bluuebunny/crossref_metadata_2025 huggingface dataset:
Design of a Clutchless Hybrid Transmission for a High-Performance Vehicle
Authors: Jacoby Chad L. , Jo Young Suk , Jurewicz Jake , Pamanes Guillermo , Siegel Joshua E. , Yen Patricia X. T. , Dorsch Daniel S. , Winter Amos G.
Published: January 2016

There exists the potential for major simplifications to current hybrid transmission architectures, which can lead to advances in powertrain performance. This paper assesses the technical merits of various hybrid powertrains in the context of high-performance vehicles and introduces a new transmission concept targeted at high performance hybrid applications. While many hybrid transmission configurations have been developed and implemented in mainstream and even luxury vehicles, ultra high performance sports cars have only recently begun to hybridize. The unique performance requirements of such vehicles place novel constraints on their transmissions designs. The goals become less about improved efficiency and smoothness and more centered on weight reduction, complexity reduction, and performance improvement. To identify the most critical aspects of a high performance transmission, a wide range of existing technologies is studied in concert with basic physical performance analysis of electrical motors and an internal combustion engine. The new transmission concepts presented here emphasize a reduction in inertial, frictional, and mechanical losses. A series of conceptual powertrain designs are evaluated against the goals of reducing mechanical complexity and maintaining functionality. The major innovation in these concepts is the elimination of a friction clutch to engage and disengage gears. Instead, the design proposes that the inclusion of a large electric motor enables the gears to be speed-matched and torque-zeroed without the inherent losses associated with a friction clutch. Additionally, these transmission concepts explore the merits of multiple electric motors and their placement as well as the reduction in synchronization interfaces. Ultimately, two strategies for speed-matched gear sets are considered, and a speed-matching prototype of the chosen methodology is presented to validate the feasibility of the proposed concept. The power flow and operational modes of both transmission architectures are studied to ensure required functionality and identify further areas of optimization. While there are still many unanswered questions about this concept, this paper introduces the base analysis and proof of concept for a technology that has great potential to advance hybrid vehicles at all levels.
Time-Dependent Reliability Using Metamodels With Transformed Random Inputs
Authors: Drignei Dorin , Mourelatos Zissimos P. , Kosova Ervisa , Baseski Igor
Published: January 2016

We have recently proposed a method for time-dependent reliability based on metamodels with random inputs. In that method, we employed multiple sets of inputs sampled from the input distribution to construct a new metamodel as a mixture of classical metamodels. Because the sampled inputs may cluster around a mode of the input distribution, they may result in a metamodel of reduced quality. We address this issue in this paper by using a transformation to de-cluster the sample inputs and then use our previously developed metamodel with random inputs. We first obtain the output of the computer model for a limited number of transformed input draws which do not cluster in high probability regions of the input space. Then, conditioned on these transformed sampled inputs, we construct a classical Kriging surrogate and obtain the distribution of the new surrogate as the marginal of the joint distribution between the classical surrogate and the transformed sampled inputs. The proposed method is illustrated with a corroding beam example. A more accurate time-dependent reliability estimation is obtained compared with our previously developed metamodel method.
A Design and Fabrication Framework for Periodic Lattice-Based Cellular Structures in Additive Manufacturing
Authors: Gorguluarslan Recep M. , Gandhi Umesh N. , Mandapati Raghuram , Choi Seung-Kyum
Published: January 2016

A design framework that incorporates a size optimization algorithm is proposed for periodic lattice-based cellular structures fabricated by additive manufacturing. A 3D modeling process for the lattice-based cellular structures is integrated into the design framework for non-linear finite element analysis (FEA) and production. Material properties for the 3D printed parts are determined for the finite element study using reverse engineering of actual measured data. The lattice layout that will be used in the optimization is selected and the size of the cross sections is optimized using in-house optimization approach for both yield and local buckling criteria. The 3D model for the optimized lattice structure is built and non-linear finite element study is conducted to predict the performance. The approach is demonstrated on a compression block with periodic lattice-based unit cells. Physical parts are 3D printed and tested to compare with the simulations.
Haptic Interface With Hybrid Actuator for Virtual Tissue Cutting
Authors: Gonenc Berk , Gurocak Hakan
Published: January 2016

Surgical training is an important and recent application where haptic interfaces are used to enhance the realism of virtual training simulators. Tissue cutting with surgical scissors is a common interaction mode in the simulations. The haptic interface needs to render a range of tissue properties and resistance forces accurately. In this research, we developed a hybrid haptic device made up of a DC servomotor and a magnetorheological (MR) brake. The motor can provide fast dynamic response and compensate for inertia and friction effects of the device. But it cannot supply high force levels and the sensation of stiff interaction with hard tissues such as tendons. On the other hand, the MR-brake can provide very high and stiff interaction forces yet cannot reflect fast dynamics that are encountered as the virtual scissors go through the tissue. Design details of the hybrid actuator and the haptic device are presented. A control scheme was developed to decompose the actuator command signal into two branches considering each actuator’s capabilities. Virtual tissue cutting experiments were conducted using three different scissor types and four types of rat tissue. Results are presented and discussed. Forces in a wider amplitude range compared to just using a DC motor could be generated by the hybrid actuator. It also enabled simulation of multiple scissor types using the same haptic interface due to the extended force amplitude range.
Soft Origami: Classification, Constraint, and Actuation of Highly Compliant Origami Structures
Authors: Wheeler Charles M. , Culpepper Martin L.
Published: January 2016

Herein we discuss the folding of highly compliant origami structures — “Soft Origami.” There are benefits to be had in folding compliant sheets (which cannot self-guide their motion) rather than conventional rigid origami. Example applications include scaffolds for artificial tissue generation and foldable substrates for flexible electronic assemblies. Highly compliant origami has not been contemplated by existing theory, which treats origami structures largely as rigid or semi-rigid mechanisms with compliant hinges — “Mechanism-Reliant Origami.” We present a quantitative metric — the Origami Compliance Metric — that aids in identifying proper modeling of a homogeneous origami structure based upon the compliance regime it falls into (Soft, Hybrid, or Mechanism-Reliant). We discuss the unique properties, applications, and design drivers for practical implementation of Soft Origami. We detail a theory of proper constraint by which an ideal soft structure’s number of degrees of freedom may be approximated as 3n, where n is the number of vertices of the fold pattern. Finally, we introduce a concept for a scalable process in which a few actuators and stretching membranes may be used to simultaneously fold many origami sub-structures that share common degrees of freedom.
Quantitative Analysis of Singularities for Fractional Order Systems
Authors: Li Yan , Chen YangQuan
Published: January 2016

The singularity is an intrinsic property for various fractional order systems. This paper focuses on the time domain analysis of typical “non-proper” fractional order transfer functions, which plays the crucial role in the implementation, stability and control of fractional order systems. To this end, the fractional order system is converted into a weak singularity integro-differential equation, where the non-proper property can be clearly presented. A practical strategy is shown to find out the poles in the first Riemann plane, which is especially applicable to small commensurate order problems. The distributed order and order sensitivity problems are discussed as well. A number of examples are illustrated by using some reliable fractional order numerical methods.
Multi-Purpose Disassembly Sequence Planning
Authors: Huang Jida , Esmaeilian Behzad , Behdad Sara
Published: January 2016

Efficient disassembly operation is considered a promising approach toward waste reduction and End-of-Use (EOU) product recovery. However, many kinds of uncertainty exist during the product lifecycle which make disassembly decision a complicated process. The optimum disassembly sequence may vary at different milestones depending on the purpose of disassembly (repair, maintenance, reuse and recovery), product quality conditions and external factors such as consumer preference, and the market value of EOU components. A disassembly sequence which is optimum for one purpose may not be optimum in future life cycles or other purposes. Therefore, there is a need for incorporating the requirements of the entire product life-cycle when obtaining the optimum disassembly sequence. This paper applies a fuzzy method to quantify the probability that each feasible disassembly transition will be needed during the entire product lifecycle. Further, the probability values have been used in an optimization model to find the disassembly sequence with maximum likelihood. An example of vacuum cleaner is used to show how the proposed method can be applied to quantify different users’ evaluation on the relative importance of disassembly selection criteria as well as the probability of each disassembly operation.
Drag Force Reduction at the Interface of Tubular Microrockets
Authors: Chang Xiaocong , Li Longqiu , Zhou Dekai , Li Tianlong , Zhang Guangyu
Published: January 2016

Considerable efforts have been devoted to self-propelled microrockets during the past decades for its diverse potential applications, ranging from targeted drug delivery to environmental remediation. Particularly attention has been given to the chemical-driven rockets which are analogous to actuators and can convert chemical energy into mechanical energy to achieve a certain propulsion velocity or force. Since the drag force on the surface of microrockets dominates the resistance in the microfluidic systems, it is of interest to decrease the drag force for efficient propulsion. A new microrocket with lower drag force is proposed with a hydrophobic molecular layer, 1-Dodecanethiol layer, on the outer polyaniline surface of the rockets by using self-assembly technology. The contact angle and the velocity of microrockets are determined before and after surface modification to quantify the drag force reduction. The findings of the research indicate that reducing drag force is a promising way for comprehensive application.
Kinematic Analysis of the Planar Motion of Vehicles When Travelling Along Tractrix Curves
Authors: Figliolini Giorgio , Lanni Chiara
Published: January 2016

A detailed analysis of the path traversed by the rear wheels of the bus is useful in highway design, and in the placement of curbs at intersections. In fact, when a bus turns a corner, the rear wheel could move into the path of a passing motorist or pedestrian by generating an hazard situation, as in the cases of traffic circles and changing lanes. Of course, the same problems regard long trucks, semi-trailer trucks and articulated vehicles, but also bicycles (tandem) and motorbikes.

In particular, the path of the rear wheels of a bus or a long vehicle in general, is a tractrix or equi-tangential curve, which is different by that traced by the front wheels. The planar motion of the chassis of the vehicle can be represented by means of the centrodes, which are traced by the instant center of rotation on the ground (fixed centrode) and on the moving plane that is attached to the vehicle (moving centrode), respectively.

Thus, the pure-rolling motion of the moving centrode that is represented by the axis of the rear wheel, on the fixed centrode (catenary) can reproduce the planar motion of the chassis.

This paper deals with the formulation of a suitable algorithm for the kinematic analysis of the planar motion of vehicles that travel corners, traffic circles and changing lanes. The tractrix is considered as the involute of the fixed centrode (catenary), which takes also the rule of evolute. The inflection and the cuspidal or return circles, along with the Euler-Savary equation and the Aronhold Theorems, give other useful information on the planar motion of the chassis.
An Evaluation of Three Approaches Using Hurst Estimation to Differentiate Between Normal and Abnormal HRV
Authors: Ko Marwin , Stark Brandon , Barbadillo Monica , Chen YangQuan
Published: January 2016

In this study, three different approaches using seven Hurst estimators to analyze heart rate variability (HRV) are evaluated. Herein, normal sinus rhythm and arrhythmia will be referred to as normal and abnormal HRV, respectively. The Hurst parameter is estimated using the following methods: aggregated variance, absolute value, box periodogram, difference variance, Higuchi, Peng, and rescaled range [1,2]. In this paper, the three approaches used are total time series estimation, cumulative window estimation, and sliding window estimation. These approaches were influenced by previous studies [3–5]. In all three approaches, bilateral results indicate that both normal and abnormal HRV data exhibit long range dependence (LRD), when H > 0.5 [6,7]. However, normal HRV data displayed a noticeably higher amount of LRD. In this novel study, the results display further potential research avenues using Hurst parameter estimation to analyze HRV data to differentiate between normal and abnormal HRV.
Pedestrian Accident Reconstruction Using a Human Body Finite Element Model
Authors: Tamura Atsutaka , Koide Takao
Published: January 2016

A series of numerical experiments were carried out using a full-scale vehicle finite element (FE) model and a validated pedestrian FE model with a detailed brain to replicate a typical, vehicle-to-pedestrian collision. We revealed that post-impact kinematics and kinetics are considerably unpredictable due to the intrinsic complexity of pedestrian crash, and ground impact rather than the primary head strike is likely to cause a serious traumatic brain injury (TBI) for struck pedestrians. We also found the importance of accounting for both translational and rotational acceleration pulses applied to the head to assess the potential risk of TBI due to eventual contact with the ground. These findings suggest that an effective countermeasure should be introduced to reduce the risk of sustaining TBIs due to secondary as well as primary head strikes even at the low-speed impact levels.
Data-Driven Predictive Model of Resin Filling Time of Composite Molding Process
Authors: Zhou Yuqing , Saitou Kazuhiro
Published: January 2016

This paper presents an application of the manufacturing constraint modeling (MCM) method we previously developed, to composite molding processes. A statistical model to predict resin filling time for given part geometry and inlet location is constructed through massive process simulations and data mining. A bitmap representation is adopted to generate massive samples of part geometries within a bounding box. The model is trained by the statistical regression based on the abstract features inspired by the underlying physics of the filling process, which dramatically enhances the model generalizability compared to the conventional surrogate models. The model is tested by in-the-bag samples and out-of-bag samples with a different inlet gate location and a different bounding box. The result shows the manufacturing constraint model trained by the knowledge-inspired feature representation achieves comparable in-the-bag training errors as the surrogate models, and remarkably better out-of-bag testing results. The proposed manufacturing constraint model will be useful to enhance the manufacturability of composite structures during manual design iterations as well as computer-based optimization.
Reinforcement Learning for Control of a Shape Memory Alloy Based Self-Folding Sheet
Authors: Moghadas Peyman , Malak Richard , Hartl Darren
Published: January 2016

Origami-inspired engineering provides engineers with new means for creating complicated three-dimensional structures through use of folding and fold-like operations. Motivated by the vision of origami engineering, we have created and modeled a reconfigurable self-folding sheet based on a laminate structure of shape memory alloy (SMA) surrounding a layer of elastomer. Folding behavior is achieved by activating an SMA layer through localized heating. In prior work, we demonstrated localized control of such a sheet using PID and On/Off type feedback controllers. The implementation of these control strategies requires several workarounds to deal with the highly nonlinear and hysteretic behavior of the SMA-based laminate sheet. In the current work, we use a reinforcement learning algorithm to learn control policies that better handle these aspects of the sheet behavior. We perform learning on a reduced order model of the sheet developed based on classical laminate plate theory. This significantly reduces computational costs compared to more complicated finite element modeling options. We demonstrate the effectiveness of the learned control policies in several folding scenarios on the reduced order model. Our results show that reinforcement learning can be a useful tool in feedback control of SMA-based structures.
Active Disturbance Compensating Tracking Control of an Unmanned Quadrotor Helicopter
Authors: Liu Zhixiang , Yu Xiang , Yuan Chi , Zhang Youmin , Luo Jun
Published: January 2016

In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.
A New Fractional Order Dynamic Model for Human Crowd Stampede System
Authors: Cao Ke-Cai , Chen YangQuan , Stuart Dan
Published: January 2016

Tragedies due to people’s crushing or trampling have been observed in recent years. In order to understand the reasons that lead to these accidents, a lot of research has been conducted in modeling or predicting the behavior of crowd pedestrians. A new kind of fractional order dynamic description for crowd-pedestrian system has been developed in microscopic scale in this paper for a better understanding of human collective behavior where fractional order in time domain has been introduced. Due to the freedom provided by Fractional Calculus, a lot of characters of pedestrians can be considered in this fractional order modeling framework, such as memory effects, long range interactions and heterogeneity of each individual. Simulations results using Matlab in microscopic are also presented to show the effects of integer order and fractional order on evacuation time which is useful in evaluating the evacuation process or predicting crowd stampede that is going to occur.
Folding Origami by Two Robotic Fingers
Authors: Thai Phuong Thao , Diago Luis , Nguyen Hoan Thai Tat , Shinoda Junichi , Hagiwara Ichiro
Published: January 2016

Folding origami is such a challenge for robotic operation. Generally, for human, they use 2 hands when folding and forming the shape from folding pattern. However, building a robotic system which is capable of folding origami like human is not simple, since people have dozens of freedoms in their hand, sensitive skin and binocular vision. In this paper, we consider the folding ability of a 2-robotic-arm system, each hand has 2 fingers, instead of 5 fingers as human hand. Firstly, the difficulty of folding patterns is analyzed through an origami model: origami cylinder. Then, the design of robot system and gripper mechanism is figured out. The behaviors of robot arms are determined by observing human folding process, image segmentation is applied to track hand stages during folding process. The robot movement in each stage is explained and simulated on MATLAB.
Modeling Different Groups of Pedestrians With Physical Disability, Using the Social Force Model and Fractional Order Potential Fields
Authors: Stuart Daniel , Sharifi Mohammad Sadra , Christensen Keith , Chen Anthony , Kim Yong Seog , Chen YangQuan
Published: January 2016

Modeling individuals with physical disabilities in a crowd has previously been in the form of a pure adjustment to velocity representing an entire group. However, current research involving individuals with various types of disability has shown interactions are far more complex and varying. These types comprised of mechanical and electric wheelchair, vision impaired, and various other mobility-related disabilities. Preliminary results have shown that each group varies not only in velocity, but also in composition of their environment. Further results show other differences in interaction within a crowd. This paper provides for some preliminary differences found in the study of individuals with disabilities within a crowd and how those differences change pedestrian interaction. Using the nature of Fractional Order Potential Fields (FOPF), this paper will provide some results for how pedestrian interaction can be adjusted to fit the varying differences found within each disability group.
Concept Design, Virtual Prototyping and Ergonomic Analysis of an Innovative Skidding Winch Using a DES-TRIZ Approach
Authors: Di Gironimo Giuseppe , Balsamo Alessio , Esposito Gianpiero , Melemez Kenan , Lanzotti Antonio
Published: January 2016

The main objective of this work was to design an innovative skidding winch aimed to improve timber harvesting productivity, operators’ safety, and reduce environmental damage in contexts in which mechanized harvesting is limited. The study area is the north-western Black Sea region of Turkey. In the proposed methodology, the harvesting process was simulated with Discrete Event Simulation (DES) software in order to identify bottlenecks. An alternative process was compared with the original one within the DES software itself in order to validate further steps oriented to generate new innovative product concepts. The development of the product was focused towards customer satisfaction, collecting customer requirements and identifying quality characteristics with a Quality Function Deployment approach. Contradictions identified in the design phase were solved using the TRIZ contradiction toolkit, generating different product concepts. Inventive solutions provided by TRIZ were designed within parametric CAD software. The concepts were compared in virtual environment with focus on ergonomics, selecting an optimal solution. The results show that with the concept adopted is possible to achieve a substantial increase in productivity, from 121% to 133%, in terms of kilograms of logs per hour deposited on the landing. Moreover, the final concept allows for ergonomic loading operations and reduces environmental damage to soil and vegetation.
Effect of Teeth Friction on Transmission Errors and Tooth Load of Spur Gears
Authors: Park Chan Il
Published: January 2016

Transmission error is typically understood to act as the primary source of gearbox noise and vibration. This paper investigates the effect of sliding friction on the transmission error and tooth load of spur gears. To do so, the kinematic relation for the sliding mechanism of spur gears and mesh stiffness was calculated. The relationship between tooth load, tooth errors and mesh compliance as well as the moment balance equation in consideration of the teeth friction force are derived. Transmission error, tooth load, and the teeth friction force of gears with/without modification were investigated. As the results, friction caused an increase in tooth load and transmission error in gear approach and a decrease in tooth load and transmission error in gear recess.
Product Personalization Using 3D Parametric Face Models: An Example of the Eyeglass Frame Design
Authors: Tseng Chun-Yang , Wang I-Jan , Chu Chih-Hsing
Published: January 2016

Personalized design enhances the values added by a product or service by satisfying individual customer requirements. It has become a trend in consumer product development nowadays. This paper proposes a method for design personalization of the eyeglasses frame using anthropometric data. Three-dimensional face models were constructed using non-contact scanning devices. Principal Component Analysis (PCA) was applied to reduce the data complexity while preserving sufficient data variance. Kriging based parametric models correlate the mesh point coordinates of a face model to a set of feature parameters. The correlation allows synthesizing and controlling 3D facial geometry approximating to individual users with given parameter values. Rendering the synthesized geometry with human face images generates realistic face models. These models not only allow adjusting the frame design in real-time, but also evaluating whether or how the design style fits individual face characteristics. This study enhances the practical values of 3D anthropometric data by realizing the concept of human-centric design.
Design and Development of a Fully Automated Assembly Solution for Optical Backplane Interconnection Circuits
Authors: Ruggeri Serena , Basile Vito , Fontana Gianmauro , Fassi Irene
Published: January 2016

The paper presents the design and development of a new robotized assembly system of optical backplanes in high-capacity ICT (Information and Communication Technology) apparatus, mainly used for switching stations and distribution networks. The optical backplane solution consists of several optical fiber ribbons positioned on a planar backplane according to an innovative and optimized full-mesh layout where the overall optical interconnection is partialized into a plurality of different independent sub-circuits. Each optical interconnection sub-circuit consists of optical fiber ribbons with standardized optical and mechanical interfaces and customized components that have to be carefully and precisely assembled in order to achieve connections with low optical power losses. The paper describes the method and the main devices and tools conceived for the automatic assembly of optical interconnection sub-circuits, highlighting the critical aspects and the proposed solutions towards the automatized assembly of the whole optical backplane.
The Design and Production of Drives Based on Pan Precess Gear for Oil and Gas Machinery
Authors: Syzrantsev Vladimir N. , Denisov Juriy G. , Wiebe Vyacheslav P. , Pazyak Andrey A.
Published: January 2016

The paper describes the results of design and production of new generation valve drives for oil and gas machinery. The drives are based on the use of pan precess gear. The gear has a high performance coefficient (88…90%), smooth operation, low starting torque and ability to remain functioning even under severe conditions of operation. Basic dependencies for geometric calculation of the gear are showed. The problem of synthesizing geometric parameters of the gear as well as calculating parameters and settings of tools (circular cutting heads) and gear-cutting machines has been solved. The results of synthesizing the gear geometric parameters according to the size and shape of the contact pattern are showed. Methods of calculating pan precess gear loading have been developed considering multiple contact of teeth in meshing. The manufactured drives for valves and reduction valves used in progressive cavity pumps for heavy oil production are presented.
Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application
Authors: Bai Guochao , Qi Peng , Althoefer Kaspar , Li Duanling , Kong Xianwen , Dai Jian S.
Published: January 2016

Development of a mechanism with dual remote center of motion (dual-RCM mechanism) intended for teleoperated ophthalmic surgery is reported in this paper. First, characteristics of RCM mechanisms are analyzed. Then, a method to synthesize dual-RCM mechanisms is proposed. Further the mechanical design parameters are optimized to synthesize types of mechanisms meeting functional requirements as well as workspace constraints. The dual-RCM mechanism intended for teleoperated ophthalmic surgery includes two end-effectors: one provides the tool insertion, the other tracks eye movement. The superiority is embodied in the self-synchronized motion of double end-effectors, which allows RCM point of the working instrument to track the penetration point real-time, thereby enhancing microsurgical accuracy. In the proposed implementation, a conceptual helmet mechanical architecture integrating surgical tools with triple-parallelogram linkages is introduced to release the surgeon’s hands by enabling more robotic technologies during the procedures. The vision of the research is to help revolutionize the ophthalmic surgical procedures from bimanual fashion to master-slave teleoperation.
Optimization of Surface Roughness in Turning of Ti-6Al-4V Using Response Surface Methodology and TLBO
Authors: Sahu Neelesh Ku. , Andhare A. B.
Published: January 2016

Surface roughness is an important surface integrity parameter for difficult to cut alloys such as Titanium alloys (Ti-6Al-4V). In the present work, initially a mathematical model is developed for predicting surface roughness for turning operation using Response Surface Methodology (RSM). Later, a recently developed advanced optimization algorithm named as Teaching Learning Based Optimization (TLBO) is used for further parameter optimization of the equation developed using RSM. The design of experiments was performed using central composite design (CCD). Analysis of variance (ANOVA) demonstrated the significant and non-significant parameters as well as validity of predicted model. RSM describes the effect of main and mixed (interaction) variables on the surface roughness of titanium alloys. RSM analysis over experimental results showed that surface roughness decreased as cutting speed increased whereas it increased with increase in feed rate. Depth of cut had no effect on surface roughness. By comparing the predicted and measured values of surface roughness the maximum error was found to be 7.447 %. It indicates that the developed model can be effectively used to predict the surface roughness. Further optimization of the roughness equation was carried out by TLBO method. It gave minimum surface roughness as 0.3120 μm at the cutting speed of 1704 RPM (171.217 m/min), feed rate of 55.6 mm/min (.033 mm/rev) and depth of cut of 0.7 mm. These results were confirmed by confirmation experiment and were better than that of RSM.
Dynamic Modelling and Analysis of an Articulated Robotic Leg
Authors: D’Imperio Mariapaola , Cannella Ferdinando , Carbonari Luca , Rahman Nahian , Caldwell Darwin G.
Published: January 2016

In robotics, both the analytical and numerical studies play a vital role to predict the dynamic behaviours of robotic systems. Nevertheless, dynamic modelling is essential to predict the system behaiours. In this paper, both the analytical and numerical approaches are worked out for a leg of a hydraulic quadruped robot. The research aims at the identification of system parameters like inertial and geometrical magnitudes of a complex assembled leg at various cases. Due to the articulated mechanism, the model owns a significant mathematical complexity which should be possibly reduced through a combined use of analytical and multibody tools as a preliminary step to experimental identification. Both simulations and experiments results have been carried out for the goal.
Extensions of Bayesian Reliability Analysis by Using Imprecise Dirichlet Model
Authors: Liu Zheng , Li Yan-Feng , Yang Yuan-Jian , Mi Jinhua , Huang Hong-Zhong
Published: January 2016

Bayesian approaches have been demonstrated as effective methods for reliability analysis of complex systems with small-amount data, which integrate prior information and sample data using Bayes’ theorem. However, there is an assumption that precise prior probability distributions are available for unknown parameters, yet these prior distributions are sometimes unavailable in practical engineering. A possible way to avoiding this assumption is to generalize Bayesian reliability analysis approach by using imprecise probability theory. In this paper, we adopt a set of imprecise Dirichlet distributions as priors to quantify uncertainty of unknown parameters and extend traditional Bayesian reliability analysis approach by introducing an imprecise Dirichlet model (IDM). When the prior information is rare, the result of imprecise Bayesian analysis method is too rough to support engineering decision-making, so we proposed an optimization model to reduce the imprecision of the new method. Spindles are crucial for machine tools and reliability data related to spindles of new-developed machine tools are often rare. We can then use the imprecise Bayesian reliability analysis method to assess its reliability. In this paper, we mainly investigate the reliability assessment of a motorized spindle to illustrate the effectiveness of the proposed method.
Energy Harvesting Smart Floor for Indoor People Localization and Tracking
Authors: Gatto Andrea , Bassoli Elena , Contigiani Marco , Frontoni Emanuele , Mancini Adriano , Zingaretti Primo
Published: January 2016

The aim of this work is to describe an innovative smart floor based on a self powered system able to allow the localization and analysis of the movement of the users in a specific area. The solution presented involves the use of capacitive sensors on a polymeric support to be inserted between solid wood and a wooden part of a floating parquet. A detailed architecture and implementation of the smart floor is proposed together with an exhaustive test phase. In this paper we first describe the measurement system used to perform reliability and efficiency test of the system. Then the results are discussed and compared with the expected results and the performance of other solutions already known to the state of art. The proposed system is part of HDOMO, an Ambient Assisted Living (AAL) project aimed at developing smart solutions for active ageing.
Design of a Lightweight Truck Wheel
Authors: Gobbi Massimiliano , Guagliano Mario , Mastinu Giampiero , Previati Giorgio , Finzi Andrea , Vaona Nicola , Maestrini Daniele , Marconi Gianpaolo , Bailini Alessandro , Pinarello Giordano
Published: January 2016

The presented research activity is focused on the lightweight construction of a of truck wheel, with the final aim of improving the energy efficiency in compliance with current safety standards.

On the basis of the design of a truck wheel currently into production, the objective of reducing the wheel mass is achieved by adopting high-strength materials, optimizing the geometry, and developing a new production process.

The approach used for the new wheel design is based on the selection of a proper mission of the vehicle and on the acquisition of the loading spectra defined by using a new measuring wheel. The information obtained is used during the structural analysis phase. Based on the current production process, a number of suitable materials have been selected. Innovative manufacturing processes have been considered for improving the fatigue life of the wheel. Shot peening has been considered as a method to improve fatigue strength. Moreover, the introduction of laser cutting and welding led both to more freedom in the definition of the geometry of the wheel and to the reduction of the effects of geometric notches due to the absence of weld beads. A dedicated indoor test rig was used for durability tests. These activities led to a new truck wheel with reduced mass that is currently in the experimental validation phase.
Development of a Novel Pneumatic Artificial Muscles Actuator Embedded Backbone and Position Sensor Using 3D-Printer
Authors: Lee Hyuk Jin , Kim Baek Chul , Koo Ja Choon
Published: January 2016

This paper proposed a novel Pneumatic Artificial Muscles (PAM) actuator to solve critical problems that bring about buckling and disturb linear motion due to structure characteristics. The traditional PAM actuators in a relaxed state require an additional mechanism due to bucking. Also the PAM actuator need to precise external sensors. As a result, the size of the entire system is large and heavy, so it is difficult to miniaturize and integrate. Also the PAM actuators cannot be used in a small mechanism such as a robot hand tip. Therefor we proposed a novel PAM actuator that do not need to an additional mechanism such as link, joint, tendon and transmission and external sensors in order to eliminate these problems.
Development of a Biomimetic Vibrotactile Sensor for Dynamic Deformation With an Array of Polymer Structures
Authors: Choi Jae Young , Kim Baek Chul , Koo Ja Choon
Published: January 2016

Humans can discriminate surface roughness using fingertip’s touch. It is believed that surface roughness is perceived by static and dynamic deformation of human skin. Recent findings have shown that subcutaneous slowly adapting mechanoreceptor (SA) detect static deformation of finger skin. However, there are difficulties to infinitely increase density of SA in limited skin space. [1] So, we focused on dynamic deformation is related with rapidly adapting mechanoreceptor (RA). In the process of scanning surface of objects with fingertips, RA detects vibrations induced by skin deformation. In this study, we suggest that sensors mimicking roles of RA can detect surface roughness. We used a polymer having similar characteristics of skin surface that transduce physical vibrations into electrical signal. And an array of polymer structures discriminates surface roughness. In other researches, they were tried to use one mechanoreceptor to acquire total range of vibrations. From the point of view which RAs have different vibration sensing ranges, we divided range of vibration through polymer structures and analyzed frequency element.
Engineering Design for Robot Aesthetics
Authors: Zhang Wenchang , Dai Annan , Rong Yiming
Published: January 2016

This paper presents a show case of aesthetic robot design considering technical function constraints and using engineering performance analysis method. First a project goal was determined based on a robot aesthetic analysis. Decision matrices were used to evaluate the aesthetic satisfaction in both component and assembly levels of the design while the scores were assigned subjectively through panel discussion. 3D printing technique was used to get the physical models for rapid verification of the design and to facilitate the design evolution. Examples are given for robot component design as well as the overall evaluation of the robot aesthetics.
Localization and Trajectory Tracking of an Autonomous Spherical Rolling Robot Using IMU and Odometry
Authors: Ajay Vibhute Akash , Suherlan Adi P. , Soh Gim Song , Foong Shaohui , Wood Kristin , Otto Kevin
Published: January 2016

Pose estimation and trajectory tracking of a spherical rolling robot is a complex problem owing to kinematics and dynamics of the system and the constraint of not being able to add range sensors like ultrasonic or infrared distance sensors on the robot. The pose estimate for the robot under study, needs to be derived purely using inertial measurement unit (IMU) and odometry from analog wheel encoders, which in turn include high uncertainties. Adding to this, the system kinematic and dynamic model to accurately predict the behavior is quite complex. In this paper we present a simplified kinematic model, sensor filtering techniques and the control strategy adopted to locate and navigate the robot to a desired waypoint autonomously. A filter block provides clean heading output from the IMU and incremental pulses from an analog wheel encoder; the pose estimator uses heading and incremental pulses to calculate its position according to the system kinematic model. A pure-pursuit algorithm generates left & right wheel velocities to keep the robot on a commanded waypoint, using the robot kinematic model and localization data. The validity of our kinematic model and performance of our waypoint tracking are verified with the ground truth using a motion capture system and onboard sensors, where the application domain is bio-inspired, micro (small scale) robotics.
Development of the Easy Set-Up and In Situ Automatic Gear Diagnostic System Using a Laser Beam
Authors: Nakajima Keyaki , Tanaka Eiichirou , Okabe Kazunari , Takebe Hitoshi , Nagamura Kazuteru , Ikejo Kiyotaka , Hashimura Shinji , Muramatsu Keiichi , Watanuki Keiichi , Nemoto Ryozo
Published: January 2016

We developed a method which can diagnose damage on a gear tooth surface by using laser beam without a rotary encoder. This method is as follows: 1) The tooth bottom, the tooth tip and their two medians are detected by the differentials of the laser reflection data. 2) The gear rotation speed is calculated with these four positions, and interpolated according to the rotation fluctuation. 3) By using the calculated gear rotation speed, the measured data can be converted corresponding to the gear rotation angle. Thus we diagnose gear tooth surface damage without being influenced by rotational fluctuation. We did diagnosis experiments and we made contour maps show diagnosis accuracy. From these maps, we got the following conclusions: 1) The accuracy of damage diagnosis is the same level regardless of the presence or absence of a rotary encoder. 2) The cycle of rotational fluctuation hardly affects the accuracy. 3) Bigger fluctuation amplitude makes the range accuracy worse, however the position accuracy improves.
Modular Flexible Production System: Construction and Application in Education
Authors: Wojciechowski Jakub , Pietrowiak Arkadiusz , Ciszak Olaf , Wiśniewski Marcin
Published: January 2016

This paper deals with the application of the flexible production system in the education of students of different specialties. System allows for the provision of teaching in the same facilities, both for the students of specialized field of study like Mechatronics and such as introductory courses in production management methods for students of Management. The biggest advantage of this system is its modularity allows for any change in the system without having to redesign actuators. These advantages are result of use a lot of flexible solutions, what was precisely described. Line construction involves the cooperation of all the elements, with particular emphasis on robots cooperate with vision system. This will be discussed on the example of the tasks of varying difficulty and educational purpose, implemented using a modular flexible production system.
Dynamics and Control of Multi-Flexible-Body Systems in a Divide-and-Conquer Scheme
Authors: Khan Imad M. , Addepalli Kalyan C. , Poursina Mohammad
Published: January 2016

In this paper, we present an extension of the generalized divide-and-conquer algorithm (GDCA) for modeling constrained multi-flexible-body systems. The constraints of interest in this case are not the motion constraints or the presence of closed kinematic loops but those that arise due to inverse dynamics or control laws. The introductory GDCA paper introduced an efficient methodology to include generalized constraint forces in the handle equations of motion of the original divide-and-conquer algorithm for rigid multibody systems. Here, the methodology is applied to flexible bodies connected by kinematic joints. We develop necessary equations that define the algorithm and present a well known numerical example to validate the method.
Self-Excited Lateral Vibrations of Rolling Tires
Authors: Takács Dénes , Stépan Gábor
Published: January 2016

In this study, a low degree-of-freedom mechanical model of a rolling tire is constructed, in which the lateral deformation of the contact patch and tire carcass is considered. The so-called delayed contact patch model is implemented and combined with a simple tire carcass model. The interaction between the contact patch and the carcass together with the lateral mode of the attached suspension system is modeled by means of minimum number of relevant parameters in a simplified way in order to construct analytical results. Critical parameter ranges of self-excited vibrations are determined against the longitudinal speed of the tire. The intricate shapes of the corresponding tire deformations are presented by means of numerical simulations.
Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models
Authors: Venkiteswaran Venkatasubramanian Kalpathy , Su Hai-Jun
Published: January 2016

Pseudo-rigid-body models serve as a convenient numeric tool for the analysis of compliant elements. However, most PRB models are derived on the basis of Euler beam equations, without accounting for the effect of deformation on beam geometry. In this paper, we look at the effects of deformation on length and cross section of the beam, and try to understand these phenomena with respect to some dimensionless parameters. These effects are more pronounced for short beams of soft materials. A few PRB models listed in literature are compared against FEA results, and optimization methods are used to determine more accurate PRB models for varying beam geometry. A study of these results will guide the discussion on how the accuracy of the PRB models changes with the beam parameters. An example of a compliant mechanism which experiences significant axial loads will be used to prove the validity of these results.
Assembly-Design-Oriented Semantic Modeling and Assembly Configuration Simulation in Virtual Environment
Authors: Fan Xiumin , Tian Li , He Qichang , Liu Keyan
Published: January 2016

Usually, virtual assembly simulation is based on fixed assembly relationships between parts which are extracted from product’s CAD models. And virtual assembly systems is mainly used to evaluate product assemblability. In order to enhance the function of virtual assembly system to more assembly-design-oriented, a method of dynamic assembly configuration based on part’s semantic modeling is presented. The part’s semantic model contains assembly features, semantic attributes and physical properties of a part. The uniformed part semantic information is defined based on part’s STEP models and described in XML format. Assembly process simulation for dynamic assembly relationship configuration is realized by semantic reasoning, such as the reasoning to determine mating parts, mating positions, construction/solving/navigation of geometry constraints, and generation and modification of assembly relationships. The method supports the assembly processes simulation from single parts to produce the entire assembly in the virtual environments and works without predefined associations between parts. A prototype system is developed and demonstrated with an excavator. The results show that different assembly configurations for product assembly design can be obtained and the assemblability can be evaluated during the virtual assembly simulation process.