2008 Vol.21(2)
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2008, 22(2).
Abstract:
Aiming at the problem existing in the computer aided design process that how to express the design intents with high-level engineering terminologies, a mechanical product self-organized semantic feature evolution technology for axiomatic design is proposed, so that the constraint relations between mechanical parts could be expressed in a semantic form which is more suitable for designers. By describing the evolution rules for semantic constraint information, the abstract expression of design semantics in mechanical product evolution process is realized and the constraint relations between parts are mapped to the geometric level from the semantic level; With semantic feature relation graph, the abstract semantic description, the semantic relative structure and the semantic constraint information are linked together; And the methods of semantic feature self-organized evolution are classified. Finally, combining a design example of domestic high-speed elevator, how to apply the theory to practical product development is illustrated and this method and its validity is described and verified. According to the study results, the designers are able to represent the design intents at an advanced semantic level in a more intuitional and natural way and the automation, recursion and visualization for mechanical product axiomatic design are also realized.
Aiming at the problem existing in the computer aided design process that how to express the design intents with high-level engineering terminologies, a mechanical product self-organized semantic feature evolution technology for axiomatic design is proposed, so that the constraint relations between mechanical parts could be expressed in a semantic form which is more suitable for designers. By describing the evolution rules for semantic constraint information, the abstract expression of design semantics in mechanical product evolution process is realized and the constraint relations between parts are mapped to the geometric level from the semantic level; With semantic feature relation graph, the abstract semantic description, the semantic relative structure and the semantic constraint information are linked together; And the methods of semantic feature self-organized evolution are classified. Finally, combining a design example of domestic high-speed elevator, how to apply the theory to practical product development is illustrated and this method and its validity is described and verified. According to the study results, the designers are able to represent the design intents at an advanced semantic level in a more intuitional and natural way and the automation, recursion and visualization for mechanical product axiomatic design are also realized.
UNBALANCE RESPONSE AND TOUCH-RUBBING THRESHOLD SPEED OF ROTOR SUBJECTED TO NONLINEAR MAGNETIC FORCES
2008, 22(2).
Abstract:
Because of the effect of unbalance excitation and nonlinear magnetic force, the large vibration of the rotor supported by active magnetic bearing(AMB) will go beyond the radial gap of the bearing, even causing mechanical touch-rubbing when the system works at an operational speed closer to the critical speed. In order to investigate this problem, the linear model and nonlinear model of the single mass symmetric rigid rotor system supported by AMB are established respectively and the corresponding transfer functions of close-loop system are given. To pass through the numerical calculation by using MATLAB/Simulink, the effect of both the unbalance response and threshold speed of touch-rubbing of the system subjected to nonlinear magnetic forces and nonlinear output current of power amplifier are studied. Furthermore, threshold speed of touch-rubbing of the rotor-bearing system is defined and the results of numerical simulation are presented. Finally, based on above studies, two methods of increasing the touch-rubbing threshold speed are discussed.
Because of the effect of unbalance excitation and nonlinear magnetic force, the large vibration of the rotor supported by active magnetic bearing(AMB) will go beyond the radial gap of the bearing, even causing mechanical touch-rubbing when the system works at an operational speed closer to the critical speed. In order to investigate this problem, the linear model and nonlinear model of the single mass symmetric rigid rotor system supported by AMB are established respectively and the corresponding transfer functions of close-loop system are given. To pass through the numerical calculation by using MATLAB/Simulink, the effect of both the unbalance response and threshold speed of touch-rubbing of the system subjected to nonlinear magnetic forces and nonlinear output current of power amplifier are studied. Furthermore, threshold speed of touch-rubbing of the rotor-bearing system is defined and the results of numerical simulation are presented. Finally, based on above studies, two methods of increasing the touch-rubbing threshold speed are discussed.
2008, 22(2).
Abstract:
Dynamic characteristic is presented by identifying the model and the dynamic parameters of a precise long stroke linear motor (PLSLM) with the air-bearing in optical lithography. The PLSLM is supported by air-bearing on the stator, and is driven by on-board two large linear motors in a cross-configuration. Firstly, a model of the PLSLM is established by finite element method (FEM). Secondly, based on the model, the natural frequencies and model shapes are discussed. And the contribution of each active mode is evaluated by computing the modal participation factors (MPF), which indicates the major vibration direction. Furthermore, by the experimental modal analysis, the experimental results are in agreement with simulation results, which it is sure that the FEM is reasonable. What’s more, comparing with the effects on the frequency due to the air-bearing stiffness, the relations of the natural frequencies with the air-bearing stiffness are found. It is found that the frequency response curve is fluctuant with the air-bearing stiffness in each direction. Finally, it is conclusion that the natural frequency of the PLSLM is largely affected by the air-bearing stiffness variety. This research is contributed to the dynamic characteristics resulted from the air-bearing stiffness. Further work will include better optimization on the dynamic parameter in the controller design through the control algorithm for the precise long stroke motor.
Dynamic characteristic is presented by identifying the model and the dynamic parameters of a precise long stroke linear motor (PLSLM) with the air-bearing in optical lithography. The PLSLM is supported by air-bearing on the stator, and is driven by on-board two large linear motors in a cross-configuration. Firstly, a model of the PLSLM is established by finite element method (FEM). Secondly, based on the model, the natural frequencies and model shapes are discussed. And the contribution of each active mode is evaluated by computing the modal participation factors (MPF), which indicates the major vibration direction. Furthermore, by the experimental modal analysis, the experimental results are in agreement with simulation results, which it is sure that the FEM is reasonable. What’s more, comparing with the effects on the frequency due to the air-bearing stiffness, the relations of the natural frequencies with the air-bearing stiffness are found. It is found that the frequency response curve is fluctuant with the air-bearing stiffness in each direction. Finally, it is conclusion that the natural frequency of the PLSLM is largely affected by the air-bearing stiffness variety. This research is contributed to the dynamic characteristics resulted from the air-bearing stiffness. Further work will include better optimization on the dynamic parameter in the controller design through the control algorithm for the precise long stroke motor.
2008, 22(2).
Abstract:
The obstacle for idea generation in fuzzy front end (FFE) is difficult to apply knowledge in different fields for designers. Theory of inventive problem solving TRIZ and computer-aided innovation systems (CAIs) which are TRIZ-base software systems with a knowledge base provide a framework for knowledge application in different fields. The major methods in TRIZ are selected, which have four types. The problems to be solved for each method are summarized and mapping from the problems to the methods is given. Systematic method with eight paths to integrate the methods and problems is formed. A case study shows the idea generation in FFE using the integrated method step by step.
The obstacle for idea generation in fuzzy front end (FFE) is difficult to apply knowledge in different fields for designers. Theory of inventive problem solving TRIZ and computer-aided innovation systems (CAIs) which are TRIZ-base software systems with a knowledge base provide a framework for knowledge application in different fields. The major methods in TRIZ are selected, which have four types. The problems to be solved for each method are summarized and mapping from the problems to the methods is given. Systematic method with eight paths to integrate the methods and problems is formed. A case study shows the idea generation in FFE using the integrated method step by step.
2008, 22(2).
Abstract:
Different from traditional aggregation method, the unreliable buffers are originally considered and a more general aggregation method is offered, in which not only the unreliable buffers are considered, but also the probabilities of system states are obtained by a discrete model rather than the continuous flow model of unreliable manufacturing systems. The solution technique is offered to get the system sate probabilities. The method advances the traditional system aggregation techniques. Numerical results specify the extended aggregation method and also show that the unreliable limited buffers have a strong impact on the efficiency of the production lines.
Different from traditional aggregation method, the unreliable buffers are originally considered and a more general aggregation method is offered, in which not only the unreliable buffers are considered, but also the probabilities of system states are obtained by a discrete model rather than the continuous flow model of unreliable manufacturing systems. The solution technique is offered to get the system sate probabilities. The method advances the traditional system aggregation techniques. Numerical results specify the extended aggregation method and also show that the unreliable limited buffers have a strong impact on the efficiency of the production lines.
2008, 22(2).
Abstract:
To manage the complexities of hull module partitions, a new approach to the partitions of hierarchical modules for shipbuilding is proposed. Based on the assembly and manufacture process, the approach determines the hierarchy and basis of the module partition first, and then according to the type of connection between the parts of the block module, the degree of membership for the rational connection is gained and the fuzzy relation matrix between different parts is then established. The fuzzy clustering technique is used to partition the modules, and then the method of fuzzy comprehensive assessment is used to choose a relative reasonable scheme. A case study has been conducted, which proves that the approach is feasible and applicable; Especially it obtains the sub-module partition, which sets up the shipbuilding process at a higher-level assembly and has offered effective tools for the modular ship design.
To manage the complexities of hull module partitions, a new approach to the partitions of hierarchical modules for shipbuilding is proposed. Based on the assembly and manufacture process, the approach determines the hierarchy and basis of the module partition first, and then according to the type of connection between the parts of the block module, the degree of membership for the rational connection is gained and the fuzzy relation matrix between different parts is then established. The fuzzy clustering technique is used to partition the modules, and then the method of fuzzy comprehensive assessment is used to choose a relative reasonable scheme. A case study has been conducted, which proves that the approach is feasible and applicable; Especially it obtains the sub-module partition, which sets up the shipbuilding process at a higher-level assembly and has offered effective tools for the modular ship design.
2008, 22(2).
Abstract:
A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional valve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.
A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional valve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.
2008, 22(2).
Abstract:
The bonding of β"-Al2O3 and pyrex glass to Al matrix composites by anodic bonding process is achieved. The microstructure of the bonded interface and the joining mechanisms are analyzed with scanning electron microscope (SEM), energy dispersive X-ray fluorescence spectrometer (EDX). It is observed that the bonding region across the interface consists of the metal layer, oxide transitional layer and the ceramic layer, with the transitional layer composed of surface region and sub-surface region. The bonding process can mainly be categorized into anodic bonding process and solid state diffusing process. The pile-up of the ions and its drift in the interface area are the main reasons for anode oxidation and joining of the interface. The temperature, voltage and the drift ions in the ceramic or glass during the bonding process are the essential conditions to solid state diffusing and oxide bonding at the interface. The voltages, temperature, pressure as well as the surface state are the main factors that influence the anodic bonding.
The bonding of β"-Al2O3 and pyrex glass to Al matrix composites by anodic bonding process is achieved. The microstructure of the bonded interface and the joining mechanisms are analyzed with scanning electron microscope (SEM), energy dispersive X-ray fluorescence spectrometer (EDX). It is observed that the bonding region across the interface consists of the metal layer, oxide transitional layer and the ceramic layer, with the transitional layer composed of surface region and sub-surface region. The bonding process can mainly be categorized into anodic bonding process and solid state diffusing process. The pile-up of the ions and its drift in the interface area are the main reasons for anode oxidation and joining of the interface. The temperature, voltage and the drift ions in the ceramic or glass during the bonding process are the essential conditions to solid state diffusing and oxide bonding at the interface. The voltages, temperature, pressure as well as the surface state are the main factors that influence the anodic bonding.
2008, 22(2).
Abstract:
A minitype precise spindle system which can machine precisely and stably in the process of diamond lapping and polishing is designed. In such minitype spindle system, the brushless DC spindle motor is used to drive the lapping finish table, which is built with fluid dynamic bearings. Some measures have been taken to make the lapping system dynamic balance, and a servo controller which can adjust the speed of motor from 1 200 r/min to 5 400 r/min is designed. Experiments show that the spindle system is reliable and stable for diamond polishing, and the detection results by atomic force microscope(AFM) show that the surfaces of diamond edge’s Ra is 6.725 nm and whole diamond average Ra is 3.25 nm.
A minitype precise spindle system which can machine precisely and stably in the process of diamond lapping and polishing is designed. In such minitype spindle system, the brushless DC spindle motor is used to drive the lapping finish table, which is built with fluid dynamic bearings. Some measures have been taken to make the lapping system dynamic balance, and a servo controller which can adjust the speed of motor from 1 200 r/min to 5 400 r/min is designed. Experiments show that the spindle system is reliable and stable for diamond polishing, and the detection results by atomic force microscope(AFM) show that the surfaces of diamond edge’s Ra is 6.725 nm and whole diamond average Ra is 3.25 nm.
COMPUTATIONAL FLUID DYNAMICS (CFD) SIMULATIONS OF DRAG REDUCTION WITH PERIODIC
MICRO-STRUCTURED WALL
2008, 22(2).
Abstract:
Computational fluid dynamics(CFD) simulations are adopted to investigate rectangular microchannel flows with various periodic micro-structured wall by introducing velocity slip boundary condition at low Reynolds number. The purpose of the current study is to numerically find out the effects of periodic micro-structured wall on the flow resistance in rectangular microchannel with the different spacings between microridges ranging from 15 to 60 μm. The simulative results indicate that pressure drop with different spacing between microridges increases linearly with flow velocity and decreases monotonically with slip velocity; Pressure drop reduction also increases with the spacing between microridges at the same condition of slip velocity and flow velocity. The results of numerical simulation are compared with theoretical predictions and experimental results in the literatures. It is found that there is qualitative agreement between them.
Computational fluid dynamics(CFD) simulations are adopted to investigate rectangular microchannel flows with various periodic micro-structured wall by introducing velocity slip boundary condition at low Reynolds number. The purpose of the current study is to numerically find out the effects of periodic micro-structured wall on the flow resistance in rectangular microchannel with the different spacings between microridges ranging from 15 to 60 μm. The simulative results indicate that pressure drop with different spacing between microridges increases linearly with flow velocity and decreases monotonically with slip velocity; Pressure drop reduction also increases with the spacing between microridges at the same condition of slip velocity and flow velocity. The results of numerical simulation are compared with theoretical predictions and experimental results in the literatures. It is found that there is qualitative agreement between them.
2008, 22(2).
Abstract:
Process integration is the important aspect of product development process. The recent researches focus on project management, workflow management and process modeling. Based on the analysis of the process, product development process is divided into three levels according to different grains from macroscopy to microcosm. Our research concentrate on the workflow and the fine-grained design process. According to the need of representing the data and the relationships among them for process integration, context model is introduced, and its characters are analyzed. The tree-like structure of inheritance among context model’s classes is illustrated; The relationships of reference among them are also explained. Then, extensible markup language (XML) file is used to depict these classes. A four-tier framework of process integration has been established, in which model-view-controller pattern is designed to realize the separation between context model and its various views. The integration of applications is applied by the encapsulation of enterprise’s business logic as distributed services. The prototype system for the design of air filter is applied in an institute.
Process integration is the important aspect of product development process. The recent researches focus on project management, workflow management and process modeling. Based on the analysis of the process, product development process is divided into three levels according to different grains from macroscopy to microcosm. Our research concentrate on the workflow and the fine-grained design process. According to the need of representing the data and the relationships among them for process integration, context model is introduced, and its characters are analyzed. The tree-like structure of inheritance among context model’s classes is illustrated; The relationships of reference among them are also explained. Then, extensible markup language (XML) file is used to depict these classes. A four-tier framework of process integration has been established, in which model-view-controller pattern is designed to realize the separation between context model and its various views. The integration of applications is applied by the encapsulation of enterprise’s business logic as distributed services. The prototype system for the design of air filter is applied in an institute.
2008, 22(2).
Abstract:
The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric damping from the symmetric MR-damper design, robustness on the vehicle operation parameter uncertainties and consideration of essential multiple suspension goals. Following the proposed skyhook-based asymmetric semi-active controller (Part Ⅰ) for achieving the above goals, herein, a set of suspension performance measures and three kinds of varying amplitude harmonic, rounded pulse and really measured random excitations are systematically defined, and the sensitivity of quarter-vehicle MR-suspension performance to variations in operating conditions is thoroughly analyzed. The results illustrate that the proposed skyhook-based semi-active MR-suspension in the asymmetric mode yields relatively superior dynamic responses to meet the multiple suspension performances of ride, rattle space, road-holding and dynamic tire force transmitted to the pavement, and has desirable robustness on variations in operating conditions of vehicle load and speed and the road roughness.
The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric damping from the symmetric MR-damper design, robustness on the vehicle operation parameter uncertainties and consideration of essential multiple suspension goals. Following the proposed skyhook-based asymmetric semi-active controller (Part Ⅰ) for achieving the above goals, herein, a set of suspension performance measures and three kinds of varying amplitude harmonic, rounded pulse and really measured random excitations are systematically defined, and the sensitivity of quarter-vehicle MR-suspension performance to variations in operating conditions is thoroughly analyzed. The results illustrate that the proposed skyhook-based semi-active MR-suspension in the asymmetric mode yields relatively superior dynamic responses to meet the multiple suspension performances of ride, rattle space, road-holding and dynamic tire force transmitted to the pavement, and has desirable robustness on variations in operating conditions of vehicle load and speed and the road roughness.
2008, 22(2).
Abstract:
A novel steady-state optimization (SSO) of internal combustion engine (ICE) strategy is proposed to maximize the efficiency of the overall powertrain for hybrid electric vehicles, in which the ICE efficiency, the efficiencies of the electric motor (EM) and the energy storage device are all explicitly taken into account. In addition, a novel idle optimization of ICE strategy is implemented to obtain the optimal idle operating point of the ICE and corresponding optimal parking generation power of the EM using the view of the novel SSO of ICE strategy. Simulations results show that potential fuel economy improvement is achieved relative to the conventional one which only optimized the ICE efficiency by the novel SSO of ICE strategy, and fuel consumption per voltage increment decreases a lot during the parking charge by the novel idle optimization of ICE strategy.
A novel steady-state optimization (SSO) of internal combustion engine (ICE) strategy is proposed to maximize the efficiency of the overall powertrain for hybrid electric vehicles, in which the ICE efficiency, the efficiencies of the electric motor (EM) and the energy storage device are all explicitly taken into account. In addition, a novel idle optimization of ICE strategy is implemented to obtain the optimal idle operating point of the ICE and corresponding optimal parking generation power of the EM using the view of the novel SSO of ICE strategy. Simulations results show that potential fuel economy improvement is achieved relative to the conventional one which only optimized the ICE efficiency by the novel SSO of ICE strategy, and fuel consumption per voltage increment decreases a lot during the parking charge by the novel idle optimization of ICE strategy.
2008, 22(2).
Abstract:
Computer-aided block assembly process planning based on rule-reasoning are developed in order to improve the assembly efficiency and implement the automated block assembly process planning generation in shipbuilding. First, weighted directed liaison graph (WDLG) is proposed to represent the model of block assembly process according to the characteristics of assembly relation, and edge list (EL) is used to describe assembly sequences. Shapes and assembly attributes of block parts are analyzed to determine the assembly position and matched parts of parts used frequently. Then, a series of assembly rules are generalized, and assembly sequences for block are obtained by means of rule reasoning. Final, a prototype system of computer-aided block assembly process planning is built. The system has been tested on actual block, and the results were found to be quite efficiency. Meanwhile, the fundament for the automation of block assembly process generation and integration with other systems is established.
Computer-aided block assembly process planning based on rule-reasoning are developed in order to improve the assembly efficiency and implement the automated block assembly process planning generation in shipbuilding. First, weighted directed liaison graph (WDLG) is proposed to represent the model of block assembly process according to the characteristics of assembly relation, and edge list (EL) is used to describe assembly sequences. Shapes and assembly attributes of block parts are analyzed to determine the assembly position and matched parts of parts used frequently. Then, a series of assembly rules are generalized, and assembly sequences for block are obtained by means of rule reasoning. Final, a prototype system of computer-aided block assembly process planning is built. The system has been tested on actual block, and the results were found to be quite efficiency. Meanwhile, the fundament for the automation of block assembly process generation and integration with other systems is established.
2008, 22(2).
Abstract:
To avoid suffering gouge and transient overshooting in high speed cutting machining, a novel parameterized curve interpolator model with velocity look-ahead algorithm is proposed. Based on a prearrangement step interpolation algorithm for parameterized curves and considering high curvature points, parameterized curve tool path is divided into acceleration segments and deceleration segments by look-ahead algorithm. Under condition of characteristics of acceleration and deceleration stored in control system, deceleration before high curvature points and acceleration after high curvature points are realized in real-time in high speed cutting machining. Based on new parameterized curve interpolator model with velocity look-ahead algorithm, a real cubic spline is machined simulativly. The simulation results show that velocity look-ahead algorithm improves velocity changing more smoothly.
To avoid suffering gouge and transient overshooting in high speed cutting machining, a novel parameterized curve interpolator model with velocity look-ahead algorithm is proposed. Based on a prearrangement step interpolation algorithm for parameterized curves and considering high curvature points, parameterized curve tool path is divided into acceleration segments and deceleration segments by look-ahead algorithm. Under condition of characteristics of acceleration and deceleration stored in control system, deceleration before high curvature points and acceleration after high curvature points are realized in real-time in high speed cutting machining. Based on new parameterized curve interpolator model with velocity look-ahead algorithm, a real cubic spline is machined simulativly. The simulation results show that velocity look-ahead algorithm improves velocity changing more smoothly.
2008, 22(2).
Abstract:
A new motion model and estimation algorithm is proposed to compute the general rigid motion object’s 6-DOF motion parameters and center of rotation based on stereo vision. The object’s 6-DOF motion model is designed from the rigid object’s motion character under the two defined reference frames. According to the rigid object’s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm’s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model’s correction and algorithm’s validity.
A new motion model and estimation algorithm is proposed to compute the general rigid motion object’s 6-DOF motion parameters and center of rotation based on stereo vision. The object’s 6-DOF motion model is designed from the rigid object’s motion character under the two defined reference frames. According to the rigid object’s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm’s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model’s correction and algorithm’s validity.
2008, 22(2).
Abstract:
Clearance at turning pair has a strong impact on the kinetic accuracy of linkage, but there is short of a generic model to analyze it so far. Clearance error, input error, and manufacturing tolerance of links are taken into consideration as the random variables synthetically. The kinematics and dynamics accuracy analysis models for planar linkages with multiple clearances at joints are built up as well. At last a typical planar linkage is selected for numerical illustration. These models stated in matrix resolve the relativity of output parameter errors of mechanism and therefore are of vital significance for the reliability analysis and synthesis of mechanism with clearances.
Clearance at turning pair has a strong impact on the kinetic accuracy of linkage, but there is short of a generic model to analyze it so far. Clearance error, input error, and manufacturing tolerance of links are taken into consideration as the random variables synthetically. The kinematics and dynamics accuracy analysis models for planar linkages with multiple clearances at joints are built up as well. At last a typical planar linkage is selected for numerical illustration. These models stated in matrix resolve the relativity of output parameter errors of mechanism and therefore are of vital significance for the reliability analysis and synthesis of mechanism with clearances.
2008, 22(2).
Abstract:
A portable shape-shifting mobile robot system named as Amoeba II (A-II) is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-II robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state (named as I state) and the parallel state (named as II state). With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-II robot.
A portable shape-shifting mobile robot system named as Amoeba II (A-II) is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-II robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state (named as I state) and the parallel state (named as II state). With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-II robot.
2008, 22(2).
Abstract:
Since the empirical mode decomposition (EMD) lacks strict orthogonality, the method of orthogonal empirical mode decomposition (OEMD) is innovationally proposed. The primary thought of this method is to obtain the intrinsic mode function (IMF) and the residual function by auto-adaptive band-pass filtering. OEMD is proved to preserve strict orthogonality and completeness theoretically, and the orthogonal basis function of OEMD is generated, then an algorithm to implement OEMD fast, IMF binary searching algorithm is built based on the point that the analytical band-pass filtering preserves perfect band-pass feature in the frequency domain. The application into harmonic detection shows that OEMD successfully conquers mode aliasing, avoids the occurrence of false mode, and is featured by fast computing speed. Furthermore, it can achieve harmonic detection accurately combined with the least square method.
Since the empirical mode decomposition (EMD) lacks strict orthogonality, the method of orthogonal empirical mode decomposition (OEMD) is innovationally proposed. The primary thought of this method is to obtain the intrinsic mode function (IMF) and the residual function by auto-adaptive band-pass filtering. OEMD is proved to preserve strict orthogonality and completeness theoretically, and the orthogonal basis function of OEMD is generated, then an algorithm to implement OEMD fast, IMF binary searching algorithm is built based on the point that the analytical band-pass filtering preserves perfect band-pass feature in the frequency domain. The application into harmonic detection shows that OEMD successfully conquers mode aliasing, avoids the occurrence of false mode, and is featured by fast computing speed. Furthermore, it can achieve harmonic detection accurately combined with the least square method.
2008, 22(2).
Abstract:
A thermal elasto-plastic asperity contact model is investigated, which takes into account the steady-state heat transfer and the asperity distortion due to thermal elasto-plastic deformations. A hard coating and a soft coating are applied to study the correlations between contact area and contact pressure, average gap and contact pressure, coating thickness and contours of the contact stress distribution, etc. The effects of material properties, coating thickness, frictional coefficient, and the heat input combinations on the stress distribution are investigated and discussed. The frictional heat input increases the maximum value of von Mises stress. Finally, the appropriate thickness of the hard coating is also discussed. To protect the substrate, one can choose hard coating and the thickness of that is suggested that can be hc=70 Rm.
A thermal elasto-plastic asperity contact model is investigated, which takes into account the steady-state heat transfer and the asperity distortion due to thermal elasto-plastic deformations. A hard coating and a soft coating are applied to study the correlations between contact area and contact pressure, average gap and contact pressure, coating thickness and contours of the contact stress distribution, etc. The effects of material properties, coating thickness, frictional coefficient, and the heat input combinations on the stress distribution are investigated and discussed. The frictional heat input increases the maximum value of von Mises stress. Finally, the appropriate thickness of the hard coating is also discussed. To protect the substrate, one can choose hard coating and the thickness of that is suggested that can be hc=70 Rm.
2008, 22(2).
Abstract:
Passive periodic structures exhibit unique dynamic characteristics that make the passive periodic structures act as mechanical filters for wave propagation. As a result, wave can propagate along the periodic structures only within specific frequency bands called the pass bands and wave propagation is completely blocked within other frequency bands called the “stop bands”. A theoretical method based on the transfer matrix formulation is developed in order to effectively investigate the influence of periodicity, variable geometry and material properties on the wave propagation characteristics of one-dimensional periodic rod. Several numerical examples are presented in order to illustrate their unique tunable filtering and localization characteristics. The experiments are conducted to verify the numerical predictions and to demonstrate the capability of the wavelet transform as a very powerful tool to uniquely identify and compare the energy distribution both in the time and frequency domain. The flexibility that the spectral width and location of the pass and stop bands can be tuned by introducing intentional variation in geometric and material properties for the individual substructure or cell is identified completely by both numerical predictions and experimental results. The results demonstrate the potential of such one-dimensional periodic structure in controlling the dynamics of wave propagation as a mechanical filter such as engine mount, gearbox support strut and other applications.
Passive periodic structures exhibit unique dynamic characteristics that make the passive periodic structures act as mechanical filters for wave propagation. As a result, wave can propagate along the periodic structures only within specific frequency bands called the pass bands and wave propagation is completely blocked within other frequency bands called the “stop bands”. A theoretical method based on the transfer matrix formulation is developed in order to effectively investigate the influence of periodicity, variable geometry and material properties on the wave propagation characteristics of one-dimensional periodic rod. Several numerical examples are presented in order to illustrate their unique tunable filtering and localization characteristics. The experiments are conducted to verify the numerical predictions and to demonstrate the capability of the wavelet transform as a very powerful tool to uniquely identify and compare the energy distribution both in the time and frequency domain. The flexibility that the spectral width and location of the pass and stop bands can be tuned by introducing intentional variation in geometric and material properties for the individual substructure or cell is identified completely by both numerical predictions and experimental results. The results demonstrate the potential of such one-dimensional periodic structure in controlling the dynamics of wave propagation as a mechanical filter such as engine mount, gearbox support strut and other applications.
2008, 22(2).
Abstract:
Various force disturbances influence the thrust force of linear motors when a linear motor (LM) is running. Among all of force disturbances, the force ripple is the dominant while a linear motor runs in low speed. In order to suppress the force ripple, back propagation(BP) neural network is proposed to learn the function of the force ripple of linear motors, and the acquisition method of training samples is proposed based on a disturbance observer. An off-line BP neural network is used mainly because of its high running efficiency and the real-time requirement of the servo control system of a linear motor. By using the function, the force ripple is on-line compensated according to the position of the LM. The experimental results show that the force ripple is effectively suppressed by the compensation of the BP neural network.
Various force disturbances influence the thrust force of linear motors when a linear motor (LM) is running. Among all of force disturbances, the force ripple is the dominant while a linear motor runs in low speed. In order to suppress the force ripple, back propagation(BP) neural network is proposed to learn the function of the force ripple of linear motors, and the acquisition method of training samples is proposed based on a disturbance observer. An off-line BP neural network is used mainly because of its high running efficiency and the real-time requirement of the servo control system of a linear motor. By using the function, the force ripple is on-line compensated according to the position of the LM. The experimental results show that the force ripple is effectively suppressed by the compensation of the BP neural network.
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