Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 617

Search results for: flexible bodies

617 Dynamic Synthesis of a Flexible Multibody System

Authors: Mohamed Amine Ben Abdallah, Imed Khemili, Nizar Aifaoui

Abstract:

This work denotes an insight into dynamic synthesis of multibody systems. A set of mechanism parameters design variable are synthetized based on a desired mechanism response, such as, velocity, acceleration and bodies deformations. Moreover, knowing the work space, for a robot, and mechanism response allow defining optimal parameters mechanism handling with the desired target response. To this end, evolutionary genetic algorithm has been deployed. A demonstrative example for imperfect mechanism has been treated, mainly, a slider crank mechanism with a flexible connecting rod. The transversal deflection of the connecting rod has been chosen as response to identify the mechanism design parameters.

Keywords: Dynamic response, flexible bodies, optimization, evolutionary genetic algorithm.

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616 Flexible Manufacturing System

Authors: Peter Kostal, Karol Velisek

Abstract:

Flexible manufacturing system is a system that is able to respond to changed conditions. In general, this flexibility is divided into two key categories and several subcategories. The first category is the so called machine flexibility which enables to make various products by the given machinery. The second category is routing flexibility enabling to execute the same operation by various machines. Flexible manufacturing systems usually consist of three main parts: CNC machine tools, transport system and control system. A higher level of flexible manufacturing systems is represented by the so called intelligent manufacturing systems.

Keywords: drawing-free manufacturing, flexible manufacturing system, industrial robot, material flow.

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615 Assembly Process Algorithms of Flexible Cell

Authors: M. Kusá, M. Matúšová, A. Javorová, K. Velí

Abstract:

This paper deals about four items assembly process of linear drive. This assembly will be realized in flexible assembly cell on Institute of Manufacturing Systems and Applied Mechanics. There is defined manufacturing cell, individual actuators created our flexible cell. Next chapter is about control type, detailed describe a sequence control type, which will be used in mentioned flexible assembly cell. All cell control is divided in individual steps instructions. There instructions illustrate table number III.

Keywords: assembly, flexible cell, sequence control

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614 Modeling and Control of Two Manipulators Handling a Flexible Beam

Authors: Amer S. Al-Yahmadi, T.C. Hsia

Abstract:

This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Simulation results for two three joint arms moving a flexible beam, are presented to validate the theoretical results.

Keywords: Sliding mode control, cooperative manipulators.

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613 Evaluation of Dynamic Behavior of a Rotor-Bearing System in Operating Conditions

Authors: Mohammad Hadi Jalali, Behrooz Shahriari, Mostafa Ghayour, Saeed Ziaei-Rad, Shahram Yousefi

Abstract:

Most flexible rotors can be considered as beam-like structures. In many cases, rotors are modeled as one-dimensional bodies, made basically of beam-like shafts with rigid bodies attached to them. This approach is typical of rotor dynamics, both analytical and numerical, and several rotor dynamic codes, based on the finite element method, follow this trend. In this paper, a finite element model based on Timoshenko beam elements is utilized to analyze the lateral dynamic behavior of a certain rotor-bearing system in operating conditions.

Keywords: Finite element method, Operational deflection shape, Timoshenko beam elements, Unbalance response.

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612 Dynamic Modeling of Tow Flexible Link Manipulators

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

Abstract:

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

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

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611 3D High-Precision Tunnel Gravity Exploration Method for Concealed High-Density Ore-Bodies: A Case Study on the Zhaotong Maoping Carbonate-Hosted Zn-Pb-(Ag-Ge) Deposit in Northeastern Yunnan, China

Authors: Han Run-Sheng, Li Wen-Yao, Wang Feng, Liu Fei, Qiu Wen-Long, Lei Li

Abstract:

Accurately positioning detection of concealed deposits or ore-bodies is one of the difficult problems in mineral exploration field. Theory calculation and exploration practices for tunnel gravity indicate that 3D high-precision Tunnel Gravity Exploration Method (TGEM) can find concealed high-density three-dimensional ore-bodies in the depth. The ore-finding breakthroughs at the depth of the Zhaotong Maoping carbonate-hosted Zn–Pb–(Ag–Ge) deposit in Northeastern Yunnan have proved that the exploration method in combination with MEAHFZ method is effective to detect concealed high-density ore-bodies. TGEM may overcome anomalous ambiguity of other geophysical methods for 3D positioning of concealed ore-bodies.

Keywords: 3D tunnel gravity exploration method, concealed high-density ore-bodies, Zn–Pb–(Ag–Ge) deposit, Zaotong Maoping, Northeastern Yunnan.

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610 Autobiographical Memory and Flexible Remembering: Gender Differences

Authors: A. Aizpurua, W. Koutstaal

Abstract:

In this study, we examined gender differences in: (1) a flexible remembering task, that asked for episodic memory decisions at an item-specific versus category-based level, and (2) the retrieval specificity of autobiographical memory during free recall. Differences favouring women were found on both measures. Furthermore, a significant association was observed, across gender groups, between level of specificity in the autobiographical memory interview and sensitivity to gist on the flexible remembering task. These results suggest that similar cognitive processes may partially contribute to both the ability for specific autobiographical recall and the capacity for inhibition of gist-information on the flexible remembering task.

Keywords: autobiographical memory, flexible remembering, gender, specificity.

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609 A Hybrid Overset Algorithm for Aerodynamic Problems with Moving Objects

Authors: S. M. H. Karimian, F. S. Salehi, H. Alisadeghi

Abstract:

A two-dimensional moving mesh algorithm is developed to simulate the general motion of two rotating bodies with relative translational motion. The grid includes a background grid and two sets of grids around the moving bodies. With this grid arrangement rotational and translational motions of two bodies are handled separately, with no complications. Inter-grid boundaries are determined based on their distances from two bodies. In this method, the overset concept is applied to hybrid grid, and flow variables are interpolated using a simple stencil. To evaluate this moving mesh algorithm unsteady Euler flow is solved for different cases using dual-time method of Jameson. Numerical results show excellent agreement with experimental data and other numerical results. To demonstrate the capability of present algorithm for accurate solution of flow fields around moving bodies, some benchmark problems have been defined in this paper.

Keywords: Moving mesh, Overset grid, Unsteady Euler, Relative motion.

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608 Influence of After Body Shape on the Performance of Blunt Shaped Bodies as Vortex Shedders

Authors: Lavish Ordia, A. Venugopal, Amit Agrawal, S. V. Prabhu

Abstract:

The present study explores flow visualization experiments with various blunt shaped bluff bodies placed inside a circular pipe. The bodies mainly comprise of modifications of trapezoidal cylinder, most widely used in practical applications, such as vortex flowmeters. The present configuration possesses the feature of both internal and external flows with low aspect ratio. The vortex dynamics of bluff bodies in such configuration is seldom reported in the literature. Dye injection technique is employed to visualize the complex vortex formation mechanism behind the bluff bodies. The influence of orientation, slit and after body shape is studied in an attempt to obtain better understanding of the vortex formation mechanism. Various wake parameters like Strouhal number, vortex formation length and wake width are documented for these shapes. Vortex formation both with and without shear layer interaction is observed for most of the shapes.

Keywords: Flow visualization, Reynolds number, Strouhal number, vortex, vortex formation length, wake width.

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607 Lateral and Longitudinal Vibration of a Rotating Flexible Beam Coupled with Torsional Vibration of a Flexible Shaft

Authors: Khaled Alnefaie

Abstract:

In this study, rotating flexible shaft-disk system having flexible beams is considered as a dynamic system. After neglecting nonlinear terms, torsional vibration of the shaft-disk system and lateral and longitudinal vibration of the flexible beam are still coupled through the motor speed. The system has three natural frequencies; the flexible shaft-disk system torsional natural frequency, the flexible beam lateral and longitudinal natural frequencies. Eigenvalue calculations show that while the shaft speed changes, torsional natural frequency of the shaft-disk system and the beam longitudinal natural frequency are not changing but the beam lateral natural frequency changes. Beam lateral natural frequency stays the same as the nonrotating beam lateral natural frequency ωb until the motor speed ωm is equal to ωb. After then ωb increases and remains equal to the motor speed ωm until the motor speed is equal to the shaft-disk system natural frequency ωT. Then the beam lateral natural frequency ωb becomes equal to the natural frequency ωT and stays same while the motor speed ωm is increased. Modal amplitudes and phase angles of the vibrations are also plotted against the motor speed ωm.

Keywords: Rotor dynamics, beam-shaft coupling, beam vibration, flexible shaft.

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606 Vortex Shedding on Combined Bodies at Incidence to a Uniform Air Stream

Authors: T. Yavuz, Y. E. Akansu, M. Sarıoglu, M. Ozmert

Abstract:

Vortex-shedding phenomenon of the flow around combined two bodies having various geometries and sizes has been investigated experimentally in the Reynolds number range between 4.1x103 and 1.75x104. To see the effect of the rotation of the bodies on the vortex shedding, the combined bodies were rotated from 0° to 180°. The combined models have a cross section composing of a main circular cylinder and an attached circular or square cylinder. Results have shown that Strouhal numbers for two cases were changed considerably with the angle of incidence, while it was found to be largely independent of Reynolds number at 150. Characteristics of the vortex formation region and location of flow attachments, reattachments, and separations were observed by means of the flow visualizations. Depending on the inclination angle the effects of flow attachment, separation and reattachment on vortex-shedding phenomenon have been discussed.

Keywords: Bluff body, vortex shedding, flow separation, flow reattachment

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605 Investigating the Relation between Student Engagement and Attainment in a Flexible Learning Environment

Authors: Y. Bi, T. Anderson, M. Huang

Abstract:

The use of technology is increasingly adopted to support flexible learning in Higher Education institutions. The adoption of more sophisticated technologies offers a broad range of facilities for communication and resource sharing, thereby creating a flexible learning environment that facilitates and even encourages students not to physically attend classes. However this emerging trend seems to contradict class attendance requirements within universities, inevitably leading to a dilemma between amending traditional regulations and creating new policies for the higher education institutions. This study presents an investigation into student engagement in a technology enhanced/driven flexible environment along with its relationship to attainment. We propose an approach to modelling engagement from different perspectives in terms of indicators and then consider what impact these indicators have on student academic performance. We have carried out a case study on the relation between attendance and attainment in a flexible environment. Although our preliminary results show attendance is quantitatively correlated with successful student development and learning outcomes, our results also indicate there is a cohort that did not follow such a pattern. Nevertheless the preliminary results could provide an insight into pilot studies in the wider deployment of new technology to support flexible learning.

Keywords: Engagement, flexible leaning, attendance and attainment.

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604 A Method for Modeling Flexible Manipulators: Transfer Matrix Method with Finite Segments

Authors: Haijie Li, Xuping Zhang

Abstract:

This paper presents a computationally efficient method for the modeling of robot manipulators with flexible links and joints. This approach combines the Discrete Time Transfer Matrix Method with the Finite Segment Method, in which the flexible links are discretized by a number of rigid segments connected by torsion springs; and the flexibility of joints are modeled by torsion springs. The proposed method avoids the global dynamics and has the advantage of modeling non-uniform manipulators. Experiments and simulations of a single-link flexible manipulator are conducted for verifying the proposed methodologies. The simulations of a three-link robot arm with links and joints flexibility are also performed.

Keywords: Flexible manipulator, transfer matrix method, linearization, finite segment method.

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603 A Compact Wearable Slot Antenna for LTE and WLAN Applications

Authors: Haider K. Raad

Abstract:

In this paper, a compact wide-band, ultra-thin and flexible slot antenna intended for wearable applications is presented. The presented antenna is designed to provide Wireless Local Area Network (WLAN) and Long Term Evolution (LTE) connectivity. The presented design exhibits a relatively wide bandwidth (1600-3500 MHz below -6 dB impedance bandwidth limit). The antenna is positioned on a 33 mm x 30 mm flexible substrate with a thickness of 50 µm. Antenna properties, such as the far-field radiation patterns, scattering parameter S11 are provided. The presented compact, thin and flexible design along with excellent radiation characteristics are deemed suitable for integration into flexible and wearable devices.

Keywords: Wearable Electronics, Slot Antenna, LTE, WLAN.

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602 Mathematical Modeling of Switching Processes in Magnetically Controlled MEMS Switches

Authors: Sergey M. Karabanov, Dmitry V. Suvorov, Dmitry Yu. Tarabrin

Abstract:

The operating principle of magnetically controlled microelectromechanical system (MEMS) switches is based on controlling the beam movement under the influence of a magnetic field. Currently, there is a MEMS switch design with a flexible ferromagnetic electrode in the form of a fixed-terminal beam, with an electrode fastened on a straight or cranked anchor. The basic performance characteristics of magnetically controlled MEMS switches (service life, sensitivity, contact resistance, fast response) are largely determined by the flexible electrode design. To ensure the stable and controlled motion of the flexible electrode, it is necessary to provide the optimal design of a flexible electrode.

Keywords: MEMS switch, magnetic sensitivity, magnetic concentrator.

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601 Design and Analysis of Flexible Slider Crank Mechanism

Authors: Thanh-Phong Dao, Shyh-Chour Huang

Abstract:

This study presents the optimal design and formulation of a kinematic model of a flexible slider crank mechanism. The objective of the proposed innovative design is to take extra advantage of the compliant mechanism and maximize the fatigue life by applying the Taguchi method. A formulated kinematic model is developed using a pseudo-rigid-body model (PRBM). By means of mathematic models, the kinematic behaviors of the flexible slider crank mechanism are captured using MATLAB software. Finite element analysis (FEA) is used to show the stress distribution. The results show that the optimal shape of the flexible hinge includes a force of 8.5N, a width of 9mm and a thickness of 1.1mm. Analysis of variance shows that the thickness of the proposed hinge is the most significant parameter, with an F test of 15.5. Finally, a prototype is manufactured to prepare for testing the kinematic and dynamic behaviors.

Keywords: Kinematic behavior, fatigue life, pseudo-rigid-body model, flexible slider crank mechanism.

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600 A New Approach for Flexible Document Categorization

Authors: Jebari Chaker, Ounelli Habib

Abstract:

In this paper we propose a new approach for flexible document categorization according to the document type or genre instead of topic. Our approach implements two homogenous classifiers: contextual classifier and logical classifier. The contextual classifier is based on the document URL, whereas, the logical classifier use the logical structure of the document to perform the categorization. The final categorization is obtained by combining contextual and logical categorizations. In our approach, each document is assigned to all predefined categories with different membership degrees. Our experiments demonstrate that our approach is best than other genre categorization approaches.

Keywords: Categorization, combination, flexible, logicalstructure, genre, category, URL.

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599 A TISM Model for Structuring the Productivity Elements of Flexible Manufacturing System

Authors: Sandhya Dixit, Tilak Raj

Abstract:

Flexible Manufacturing System (FMS) is seen as an option for industries which want to boost productivity as well as respond quickly to an increasingly changing marketplace. FMS produces in mid variety, mid volume range and can meet the changing market demands very quickly. But still the impact of adoption of FMS on the productivity of any industry is not very clear. In this paper an attempt has been made to model the various factors affecting the productivity of FMS installation using Total Interpretive Structural Modelling (TISM) Technique.

Keywords: Flexible manufacturing system, productivity, total interpretive structural modelling.

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598 Numerical Study of Base Drag Reduction Using Locked Vortex Flow Management Technique for Lower Subsonic Regime

Authors: Kailas S. Jagtap, Karthik Sundarraj, Nirmal Kumar, S. Rajnarasimha, Prakash S. Kulkarni

Abstract:

The issue of turbulence base streams and the drag related to it have been of important attention for rockets, missiles, and aircraft. Different techniques are used for base drag reduction. This paper presents the numerical study of numerous drag reduction technique. The base drag or afterbody drag of bluff bodies can be reduced easily using locked vortex drag reduction technique. For bluff bodies having a cylindrical shape, the base drag is much larger compared to streamlined bodies. For such bodies using splitter plates, the vortex can be trapped between the base and the plate, which results in smooth flow. Splitter plate with round and curved corner shapes has influence in drag reduction. In this paper, the comparison is done between single splitter plate as different positions and with the bluff body. Base drag for the speed of 30m/s can be reduced about 20% to 30% by using single splitter plate as compared to the bluff body.

Keywords: Base drag, bluff body, splitter plate, vortex flow, ANSYS, Fluent.

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597 An Agent-Based Scheduling Framework for Flexible Manufacturing Systems

Authors: Iman Badr

Abstract:

The concept of flexible manufacturing is highly appealing in gaining a competitive edge in the market by quickly adapting to the changing customer needs. Scheduling jobs on flexible manufacturing systems (FMSs) is a challenging task of managing the available flexibility on the shop floor to react to the dynamics of the environment in real-time. In this paper, an agent-oriented scheduling framework that can be integrated with a real or a simulated FMS is proposed. This framework works in stochastic environments with a dynamic model of job arrival. It supports a hierarchical cooperative scheduling that builds on the available flexibility of the shop floor. Testing the framework on a model of a real FMS showed the capability of the proposed approach to overcome the drawbacks of the conventional approaches and maintain a near optimal solution despite the dynamics of the operational environment.

Keywords: Autonomous agents, Flexible manufacturing systems(FMS), Manufacturing scheduling, Real-time systems.

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596 Design of Optimal Proportional Integral Derivative Attitude Controller for an Uncoupled Flexible Satellite Using Particle Swarm Optimization

Authors: Martha C. Orazulume, Jibril D. Jiya

Abstract:

Flexible satellites are equipped with various appendages which vibrate under the influence of any excitation and make the attitude of the satellite to be unstable. Therefore, the system must be able to adjust to balance the effect of these appendages in order to point accurately and satisfactorily which is one of the most important problems in satellite design. Proportional Integral Derivative (PID) Controller is simple to design and computationally efficient to implement which is used to stabilize the effect of these flexible appendages. However, manual turning of the PID is time consuming, waste energy and money. Particle Swarm Optimization (PSO) is used to tune the parameters of PID Controller. Simulation results obtained show that PSO tuned PID Controller is able to re-orient the spacecraft attitude as well as dampen the effect of mechanical resonance and yields better performance when compared with manually tuned PID Controller.

Keywords: Attitude control, flexible satellite, particle swarm optimization, PID controller.

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595 Elastic and Plastic Collision Comparison Using Finite Element Method

Authors: Gustavo Rodrigues, Hans Weber, Larissa Driemeier

Abstract:

The prevision of post-impact conditions and the behavior of the bodies during the impact have been object of several collision models. The formulation from Hertz’s theory is generally used dated from the 19th century. These models consider the repulsive force as proportional to the deformation of the bodies under contact and may consider it proportional to the rate of deformation. The objective of the present work is to analyze the behavior of the bodies during impact using the Finite Element Method (FEM) with elastic and plastic material models. The main parameters to evaluate are, the contact force, the time of contact and the deformation of the bodies. An advantage of using the FEM approach is the possibility to apply a plastic deformation to the model according to the material definition: there will be used Johnson–Cook plasticity model whose parameters are obtained through empirical tests of real materials. This model allows analyzing the permanent deformation caused by impact, phenomenon observed in real world depending on the forces applied to the body. These results are compared between them and with the model-based Hertz theory.

Keywords: Collision, finite element method, Hertz’s Theory, impact models.

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594 A Hybrid Multi Objective Algorithm for Flexible Job Shop Scheduling

Authors: Parviz Fattahi

Abstract:

Scheduling for the flexible job shop is very important in both fields of production management and combinatorial optimization. However, it quit difficult to achieve an optimal solution to this problem with traditional optimization approaches owing to the high computational complexity. The combining of several optimization criteria induces additional complexity and new problems. In this paper, a Pareto approach to solve the multi objective flexible job shop scheduling problems is proposed. The objectives considered are to minimize the overall completion time (makespan) and total weighted tardiness (TWT). An effective simulated annealing algorithm based on the proposed approach is presented to solve multi objective flexible job shop scheduling problem. An external memory of non-dominated solutions is considered to save and update the non-dominated solutions during the solution process. Numerical examples are used to evaluate and study the performance of the proposed algorithm. The proposed algorithm can be applied easily in real factory conditions and for large size problems. It should thus be useful to both practitioners and researchers.

Keywords: Flexible job shop, Scheduling, Hierarchical approach, simulated annealing, tabu search, multi objective.

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593 Automatic Extraction of Water Bodies Using Whole-R Method

Authors: Nikhat Nawaz, S. Srinivasulu, P. Kesava Rao

Abstract:

Feature extraction plays an important role in many remote sensing applications. Automatic extraction of water bodies is of great significance in many remote sensing applications like change detection, image retrieval etc. This paper presents a procedure for automatic extraction of water information from remote sensing images. The algorithm uses the relative location of R color component of the chromaticity diagram. This method is then integrated with the effectiveness of the spatial scale transformation of whole method. The whole method is based on water index fitted from spectral library. Experimental results demonstrate the improved accuracy and effectiveness of the integrated method for automatic extraction of water bodies.

Keywords: Chromaticity, Feature Extraction, Remote Sensing, Spectral library, Water Index.

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592 A Study of Cooperative Co-evolutionary Genetic Algorithm for Solving Flexible Job Shop Scheduling Problem

Authors: Lee Yih Rou, Hishammuddin Asmuni

Abstract:

Flexible Job Shop Problem (FJSP) is an extension of classical Job Shop Problem (JSP). The FJSP extends the routing flexibility of the JSP, i.e assigning machine to an operation. Thus it makes it more difficult than the JSP. In this study, Cooperative Coevolutionary Genetic Algorithm (CCGA) is presented to solve the FJSP. Makespan (time needed to complete all jobs) is used as the performance evaluation for CCGA. In order to test performance and efficiency of our CCGA the benchmark problems are solved. Computational result shows that the proposed CCGA is comparable with other approaches.

Keywords: Co-evolution, Genetic Algorithm (GA), Flexible JobShop Problem(FJSP)

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591 Conceptual Method for Flexible Business Process Modeling

Authors: Adla Bentellis, Zizette Boufaïda

Abstract:

Nowadays, the pace of business change is such that, increasingly, new functionality has to be realized and reliably installed in a matter of days, or even hours. Consequently, more and more business processes are prone to a continuous change. The objective of the research in progress is to use the MAP model, in a conceptual modeling method for flexible and adaptive business process. This method can be used to capture the flexibility dimensions of a business process; it takes inspiration from modularity concept in the object oriented paradigm to establish a hierarchical construction of the BP modeling. Its intent is to provide a flexible modeling that allows companies to quickly adapt their business processes.

Keywords: Business Process, Business process modeling, flexibility, MAP Model.

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590 Experimental Simulation of Soil Boundary Condition for Dynamic Studies

Authors: Omar.S. Qaftan, T. T. Sabbagh

Abstract:

This paper studies the free-field response by adopting a flexible membrane container as soil boundary for experimental shaking table tests. The influence of the soil container boundary on the soil behaviour and the dynamic soil properties under seismic effect were examined. A flexible container with 1/50 scale factor was adopted in the experimental tests, including construction, instrumentation, and determination of the results of dynamic tests on a shaking table. Horizontal face displacements and accelerations were analysed to determine the influence of the container boundary on the performance of the soil. The outputs results show that the flexible boundary container allows more displacement and larger accelerations. The soil in a rigid wall container cannot deform as similar as the soil in the real field does. Therefore, the response of flexible container tested is believed to be more reliable for soil boundary than that in the rigid container.

Keywords: Soil, boundary, seismic, earthquake, ground motion.

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589 Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm

Authors: Yizhi Gai, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru

Abstract:

Motion control of flexible arms is more difficult than that of rigid arms, however utilizing its dynamics enables improved performance such as a fast motion in short operation time. This paper investigates a ball throwing robot with one rigid link and one flexible link. This robot throws a ball at a set speed with a proper control torque. A mathematical model of this ball throwing robot is derived through Hamilton’s principle. Several patterns of torque input are designed and tested through the proposed simulation models. The parameters of each torque input pattern is optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO). Then, the residual vibration of the manipulator after throwing is suppressed with input shaping technique. Finally, a real experiment is set up for the model checking.

Keywords: Motion control, flexible robotic arm, CEVEPSO, ball throwing robot.

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588 Design Optimization of Aerocapture with Aerodynamic-Environment-Adaptive Variable Geometry Flexible Aeroshell

Authors: Naohiko Honma, Kojiro Suzuki

Abstract:

This paper proposes the concept of aerocapture with aerodynamic-environment-adaptive variable geometry flexible aeroshell that vehicle deploys. The flexible membrane is composed of thin-layer film or textile as its aeroshell in order to solve some problems obstructing realization of aerocapture technique. Multi-objective optimization study is conducted to investigate solutions and derive design guidelines. As a result, solutions which can avoid aerodynamic heating and enlarge the corridor width up to 10% are obtained successfully, so that the effectiveness of this concept can be demonstrated. The deformation-use optimum solution changes its drag coefficient from 1.6 to 1.1, along with the change in dynamic pressure. Moreover, optimization results show that deformation-use solution requires the membrane for which upper temperature limit and strain limit are more than 700 K and 120%, respectively, and elasticity (Young-s modulus) is of order of 106 Pa.

Keywords: Aerocapture, flexible aeroshell, optimization, response surface methodology.

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