrid Fuzzy Selecting, Control, Range Controllers, Servopneumatic Fatigue System.

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Authors: Carlo Cernicchiaro, Pedro D. Gaspar, Martim L. Aguiar

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The agricultural sector is becoming more critical than ever in view of the expected overpopulation of the Earth. The introduction of robotic solutions in this field is an increasingly researched topic to make the most of the Earth's resources, thus going to avoid the problems of wear and tear of the human body due to the harsh agricultural work, and open the possibility of a constant careful processing 24 hours a day. This project is realized for a terrestrial autonomous robot aimed to navigate in an orchard collecting fallen peaches below the trees. When it receives the signal indicating the low battery, it has to return to the docking station where it will replace its battery and then return to the last work point and resume its routine. Considering a preset path in orchards with tree rows with variable length by which the robot goes iteratively using the algorithm D*. In case of low battery, the D* algorithm is still used to determine the fastest return path to the docking station as well as to come back from the docking station to the last work point. MATLAB simulations were performed to analyze the flexibility and adaptability of the developed algorithm. The simulation results show an enormous potential for adaptability, particularly in view of the irregularity of orchard field, since it is not flat and undergoes modifications over time from fallen branch as well as from other obstacles and constraints. The D* algorithm determines the best route in spite of the irregularity of the terrain. Moreover, in this work, it will be shown a possible solution to improve the initial points tracking and reduce time between movements.

Keywords: Path planning, fastest return path, agricultural terrestrial robot, autonomous, docking station.

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Authors: Heiko Weiß, Andreas Meister, Christoph Ament, Nils Dreifke

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Linear actuators are deployed in a wide range of applications. This paper presents the modeling and system identification of a variable excited linear direct drive (LDD). The LDD is designed based on linear hybrid stepper technology exhibiting the characteristic tooth structure of mover and stator. A three-phase topology provides the thrust force caused by alternating strengthening and weakening of the flux of the legs. To achieve best possible synchronous operation, the phases are commutated sinusoidal. Despite the fact that these LDDs provide high dynamics and drive forces, noise emission limits their operation in calm workspaces. To overcome this drawback an additional excitation of the magnetic circuit is introduced to LDD using additional enabling coils instead of permanent magnets. The new degree of freedom can be used to reduce force variations and related noise by varying the excitation flux that is usually generated by permanent magnets. Hence, an identified simulation model is necessary to analyze the effects of this modification. Especially the force variations must be modeled well in order to reduce them sufficiently. The model can be divided into three parts: the current dynamics, the mechanics and the force functions. These subsystems are described with differential equations or nonlinear analytic functions, respectively. Ordinary nonlinear differential equations are derived and transformed into state space representation. Experiments have been carried out on a test rig to identify the system parameters of the complete model. Static and dynamic simulation based optimizations are utilized for identification. The results are verified in time and frequency domain. Finally, the identified model provides a basis for later design of control strategies to reduce existing force variations.

Keywords: Force variations, linear direct drive, modeling and system identification, variable excitation flux.

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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: Joo-Hack Lee, Jin-Seung Choi, Dong-Won Kang, Jeong-Woo Seo, Ju-Young Kim, Dae-Hyeok Kim, Seung-Tae Yang, Gye-Rae Tack

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.

Keywords: Cycling, Index of effectiveness, Pedal force.

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Authors: Meng Wu

Abstract:

Motion planning is a common task required to be fulfilled by robots. A strategy combining Ant Colony Optimization (ACO) and gravity gradient inversion algorithm is proposed for motion planning of mobile robots. In this paper, in order to realize optimal motion planning strategy, the cost function in ACO is designed based on gravity gradient inversion algorithm. The obstacles around mobile robot can cause gravity gradient anomalies; the gradiometer is installed on the mobile robot to detect the gravity gradient anomalies. After obtaining the anomalies, gravity gradient inversion algorithm is employed to calculate relative distance and orientation between mobile robot and obstacles. The relative distance and orientation deduced from gravity gradient inversion algorithm is employed as cost function in ACO algorithm to realize motion planning. The proposed strategy is validated by the simulation and experiment results.

Keywords: Motion planning, gravity gradient inversion algorithm, ant colony optimization.

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Authors: Maryam Alimardani, Kazuo Hiraki

Abstract:

This study presents a framework for development of a new generation of therapy robots that can interact with users by monitoring their physiological and mental states. Here, we focused on one of the controversial methods of therapy, hypnotherapy. Hypnosis has shown to be useful in treatment of many clinical conditions. But, even for healthy people, it can be used as an effective technique for relaxation or enhancement of memory and concentration. Our aim is to develop a robot that collects information about user’s mental and physical states using electroencephalogram (EEG) and electromyography (EMG) signals and performs costeffective hypnosis at the comfort of user’s house. The presented framework consists of three main steps: (1) Find the EEG-correlates of mind state before, during, and after hypnosis and establish a cognitive model for state changes, (2) Develop a system that can track the changes in EEG and EMG activities in real time and determines if the user is ready for suggestion, and (3) Implement our system in a humanoid robot that will talk and conduct hypnosis on users based on their mental states. This paper presents a pilot study in regard to the first stage, detection of EEG and EMG features during hypnosis.

Keywords: Hypnosis, EEG, robotherapy, brain-computer interface.

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Authors: Attapong T., Hong-Ming Ku, Nakarin M., Narin L., Alisa L, Jirut W.

Abstract:

The quantum mechanics simulation was applied for calculating the interaction force between 2 molecules based on atomic level. For the simple extractive distillation system, it is ternary components consisting of 2 closed boiling point components (A,lower boiling point and B, higher boiling point) and solvent (S). The quantum mechanics simulation was used to calculate the intermolecular force (interaction force) between the closed boiling point components and solvents consisting of intermolecular between A-S and B-S. The requirement of the promising solvent for extractive distillation is that solvent (S) has to form stronger intermolecular force with only one component than the other component (A or B). In this study, the systems of aromatic-aromatic, aromatic-cycloparaffin, and paraffindiolefin systems were selected as the demonstration for solvent selection. This study defined new term using for screening the solvents called relative interaction force which is calculated from the quantum mechanics simulation. The results showed that relative interaction force gave the good agreement with the literature data (relative volatilities from the experiment). The reasons are discussed. Finally, this study suggests that quantum mechanics results can improve the relative volatility estimation for screening the solvents leading to reduce time and money consuming

Keywords: Extractive distillation, Interaction force, Quamtum mechanic, Relative volatility, Solvent extraction.

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Authors: A. Amar

Abstract:

A new model namely, the crystal model, has been modified to calculate radius and density distribution of light nuclei up to 8Be. The crystal model has been modified according to solid state physics which uses the analogy between nucleon distribution and atoms distribution in the crystal. The model has analytical analysis to calculate the radius where the density distribution of light nuclei has been obtained from the analogy of crystal lattice. The distribution of nucleons over crystal has been discussed in general form. The equation used to calculate binding energy was taken from the solid-state model of repulsive and attractive force. The numbers of the protons were taken to control repulsive force where the atomic number was responsible for the attractive force. The parameter has been calculated from the crystal model was found to be proportional to the radius of the nucleus. The density distribution of light nuclei was taken as a summation of two clusters distribution as in 6Li=alpha+deuteron configuration. A test has been done on the data obtained for radius and density distribution using double folding for d+6,7Li with M3Y nucleon-nucleon interaction. Good agreement has been obtained for both radius and density distribution of light nuclei. The model failed to calculate the radius of 9Be, so modifications should be done to overcome discrepancy.

Keywords: nuclear lattice, crystal model, light nuclei, nuclear density distributions

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Authors: S. Shubha, B. N. Meera

Abstract:

Physics Education Research (PER) results have shown that students do not achieve the expected level of competency in understanding the concepts of different domains of Physics learning when taught by the traditional teaching methods, the concepts of Electricity and Magnetism (E&M) being one among them. Simulation being one of the valuable instructional tools renders an opportunity to visualize varied experiences with such concepts. Considering the electric force concept which requires extensive use of vector representations, we report here the outcome of the research results pertaining to the student understanding of this concept and the role of simulation in using vector representation. The simulation platform provides a positive impact on the use of vector representation. The first stage of this study involves eliciting and analyzing student responses to questions that probe their understanding of the concept of electrostatic force and this is followed by four stages of student interviews as they use the interactive simulations of electric force in one dimension. Student responses to the questions are recorded in real time using electronic pad. A validation test interview is conducted to evaluate students' understanding of the electric force concept after using interactive simulation. Results indicate lack of procedural knowledge of the vector representation. The study emphasizes the need for the choice of appropriate simulation and mode of induction for learning.

Keywords: Electric Force, Interactive, Representation, Simulation.

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Authors: H. M. Mobarak, Helen Wu, Keqin Xiao

Abstract:

In this work, a three-dimensional finite element model was developed to investigate the crack breathing behavior at different crack locations considering the effect of unbalance force. A two-disk rotor with a crack is simulated using ABAQUS. The duration of each crack status (open, closed and partially open/closed) during a full shaft rotation was examined to analyse the crack breathing behavior. Unbalanced shaft crack breathing behavior was found to be different at different crack locations. The breathing behavior of crack along the shaft length is divided into different regions depending on the unbalance force and crack location. The simulated results in this work can be further utilised to obtain the time-varying stiffness matrix of the cracked shaft element under the influence of unbalance force.

Keywords: Crack breathing, crack location, slant crack, unbalance force, rotating shaft.

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Authors: Xinde Li, Xinhan Huang, Min Wang

Abstract:

In this paper, a new method of information fusion – DSmT (Dezert and Smarandache Theory) is introduced to apply to managing and dealing with the uncertain information from robot map building. Here we build grid map form sonar sensors and laser range finder (LRF). The uncertainty mainly comes from sonar sensors and LRF. Aiming to the uncertainty in static environment, we propose Classic DSm (DSmC) model for sonar sensors and laser range finder, and construct the general basic belief assignment function (gbbaf) respectively. Generally speaking, the evidence sources are unreliable in physical system, so we must consider the discounting theory before we apply DSmT. At last, Pioneer II mobile robot serves as a simulation experimental platform. We build 3D grid map of belief layout, then mainly compare the effect of building map using DSmT and DST. Through this simulation experiment, it proves that DSmT is very successful and valid, especially in dealing with highly conflicting information. In short, this study not only finds a new method for building map under static environment, but also supplies with a theory foundation for us to further apply Hybrid DSmT (DSmH) to dynamic unknown environment and multi-robots- building map together.

Keywords: Map building, DSmT, DST, uncertainty, information fusion.

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Authors: Young-Lim Choi, Nak-Yun Choi, Jae-Yong Seo, Sang-Il Park, Jong-Wook Kim

Abstract:

This paper proposes a prototype of a lower-limb rehabilitation system for recovering and strengthening patients- injured lower limbs. The system is composed of traction motors for each leg position, a treadmill as a walking base, tension sensors, microcontrollers controlling motor functions and a main system with graphic user interface. For derivation of reference or normal velocity profiles of the body segment point, kinematic method is applied based on the humanoid robot model using the reference joint angle data of normal walking.

Keywords: Rehabilitation, lower limb, treadmill, humanoid robot.

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Authors: Shield B. Lin, Ziraguen O. Williams

Abstract:

In a task to assist NASA in analyzing the dynamic forces caused by operational countermeasures of an astronaut’s exercise platform impacting the spacecraft, an active proportional-integral-derivative controller commanding a linear actuator is proposed in a vibration isolation system to regulate the movement of the exercise platform. Computer simulation shows promising results that most exciter forces can be reduced or even eliminated. This paper emphasizes on parameter uncertainties, variations and exciter force variations. Drift and variations of system parameters in the vibration isolation system for astronaut’s exercise platform are analyzed. An active controlled scheme is applied with the goals to reduce the platform displacement and to minimize the force being transmitted to the spacecraft structure. The controller must be robust enough to accommodate the wide variations of system parameters and exciter forces. Computer simulation for the vibration isolation system was performed via MATLAB/Simulink and Trick. The simulation results demonstrate the achievement of force reduction with small platform displacement under wide ranges of variations in system parameters. 

Keywords: control, counterweight, isolation, vibration

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Authors: Gholamhosein Khosravi, Mohammad Azadi, Hamidreza Ghezavati

Abstract:

In this paper, vibration of a nonlinear composite beam is analyzed and then an active controller is used to control the vibrations of the system. The beam is resting on a Winkler-Pasternak elastic foundation. The composite beam is reinforced by single walled carbon nanotubes. Using the rule of mixture, the material properties of functionally graded carbon nanotube-reinforced composites (FG-CNTRCs) are determined. The beam is cantilever and the free end of the beam is under follower force. Piezoelectric layers are attached to the both sides of the beam to control vibrations as sensors and actuators. The governing equations of the FG-CNTRC beam are derived based on Euler-Bernoulli beam theory Lagrange- Rayleigh-Ritz method. The simulation results are presented and the effects of some parameters on stability of the beam are analyzed.

Keywords: Carbon nanotubes, vibration control, piezoelectric layers, elastic foundation.

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Authors: Se Kyung Oh, Young Hwan Yoon, Ary Bachtiar Krishna

Abstract:

Nowadays, a passenger car suspension must has high performance criteria with light weight, low cost, and low energy consumption. Pilot controlled proportional valve is designed and analyzed to get small pressure change rate after blow-off, and to get a fast response of the damper, a reverse damping mechanism is adapted. The reverse continuous variable damper is designed as a HS-SH damper which offers good body control with reduced transferred input force from the tire, compared with any other type of suspension system. The damper structure is designed, so that rebound and compression damping forces can be tuned independently, of which the variable valve is placed externally. The rate of pressure change with respect to the flow rate after blow-off becomes smooth when the fixed orifice size increases, which means that the blow-off slope is controllable using the fixed orifice size. Damping forces are measured with the change of the solenoid current at the different piston velocities to confirm the maximum hysteresis of 20 N, linearity, and variance of damping force. The damping force variance is wide and continuous, and is controlled by the spool opening, of which scheme is usually adapted in proportional valves. The reverse continuous variable damper developed in this study is expected to be utilized in the semi-active suspension systems in passenger cars after its performance and simplicity of the design is confirmed through a real car test.

Keywords: Blow-off, damping force, pilot controlledproportional valve, reverse continuous damper.

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Authors: M. Blokh

Abstract:

Method of combined teaching laws of classical mechanics and hydrostatics in non-inertial reference frames for undergraduate students is proposed. Pressure distribution in a liquid (or gas) moving with acceleration is considered. Combined effect of hydrostatic force and force of inertia on a body immersed in a liquid can lead to paradoxical results, in a motion of pendulum in particular. The body motion under Stokes force influence and forces in rotating reference frames are investigated as well. Problems and difficulties in student perceptions are analyzed.

Keywords: Hydrodynamics, mechanics, non-inertial reference frames, teaching.

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Authors: Virgil Miranda, Gissele Mosqueda, Pablo Delgado, Yimesker Yihun

Abstract:

Muscular fatigue affects the muscle activation that is needed for producing the desired clinical outcome. Integrating optimal muscle relaxation periods into a variety of health care rehabilitation protocols is important to maximize the efficiency of the therapy. In this study, four muscle relaxation periods (30, 60, 90 and 120 seconds) and their effectiveness in producing consistent muscle activation of the muscle biceps brachii between sets of an elbow flexion and extension task were investigated among a sample of 10 subjects with no disabilities. The same resting periods were then utilized in a controlled exoskeleton-based exercise for a sample size of 5 subjects and have shown similar results. On average, the muscle activity of the biceps brachii decreased by 0.3% when rested for 30 seconds, and it increased by 1.25%, 0.76% and 0.82% when using muscle relaxation periods of 60, 90 and 120 seconds, respectively. The preliminary results suggest that a muscle relaxation period of about 60 seconds is needed for optimal continuous muscle activation within rehabilitation regimens. Robot-based rehabilitation is good to produce repetitive tasks with the right intensity and knowing the optimal resting period will make the automation more effective.

Keywords: Rest intervals, muscle biceps brachii, robot rehabilitation, muscle fatigue.

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