Search results for: test case evolution.

Authors: Essam Al Daoud

Abstract:

This study solves a phylogeny problem by using modified wild dog pack optimization. The least squares error is considered as a cost function that needs to be minimized. Therefore, in each iteration, new distance matrices based on the constructed trees are calculated and used to select the alpha dog. To test the suggested algorithm, ten homologous genes are selected and collected from National Center for Biotechnology Information (NCBI) databanks (i.e., 16S, 18S, 28S, Cox 1, ITS1, ITS2, ETS, ATPB, Hsp90, and STN). The data are divided into three categories: 50 taxa, 100 taxa and 500 taxa. The empirical results show that the proposed algorithm is more reliable and accurate than other implemented methods.

Keywords: Least squares, neighbor joining, phylogenetic tree, wild dogpack.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1393

Authors: Dalibor Fiala, Karel Jezek, Francois Rousselot

Abstract:

In this paper, we present a methodology for finding authoritative researchers by analyzing academic Web sites. We show a case study in which we concentrate on a set of Czech computer science departments- Web sites. We analyze the relations between them via hyperlinks and find the most important ones using several common ranking algorithms. We then examine the contents of the research papers present on these sites and determine the most authoritative Czech authors.

Keywords: Authorities, citation analysis, prestige, ranking algorithms, Web mining.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1246

Authors: Jiashang Jiang, Yongxin Yuan

Abstract:

In this paper we develop an efficient numerical method for the finite-element model updating of damped gyroscopic systems based on incomplete complex modal measured data. It is assumed that the analytical mass and stiffness matrices are correct and only the damping and gyroscopic matrices need to be updated. By solving a constrained optimization problem, the optimal corrected symmetric damping matrix and skew-symmetric gyroscopic matrix complied with the required eigenvalue equation are found under a weighted Frobenius norm sense.

Keywords: Model updating, damped gyroscopic system, partially prescribed spectral information.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1788

Authors: Yiannis Koumpouros, Effie Papageorgiou, Alexandra Karavasili, Foteini Koureta

Abstract:

The objective of the present study was to develop a scale called PYTHEIA. The PYTHEIA is a self-reported measure for the assessment of rehabilitation and assistive robotics and other assistive technology devices. The development of PYTHEIA faced the absence of a valid instrument that can be used to evaluate the assistive robotic devices both as a whole, as well as any of their individual components or functionalities implemented. According to the results presented, PYTHEIA is a valid and reliable scale able to be applied to different target groups for the subjective evaluation of various assistive technology devices.

Keywords: Rehabilitation, assistive technology, assistive robots, rehabilitation robots, scale, psychometric test, assessment, validation, user satisfaction.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1795

Authors: Sheng-Hong Pong, Herng-Yu Huang, Yi-Ju Lee, Shih-Hsuan Chiu

Abstract:

In this paper, a neural network technique is applied to real-time classifying media while a projectile is penetrating through them. A laboratory-scaled penetrating setup was built for the experiment. Features used as the network inputs were extracted from the acceleration of penetrator. 6000 set of features from a single penetration with known media and status were used to train the neural network. The trained system was tested on 30 different penetration experiments. The system produced an accuracy of 100% on the training data set. And, their precision could be 99% for the test data from 30 tests.

Keywords: back-propagation, identification, neural network, penetration.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1277

Authors: Apurv Kulkarni, Shreyas Badave, B. Rajiv

Abstract:

Non-parametric reliability technique is useful for assessment of reliability of systems for which failure rates are not available. This is useful when detection of malfunctioning of any component is the key purpose during ongoing operation of the system. The main purpose of the Heat Exchanger Cycle discussed in this paper is to provide hot water at a constant temperature for longer periods of time. In such a cycle, certain components play a crucial role and this paper presents an effective way to predict the malfunctioning of the components by determination of system reliability. The method discussed in the paper is feasible and this is clarified with the help of various test cases.

Keywords: Heat exchanger cycle, K-statistics, PID controller, system reliability.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1027

Authors: R. Khaldi, N. Benamrouche, M. Bouheraoua

Abstract:

The ability to predict an accurate temperature distribution requires the knowledge of the losses, the thermal characteristics of the materials, and the cooling conditions, all of which are very difficult to quantify. In this paper, the impact of the effects of iron and copper losses are investigated separately and their effects on the heating in various points of the stator of an induction motor, is highlighted by using two simple tests. In addition, the effect of a defect, such as an open circuit in a phase of the stator, on the heating is also obtained by a no-load test. The squirrel cage induction motor is rated at 2.2 kW; 380 V; 5.2 A; Δ connected; 50 Hz; 1420 rpm and the class of insulation F, has been thermally tested under several load conditions. Several thermocouples were placed in strategic points of the stator.

Keywords: induction motor, temperature, heating, losses

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1849

Authors: J. Holomek, R. Karásek, M. Bajer, J. Barnat

Abstract:

Composite steel-concrete slabs using thin-walled corrugated steel sheets with embossments represent a modern and effective combination of steel and concrete. However, the design of new types of sheeting is conditional on the execution of expensive and time-consuming laboratory testing. The effort to develop a cheaper and faster method has lead to many investigations all over the world. In our paper we compare the results from our experiments involving vacuum loading, four-point bending and small-scale shear tests.

Keywords: Composite slab, embossment, four-point bending, small-scale test, steel sheet, thin-walled, vacuum loading

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1945

Authors: G. Spada, E. Gavini, P. Giunchedi

Abstract:

Aim of this work was to compare the efficacy of two loading methods of proteins onto polymeric nanocarriers: adsorption and encapsulation methods. Preliminary studies of protein loading were done using Bovine Serum Albumin (BSA) as model protein. Nanocarriers were prepared starting from polylactic co-glycolic acid (PLGA) polymer; production methods used are two different variants of emulsion evaporation method. Nanoparticles obtained were analyzed in terms of dimensions by Dynamic Light Scattering and Loading Efficiency of BSA by Bradford Assay. Loaded nanoparticles were then submitted to in-vitro protein dissolution test in order to study the effect of the delivery system on the release rate of the protein.

Keywords: Drug delivery, nanoparticles, PLGA, proteinadsorption, protein encapsulation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2514

Authors: Alaa I. Arafa, Hemdan O. A. Said. Marwa A. M. Ali

Abstract:

This paper investigates and evaluates experimentally the structural behavior of high strength concrete (HSC) beams under fire and compares it with that of Normal strength concrete (NSC) beams. The main investigated parameters are: concrete compressive strength (300 or 600 kg/cm²); the concrete cover thickness (3 or 5 cm); the degree of temperature (room temperature or 600 ^oC); the type of cooling (air or water); and the fire exposure time (3 or 5 hours). Test results showed that the concrete compressive strength decreases significantly as the exposure time to fire increases.

Keywords: Experimental, fire, high strength concrete beams, monotonic loading.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 871

Authors: Gideon Avigad, Amiram Moshaiov, Neima Brauner

Abstract:

An IEC technique is described for a multi-objective search of conceptual solutions. The survivability of solutions is influenced by both model-based fitness and subjective human preferences. The concepts- preferences are articulated via a hierarchy of sub-concepts. The suggested method produces an objectivesubjective front. Academic example is employed to demonstrate the proposed approach.

Keywords: Conceptual solution, engineering design, hierarchical planning, multi-objective search, problem reduction.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1008

Authors: Branislav Vuksanović, Dragana Nikolić

Abstract:

This paper describes the implementation and testing of a multichannel active noise control system (ANCS) based on the filtered-inverse LMS (FILMS) algorithm. The FILMS algorithm is derived from the well-known filtered-x LMS (FXLMS) algorithm with the aim to improve the rate of convergence of the multichannel FXLMS algorithm and to reduce its computational load. Laboratory setup and techniques used to implement this system efficiently are described in this paper. Experiments performed in order to test the performance of the FILMS algorithm are discussed and the obtained results presented.

Keywords: Active noise control, adaptive filters, inverse filters, LMS algorithm, FILMS algorithm.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1634

Authors: M. Azadbakht, A. Rezaei Asl, K. Tamaskani Zahedi

Abstract:

Corn is cultivated in most countries because of high consumption, quality, and food value. This study evaluated needed energy for cutting corn stems in different levels of cutting height and moisture content. For this reason, test device was fabricated and then calibrated. The device works on the principle of conservation of energy. The results were analyzed using split plot design and SAS software. The results showed that effect of height and moisture content and their interaction effect on cutting energy are significant (P<1%). The maximum cutting energy was 3.22 kJ in 63 (w.b.%) moisture content and the minimum cutting energy was 1.63 kJ in 83.25 (w.b.%) moisture content.

Keywords: Cutting energy, Corn stalk, Cutting height, Moisture content, Impact cutting.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3143

Authors: Fazl Ullah, Rahmat Ullah

Abstract:

This paper shows a comprehensive learning focused on the optimization of gas production in shale gas reservoirs through hydraulic fracturing. Shale gas has emerged as an important unconventional vigor resource, necessitating innovative techniques to enhance its extraction. The key objective of this study is to examine the influence of fracture parameters on reservoir productivity and formulate strategies for production optimization. A sophisticated model integrating gas flow dynamics and real stress considerations is developed for hydraulic fracturing in multi-stage shale gas reservoirs. This model encompasses distinct zones: a single-porosity medium region, a dual-porosity average region, and a hydraulic fracture region. The apparent permeability of the matrix and fracture system is modeled using principles like effective stress mechanics, porous elastic medium theory, fractal dimension evolution, and fluid transport apparatuses. The developed model is then validated using field data from the Barnett and Marcellus formations, enhancing its reliability and accuracy. By solving the partial differential equation by means of COMSOL software, the research yields valuable insights into optimal fracture parameters. The findings reveal the influence of fracture length, diversion capacity, and width on gas production. For reservoirs with higher permeability, extending hydraulic fracture lengths proves beneficial, while complex fracture geometries offer potential for low-permeability reservoirs. Overall, this study contributes to a deeper understanding of hydraulic cracking dynamics in shale gas reservoirs and provides essential guidance for optimizing gas production. The research findings are instrumental for energy industry professionals, researchers, and policymakers alike, shaping the future of sustainable energy extraction from unconventional resources.

Keywords: Fluid-solid coupling, apparent permeability, shale gas reservoir, fracture property, numerical simulation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 171

Authors: Hsin-Ping Huang, Shyankay Jou

Abstract:

Resistive switching of aluminum nitride (AlN_x) thin film was demonstrated in a TaN/AlN_x/TiN memory cell that was prepared by sputter deposition techniques. The memory cell showed bipolar switching of resistance between +3.5 V and –3.5 V. The resistance ratio of high resistance state (HRS) to low resistance state (HRS), R_HRS/R_LRS, was about 2 over 100 cycles of endurance test. Both the LRS and HRS of the memory cell exhibited ohmic conduction at low voltages and Poole-Frenkel emission at high voltages. The electrical conduction in the TaN/AlN_x/TiN memory cell was possibly attributed to the interactions between charges and defects in the AlN_x film.

Keywords: Aluminum nitride, nonvolatile memory, resistive switching, thin films.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2701

Authors: P. Hedbávný, G. Bago, M. Kalichová

Abstract:

The contribution deals with influence of strength abilities on quality of performance of static balance movement structure – handstand. To test the strength abilities we selected following tests: number of push-ups per minute and persistence in trunk backward bend in sitting position. We tested the dependent variable by three tests – persistence in handstand position on a stabilometric platform, persistence in handstand position and evaluation of quality of handstand performance. Pearson’s correlation coefficient was used to formulate the relationship between variables. The results showed a statistically significant dependence using which we deduced conclusions for training practice.

Keywords: Strength abilities, handstand, balance.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2752

Authors: Pierre-Alain Moëllic, Patrick Hède, Gr egory Grefenstette, Christophe Millet

Abstract:

Pattern recognition and image recognition methods are commonly developed and tested using testbeds, which contain known responses to a query set. Until now, testbeds available for image analysis and content-based image retrieval (CBIR) have been scarce and small-scale. Here we present the one million images CEA-List Image Collection (CLIC) testbed that we have produced, and report on our use of this testbed to evaluate image analysis merging techniques. This testbed will soon be made publicly available through the EU MUSCLE Network of Excellence.

Keywords: CBIR, CLIC, evaluation, image indexing and retrieval, testbed.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1391

Authors: Deependra Singh, Devender Singh, K. S. Verma

Abstract:

This paper addresses a novel technique for placement of distributed generation (DG) in electric power systems. A GA based approach for sizing and placement of DG keeping in view of system power loss minimization in different loading conditions is explained. Minimal system power loss is obtained under voltage and line loading constraints. Proposed strategy is applied to power distribution systems and its effectiveness is verified through simulation results on 16, 37-bus and 75-bus test systems.

Keywords: Distributed generation (DG), Genetic algorithms (GA), optimal sizing and placement, Power loss.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3468

Authors: Sung-yong Choi, Woo-tai Jung, Young-hwan Park

Abstract:

This study intends to improve the bond performance of the polypropylene fiber used as reinforcing fiber for concrete by changing its shape into double crimped type through the enhancement its fabrication process. The bond performance of such double crimped fiber is evaluated by applying the JCI SF-8 (dog-bone shape) testing method. The test results reveal that the double crimped fiber develops bond performance improved by more than 19% compared to the conventional crimped type fiber. 

Keywords: Bond, Polypropylene, Fiber reinforcement, Macro fiber, Shape change.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1826

Authors: U. Ramesh Babu, V. Vijaya Kumar Reddy, S. Tara Kalyani

Abstract:

This paper investigates the performance comparison of SVC (Static VAR Compensator) and DSTATCOM (Distribution Static Synchronous Compensator) to improve voltage stability in Radial Distribution System (RDS) which are efficient FACTS (Flexible AC Transmission System) devices that are capable of controlling the active and reactive power flows in a power system line by appropriately controlling parameters using ANFIS. Simulations are carried out in MATLAB/Simulink environment for the IEEE-4 bus system to test the ability of increasing load. It is found that these controllers significantly increase the margin of load in the power systems.

Keywords: SVC, DSTATCOM, voltage improvement, ANFIS.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1383

Authors: N. Ikasari, T. Sumransat, U. Eko, R. Kusumastuti

Abstract:

Small and medium enterprises (SMEs) are regarded as the engine for economic development, notwithstanding their continuous financing conundrum. In the case of developing countries, access to finance is a reflection of the effectiveness of government policy. The widely accepted perspective to assess small businesses’ access to finance is that of economic view. The existing body of literature presents access to finance in three dimensions; they are accessibility, eligibility and affordability. Within this perspective, the role of socio-cultural has not explored. This study is aimed at investigating the existence of any socio-cultural factors within access to finance issue in Asian countries where governance is enriched by countries’ values and beliefs. The significance of this study is the instigation of supplementary dimension to assess access to finance that eventually contributes to the development of micro-finance policy. Indonesia and Thailand are selected as cases in point, where distinction is drawn on the level of cultural diversity and micro-finance policy in respective country. A questionnaire is used to collect information related to the three dimensions of access to finance as well as to explore alternative financing reasoning to elaborate the issue from the demand side. Questionnaires are distributed to 60 small business owners operating in Indonesia and the same number in Thailand. In order to present a complete understanding on the matter at hand, interviews with banks are conducted to capture the perspective as presented by the supply side. Research findings show that small business owners and banks in Indonesia and Thailand are in agreement that access to finance is not deemed as an issue. However, trust issue that exists mutually between financing users and providers leads small business owners in Indonesia to look for alternative financing other than banks. The findings contribute to the refinement of micro-financing policy in Indonesia and Thailand.

Keywords: Access to finance, Indonesia, small and medium enterprises, Thailand.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1976

Authors: Mustafa M. Donma

Abstract:

Metabolic syndrome (MetS) is characterized by a series of biochemical, physiological and anthropometric indicators and is a life-threatening health problem due to its close association with chronic diseases such as obesity, diabetes mellitus, hypertension, cancer and cardiovascular diseases. The syndrome deserves great interest both in adults and children. Particularly, children with morbid obesity have a great tendency to develop the disease. The diagnostic decision is not so easy and may not be complete particularly in the pediatric population. Therefore, preventive measures should be considered at this stage. The aim of the study was to develop a MetS index capable of predicting MetS, while children are at the morbid obesity stage. This study was performed on morbid obese (MO) children, which were divided into two groups. MO children, who do not possess MetS criteria comprised the first group (n = 44). The second group was composed of children with MetS diagnosis (n = 42). Anthropometric measurements including weight, height, waist circumference (WC), hip C, head C, neck C, biochemical tests including fasting blood glucose (FBG), insulin (INS), triglycerides (TRG), high density lipoprotein cholesterol (HDL-C) and blood pressure measurements (systolic (SBP) and diastolic (DBP)) were performed. Body fat percentage (BFP) values were determined by TANITA’s Bioelectrical Impedance Analysis technology. Body mass index and MetS indices were calculated. Descriptive statistics including median values, t-test, Mann Whitney U test, correlation-regression analysis were performed within the scope of data evaluation using the statistical package program, SPSS. Statistically significant mean differences were determined by a p value smaller than 0.05. Median values for MetSI and ADMI in MO (MetS-) and MO (MetS+) groups were calculated as 25.9 and 36.5 and 74.0 and 106.1, respectively. Corresponding mean ± SD values for BFPs were 35.9 ± 7.1 and 38.2 ± 7.7 in groups. Correlation analysis of these two indices with corresponding general BFP values exhibited significant association with ADMI, close to significance with MetSI in MO group. Any significant correlation was found with neither of the indices in MetS group. In conclusion, important associations observed with MetS indices in MO group were quite meaningful. The presence of these associations in MO group was important for showing the tendency towards the development of MetS in MO (MetS-) participants. The other index, ADMI, was more helpful for predictive purpose.

Keywords: Body fat percentage, child obesity, metabolic syndrome index, morbid obesity.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 64

Authors: Michal Duchek, Jan Palán, Tomas Kubina

Abstract:

Bars made of titanium grade 2 and grade 4 were subjected to rotary forging with up to 2.2 true strain reduction in the cross-section from 10 to 3.81 mm. During progressive deformation, grain refinement in the transverse direction took place. In the longitudinal direction, ultrafine microstructure has not developed. It has been demonstrated that titanium grade 2 strengthens more than grade 4. The ultimate tensile strength increased from 650 MPa to 1040 MPa in titanium grade 4. Hardness profiles on the cross section in both materials show an increase in the centre of the wire.

Keywords: Commercial-purity titanium, wire, rotary swaging, tensile test, hardness, modulus of elasticity, microstructure.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 741

Authors: S. Forkapic, J. Nikolov, N. Todorovic, D. Mrdja, I. Bikit

Abstract:

Tritium activity concentration in Danube river water in Serbia has been determinate using a liquid scintillation counter Quantulus 1220. During December 2010, water samples were taken along the entire course of Danube through Serbia, from Hungarian- Serbian to Romanian-Serbian border. This investigation is very important because of the nearness of nuclear reactor Paks in Hungary. Sample preparation was performed by standard test method using Optiphase HiSafe 3 scintillation cocktail. We used a rapid method for the preparation of environmental samples, without electrolytic enrichment.

Keywords: detection limit, liquid scintillation counter, low-leveltritium analysis, monitoring.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2151

Authors: Amal Jmaii, Damien Rousseliere, Besma Belhadj

Abstract:

We explore the relationship between internal migration and poverty in Tunisia. We present a methodology combining potential outcomes approach with multiple imputation to highlight the effect of internal migration on poverty states. We find that probability of being poor decreases when leaving the poorest regions (the west areas) to the richer regions (greater Tunis and the east regions).

Keywords: Internal migration, Bayesian approach, poverty dynamics, Tunisia.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 934

Authors: Wayne Goodridge, Alexander Nikov, Ashok Sahai

Abstract:

Multi criteria decision making (MCDM) methods like analytic hierarchy process, ELECTRE and multi-attribute utility theory are critically studied. They have irregularities in terms of the reliability of ranking of the best alternatives. The Routing Decision Support (RDS) algorithm is trying to improve some of their deficiencies. This paper gives a mathematical verification that the RDS algorithm conforms to the test criteria for an effective MCDM method when a linear preference function is considered.

Keywords: Decision support systems, linear preference function, multi-criteria decision-making algorithm, analytic hierarchy process.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1584

Authors: Ahmed Helal, Sherif Zain Elabideen, Ahmed Lotfy

Abstract:

In this paper the modeling and analysis of Space Vector Pulse Width Modulation (SVPWM) based Dynamic Voltage Restorer (DVR) using PSCAD/EMTDC software will be presented in details. The simulation includes full modeling of the SVPWM technique used to control the DVR inverter. A test power system composed of three phase voltage source, sag generator, DVR and three phase resistive load is used to demonstrate restoration capability of the DVR. The simulation results of the presented DVR proved excellent voltage sag mitigation to protect sensitive loads.

Keywords: Dynamic voltage restorer, power quality, simulationand modeling, voltage sag.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3719

Authors: Libin Wu, Bainian Li

Abstract:

In This Article We establish moment inequality of dependent random variables,furthermore some theorems of strong law of large numbers and complete convergence for sequences of dependent random variables. In particular, independent and identically distributed Marcinkiewicz Law of large numbers are generalized to the case of m0-dependent sequences.

Keywords: Lacunary System, Generalized Gaussian, NA sequences, strong law of large numbers.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1486

Authors: Bainian Li, Kongsheng Zhang

Abstract:

Strong law of large numbers and complete convergence for sequences of *-mixing random variables are investigated. In particular, Teicher-s strong law of large numbers for independent random variables are generalized to the case of *-mixing random sequences and extended to independent and identically distributed Marcinkiewicz Law of large numbers for *-mixing.

Keywords: mixing squences, strong law of large numbers, martingale differences, Lacunary System

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1297

Authors: Hoai Nam Huynh, Edouard Rivière-Lorphèvre, Olivier Verlinden

Abstract:

Manufacturing technologies are becoming continuously more diversified over the years. The increasing use of robots for various applications such as assembling, painting, welding has also affected the field of machining. Machining robots can deal with larger workspaces than conventional machine-tools at a lower cost and thus represent a very promising alternative for machining applications. Furthermore, their inherent structure ensures them a great flexibility of motion to reach any location on the workpiece with the desired orientation. Nevertheless, machining robots suffer from a lack of stiffness at their joints restricting their use to applications involving low cutting forces especially finishing operations. Vibratory instabilities may also happen while machining and deteriorate the precision leading to scrap parts. Some researchers are therefore concerned with the identification of optimal parameters in robotic machining. This paper continues the development of a virtual robotic machining simulator in order to find optimized cutting parameters in terms of depth of cut or feed per tooth for example. The simulation environment combines an in-house milling routine (DyStaMill) achieving the computation of cutting forces and material removal with an in-house multibody library (EasyDyn) which is used to build a dynamic model of a 3-DOF planar robot with flexible links. The position of the robot end-effector submitted to milling forces is controlled through an inverse kinematics scheme while controlling the position of its joints separately. Each joint is actuated through a servomotor for which the transfer function has been computed in order to tune the corresponding controller. The output results feature the evolution of the cutting forces when the robot structure is deformable or not and the tracking errors of the end-effector. Illustrations of the resulting machined surfaces are also presented. The consideration of the links flexibility has highlighted an increase of the cutting forces magnitude. This proof of concept will aim to enrich the database of results in robotic machining for potential improvements in production.

Keywords: Control, machining, multibody, robotic, simulation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1367