Nonholonomic wheeled mobile robots are considered to be multi-input multi-output systems that are performed in varying environments. This work presents the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR). The Kinematic and the dynamic models of the robot were derived. A new hybrid controller was designed, which consisted of two controllers based on an optimization algorithm to solve the trajectory tracking problem. The first controller is the Fractional order PID controller, which is based on the kinematic model and has been applied to control the linear and the angular robot velocities, while the second controller is a linear quadratic regulator (LQR) and is based on the dynamic model used to control the motors' torques. A new, improved version of grey wolf optimization wasadopted to tune the parameters of the hybrid controller. The main goals of this improvement are rapid convergence towards a solution, reducing the effect of the wolves' random motion, and balancing exploitation and exploration processes. MATLAB software was used to simulate the results under an S-shape trajectory and to evaluate the robustness and performance of the proposed control unit. The simulation results demonstrated the adopted control system's activity and efficiency based on the mean square error (MSE) between the desired and actual trajectory. The values of MSE of trajectory in the X and Y directions and the orientation are [6.589*10-4(m) 8.421*10-5(m) 0.00401(rad)]T . Also, the adopted control system can generate smooth values of the control input signals without sharp spikes. The performance of the presented control system has been verified and compared with the results obtained from the other two control systems, and the simulation results have offered the superiority and effectiveness of the hybrid controller of this work.
{"title":"Design a new hybrid controller based on an improvement version of grey wolf optimization for trajectory tracking of wheeled mobile robot","authors":"R. Hussein","doi":"10.5937/fme2302140h","DOIUrl":"https://doi.org/10.5937/fme2302140h","url":null,"abstract":"Nonholonomic wheeled mobile robots are considered to be multi-input multi-output systems that are performed in varying environments. This work presents the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR). The Kinematic and the dynamic models of the robot were derived. A new hybrid controller was designed, which consisted of two controllers based on an optimization algorithm to solve the trajectory tracking problem. The first controller is the Fractional order PID controller, which is based on the kinematic model and has been applied to control the linear and the angular robot velocities, while the second controller is a linear quadratic regulator (LQR) and is based on the dynamic model used to control the motors' torques. A new, improved version of grey wolf optimization wasadopted to tune the parameters of the hybrid controller. The main goals of this improvement are rapid convergence towards a solution, reducing the effect of the wolves' random motion, and balancing exploitation and exploration processes. MATLAB software was used to simulate the results under an S-shape trajectory and to evaluate the robustness and performance of the proposed control unit. The simulation results demonstrated the adopted control system's activity and efficiency based on the mean square error (MSE) between the desired and actual trajectory. The values of MSE of trajectory in the X and Y directions and the orientation are [6.589*10-4(m) 8.421*10-5(m) 0.00401(rad)]T . Also, the adopted control system can generate smooth values of the control input signals without sharp spikes. The performance of the presented control system has been verified and compared with the results obtained from the other two control systems, and the simulation results have offered the superiority and effectiveness of the hybrid controller of this work.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83634754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Continuum robots are the behavioral extension of hyper-redundant robots usually inspired by living biological organs. These robots outperform their rigid counterparts regarding high flexibility, dexterity, and most importantly safe interaction. On the flip side, they are kinematically redundant, highly nonlinear, and multi-input, and consequently, their controlling remains a complex and challenging task. To this end, this paper proposes a Fractional-Order Proportional-Integral-Derivative (FOPID) controller to control the continuum robot's end-tip. The proposed controller is designed to control the inputs of a class of continuum robots, namely the Cable-Driven Continuum Robot (CDCR). To design the controller satisfactorily, the Particle Swarm Optimization (PSO) algorithm extracts the optimal values of the controller's parameters. The proposed FOPID controller's efficiency and control performance are demonstrated through two simulation examples: set-point tracking and point-to-point trajectory tracking. In addition, the obtained simulation results are compared to those provided by classical and Optimized PID controllers and to some available schemes. Given the obtained results, it is clear that the performances of the proposed FOPID controller are superior in tracking accuracy and smoothness in control signals.
{"title":"Design of Fractional-Order PID controller for trajectory tracking control of continuum robots","authors":"Ayman Belkhiri, A. Amouri, A. Cherfia","doi":"10.5937/fme2302243b","DOIUrl":"https://doi.org/10.5937/fme2302243b","url":null,"abstract":"Continuum robots are the behavioral extension of hyper-redundant robots usually inspired by living biological organs. These robots outperform their rigid counterparts regarding high flexibility, dexterity, and most importantly safe interaction. On the flip side, they are kinematically redundant, highly nonlinear, and multi-input, and consequently, their controlling remains a complex and challenging task. To this end, this paper proposes a Fractional-Order Proportional-Integral-Derivative (FOPID) controller to control the continuum robot's end-tip. The proposed controller is designed to control the inputs of a class of continuum robots, namely the Cable-Driven Continuum Robot (CDCR). To design the controller satisfactorily, the Particle Swarm Optimization (PSO) algorithm extracts the optimal values of the controller's parameters. The proposed FOPID controller's efficiency and control performance are demonstrated through two simulation examples: set-point tracking and point-to-point trajectory tracking. In addition, the obtained simulation results are compared to those provided by classical and Optimized PID controllers and to some available schemes. Given the obtained results, it is clear that the performances of the proposed FOPID controller are superior in tracking accuracy and smoothness in control signals.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87849862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Redi Bintarto, Anindito Purnowidodo, Widodo Dwi, Marco Talice, Djarot Darmadi
The ability of a roof to absorb heat is crucial for maintaining temperature stability within a room. Therefore, natural material composite coatings utilization offers a viable option for modern roof development. This research investigates how using natural stone mixed with epoxy, and applied as a coating on a galvalume surface, influences thermal conductivity and reduces room temperature. Temperature measurements were collected around a small room with a composite-coated roof, utilizing different types of rock in the composition. Thermocouples were placed 20 cm above the roof's surface, attached to the roofing composite, positioned beneath the galvalume layer, and within the small room. The results demonstrate a reduction in thermal conductivity and room temperature when natural stone powder is added to the roof. Experiments using composite coatings with various stone types exhibit varying degrees of room temperature reduction. Consequently, this research concludes that the unique properties of natural stone can effectively lower the thermal conductivity of roofs and decrease room temperature.
{"title":"Thermal insulation coating using natural stone powder-epoxy composite for room temperature reduction","authors":"Redi Bintarto, Anindito Purnowidodo, Widodo Dwi, Marco Talice, Djarot Darmadi","doi":"10.5937/fme2304457b","DOIUrl":"https://doi.org/10.5937/fme2304457b","url":null,"abstract":"The ability of a roof to absorb heat is crucial for maintaining temperature stability within a room. Therefore, natural material composite coatings utilization offers a viable option for modern roof development. This research investigates how using natural stone mixed with epoxy, and applied as a coating on a galvalume surface, influences thermal conductivity and reduces room temperature. Temperature measurements were collected around a small room with a composite-coated roof, utilizing different types of rock in the composition. Thermocouples were placed 20 cm above the roof's surface, attached to the roofing composite, positioned beneath the galvalume layer, and within the small room. The results demonstrate a reduction in thermal conductivity and room temperature when natural stone powder is added to the roof. Experiments using composite coatings with various stone types exhibit varying degrees of room temperature reduction. Consequently, this research concludes that the unique properties of natural stone can effectively lower the thermal conductivity of roofs and decrease room temperature.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135612309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In modern global supply chains, intermodal and multimodal distribution has become essential means of transportation. The combination of different modes of transport is the most commonly used method for distributing shipments between continents. This paper examines and measures physical events, such as shock and impact, that occur while transporting 40ft long ISO containers using multiple modes of transport. These events can directly affect the integrity of packaged products and cause damage. The study focuses on events such as transshipments and handling of containers in hubs and terminals. The impact shock levels were separately analyzed in all three-dimensional directions, namely vertical, longitudinal, and lateral. The results indicate the percentage of occurrence below a given impact level using statistical characteristics of the events that occurred. The magnitude and mean of acceleration levels, pulse duration, and velocity change are also reported.
{"title":"Impact shock events in multimodal container transshipment for packaging testing","authors":"Z. Németh, P. Böröcz","doi":"10.5937/fme2302161n","DOIUrl":"https://doi.org/10.5937/fme2302161n","url":null,"abstract":"In modern global supply chains, intermodal and multimodal distribution has become essential means of transportation. The combination of different modes of transport is the most commonly used method for distributing shipments between continents. This paper examines and measures physical events, such as shock and impact, that occur while transporting 40ft long ISO containers using multiple modes of transport. These events can directly affect the integrity of packaged products and cause damage. The study focuses on events such as transshipments and handling of containers in hubs and terminals. The impact shock levels were separately analyzed in all three-dimensional directions, namely vertical, longitudinal, and lateral. The results indicate the percentage of occurrence below a given impact level using statistical characteristics of the events that occurred. The magnitude and mean of acceleration levels, pulse duration, and velocity change are also reported.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73493665","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Industries must be more innovative than ever before to face rising global competition and stay in the market today. These now aim to enhance operational efficiency by using different advanced technology tools and techniques of Industry 4.0, satisfying the varying customer needs with products of the highest quality offered at minimal costs. With different bottlenecks faced in industrial operations, the large-scale adoption of such systems faces multiple impediments relevant to the country's socioeconomic make-up, and therefore, nine pertinent barriers deterring India's transition to Industry 4.0 with varying interdependencies and importance are identified. Data collected from multiple industry experts is subsequently analyzed using the DEMATEL (Decision Making Trial and Evaluation Laboratory) technique to identify the key barriers having the biggest influence over India's industrial landscape based on their cause effect value and importance scores. The study conclusively ends with discussing the analysis findings for use in solving complex industry problems and identifying new roles, work environments, and skills required in different domains for the adoption of systems of Industry 4.0 in India.
{"title":"An analysis of causal relationships among challenges impeding adoption of Industry 4.0 through DEMATEL technique","authors":"Vaibhav Bisht, V.G. Sridhar, M. Janardhanan","doi":"10.5937/fme2302262b","DOIUrl":"https://doi.org/10.5937/fme2302262b","url":null,"abstract":"Industries must be more innovative than ever before to face rising global competition and stay in the market today. These now aim to enhance operational efficiency by using different advanced technology tools and techniques of Industry 4.0, satisfying the varying customer needs with products of the highest quality offered at minimal costs. With different bottlenecks faced in industrial operations, the large-scale adoption of such systems faces multiple impediments relevant to the country's socioeconomic make-up, and therefore, nine pertinent barriers deterring India's transition to Industry 4.0 with varying interdependencies and importance are identified. Data collected from multiple industry experts is subsequently analyzed using the DEMATEL (Decision Making Trial and Evaluation Laboratory) technique to identify the key barriers having the biggest influence over India's industrial landscape based on their cause effect value and importance scores. The study conclusively ends with discussing the analysis findings for use in solving complex industry problems and identifying new roles, work environments, and skills required in different domains for the adoption of systems of Industry 4.0 in India.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75660513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Somchai Kongnoo, K. Sonthipermpoon, Kielarova Wannarumon
Predicting the springback angle has become the major production problem among tube benders. Springback is where the tube on a mandrel-less rotary draw bending tends to bounce back after being bent when the clamps are released. Accurately predicting the springback angle is crucial for effective tube bending. Machine learning (ML), a popular prediction approach, was applied to functions such as prediction or function approximation, pattern classification, clustering, and forecasting. To achieve this, the springback angle values from 27 experiments were collected and used as input into artificial neural networks (ANNs) in one area of ML. This research was conducted to study the optimization of the springback angle when bending ASTM A-210 Gr. A1 seamless tube with an outside diameter of 44.45 mm, using the 4 input factors Wall Thickness, Bending Radius, Dwell Time, and Bending Angle. The results showed that all factors significantly influence the springback angle in the tube bending process; different prediction methods were analyzed by comparing the results using different activation functions. The results showed that the optimal neural network architecture is 4-98-1; these results were achieved using the Sigmoid function, giving the lowest mean squared error (MSE) = 0.001892. The resulting coefficient of determination (R2 ) = 99.42%, the ReLU function R2 = 98.99%, the TanH function R2 = 98.53%, and the Identity function, which was 79.53%. It was also found that the best prediction of the springback angle using the best regression equation, with R2 = 82.32%, was better than the prediction using the 65 neurons with the Identity function R2 = 79.53%, a 2.79% difference in favor of the regression equation.
{"title":"Springback optimization for CNC tube bending machine based on an artificial neural networks (ANNs)","authors":"Somchai Kongnoo, K. Sonthipermpoon, Kielarova Wannarumon","doi":"10.5937/fme2303405k","DOIUrl":"https://doi.org/10.5937/fme2303405k","url":null,"abstract":"Predicting the springback angle has become the major production problem among tube benders. Springback is where the tube on a mandrel-less rotary draw bending tends to bounce back after being bent when the clamps are released. Accurately predicting the springback angle is crucial for effective tube bending. Machine learning (ML), a popular prediction approach, was applied to functions such as prediction or function approximation, pattern classification, clustering, and forecasting. To achieve this, the springback angle values from 27 experiments were collected and used as input into artificial neural networks (ANNs) in one area of ML. This research was conducted to study the optimization of the springback angle when bending ASTM A-210 Gr. A1 seamless tube with an outside diameter of 44.45 mm, using the 4 input factors Wall Thickness, Bending Radius, Dwell Time, and Bending Angle. The results showed that all factors significantly influence the springback angle in the tube bending process; different prediction methods were analyzed by comparing the results using different activation functions. The results showed that the optimal neural network architecture is 4-98-1; these results were achieved using the Sigmoid function, giving the lowest mean squared error (MSE) = 0.001892. The resulting coefficient of determination (R2 ) = 99.42%, the ReLU function R2 = 98.99%, the TanH function R2 = 98.53%, and the Identity function, which was 79.53%. It was also found that the best prediction of the springback angle using the best regression equation, with R2 = 82.32%, was better than the prediction using the 65 neurons with the Identity function R2 = 79.53%, a 2.79% difference in favor of the regression equation.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79565822","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
V. Spasojević-Brkić, B. Tomić, Martina Perišić, Nemanja Janev
Previous research shows that Kaizen's benefits are multiple and evident, but its practices in the supply chain have been sufficiently examined now. Conversely, we are witnessing numerous issues in contemporary global supply networks. In this survey, after conducting a literature review, three research questions regarding Kaizen modes of usage were formulated and tested on the sample of 195 enterprises that are part of the global supply chain, located in 31 countries, and active in two different types of industries - aircraft, and transportation. A combined approach containing descriptive statistics, reliability, factor analysis, and statistical hypothesis testing by Kruskal-Wallis one-way ANOVA and Mann-Whitney U tests were used. Results show significant differences between Kaizen practices applied in countries such as Italy, the United Kingdom, Canada, the USA, Japan, and China, where national and corporate cultures differ. Kaizen implementation significantly differs between companies operating in the aircraft and transportation sectors, which is unsurprising since aircraft industry has a higher formalization level. The goal to determine the differences in Kaizen practices around the globe was fulfilled since statistically significant differences indicate the importance of the contextual factors and connect adverse and Kaizen events.
{"title":"Differences in Kaizen implementation between countries and industry types in multinational supply chain","authors":"V. Spasojević-Brkić, B. Tomić, Martina Perišić, Nemanja Janev","doi":"10.5937/fme2302183s","DOIUrl":"https://doi.org/10.5937/fme2302183s","url":null,"abstract":"Previous research shows that Kaizen's benefits are multiple and evident, but its practices in the supply chain have been sufficiently examined now. Conversely, we are witnessing numerous issues in contemporary global supply networks. In this survey, after conducting a literature review, three research questions regarding Kaizen modes of usage were formulated and tested on the sample of 195 enterprises that are part of the global supply chain, located in 31 countries, and active in two different types of industries - aircraft, and transportation. A combined approach containing descriptive statistics, reliability, factor analysis, and statistical hypothesis testing by Kruskal-Wallis one-way ANOVA and Mann-Whitney U tests were used. Results show significant differences between Kaizen practices applied in countries such as Italy, the United Kingdom, Canada, the USA, Japan, and China, where national and corporate cultures differ. Kaizen implementation significantly differs between companies operating in the aircraft and transportation sectors, which is unsurprising since aircraft industry has a higher formalization level. The goal to determine the differences in Kaizen practices around the globe was fulfilled since statistically significant differences indicate the importance of the contextual factors and connect adverse and Kaizen events.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76711119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Dejan Kožović, Dragan Đurđević, Mirko Dinulović, S. Milić, B. Rašuo
Automatic Dependent Surveillance-Broadcast (ADS-B) is a multiparameter surveillance system designed to improve key segments of air traffic: enabling real-time surveillance, raising safety and efficiency levels, and improving flight information and weather services. ADS-B consists of two subsystems, ADS-B Out and ADS-B In. Although only a complete system, ADS-B In/Out provides numerous benefits (additional situational awareness, more efficient oceanic routing, etc.) FAA and EASA only require ADS-B Out (by January and June 2020, respectively), whereby ADS-B In remains optional. Because of its many advantages, ADS-B In/Out will be popular, but there are some weaknesses, which are primarily related to its cyber vulnerabilities due to insufficient authentication and encryption in the applied protocol. In this paper, an overview of the ADS-B system is presented as an aid to understanding the security problems and the different ways of potential attack. In addition, this review deals with the current state of ADS-B deployment and its future perspective and challenges.
{"title":"Air traffic modernization and control: ADS-B system implementation update 2022: A review","authors":"Dejan Kožović, Dragan Đurđević, Mirko Dinulović, S. Milić, B. Rašuo","doi":"10.5937/fme2301117k","DOIUrl":"https://doi.org/10.5937/fme2301117k","url":null,"abstract":"Automatic Dependent Surveillance-Broadcast (ADS-B) is a multiparameter surveillance system designed to improve key segments of air traffic: enabling real-time surveillance, raising safety and efficiency levels, and improving flight information and weather services. ADS-B consists of two subsystems, ADS-B Out and ADS-B In. Although only a complete system, ADS-B In/Out provides numerous benefits (additional situational awareness, more efficient oceanic routing, etc.) FAA and EASA only require ADS-B Out (by January and June 2020, respectively), whereby ADS-B In remains optional. Because of its many advantages, ADS-B In/Out will be popular, but there are some weaknesses, which are primarily related to its cyber vulnerabilities due to insufficient authentication and encryption in the applied protocol. In this paper, an overview of the ADS-B system is presented as an aid to understanding the security problems and the different ways of potential attack. In addition, this review deals with the current state of ADS-B deployment and its future perspective and challenges.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75018699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the present work for a quasi-one-dimensional isentropic compressible flow model, an empirical equation of the Mach number is constructed as a function of the stagnation pressure ratio for an analytical equation that algebraic procedures cannot invert. The Excel 2019 Solver tool was applied to calibrate the coefficients and exponents of the empirical equation during its construction for the Mach number range from 1 to 10 and 1 to 5. A specific heat ratio from 1.1 to 1.67 and the generalized reduced gradient iterative method were used to minimize the sum of squared error, which was set as the objective function. The results show that for Mach 1 to 10, an error of less than 0.063% is obtained, and for Mach 1 to 5, an error of less than 0.00988% is obtained. It is concluded that the empirical equation obtained is a mathematical model that reproduces the trajectories of the inverted curves of the analytical equation studied.
{"title":"Empirical equation of the Mach number as a function of the stagnation pressure ratio for a quasi-one-dimensional compressible flow","authors":"S. Tolentino","doi":"10.5937/fme2302149t","DOIUrl":"https://doi.org/10.5937/fme2302149t","url":null,"abstract":"In the present work for a quasi-one-dimensional isentropic compressible flow model, an empirical equation of the Mach number is constructed as a function of the stagnation pressure ratio for an analytical equation that algebraic procedures cannot invert. The Excel 2019 Solver tool was applied to calibrate the coefficients and exponents of the empirical equation during its construction for the Mach number range from 1 to 10 and 1 to 5. A specific heat ratio from 1.1 to 1.67 and the generalized reduced gradient iterative method were used to minimize the sum of squared error, which was set as the objective function. The results show that for Mach 1 to 10, an error of less than 0.063% is obtained, and for Mach 1 to 5, an error of less than 0.00988% is obtained. It is concluded that the empirical equation obtained is a mathematical model that reproduces the trajectories of the inverted curves of the analytical equation studied.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87927174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a systematically derived theoretical model for the motion of tracked vehicles, encompassing various scenarios such as soft terrain and slopes. The model considers all the resistances encountered by tracked vehicles, including track-terrain interaction, grade and air resistance, centrifugal force, inertial forces, and turning resistance. The heading angle determines the geometrical orientation of the vehicle on the slope. A MATLAB model of tracked vehicle general motion was established based on theoretical discussions. The paper discusses the steering performance of tracked vehicles on slopes of different inclinations. A simulation of steering with different turning radiuses was also presented. It is shown that the proposed model can be used for predicting and evaluating the steering performance of tracked vehicles with adequate accuracy. Furthermore, due to its high computational efficiency, the proposed model can be utilized for power demand modeling in research on the hybridization or electrification of tracked vehicles.
{"title":"Theoretical model of high-speed tracked vehicle general motion","authors":"S. Milićević, I. Blagojević","doi":"10.5937/fme2303449m","DOIUrl":"https://doi.org/10.5937/fme2303449m","url":null,"abstract":"This paper presents a systematically derived theoretical model for the motion of tracked vehicles, encompassing various scenarios such as soft terrain and slopes. The model considers all the resistances encountered by tracked vehicles, including track-terrain interaction, grade and air resistance, centrifugal force, inertial forces, and turning resistance. The heading angle determines the geometrical orientation of the vehicle on the slope. A MATLAB model of tracked vehicle general motion was established based on theoretical discussions. The paper discusses the steering performance of tracked vehicles on slopes of different inclinations. A simulation of steering with different turning radiuses was also presented. It is shown that the proposed model can be used for predicting and evaluating the steering performance of tracked vehicles with adequate accuracy. Furthermore, due to its high computational efficiency, the proposed model can be utilized for power demand modeling in research on the hybridization or electrification of tracked vehicles.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80474219","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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