Search results for: Prager Kinematic Hardening Model

Authors: Murat Dicleli, Ali Salem Milani

Abstract:

In this paper, a summary of analytical and experimental studies into the behavior of a new hysteretic damper, designed for seismic protection of structures is presented. The Multidirectional Torsional Hysteretic Damper (MRSD) is a patented invention in which a symmetrical arrangement of identical cylindrical steel cores is so configured as to yield in torsion while the structure experiences planar movements due to earthquake shakings. The new device has certain desirable properties. Notably, it is characterized by a variable and controllable-via-design post-elastic stiffness. The mentioned property is a result of MRSD’s kinematic configuration which produces this geometric hardening, rather than being a secondary large-displacement effect. Additionally, the new system is capable of reaching high force and displacement capacities, shows high levels of damping, and very stable cyclic response. The device has gone through many stages of design refinement, multiple prototype verification tests and development of design guide-lines and computer codes to facilitate its implementation in practice. Practicality of the new device, as offspring of an academic sphere, is assured through extensive collaboration with industry in its final design stages, prototyping and verification test programs.

Keywords: Seismic, isolation, damper, adaptive stiffness.

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Authors: Nina Robson, Kenneth John Faller II, Vishalkumar Ahir, Mustafa Mhawesh, Reza Langari

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This paper describes the development of a model of an impaired human arm performing a reaching motion, which will be used to predict hand path trajectories for people with reduced arm joint mobility. Assuming that the arm was in contact with a surface during the entire movement, the contact conditions at the initial and final task locations were determined and used to generate the entire trajectory. The model was validated by comparing it to experimental data, which simulated an arm joint impairment by physically constraining the joint motion with a brace. Future research will include using the model in the development of physical training protocols that avoid early recruitment of “healthy” Degrees-Of-Freedom (DOF) for reaching motions, thus facilitating an Active Range-Of-Motion Recovery (AROM) for a particular impaired joint.

Keywords: Higher order kinematic specifications, human motor coordination, impaired movement, kinematic synthesis.

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Authors: J. Bouchard, B. Prosperi, G. Bavre, M. Daudé, E. Jeandupeux

Abstract:

Young patients suffering from Cerebral Palsy are facing difficult choices concerning heavy surgeries. Diagnosis settled by surgeons can be complex and on the other hand decision for patient about getting or not such a surgery involves important reflection effort. Proposed software combining prediction for surgeries and post surgery kinematic values, and from 3D model representing the patient is an innovative tool helpful for both patients and medicine professionals. Beginning with analysis and classification of kinematics values from Data Base extracted from gait analysis in 3 separated clusters, it is possible to determine close similarity between patients. Prediction surgery best adapted to improve a patient gait is then determined by operating a suitable preconditioned neural network. Finally, patient 3D modeling based on kinematic values analysis, is animated thanks to post surgery kinematic vectors characterizing the closest patient selected from patients clustering.

Keywords: Cerebral Palsy, Clustering, Crouch Gait, 3-D Modeling.

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Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

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In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

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Authors: Anuar Mohd Salleh, Mohd Effendi Daud

Abstract:

This study presents a kinematic positioning approach that uses a global positioning system (GPS) buoy for precise ocean surface monitoring. The GPS buoy data from the two experiments are processed using an accurate, medium-range differential kinematic technique. In each case, the data from a nearby coastal site are collected at a high rate (1 Hz) for more than 24 hours, and measurements are conducted in neighboring tidal stations to verify the estimated sea surface heights. The GPS buoy kinematic coordinates are estimated using epoch-wise pre-elimination and a backward substitution algorithm. Test results show that centimeterlevel accuracy can be successfully achieved in determining sea surface height using the proposed technique. The centimeter-level agreement between the two methods also suggests the possibility of using this inexpensive and more flexible GPS buoy equipment to enhance (or even replace) current tidal gauge stations.

Keywords: Global positioning system, kinematic GPS, sea surface height, GPS buoy, tide gauge.

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Authors: M.I.S. Ismail, Z. Taha

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In this paper, the experimental design of using the Taguchi method is employed to optimize the processing parameters in the plasma arc surface hardening process. The processing parameters evaluated are arc current, scanning velocity and carbon content of steel. In addition, other significant effects such as the relation between processing parameters are also investigated. An orthogonal array, signal-to-noise (S/N) ratio and analysis of variance (ANOVA) are employed to investigate the effects of these processing parameters. Through this study, not only the hardened depth increased and surface roughness improved, but also the parameters that significantly affect the hardening performance are identified. Experimental results are provided to verify the effectiveness of this approach.

Keywords: Plasma arc, hardened depth, surface roughness, Taguchi method, optimization.

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Authors: M. S. Kaiser

Abstract:

Ageing of 75% cold rolled Al-6Mg alloy with ternary 0.4 wt% scandium and quaternary zirconium and titanium has been carried out. Alloy samples are naturally, isochronally and isothermally aged for different time and temperatures. Hardness values of the differently processed alloys have been measured to understand the ageing behavior of Al-6Mg alloy with scandium and quaternary zirconium and titanium addition. Resistivity changes with annealing time and temperature were measured to understand the precipitation behavior and recovery of strain of the alloy. Attempts were also made to understand the grain refining effect of scandium in Al-6Mg alloy. It is observed that significant hardening takes place in the aged alloys due to the precipitation of scandium aluminides and the dendrites of the Al-6Mg alloy have been refined significantly due to addition of scandium.

Keywords: Al-Mg alloys, age hardening, resistivity, metastable phase.

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Authors: C. Copilusi, C. Ploscaru

Abstract:

This paper addresses attention to a research regarding the design of a knee orthosis in a modular form used on children walking rehabilitation. This research is focused on the human lower limb kinematic analysis which will be used as input data on virtual simulations and prototype validation. From this analysis, important data will be obtained and used as input for virtual simulations of the knee modular orthosis. Thus, a knee orthosis concept was obtained and validated through virtual simulations by using MSC Adams software. Based on the obtained results, the modular orthosis prototype will be manufactured and presented in this article.

Keywords: Human lower limb, children orthoses, kinematic analysis, knee orthosis.

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Authors: Ying-Chen Lin, Ching-Ting Hsu, Wei-Hua Ho

Abstract:

The purpose of this study is to investigate the kinematic characteristics and differences of the snatch barbell trajectory of 53 kg class female weight lifters. We take the 2014 Taiwan College Cup players as examples, and tend to make kinematic applications through the proven weightlifting barbell track system. The competition videos are taken by consumer camcorder with a tripod which set up at the side of the lifter. The results will be discussed in three parts, the first part is various lifting phase, the second part is the compare lifting between success and unsuccessful, and the third part is to compare the outstanding player with the general. Conclusion through the barbell can be used to observe the trajectories of our players lifting the usual process cannot be observed in the presence of malfunction or habits, so that the coach can find the problem and guide the players more accurately. Our system can be applied in practice and competition to increase the resilience of the lifter on the field.

Keywords: Computer aided sport training, Kinematic, Trajectory, Weightlifting.

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Authors: A. Uchaipichat

Abstract:

The hydro-mechanical model for unsaturated soils has been presented based on the effective stress principle taking into account effects of drying-wetting process. The elasto-plastic constitutive equations for stress-strain relations of the soil skeleton have been established. A plasticity model is modified from modified Cam-Clay model. The hardening rule has been established by considering the isotropic consolidation paths. The effect of dryingwetting process is introduced through the ¤ç parameter. All model coefficients are identified in terms of measurable parameters. The simulations from the proposed model are compared with the experimental results. The model calibration was performed to extract the model parameter from the experimental results. Good agreement between the results predicted using proposed model and the experimental results was obtained.

Keywords: Drying-wetting process, Effective stress, Elastoplasticmodel, Unsaturated soils

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Authors: L. Parisi

Abstract:

Kinematic data wisely correlate vector quantities in space to scalar parameters in time to assess the degree of symmetry between the intact limb and the amputated limb with respect to a normal model derived from the gait of control group participants. Furthermore, these particular data allow a doctor to preliminarily evaluate the usefulness of a certain rehabilitation therapy. Kinetic curves allow the analysis of ground reaction forces (GRFs) to assess the appropriateness of human motion. Electromyography (EMG) allows the analysis of the fundamental lower limb force contributions to quantify the level of gait asymmetry. However, the use of this technological tool is expensive and requires patient’s hospitalization. This research work suggests overcoming the above limitations by applying artificial neural networks.

Keywords: Kinetics, kinematics, cyclograms, neural networks.

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Authors: S. S. Sharma, P. R. Prabhu, K. Jagannath, Achutha Kini U., Gowri Shankar M. C.

Abstract:

In present global scenario, aluminum alloys are coining the attention of many innovators as competing structural materials for automotive and space applications. Comparing to other challenging alloys, especially, 7xxx series aluminum alloys have been studied seriously because of benefits such as moderate strength; better deforming characteristics and affordable cost. It is expected that substitution of aluminum alloys for steels will result in great improvements in energy economy, durability and recyclability. However, it is necessary to improve the strength and the formability levels at low temperatures in aluminum alloys for still better applications. Aluminum–Zinc–Magnesium with or without other wetting agent denoted as 7XXX series alloys are medium strength heat treatable alloys. In addition to Zn, Mg as major alloying additions, Cu, Mn and Si are the other solute elements which contribute for the improvement in mechanical properties by suitable heat treatment process. Subjecting to suitable treatments like age hardening or cold deformation assisted heat treatments; known as low temperature thermomechanical treatments (LTMT) the challenging properties might be incorporated. T6 is the age hardening or precipitation hardening process with artificial aging cycle whereas T8 comprises of LTMT treatment aged artificially with X% cold deformation. When the cold deformation is provided after solution treatment, there is increase in hardness related properties such as wear resistance, yield and ultimate strength, toughness with the expense of ductility. During precipitation hardening both hardness and strength of the samples are increasing. The hardness value may further improve when room temperature deformation is positively supported with age hardening known as thermomechanical treatment. It is intended to perform heat treatment and evaluate hardness, tensile strength, wear resistance and distribution pattern of reinforcement in the matrix. 2 to 2.5 and 3 to 3.5 times increase in hardness is reported in age hardening and LTMT treatments respectively as compared to as-cast composite. There was better distribution of reinforcements in the matrix, nearly two fold increase in strength levels and up to 5 times increase in wear resistance are also observed in the present study.

Keywords: Reinforcement, precipitation, thermomechanical, dislocation, strain hardening.

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Authors: A. Abou El-Azm Aly, F. Nicolleau, T. M. Michelitsch, A. F. Nowakowski

Abstract:

In this study, the dispersion of heavy particles line in an isotropic and incompressible three-dimensional turbulent flow has been studied using the Kinematic Simulation techniques to find out the evolution of the line fractal dimension. The fractal dimension of the line is found in the case of different particle gravity (in practice, different values of particle drift velocity) in the presence of small particle inertia with a comparison with that obtained in the diffusion case of material line at the same Reynolds number. It can be concluded for the dispersion of heavy particles line in turbulent flow that the particle gravity affect the fractal dimension of the line for different particle gravity velocities in the range 0.2 < W < 2. With the increase of the particle drift velocity, the fractal dimension of the line decreases which may be explained as the particles pass many scales in their journey in the direction of the gravity and the particles trajectories do not affect by these scales at high particle drift velocities.

Keywords: Heavy particles, two-phase flow, Kinematic Simulation, Fractal dimension.

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Authors: A. Abou El-Azm Aly, F. Nicolleau, T. M. Michelitsch, A. F. Nowakowski

Abstract:

The dispersion of heavy particles line in an isotropic and incompressible three-dimensional turbulent flow has been studied using the Kinematic Simulation techniques to find out the evolution of the line fractal dimension. In this study, the fractal dimension of the line is found for different cases of heavy particles inertia (different Stokes numbers) in the absence of the particle gravity with a comparison with the fractal dimension obtained in the diffusion case of material line at the same Reynolds number. It can be concluded for the dispersion of heavy particles line in turbulent flow that the particle inertia affect the fractal dimension of a line released in a turbulent flow for Stokes numbers 0.02 < St < 2. At the beginning for small times, most of the different cases are not affected by the inertia until a certain time, the particle response time τa, with larger time as the particles inertia increases, the fractal dimension of the line increases owing to the particles becoming more sensitive to the small scales which cause the change in the line shape during its journey.

Keywords: Heavy particles, two-phase flow, Kinematic Simulation, Fractal dimension.

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Authors: Mutuku Muvengei, John Kihiu

Abstract:

This paper focuses on the development of bond graph dynamic model of the mechanical dynamics of an excavating mechanism previously designed to be used with small tractors, which are fabricated in the Engineering Workshops of Jomo Kenyatta University of Agriculture and Technology. To develop a mechanical dynamics model of the manipulator, forward recursive equations similar to those applied in iterative Newton-Euler method were used to obtain kinematic relationships between the time rates of joint variables and the generalized cartesian velocities for the centroids of the links. Representing the obtained kinematic relationships in bondgraphic form, while considering the link weights and momenta as the elements led to a detailed bond graph model of the manipulator. The bond graph method was found to reduce significantly the number of recursive computations performed on a 3 DOF manipulator for a mechanical dynamic model to result, hence indicating that bond graph method is more computationally efficient than the Newton-Euler method in developing dynamic models of 3 DOF planar manipulators. The model was verified by comparing the joint torque expressions of a two link planar manipulator to those obtained using Newton- Euler and Lagrangian methods as analyzed in robotic textbooks. The expressions were found to agree indicating that the model captures the aspects of rigid body dynamics of the manipulator. Based on the model developed, actuator sizing and valve sizing methodologies were developed and used to obtain the optimal sizes of the pistons and spool valve ports respectively. It was found that using the pump with the sized flow rate capacity, the engine of the tractor is able to power the excavating mechanism in digging a sandy-loom soil.

Keywords: Actuators, bond graphs, inverse dynamics, recursive equations, quintic polynomial trajectory.

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Authors: M. Kalichová, S. Hřebíčková, R. Labounková, P. Hedbávný, G. Bago

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The article deals with a biomechanics analysis of the classic bicross start with a backward movement of the bike. This is a case study analyzing this type of start in two bicross riders representing the Czech Republic. Based on the 3D kinematic analysis and with a special emphasis on the ankle movement we have divided the start into five phases – phase n. 1 – reaction time, phase n. 2 – preparation movements time, phase n. 3 – first pedal stroke time, phase n. 4 – dead point pedal passage time, phase n. 5 – second pedal stroke time. Further we have demonstrated the significance of kinematic characteristics in various stages of the bicross start including their values and the extent of change. These primarily include the vector of the instantaneous velocity of the head, wrists, elbows, shoulders, hip and knee joints. The significant angle characteristics have been noted in elbow, shoulder, hip and knee joints. The results of this work indicate the types of movement prevailing in the respective phases and as such are expected to serve as a basis for further analyses of this movement structure performed, however, on a large research sample.

Keywords: Bicross, start, kinematic analysis.

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Authors: Osman Acar

Abstract:

Sun tracking systems are the systems following the sun ray by a right angle or by predetermined certain angle. In this study, we used theoretical trajectory of sun for latitude of central Anatolia in Turkey. A two degree of freedom spherical mechanism was designed to have a large workspace able to follow the sun's theoretical motion by the right angle during the whole year. An inverse kinematic analysis was generated to find the positions of mechanism links for the predicted trajectory. Force and torque analysis were shown for the first day of the year.

Keywords: Sun tracking, theoretical sun trajectory, spherical mechanism, inverse kinematic analysis.

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Authors: B.-A. Behrens, H. J. Maier, A. Neumann, J. Moritz, S. Hübner, T. Gretzki, F. Nürnberger, A. Spiekermeier

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Press-hardened profiles are used e.g. for automotive applications in order to improve light weight construction due to the high reachable strength. The application of interior water-air spray cooling contributes to significantly reducing the cycle time in the production of heat-treated tubes. This paper describes a new manufacturing method for producing press-hardened hollow profiles by means of an additional interior cooling based on a water-air spray. Furthermore, this paper provides the results of thorough investigations on the properties of press-hardened tubes in dependence of varying spray parameters.

Keywords: 22MnB5, hollow profiles, press hardening, tubes, water-air spray cooling.

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Authors: Wisutmethangoon S., Pannaray S., Plookphol T., Wannasin J.

Abstract:

2024 Aluminum alloy was squeezed cast by the Gas Induced Semi Solid (GISS) process. Effect of artificial aging on microstructure and mechanical properties of this alloy was studied in the present work. The solutionized specimens were aged hardened at temperatures of 175°C, 200°C, and 225°C under various time durations. The highest hardness of about 77.7 HRE was attained from specimen aged at the temperature of 175°C for 36h. Upon investigation the microstructure by using transmission electron microscopy (TEM), the S’ phase was mainly attributed to the strengthening effect in the aged alloy. The apparent activation energy for precipitation hardening of the alloy was calculated as 133,805 J/mol.

Keywords: 2024 aluminum alloy, Gas induced semi solid, T6 heat treatment, Aged hardening, Transmission electron microscopy.

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Authors: N. Reppas, Y. L. Gui, B. Wetenhall, C. T. Davie, J. Ma

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A theoretical constitutive model describing the stress-strain behavior of rock subjected to different confining pressures is presented. A bounding surface plastic model with hardening effects is proposed which includes the effect of temperature drop. The bounding surface is based on a mapping rule and the temperature effect on rock is controlled by Poisson’s ratio. Validation of the results against available experimental data is also presented. The relation of deviatoric stress and axial strain is illustrated at different temperatures to analyze the effect of temperature decrease in terms of stiffness of the material.

Keywords: Bounding surface, cooling of rock, plasticity model, rock deformation, elasto-plastic behavior.

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Authors: M. C. Cardoso, L. P. Moreira

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In this work, the plastic behaviour of cold-rolled zinc coated dual-phase steel sheets DP600 and DP800 grades is firstly investigated with the help of uniaxial, hydraulic bulge and Forming Limit Curve (FLC) tests. The uniaxial tensile tests were performed in three angular orientations with respect to the rolling direction to evaluate the strain-hardening and plastic anisotropy. True stressstrain curves at large strains were determined from hydraulic bulge testing and fitted to a work-hardening equation. The limit strains are defined at both localized necking and fracture conditions according to Nakajima’s hemispherical punch procedure. Also, an elasto-plastic localization model is proposed in order to predict strain and stress based forming limit curves. The investigated dual-phase sheets showed a good formability in the biaxial stretching and drawing FLC regions. For both DP600 and DP800 sheets, the corresponding numerical predictions overestimated and underestimated the experimental limit strains in the biaxial stretching and drawing FLC regions, respectively. This can be attributed to the restricted failure necking condition adopted in the numerical model, which is not suitable to describe the tensile and shear fracture mechanisms in advanced high strength steels under equibiaxial and biaxial stretching conditions.

Keywords: Advanced high strength steels, forming limit curve, numerical modeling, sheet metal forming.

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Authors: H. Sadjadian , H.D. Taghirad Member, A. Fatehi

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In this paper, different approaches to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator are presented. On the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using neural networks identification with different structures to solve the problem. The accuracy of the results of each method is analyzed in detail and the advantages and the disadvantages of them in computing the forward kinematic map of the given mechanism is discussed in detail. It is concluded that ANFIS presents the best performance compared to MLP, RBF and PNN networks in this particular application.

Keywords: Forward Kinematics, Neural Networks, Numerical Solution, Parallel Manipulators.

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Authors: Juyi Park, Jung-Min Kim, Hee-Hwan Park, Jin-Wook Kim, Gye-Hyung Kang, Soo-Ho Kim

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This paper presents an iterative algorithm to find a inverse kinematic solution of 5-DOF robot. The algorithm is to minimize the iteration number. Since the 5-DOF robot cannot give full orientation of tool. Only z-direction of tool is satisfied while rotation of tool is determined by kinematic constraint. This work therefore described how to specify the tool direction and let the tool rotation free. The simulation results show that this algorithm effectively worked. Using the proposed iteration algorithm, error due to inverse kinematics converged to zero rapidly in 5 iterations. This algorithm was applied in real welding robot and verified through various practical works.

Keywords: 5-DOF manipulator, Inverse kinematics, Iterative algorithm, Wrist offset.

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Authors: Jahanbakhsh Hamedi, Hassan Zohoor

Abstract:

This article proposes modeling, simulation and kinematic and workspace analysis of a spatial cable suspended robot as incompletely Restrained Positioning Mechanism (IRPM). These types of robots have six cables equal to the number of degrees of freedom. After modeling, the kinds of workspace are defined then an statically reachable combined workspace for different geometric structures of fixed and moving platform is obtained. This workspace is defined as the situations of reference point of the moving platform (center of mass) which under external forces such as weight and with ignorance of inertial effects, the moving platform should be in static equilibrium under conditions that length of all cables must not be exceeded from the maximum value and all of cables must be at tension (they must have non-negative tension forces). Then the effect of various parameters such as the size of moving platform, the size of fixed platform, geometric configuration of robots, magnitude of applied forces and moments to moving platform on workspace of these robots with different geometric configuration are investigated. Obtained results should be effective in employing these robots under different conditions of applied wrench for increasing the workspace volume.

Keywords: Kinematic modeling, applied wrench, workspace, cable based robot.

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Authors: Shwe Wut Hmon Aye, Kay Thi Lwin, Waing Waing Kay Khine Oo

Abstract:

As the material used for fuselage structure must possess low density, high strength to weight ratio, the selection of appropriate materials for fuselage structure is one of the most important tasks. Aluminum metal itself is soft and low in strength. It can be made stronger by giving proper combination of suitable alloy addition, mechanical treatment and thermal treatment. The usual thermal treatment given to aluminum alloys is called age-hardening or precipitation hardening. In this paper, the studies are carried out on 7075 aluminum alloy which is how to improve strength level for fuselage structure. The marked effect of the strength on the ternary alloy is clearly demonstrated at several ageing times and temperatures. It is concluded that aluminum-zinc-magnesium alloy can get the highest strength level in natural ageing.

Keywords: Aluminum alloy, ageing, heat treatment, strength.

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Authors: P. Hedbávný, M. Kalichová

Abstract:

The contribution deals with problem of take-off phase of back somersault with twisting with various numbers of twists along longitudinal body axis. The aim was to evaluate the changes in angles during transition phase from back handspring to back somersault using 3D kinematic analysis of the somersaults. We used Simi Motion System for the 3D kinematic analysis of the observed gymnastic element performed by Czech Republic female representative and 2008 Summer Olympic Games participant. The results showed that the higher the number of twists, the smaller the touchdown angle in which the gymnasts lands on the pad in the beginning of take-off phase. In back somersault with one twist (180°) the average angle is 54°, in 1080° back somersault the average angle is 45.9°. These results may help to improve technical training of sports gymnasts.

Keywords: back somersault with twisting, biomechanicalanalysis, take-off

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Authors: A. Armin, R. Fotouhi, W. Szyszkowski

Abstract:

This paper is part of a study to develop robots for farming. As such power requirement to operate equipment attach to such robots become an important factor. Soil-tool interaction plays major role in power consumption, thus predicting accurately the forces which act on the blade during the farming is very important for optimal designing of farm equipment. In this paper, a finite element investigation for tillage tools and soil interaction is described by using an inelastic constitutive material law for agriculture application. A 3-dimensional (3D) nonlinear finite element analysis (FEA) is developed to examine behavior of a blade with different rake angles moving in a block of soil, and to estimate the blade force. The soil model considered is an elastic-plastic with non-associated Drucker-Prager material model. Special use of contact elements are employed to consider connection between soil-blade and soil-soil surfaces. The FEA results are compared with experimental ones, which show good agreement in accurately predicting draft forces developed on the blade when it moves through the soil. Also a very good correlation was obtained between FEA results and analytical results from classical soil mechanics theories for straight blades. These comparisons verified the FEA model developed. For analyzing complicated soil-tool interactions and for optimum design of blades, this method will be useful.

Keywords: Finite element analysis, soil-blade contact modeling, blade force.

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Authors: Ahmed. S. Alasmari, M. S. Soliman, Magdy M. El-Rayes

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This study focuses on the effect of the addition of magnesium (Mg) and silver (Ag) on the mechanical properties of aluminum based alloys. The alloying elements will be added at different levels using the factorial design of experiments of 2²; the two factors are Mg and Ag at two levels of concentration. The superior mechanical properties of the produced Al-Cu-Mg-Ag alloys after aging will be resulted from a unique type of precipitation named as Ω-phase. The formed precipitate enhanced the tensile strength and thermal stability. This paper further investigated the microstructure and mechanical properties of as cast Al–Cu–Mg–Ag alloys after being complete homogenized treatment at 520 °C for 8 hours followed by isothermally age hardening process at 190 °C for different periods of time. The homogenization at 520 °C for 8 hours was selected based on homogenization study at various temperatures and times. The alloys’ microstructures were studied by using optical microscopy (OM). In addition to that, the fracture surface investigation was performed using a scanning electronic microscope (SEM). Studying the microstructure of aged Al-Cu-Mg-Ag alloys reveal that the grains are equiaxed with an average grain size of about 50 µm. A detailed fractography study for fractured surface of the aged alloys exhibited a mixed fracture whereby the random fracture suggested crack propagation along the grain boundaries while the dimples indicated that the fracture was ductile. The present result has shown that alloy 5 has the highest hardness values and the best mechanical behaviors.

Keywords: Precipitation hardening, aluminum alloys, aging, design of experiments, analysis of variance, heat treatments.

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Authors: Reza Ziaie Moayed, Saeideh Mohammadi

Abstract:

Soft soil is used in many of civil engineering projects like coastal, marine and road projects. Because of low shear strength and stiffness of soft soils, large settlement and low bearing capacity will occur under superstructure loads. This will make the civil engineering activities more difficult and costlier. In the case of soft soils, improvement is a suitable method to increase the shear strength and stiffness for engineering purposes. In recent years, the artificial cementation of soil by cement and lime has been extensively used for soft soil improvement. Cement stabilization is a well-established technique for improving soft soils. Artificial cementation increases the shear strength and hardness of the natural soils. On the other hand, in soft soils, the use of piles to transfer loads to the depths of ground is usual. By using cement treated soil around the piles, high bearing capacity and low settlement in piles can be achieved. In the present study, lateral bearing capacity of short piles in cemented soils is investigated by numerical approach. For this purpose, three dimensional (3D) finite difference software, FLAC 3D is used. Cement treated soil has a strain hardening-softening behavior, because of breaking of bonds between cement agent and soil particle. To simulate such behavior, strain hardening-softening soil constitutive model is used for cement treated soft soil. Additionally, conventional elastic-plastic Mohr Coulomb constitutive model and linear elastic model are used for stress-strain behavior of natural soils and pile. To determine the parameters of constitutive models and also for verification of numerical model, the results of available triaxial laboratory tests on and insitu loading of piles in cement treated soft soil are used. Different parameters are considered in parametric study to determine the effective parameters on the bearing of the piles on cemented treated soils. In the present paper, the effect of various length and height of the artificial cemented area, different diameter and length of the pile and the properties of the materials are studied. Also, the effect of choosing a constitutive model for cemented treated soils in the bearing capacity of the pile is investigated.

Keywords: Cement-treated soils, pile, lateral capacity, FLAC 3D.

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Authors: H. Mohammadipanah, H. Zohoor

Abstract:

This paper presents kinematic and dynamic analysis of a novel 8-DOF hybrid robot manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which is followed by a serial mechanism. The parallel mechanism has three translational DOF, and the serial mechanism has five DOF so that the overall degree of freedom is eight. The introduced manipulator has a wide workspace and a high capability to reduce the actuating energy. The inverse and forward kinematic solutions are described in closed form. The theoretical results are verified by a numerical example. Inverse dynamic analysis of the robot is presented by utilizing the Iterative Newton-Euler and Lagrange dynamic formulation methods. Finally, for performing a multi-step arc welding process, results have indicated that the introduced manipulator is highly capable of reducing the actuating energy.

Keywords: hybrid robot, closed form, inverse dynamic, actuating energy, arc welding

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