bluuebunny/crossref_metadata_2025_split huggingface dataset:
Maneuvering Control of a Planar Snake Robot Locomotion Using a Combined Heading-Velocity-Shape Strategy
Authors: Haghshenas-Jaryani Mahdi 
Published: November 2022

Abstract
This paper presents a combined shape-velocity-heading control for planar snake robots to navigate confined environments using the lateral undulatory locomotion. The kinematics and dynamics of shape-changing were studied to find the connection between the gait parameters of the Serpenoid curve and the width of the robot locomotion while following the desired trajectories. The phase shift in between joint angles was identified as the parameter of interest for controlling the width of snake robots. The controller includes an outer-loop to adjust the parameters of the lateral undulation gait to achieve the desired shape, linear velocity, and heading direction in the Cartesian space while the inner-loop determines the torques at each joint of the snake robot to follow the desired joint trajectories. The control algorithm was tested on a planar 6-link snake robot model and was examined in different simulation cases of adjusting the robot’s shape to the desired width while maintaining the desired heading direction and linear velocity. The simulation results have shown the feasibility and effectiveness of the combined heading, velocity, and shape control algorithm in the navigation of a 6-link snake robot in simple and complex simulated multichannel cluttered environments.
Direct 4D Printing of a Deployable Polymer Wave Spring
Authors: Chapuis Joël N. , Widmer Andrin M. , Shea Kristina 
Published: November 2022

Abstract
4D printing is now commonly defined as a targeted evolution of a 3D printed structure to change its shape, properties, and functionality over time. In direct 4D printing this targeted evolution is embedded in the structure during the 3D printing process. A heat stimulus can be used to trigger a transition between two states of a printed shape memory polymer. 3D and 4D printing have greatly expanded the design space of a variety of engineering parts. However, 3D printed parts often show anisotropic behavior due to layering, especially when using fused filament fabrication. Here, it is shown how direct 4D printing on a fused filament fabrication system can be used to create deployable polymer wave springs. By introducing a pattern of multimaterial bilayer actuators into the wave spring, it can be printed flat and deployed to a designed spring shape through a thermal stimulus. This method eliminates the typical layering issues found in 3D printed springs due to printing at angles. Additionally, it reduces the print time and support material consumption. These findings show the great potential of direct 4D printing on 3D printers using fused filament fabrication to create functional, 4D printed components with complex geometry, such as polymer springs.
Analytical Lumped-Parameter Model of Misaligned Gear Contacts for Efficient System Level Drivetrain Simulations
Authors: Marco I Jordan Jordi , Blockmans Bart , Desmet Wim 
Published: November 2022

Abstract
Reliable system-level simulation tools capable of modelling and predicting the physical interactions between components are of special interest in the analysis of mecha(tro)nic drivetrains. In such drivetrains the flexibilities of shafts and bearings alter the gear alignment conditions, thereby requiring gear contact models that are capable of capturing the associated misalignment effects. In this contribution, an efficient yet accurate model for misaligned helical gear contact analysis is derived by lumping a distributed-parameter model that was recently developed by the authors and validated numerically by comparison with finite element simulations. The transformation into a lumped-parameter model relies on a computationally efficient linearization approach that can be generalized to other gear contact models. The developed model is numerically validated on the component-level by comparison with finite element simulations of a helical gear pair considering various misalignments. The twisting rotation is shown to be the most influential misalignment, significantly altering the transmission error and thereby dynamic performance of the gear pair, and is well-captured by the developed lumped-parameter model. In order to demonstrate the model’s capabilities and computational efficiency in a system-level simulation, the model is implemented in a port-based multi-physical simulation environment, where it is used to simulate a two-stage helical automotive transaxle.
Investigation of Mechanical Engineering Students’ Perceptions of Design Process Models
Authors: Dugan Kelley E. , Daly Shanna R. 
Published: November 2022

Abstract
Engineering designers, who are increasingly tasked with solving complex problems, leverage various forms of support to practice and develop their design skills as well as ultimately navigate the complexity of the problems with which they are faced. Design process models are one such form of support, particularly those process models that prescribe how to design. To better understand how process models impact design approaches, this preliminary study analyzed semi-structured interviews — focused on participants’ perceptions of three design process models — with six upper-level mechanical engineering students. Across participants’ responses, we identified eight dimensions used to distinguish the usefulness of each process model: impacts considered, project scope, stakeholder interactions, problem definition, project deliverable, solution novelty, solution type, and process applicability. In addition, participants differentiated the three process models based on iteration and the level of detail within a model. Our findings highlight the importance of accounting for varying interpretations across process model users and suggest that students would benefit from multiple design process models, including process models that recognize society and people in engineering decision-making.
Higher-Order Kinematics of Lower-Pair Chains With Hyper-Multidual Algebra
Authors: Condurache Daniel 
Published: November 2022

Abstract
This paper proposes a new computational method based on vector and tensor calculus and the properties of dual and multidual algebra for higher-order acceleration field in the case of rigid body motion. A closed-form coordinate-free solution is presented, this result being generated by the morphism between the Lie group of the rigid body displacements and the Lie group of the orthogonal hyper-multidual tensors. The solution is put into practice for higher-order kinematics analysis of lower-pair serial chains. Specific cases are chosen to evaluate the properties for velocity, acceleration, jerk, and jounce.
Challenges in Implementing Digital Twins – a Survey
Authors: Trauer Jakob , Mutschler Michael , Mörtl Markus , Zimmermann Markus 
Published: November 2022

Abstract
Despite the undisputed potentials of Digital Twins, they are still lacking application in industry. However, the reasons for this observation are still unclear. Therefore, a survey with 61 industrial professionals was conducted to investigate the most crucial impediments in implementing Digital Twins. The research was guided by four research questions — (1) Is there still ambiguity in the terminology of Digital Twins? (2) What are characteristics of Digital Twin projects in industry? (3) What are the most crucial (categories of) impediments in implementing Digital Twins? and (4) Are non-technical issues more likely to cause problems, than technical issues? First, contextual aspects were collected. They include the background of the participant, the operating fields and size of the company, as well as characteristic information on digitalization projects in general and Digital Twin projects more specifically. Then participants were asked to rate categories of issues as well as very specific impediments with respect to their likelihood to cause problems in the implementation of Digital Twins. The results show that technical issues, like missing standardization of data and models, are still present. However, according to the collected data, non-technical issues, like a lack of expertise and specialists, are more likely to cause difficulties. Based on these results, directions for future development of Digital Twin research, like the need for a business modelling approach for Digital Twins or a teaching concept, are derived.
Knowledge and Data-Based Design and Dimensioning of Mechanical Joining Connections
Authors: Zirngibl Christoph , Sauer Christopher , Schleich Benjamin , Wartzack Sandro 
Published: November 2022

Abstract
Challenges in the development of resource-efficient lightweight designs, such as emission and cost targets in production, lead to an increasing demand for environmentally friendly and fast joining processes. Therefore, cold-forming mechanical joining techniques provide an energy-efficient alternative in comparison to established processes, such as spot welding. However, to ensure a sufficient reliability of the product design, not only the selection of an appropriate manufacturing and joining method, but also the suitable dimensioning and validation of the entire joining process is a crucial step. In this context, thermal processes offer a large number of design principles while mechanical joining methods mainly require extensive experimental tests and the inclusion of expert knowledge. Although few contributions already investigated the data-based analysis of mechanical joints, a system for the requirement- and manufacturing-oriented dimensioning of joining components, such as different profiles and blanks, in combination with the estimation of joint properties is not available yet. Motivated by this lack, this contribution introduces an engineering workbench for the support of design engineers in the early development phases of the knowledge and data-based design of mechanical joining connections using clinching as an example. In this regard, the approach is demonstrated involving a similar material and sheet thickness combination with static loads.
Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom
Authors: Singh Yogesh Pratap , Ghosal Ashitava 
Published: November 2022

Abstract
A six degree of freedom (DOF) two-radii Gough-Stewart Platform (GSP) can be designed to be dynamically isotropic and has been proposed for micro-vibration isolation. In many applications, the torsional mode can be ignored, and a 5-DOF dynamically isotropic, parallel manipulator capable of attenuating three translational (3T) and two rotational (2R) modes are sufficient. In this work, we present the design of a novel two radii, 5-DOF dynamically isotropic parallel manipulator, which can be used for vibration isolation purposes where the torsion mode can be ignored. We present closed-form solutions in their explicit form to this design problem, and these are obtained using a geometry-based approach. The first design is based on a modification to the two radii GSP and provides enhanced design flexibility and feasibility. The second design of a decoupled 5-DOF GSP is based on superposing two 3-DOF dynamically isotropic or decoupled parallel manipulators, which are the well-known 3-3 RPS parallel manipulators. The closed-form solutions for these 3-DOF isotropic designs are obtained. It is shown that the 5-DOF decoupled design have two translational modes, namely the (X, Y) modes, which are decoupled from two rotational modes (Rot(X), Rot(Y)) and are controlled by two different sets of three struts. This feature can lead to simpler control and less power requirements if active vibration control is chosen. The designs presented in this work include the effect of asymmetricity and payload’s centre of mass variation in the moving platform. The dynamically isotropic and decoupled designs obtained were successfully validated using the finite element software ANSYS®.
Framework Design of a Digital Twin of an XY Compliant Parallel Manipulator Based on Non-Negative Matrix Factorization
Authors: Song Xueguan , Li Kunpeng , Wang Shuo , Kan Ziyun , Li Haiyang , Zhu Jiaxiang , Hao Guangbo 
Published: November 2022

Abstract
A promising multi-layer mirror-symmetry XY compliant parallel manipulator (CPM) has been recently reported to address the tradeoff between a small compact footprint and a minimized parasitic rotation. In order to scientifically ensure the healthy operation of equipment and make maintenance decisions reasonably, there is a need to depict its physical mechanical characteristics in a virtual space instantaneously. The digital twin, an emerging technology, can be used to address this need by achieving a seamless convergence of physical and virtual spaces for this XY CPM. However, the high accuracy and instantaneousness requirements have hindered the application and popularization of the digital twin. This article presents a framework to build an accurate and lightweight digital twin, and in the meanwhile significantly reduces the computational budget (i.e. high computation efficiency). The framework is validated by an XY CPM test apparatus. The results demonstrate that the proposed framework is an effective tool to build an accurate and lightweight digital twin for the XY CPM, which is also promising for other compliant mechanisms or parallel manipulators.
Design of Customized Noncircular Chainrings for Cycling
Authors: Polanco Alejandra , Duran Jose , Muñoz Luis , Sabogal Santiago 
Published: November 2022

Abstract
Noncircular chainrings have drawn the attention of the cycling community because they are designed to improve the pedaling cycle and obtain better performance. Nevertheless, there is no general agreement on their effect; for this reason, they are still under development, and further efforts to understand and improve this component are required.
In this work, a noncircular chainring with custom geometry was designed, manufactured, and tested. A numerical model was developed to study the effect of the chainring geometry on the mechanical advantage of the bicycle transmission system. A chainring with a custom geometry was designed to be manufactured. The manufactured chainring was installed on a road bicycle, and its mechanical advantage was measured through motion capture.
A custom noncircular chainring providing the target mechanical advantage profile was obtained. CNC machining was used for manufacturing the 1:1 scale functional prototype. The prototype was constructed in Aluminum 7075T6. The prototype was based on an elliptical geometry with 52 teeth. The ellipse used for the prototype had a minor axis of 97.60 mm and a major axis of 118.77 mm. The results of the experimental characterization of the chainring prototype showed a variation in the mechanical advantage obtained along a pedaling cycle within 0.194 and 0.233.
Nuclear Batteries Enable Decades of Uninterrupted Life for Microelectronic Systems
Authors: Barham Oliver M. 
Published: November 2022

Abstract
Nuclear radioisotope batteries are a class of energy dense power sources that convert radioactive decay particle energy directly into electricity for powering sensors, electronics, and medical implants in applications where battery replacement is difficult or impossible. In order to show the potential benefits of integrating these types of power sources into microelectronic sensor systems, three recent examples from the literature are considered: a gas sensor; a communication component (radio frequency front-end); and a photoplethysmographic sensor. These were selected to represent three common microsystem components: environmental sensors; communication components; and biological sensors. In each case, system operational lifetime is computed when powered with a commercial Li-ion coin cell battery, followed by a comparison with three nuclear battery prototypes from the literature. In each case, the nuclear power sources allow potential continuous, unattended operational life to be extended by an order of magnitude or more, typically from less than one year to decades of continuous use. Advantages and disadvantages of nuclear batteries in general are also addressed.
Periodic Composite Function-Based Designing of Microstructures With Programmable Poisson Ratio
Authors: Zhang Yilong , Du Yuxuan , Qiao Ye , Wang Shu , Wang Cunfu 
Published: November 2022

Abstract
Advances in additive manufacturing enable rational design and fabrication of multiscale architectures composed of microstructures with extreme mechanical properties. The parameterization of microstructures determines the computational cost for rational design and connectivity between different microstructures, in turn, the mechanical performance of the fabricated multiscale architectures. In this paper, we propose a periodic composite function (PCF)-based approach for designing microstructures. The shape of the microstructures is characterized by the sign of the periodic composite functions. The proposed method can program Poisson’s ratio of the microstructures with a small number of parameters. Furthermore, due to its implicit representation, the proposed method allows for continuously tiling of microstructures with different mechanical properties. As such, by designing the distribution of the scalar parameters, we are able to project spatially varying microstructures onto an object of arbitrary geometry and control its deformation. Based on the proposed approach, multiple groups of microstructures with Poisson’s ratio ranging from negative to positive are presented. Numerical examples are also presented to demonstrate the efficacy of the proposed approach in controlling elastic deformation through spatially varying microstructures. Due to its compact representation, the proposed method can be readily reproduced by other researchers and extended to practical applications in designing two-scale architectures for additive manufacturing.
Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
Authors: Sciarra Giuseppe , Rasheed Tahir , Mattioni Valentina , Cardou Philippe , Caro Stephane 
Published: November 2022

Abstract
Cable-Driven Parallel Robots (CDPRs) use cables to move a moving-platform in space offering different advantages, such as high payload, reconfigurability, large translational workspace and high dynamic performances. However, their orientational workspace is usually limited due to cable/cable and cable/moving-platform collisions. In this paper, a novel Schönflies-Motion Generator (SMG) with a large translational workspace and a full rotation of its end-effector about a vertical axis is introduced. The full rotation of the end-effector is obtained using a parallelogram cable loop. It should be noted that the four degrees of freedom motion of the end-effector is controlled by four actuators fixed to the ground thanks to three parallelogram cable loops and a transmission system containing a differential mechanism. The kinetostatic model of the CDPR under design is expressed. The static workspace of the proposed Cable-Driven SMG (CDSMG) with three different cable arrangements is analyzed. Finally, a prototype of the CDSMG is presented and preliminary experimental results are discussed.
Objects of Collaboration: Roles of Objects in Spanning Knowledge Boundaries in a Design Company
Authors: Brubaker Eric R. , Sheppard Sheri D. , Hinds Pamela J. , Yang Maria C. 
Published: November 2022

Abstract
Engineering designers often span knowledge boundaries when developing complex systems but doing so poses challenges because members of different knowledge groups must bridge their language, cognitions, and “thought worlds” to effectively broker, resituate, and make use of each other’s ideas. Objects — ranging from prototypes to kanban boards to value stream maps — are frequently used in cross-functional design practice, but the outcomes associated with such objects appear varied and dependent not only the objects’ characteristics but on how, when, and by whom they are used. This paper describes a two-year inductive ethnographic study within a turbomachinery design company to understand how cross-functional design teams span their knowledge boundaries to advance their designs and design processes. We collected observations of 70 cross-functional meetings and 52 interviews across functional groups during the development of complex turbomachinery products. Our findings include three roles of objects of collaboration: routinizing cross-boundary interaction, translating information across boundaries, and motivating joint negotiation or discovery. We found two prominent outcomes — co-discovery of a design risk, opportunity, or workflow bottleneck and co-design of a joint integrated solution — that appeared to follow from the latter two roles, respectively. These findings are significant because they clarify the roles of objects in cross-boundary design work and suggest ways for designers to more effectively use objects to span knowledge boundaries.
A Curved Compliant Differential Mechanism With Neutral Stability
Authors: Mak Robin , Amoozandeh Nobaveh Ali , Radaelli Giuseppe , Herder Just L. 
Published: November 2022

Abstract
Differential mechanisms are remarkable mechanical elements that are widely utilized in various systems; nevertheless, conventional differential mechanisms are heavy and difficult to use in applications with limited design space. In this paper, a curved lightweight compliant type of differential mechanism is presented. This mechanism acquires its differential characteristic by having a high rotational stiffness when the mechanism is symmetrically actuated on two sides, while having a low rotational stiffness when actuated only on one side. The intrinsic elastic strain energy required for deformation of the compliant differential is compensated for by reintroduction of potential energy to make the mechanism neutrally stable. For the storage of potential energy, two preloaded linear springs were used. The rotational stiffness of the one-sided actuation around the neutral position of the compliant differential mechanism is hypothesized to be adjustable by changing the preload of the springs. The stiffness can be positive, zero, and negative, meaning that the mechanism can have neutral stability and bistability. The hypothesis is investigated using a simulated model in Ansys Parametric Design Language using optimized parameters to achieve the desired stiffness for the mechanism. The simulated model is validated using an experimental setup for both the one-sided and symmetrical actuation stages. The experimental results showed a high correlation with the simulations. The mechanism with optimized dimensions and preload showed neutral stability for a range of 16°. Bistability was found for preloads higher than the aforementioned optimized preload. A linear trend was found between the preload of the springs and the rotational stiffness of the mechanism at θ = 0. Furthermore, an output/input kinematic performance of 0.97 was found for the simulated results and 0.95 for the experimental results.