Search results for: contact strip

Authors: Aparajita Goswami, Mihir K Purkait

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In the present study Schwertmannite (an iron oxide hydroxide) is selected as an adsorbent for defluoridation of water. The adsorbent was prepared by wet chemical process and was characterized by SEM, XRD and BET. The fluoride adsorption efficiency of the prepared adsorbent was determined with respect to contact time, initial fluoride concentration, adsorbent dose and pH of the solution. The batch adsorption data revealed that the fluoride adsorption efficiency was highly influenced by the studied factors. Equilibrium was attained within one hour of contact time indicating fast kinetics and the adsorption data followed pseudo second order kinetic model. Equilibrium isotherm data fitted to both Langmuir and Freundlich isotherm models for a concentration range of 5-30 mg/L. The adsorption system followed Langmuir isotherm model with maximum adsorption capacity of 11.3 mg/g. The high adsorption capacity of Schwertmannite points towards the potential of this adsorbent for fluoride removal from aqueous medium.

Keywords: Adsorption, fluoride, isotherm study, kinetics, schwertmannite.

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Authors: Kaige Shi, Chao Jiang, Xin Li

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The swirl gripper is an electrically activated noncontact handling device that uses swirling airflow to generate a lifting force. This force can be used to pick up a workpiece placed underneath the swirl gripper without any contact. It is applicable, for example, in the semiconductor wafer production line, where contact must be avoided during the handling and moving of a workpiece to minimize damage. When a workpiece levitates underneath a swirl gripper, the gap height between them is crucial for safe handling. Therefore, in this paper, we propose a method to estimate the levitation gap height by detecting pressure at two points. The method is based on theoretical model of the swirl gripper, and has been experimentally verified. Furthermore, the force between the gripper and the workpiece can also be estimated using the detected pressure. As a result, the nonlinear relationship between the force and gap height can be linearized by adjusting the rotating speed of the fan in the swirl gripper according to the estimated force and gap height. The linearized relationship is expected to enhance handling stability of the workpiece.

Keywords: Swirl gripper, noncontact handling, levitation, gap height estimation.

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Authors: Tamás Mankovits, Dávid Huri, Imre Kállai, Imre Kocsis, Tamás Szabó

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Non-linear FEM calculations are indispensable when important technical information like operating performance of a rubber component is desired. Rubber bumpers built into air-spring structures may undergo large deformations under load, which in itself shows non-linear behavior. The changing contact range between the parts and the incompressibility of the rubber increases this non-linear behavior further. The material characterization of an elastomeric component is also a demanding engineering task. In this paper a comprehensive investigation is introduced including laboratory measurements, mesh density analysis and complex finite element simulations to obtain the load-displacement curve of the chosen rubber bumper. Contact and friction effects are also taken into consideration. The aim of this research is to elaborate a FEM model which is accurate and competitive for a future shape optimization task.

Keywords: Rubber bumper, finite element analysis, compression test, Mooney-Rivlin material model.

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Authors: S. Gao, S. Srirattayawong

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In this study, a computational fluid dynamics (CFD) model has been developed for studying the effect of surface roughness profile on the EHL problem. The cylinders contact geometry, meshing and calculation of the conservation of mass and momentum equations are carried out using the commercial software packages ICEMCFD and ANSYS Fluent. The user defined functions (UDFs) for density, viscosity and elastic deformation of the cylinders as the functions of pressure and temperature are defined for the CFD model. Three different surface roughness profiles are created and incorporated into the CFD model. It is found that the developed CFD model can predict the characteristics of fluid flow and heat transfer in the EHL problem, including the main parameters such as pressure distribution, minimal film thickness, viscosity, and density changes. The results obtained show that the pressure profile at the center of the contact area directly relates to the roughness amplitude. A rough surface with kurtosis value of more than 3 has greater influence over the fluctuated shape of pressure distribution than in other cases.

Keywords: CFD, EHL, Kurtosis, Surface roughness.

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Authors: C. Phalakornkule, W. Worachai, T. Satitayut

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The electrochemical coagulation of a kaolin suspension was investigated at the currents of 0.06, 0.12, 0.22, 0.44, 0.85 A (corresponding to 0.68, 1.36, 2.50, 5.00, 9.66 mA·cm-2, respectively) for the contact time of 5, 10, 20, 30, and 50 min. The TSS removal efficiency at currents of 0.06 A, 0.12 A and 0.22 A increased with the amount of iron generated by the sacrificial anode, while the removal efficiencies did not increase proportionally with the amount of iron generated at the currents of 0.44 and 0.85 A, where electroflotation was clearly observed. Zeta potential measurement illustrated the presence of the highly positive charged particles created by sorption of highly charged polymeric metal hydroxyl species onto the negative surface charged kaolin particles at both low and high applied currents. The disappearance of the individual peaks after certain contact times indicated the attraction between these positive and negative charged particles causing agglomeration. It was concluded that charge neutralization of the individual species was not the only mechanism operating in the electrocoagulation process at any current level, but electrostatic attraction was likely to co-operate or mainly operate.

Keywords: Coagulation, Electrocoagulation, Electrostatics, Suspended solids, Zeta potential

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

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In this paper a 3-D finite element (FE) investigation of soil-blade interaction is described. The effects of blade’s shape and rake angle are examined both numerically and experimentally. The soil is considered as an elastic-plastic granular material with non-associated Drucker-Prager material model. Contact elements with different properties are used to mimic soil-blade sliding and soil-soil cutting phenomena. A separation criterion is presented and a procedure to evaluate the forces acting on the blade is given and discussed in detail. Experimental results were derived from tests using soil bin facility and instruments at the University of Saskatchewan. During motion of the blade, load cells collect data and send them to a computer. The measured forces using load cells had noisy signals which are needed to be filtered. The FE results are compared with experimental results for verification. This technique can be used in blade shape optimization and design of more complicated blade’s shape.

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

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Authors: Somdech Rungsrisawat

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The purposes of this research are to investigate Thai teens’ attitude toward prostitution on the internet, to discover the causes of teenage prostitution and to study the relationship between teenage promiscuity and the causes of teenage prostitution. This study is a mixed research which utilized both qualitative and quantitative approach. The population of this study included teenagers and early adults between 14-21 years old who were studying in high schools, colleges, or universities. A total of 600 respondents was sampled for interviews using a questionnaire, and 48 samples were chosen for an in-depth interview.

The findings revealed that the majority of respondents recognized that teenage prostitution on line was real. The reasons for choosing the internet to contact with customers included easy, convenient, safe, and anonymous. Moreover, the internet allowed teen prostitutes to contact customers anywhere and anytime. The correlation showed that promiscuity was related to the trend of teen prostitution. Other factors that contributed to increasing widespread teen prostitution online included their need for quick money to buy luxurious products and to support their extravagant behavior.

Keywords: Internet, Prostitutes, Online, Thai teens.

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Authors: Paul Akagwu, Aaron Aboshio

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In this study, typical c-ɸ soils subjected to loadings were assessed with a view to understand the general stress distribution and settlement behaviour of the soils under drained conditions. Numerical estimations of the non-dimensional bearing capacity factors, N_q and N_γ for varied angles of friction in the soil mass were obtained using PLAXIS. Ultimate bearing capacity values over a Ф range of 0-30 degrees were also computed and compared with analytical results obtained from the traditional simplified uncoupled approach of Terzaghi and Meyerhof. Results from the numerical study agree well with theoretical findings.

Keywords: Bearing capacity factors, finite element method, safe bearing pressure, structure-soil interaction.

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Authors: Bashirah Ishak, Jacyln JiaYing Thye, Bariah Mohd Ali, Norhani Mohidin

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Background Contact lens (CL) wear can cause changes in blinking and corneal staining. Aims and Objectives To determine the effects of CL materials (HEMA and SiHy) on spontaneous blink rate, blinking patterns and corneal staining after 2 months of wear. Methods Ninety subjects in 3 groups (control, HEMA and SiHy) were assessed at baseline and 2-months. Blink rate was recorded using a video camera. Blinking patterns were assessed with digital camera and slit lamp biomicroscope. Corneal staining was graded using IER grading scale Results There were no significant differences in all parameters at baseline. At 2 months, CL wearers showed significant increment in average blink rate (F1.626, 47.141 = 7.250, p = 0.003; F2,58 = 6.240, p = 0.004) and corneal staining (χ2 2, n=30 = 31.921, p < 0.001; χ2 2, n=30 = 26.909, p < 0.001). Conclusion Blinking characteristics and corneal staining were not influence by soft CL materials.

Keywords: Spontaneous blinking, cornea staining, grading, soft contact lenses.

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Authors: N. Li, Y. M. Cheng

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In this paper, the classical bearing capacity problem is re-considered from discrete element analysis. In the discrete element approach, the bearing capacity problem is considered from the elastic stage to plastic stage to rupture stage (large displacement). The bearing capacity failure mechanism of a strip footing on soil is investigated, and the influence of micro-parameters on the bearing capacity of soil is also observed. It is found that the distinct element method (DEM) gives very good visualized results, and basically coincides well with that derived by the classical methods.

Keywords: Bearing capacity, distinct element method, failure mechanism, large displacement.

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Authors: Tomio Iwasaki, Yosuke Kawahito

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The adhesion strength and wettability at the interfaces between a polyetheretherketone (PEEK) resin and titanium dioxide (TiO2) have become more important because direct joining of PEEK resin and titanium (Ti), whose surface has usually the oxide (TiO2), is needed not only in vehicles such as airplanes, automobiles, and space vehicles, but also in medical devices such as implants. To realize strong joint between the PEEK resin and TiO2, the dependence of the adhesion strength and wettability on crystal orientations of rutile TiO2 were investigated by using molecular simulations. Molecular dynamics simulations were conducted by combining quantum-mechanics equation of electrons with Newton’s equation of motion of nuclear coordinates (atomic coordinates). By putting a PEEK-resin sphere on a rutile TiO2 surface and by heating the system to 650 K, the contact angles at the interfaces were calculated to evaluate the wettability. After the system is cooled to 300 K from 650 K, to evaluate the adhesin strength, the adhesive fracture energy is calculated as the difference between the energy of the PEEK-TiO2 attached state and that of the PEEK-TiO2 detached state. The results of the contact angles showed that PEEK resin on the TiO2(100) and that on the TiO2(001) surface has low wettability with large contact angles. On the other hand, PEEK resin on the TiO2(110) surface has high wettability with a small contact angle. The results of the adhesive fracture energies showed that the adhesion at the PEEK-resin/TiO2(100) and PEEK-resin/TiO2(001) interfaces are weak. On the other hand, the adhesion at the PEEK-resin/TiO2(110) interface is strong. To clarify the reason that the higher wettability and stronger adhesion are obtained at the PEEK/TiO2(110) interface than at the at the PEEK/TiO2(100) and PEEK/TiO2(001) interfaces, atomic configurations at the interfaces were visualized. The atomic configuration at the PEEK/TiO2(110) interface showed that the lattice-matched coherent interface is realized, and the atomic density is high. On the other hand, the atomic configuration at the PEEK/TiO2(001) interface showed the lattice-unmatched incoherent interface. The atomic configuration at the PEEK/TiO2(100) interface showed that the atomic density is very low although the lattice-matched interface is realized. Therefore, the lattice matching and the high atomic density at the PEEK/TiO2(001) interface are considered to be dominant factors in the high wettability and strong adhesion.

Keywords: Adhesion, direct joining, PEEK, TiO2, wettability.

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Authors: A.R. Rahmani, M.T. Samadi, R. Noroozi

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The present work was conducted for the synthesis of nano size zerovalent iron (nZVI) and hexavalent chromium (Cr(VI)) removal as a highly toxic pollutant by using this nanoparticles. Batch experiments were performed to investigate the effects of Cr(VI), nZVI concentration, pH of solution and contact time variation on the removal efficiency of Cr(VI). nZVI was synthesized by reduction of ferric chloride using sodium borohydrid. SEM and XRD examinations applied for determination of particle size and characterization of produced nanoparticles. The results showed that the removal efficiency decreased with Cr(VI) concentration and pH of solution and increased with adsorbent dosage and contact time. The Langmuir and Freundlich isotherm models were used for the adsorption equilibrium data and the Langmuir isotherm model was well fitted. Nanoparticle ZVI presented an outstanding ability to remove Cr(VI) due to high surface area, low particle size and high inherent activity.

Keywords: Adsorption, aqueous solution, Chromium, nZVI, removal.

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Authors: U. Prasopchingchana

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The temperature distribution and the heat transfer rates through a multi-layer door of a furnace were investigated. The inside of the door was in contact with hot air and the other side of the door was in contact with room air. Radiation heat transfer from the walls of the furnace to the door and the door to the surrounding area was included in the problem. This work is a two dimensional steady state problem. The Churchill and Chu correlation was used to find local convection heat transfer coefficients at the surfaces of the furnace door. The thermophysical properties of air were the functions of the temperatures. Polynomial curve fitting for the fluid properties were carried out. Finite difference method was used to discretize for conduction heat transfer within the furnace door. The Gauss-Seidel Iteration was employed to compute the temperature distribution in the door. The temperature distribution in the horizontal mid plane of the furnace door in a two dimensional problem agrees with the one dimensional problem. The local convection heat transfer coefficients at the inside and outside surfaces of the furnace door are exhibited.

Keywords: Conduction, heat transfer, multi-layer door, natural convection

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Authors: Jafar Abbaszadeh Chekan, Kaveh Merat, Hassan Zohoor

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In this study the regional stability of a rotor system which is supported on rolling bearings with radial clearance is studied. The rotor is assumed to be rigid. Due to radial clearance of bearings and dynamic configuration of system, each rolling elements of bearings has the possibility to be in contact with both of the races (under compression) or lose its contact. As a result, this change in dynamic of the system makes it to be known as switching system which is a type of Hybrid systems. In this investigation by adopting Multiple Lyapunov Function theorem and using Hamiltonian function as a candidate Lyapunov function, the stability of the system is studied. The purpose of this study is to inspect the regional stability of rotor-roller bearing and rotor-ball bearing systems.

Keywords: Stability analysis, Rotor-rolling bearing systems, Switching systems, Multiple Lyapunov Function Method

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Authors: P.G. Jayathilake, B.C. Khoo, Zhijun Tan

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A two-dimensional thin-walled capsule of a flexible semi-permeable membrane is adhered onto a rigid planar substrate under adhesive forces (derived from a potential function) in the presence of osmosis across the membrane. The capsule is immersed in a hypotonic and diluted binary solution of a non-electrolyte solute. The Stokes flow problem is solved by the immersed interface method (IIM) with equal viscosities for the enclosed and surrounding fluid of the capsule. The numerical results obtained are verified against two simplified theoretical solutions and the agreements are good. The osmotic inflation of the adhered capsule is studied as a function of the solute concentration field, hydraulic conductivity, and the initial capsule shape. Our findings indicate that the contact length shrinks in dimension as capsule inflates in the hypotonic medium, and the equilibrium contact length does not depend on the hydraulic conductivity of the membrane and the initial shape of the capsule.

Keywords: Capsule-substrate adhesion, Fluid mechanics, Immersed interface method, Osmosis, Mass transfer.

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Authors: Hasan Hassoun, Jaafar Hallal, Denis Duhamel, Mohammad Hammoud, Ali Hage Diab

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This paper aims to prove the accuracy of an inexpensive smartphone camera as a non-contact vibration sensor to recover the vibration modes of a vibrating structure such as a cantilever beam. A video of a vibrating beam is filmed using a smartphone camera and then processed by the motion magnification technique. Based on this method, the first two natural frequencies and their associated mode shapes are estimated experimentally and compared to the analytical ones. Results show a relative error of less than 4% between the experimental and analytical approaches for the first two natural frequencies of the beam. Also, for the first two-mode shapes, a Modal Assurance Criterion (MAC) value of above 0.9 between the two approaches is obtained. This slight error between the different techniques ensures the viability of a cheap smartphone camera as a non-contact vibration sensor, particularly for structures vibrating at relatively low natural frequencies.

Keywords: Modal Analysis, motion magnification, smartphone camera, structural vibration, vibration modes.

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Authors: Bachir Chemani, Rachid Halfaoui, Madani Maalem

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The manufacturing technology of band cotton is very delicate and depends to choice of certain parameters such as torsion of warp yarn. The fabric elasticity is achieved without the use of any elastic material, chemical expansion, artificial or synthetic and it’s capable of creating pressures useful for therapeutic treatments. Before use, the band is subjected to treatments of specific preparation for obtaining certain elasticity, however, during its treatment, there are some regression parameters. The dependence of manufacturing parameters on the quality of the chemical treatment was confirmed. The aim of this work is to improve the properties of the fabric through the development of manufacturing technology appropriately. Finally for the treatment of the strip pancake 100% cotton, a treatment method is recommended.

Keywords: Elastic, cotton, processing, torsion.

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Authors: Surakan Payakkhabut

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Studies of vocal communication in Sooty-headed Bulbul were carried out from January to December 2011. Vocal recordings and behavioral observations were made in their natural habitats at some localities of Lampang, Thailand. After editing, cuts of high quality recordings were analyzed with the help of Avisoft- SASLab Pro (version 4.40) software. More than one thousand element repertoires in five groups were found within two vocal structures. The two structures were short sounds with single element and phrases composed of elements, the frequency ranged from 1-10 kHz. Most phrases were composed of 2 to 5 elements that were often dissimilar in structure, however, these phrases were not as complex as song phrases. The elements and phrases were combined to form many patterns. The species used ten types of calls; i.e. alert, alarm, aggressive, begging, contact, courtship, distress, exciting, flying and invitation. Alert and contact calls were used more frequently than other calls. Aggressive, alarm and distress calls could be used for interspecific communication among some other bird species in the same habitats.

Keywords: Vocal communication, Call, Bird, Sooty-headed Bulbul

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Authors: Jatindra N. Bhakta, Yukihiro Munekage

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The present study attempted to improve the Mercury (Hg) sorption capacity of kanuma volcanic ash soil (KVAS) by impregnating the cupper (Cu). Impregnation was executed by 1 and 5% Cu powder and sorption characterization of optimum Hg removing Cu impregnated KVAS was performed under different operational conditions, contact time, solution pH, sorbent dosage and Hg concentration using the batch operation studies. The 1% Cu impregnated KVAS pronounced optimum improvement (79%) in removing Hg from water compare to control. The present investigation determined the equilibrium state of maximum Hg adsorption at 6 h contact period. The adsorption revealed a pH dependent response and pH 3.5 showed maximum sorption capacity of Hg. Freundlich isotherm model is well fitted with the experimental data than that of Langmuir isotherm. It can be concluded that the Cu impregnation improves the Hg sorption capacity of KVAS and 1% Cu impregnated KVAS could be employed as cost-effective adsorbent media for treating Hg contaminated water.

Keywords: Cupper, impregnation, isotherm, kanuma volcanic ash soil, mercury, sorption

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Authors: Y. F. Yang, B. T. Wang, J. J. Fan, J. Yin

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The previous researches focused on the influence of anthropogenic greenhouse gases exerting global warming, but not consider whether desert sand may warm the planet, this could be improved by accounting for sand's physical and geometric properties. Here we show, sand particles (because of their geometry) at the desert surface form an extended surface of up to 1 + π/4 times the planar area of the desert that can contact sunlight, and at shallow depths of the desert form another extended surface of at least 1 + π times the planar area that can contact air. Based on this feature, an enhanced heat exchange system between sunlight, desert sand, and air in the spaces between sand particles could be built up automatically, which can increase capture of solar energy, leading to rapid heating of the sand particles, and then the heating of sand particles will dramatically heat the air between sand particles. The thermodynamics of deserts may thus have contributed to global warming, especially significant to future global warming if the current desertification continues to expand.

Keywords: global warming, desert sand, extended surface, heat exchange, thermodynamics

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Authors: Easa Ali Abbasi, Akbar Allahverdizadeh, Reza Jahangiri, Behnam Dadashzadeh

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Electrical current measurement is a suitable method for the performance determination of electrical devices. There are two contact and noncontact methods in this measuring process. Contact method has some disadvantages like having direct connection with wire which may endamage the system. Thus, in this paper, a bimorph piezoelectric cantilever beam which has a permanent magnet on its free end is used to measure electrical current in a noncontact way. In mathematical modeling, based on Galerkin method, the governing equation of the cantilever beam is solved, and the equation presenting the relation between applied force and beam’s output voltage is presented. Magnetic force resulting from current carrying wire is considered as the external excitation force of the system. The results are compared with other references in order to demonstrate the accuracy of the mathematical model. Finally, the effects of geometric parameters on the output voltage and natural frequency are presented.

Keywords: Cantilever beam, electrical current measurement, forced excitation, piezoelectric.

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Authors: S. Sudhakar, Geetha Manjunath, Siva Teja Kakileti, Himanshu Madhu

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Diagnosis of breast cancer at early stages has seen better clinical and survival outcomes. Survival rates in developing countries like India are very low due to accessibility and affordability issues of screening tests such as Mammography. In addition, Mammography is not much effective in younger women with dense breasts. This leaves a gap in current screening methods. Thermalytix is a new technique for detecting breast abnormality in a non-contact, non-invasive way. It is an AI-enabled computer-aided diagnosis solution that automates interpretation of high resolution thermal images and identifies potential malignant lesions. The solution is low cost, easy to use, portable and is effective in all age groups.  This paper presents the results of a retrospective comparative analysis of Thermalytix over Mammography and Clinical Breast Examination for breast cancer screening. Thermalytix was found to have better sensitivity than both the tests, with good specificity as well. In addition, Thermalytix identified all malignant patients without palpable lumps.

Keywords: Breast Cancer Screening, Radiology, Thermalytix, Artificial Intelligence, Thermography.

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Authors: Hisham M. Abourayana, Nuri A. Zreiba, Abdulkader M. Elamin

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Polymer-like organic thin films were deposited on both aluminum alloy type 6061 and glass substrates at room temperature by Plasma Enhanced Chemical Vapor Deposition (PECVD) methodusing benzene and hexamethyldisiloxane (HMDSO) as precursor materials. The surface and physical properties of plasma-polymerized organic thin films were investigated at different r.f. powers. The effects of benzene/argon ratio on the properties of plasma polymerized benzene films were also investigated. It is found that using benzene alone results in a non-coherent and non-adherent powdery deposited material. The chemical structure and surface properties of the asgrown plasma polymerized thin films were analyzed on glass substrates with FTIR and contact angle measurements. FTIR spectra of benzene deposited film indicated that the benzene rings are preserved when increasing benzene ratio and/or decreasing r.f. powers. FTIR spectra of HMDSO deposited films indicated an increase of the hydrogen concentration and a decrease of the oxygen concentration with the increase of r.f. power. The contact angle (θ) of the films prepared from benzene was found to increase by about 43% as benzene ratio increases from 10% to 20%. θ was then found to decrease to the original value (51°) when the benzene ratio increases to 100%. The contact angle, θ, for both benzene and HMDSO deposited films were found to increase with r.f. power. This signifies that the plasma polymerized organic films have substantially low surface energy as the r.f power increases. The corrosion resistance of aluminum alloy substrate both bare and covered with plasma polymerized thin films was carried out by potentiodynamic polarization measurements in standard 3.5 wt. % NaCl solution at room temperature. The results indicate that the benzene and HMDSO deposited films are suitable for protection of the aluminum substrate against corrosion. The changes in the processing parameters seem to have a strong influence on the film protective ability. Surface roughness of films deposited on aluminum alloy substrate was investigated using scanning electron microscopy (SEM). The SEM images indicate that the surface roughness of benzene deposited films increase with decreasing the benzene ratio. SEM images of benzene and HMDSO deposited films indicate that the surface roughness decreases with increasing r.f. power. Studying the above parameters indicate that the films produced are suitable for specific practical applications.

Keywords: Plasma polymerization, potentiodynamic test, Contact angle.

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Authors: Ajay Kushwaha, Hemen Kalita, M. Aslam

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Post growth annealing of solution grown ZnO nanowire array is performed under controlled oxygen ambience. The role of annealing over surface defects and their consequence on dark/photo-conductivity and photosensitivity of nanowire array is investigated. Surface defect properties are explored using various measurement tools such as contact angle, photoluminescence, Raman spectroscopy and XPS measurements. The contact angle of the NW films reduces due to oxygen annealing and nanowire film surface changes from hydrophobic (96°) to hydrophilic (16°). Raman and XPS spectroscopy reveal that oxygen annealing improves the crystal quality of the nanowire films. The defect band emission intensity (relative to band edge emission, ID/IUV) reduces from 1.3 to 0.2 after annealing at 600 °C at 10 SCCM flow of oxygen. An order enhancement in dark conductivity is observed in O2 annealed samples, while photoconductivity is found to be slightly reduced due to lower concentration of surface related oxygen defects.

Keywords: Zinc Oxide, Surface defects, Photoluminescence, Photoconductivity, Photosensor and Nanowire thin film.

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Authors: Alexander Winkler, Jozef Suchý

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

Keywords: Damping control, impedance control, robot force control, stability, stiffness control.

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Authors: H. K. Sachidananda, K. Raghunandana, B. Shivamurthy

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The estimation of gear tooth stiffness is important for finding the load distribution between the gear teeth when two consecutive sets of teeth are in contact. Based on dynamic model a C-program has been developed to compute mesh stiffness. By using this program position dependent mesh stiffness of spur gear tooth for various profile shifts have been computed for a fixed center distance and altering tooth-sum gearing (100 by ± 4%). It is found that the C-program using dynamic model is one of the rapid soft computing technique which helps in design of gears. The mesh tooth stiffness along the path of contact is studied for both 20° and 25° pressure angle gears at various profile shifts. Better tooth stiffness is noticed in case of negative alteration tooth-sum gears compared to standard and positive alteration tooth-sum gears. Also, in case of negative alteration tooth-sum gearing better mesh stiffness is noticed in 20° pressure angle when compared to 25°.

Keywords: Altered tooth-sum gearing, bending fatigue, mesh stiffness, spur gear.

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Authors: R. Sarathi, G. Nagesh, K. Vasudevan

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In the present work, an attempt has been made to understand the feasibility of using UHF technique for identification of any corona discharges/ arcing in insulating material due to water droplets. The sensors of broadband type are useful for identification of such discharges. It is realised that arcing initiated by liquid droplet radiates UHF signals in the entire bandwidth up to 2 GHz. The frequency content of the UHF signal generated due to corona/arcing is not much varied in epoxy nanocomposites with different weight percentage of clay content. The exfoliated/intercalated properties were analysed through TEM studies. It is realized that corona initiated discharges are of intermittent process. The hydrophobicity of the material characterized through contact angle measurement. It is realized that low Wt % of nanoclay content in epoxy resin reduces the surface carbonization due to arcing/corona discharges. The results of the study with gamma irradiated specimen indicates that contact angle, discharge inception time and evaporation time of the liquid are much lower than the virgin epoxy nanocomposite material.

Keywords: Arcing, Corona, epoxy resin, insulation, nanocomposites, UHF signal, water droplet.

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Authors: Aleš Florian, Lenka Ševelová, Rudolf Hela

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Complex statistical analysis of stresses in concrete slab of the real type of rigid pavement is performed. The computational model of the pavement is designed as a spatial (3D) model, is based on a nonlinear variant of the finite element method that respects the structural nonlinearity, enables to model different arrangement of joints, and the entire model can be loaded by the thermal load. Interaction of adjacent slabs in joints and contact of the slab and the subsequent layer are modeled with help of special contact elements. Four concrete slabs separated by transverse and longitudinal joints and the additional subgrade layers and soil to the depth of about 3m are modeled. The thickness of individual layers, physical and mechanical properties of materials, characteristics of joints, and the temperature of the upper and lower surface of slabs are supposed to be random variables. The modern simulation technique Updated Latin Hypercube Sampling with 20 simulations is used for statistical analysis. As results, the estimates of basic statistics of the principal stresses s1 and s3 in 53 points on the upper and lower surface of the slabs are obtained.

Keywords: concrete, FEM, pavement, simulation.

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Authors: M. Jahanandish, M. B. Zeydabadinejad

Abstract:

In this paper, von Mises and Drucker-Prager yield criteria, as typical ones that consider the effect of intermediate principal stress σ2, have been selected and employed for investigating the influence of σ2 on the solution of a typical stability problem. The bearing capacity factors have been calculated under plane strain condition (strip footing) and axisymmetric condition (circular footing) using the method of stress characteristics together with the criteria mentioned. Different levels of σ2 relative to the other two principal stresses have been considered. While a higher σ2 entry in yield criterion gives a higher bearing capacity; its entry in equilibrium equations (axisymmetric) causes substantial reduction.

Keywords: Intermediate principal stress, plane strain, axisymmetric, yield criteria.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

Abstract:

The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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