Environment vibrations are an important source of energy, often occurring at very low frequencies, but with large amplitude. The possibility to use the large amplitude of the motions is important to enhance the energy harvester's output power. In this paper, an electromagnetic energy harvester is designed and fabricated to produce electricity from low- frequency high amplitude impact motions using an elastic polyurethane cylinder. This millimeter-scale electromagnetic generator (MS-EMG) includes a movable magnet attached to a free sliding mass, a fixed coil, and a polyurethane holding chamber. Polyurethane is a very stable elastic polymer that provides continuous large-amplitude movement for the magnet and plays an effective role in impact capability. Therefore, the effect of impact excitation and the polyurethane foam was investigated simultaneously. The performance of the device was studied, experimentally, for the environment vibrations in the range of 1 to 10 Hz. The impact motions were applied using a simulator that was fabricated for this work. The fabricated MS-EMG with a volume of 1.07 cm3 and a mass of 8.74 g show the capability of producing a voltage of 44.41 mV and power of 10.48 µW over a 100 Oresistive load, using a 6 Hz frequency impact motion. Finally, an analytical model is used to simulate the device performance which showed a good agreement with the experimental results.
{"title":"Fabrication and investigation of a millimeter-scale electromagnetic generator for large-amplitude impact motions","authors":"K. Moradian, Mahdi Raghebi, T. Sheikholeslami","doi":"10.5937/fme2201064m","DOIUrl":"https://doi.org/10.5937/fme2201064m","url":null,"abstract":"Environment vibrations are an important source of energy, often occurring at very low frequencies, but with large amplitude. The possibility to use the large amplitude of the motions is important to enhance the energy harvester's output power. In this paper, an electromagnetic energy harvester is designed and fabricated to produce electricity from low- frequency high amplitude impact motions using an elastic polyurethane cylinder. This millimeter-scale electromagnetic generator (MS-EMG) includes a movable magnet attached to a free sliding mass, a fixed coil, and a polyurethane holding chamber. Polyurethane is a very stable elastic polymer that provides continuous large-amplitude movement for the magnet and plays an effective role in impact capability. Therefore, the effect of impact excitation and the polyurethane foam was investigated simultaneously. The performance of the device was studied, experimentally, for the environment vibrations in the range of 1 to 10 Hz. The impact motions were applied using a simulator that was fabricated for this work. The fabricated MS-EMG with a volume of 1.07 cm3 and a mass of 8.74 g show the capability of producing a voltage of 44.41 mV and power of 10.48 µW over a 100 Oresistive load, using a 6 Hz frequency impact motion. Finally, an analytical model is used to simulate the device performance which showed a good agreement with the experimental results.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"30 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85648504","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 production, automation of assembly processes is achieved by using industrial robots with high positioning accuracy, as well as with elements of tactile adaptation and expensive software. The article proposes an alternative approach to solving the problem of reducing the cost of assembly processes. This approach consists of using production tooling in the form of a soft adaptive assembly module that is mounted on the robot arm. The proposed assembly module allows not only for compensating for errors in the relative orientation of assembly objects, but also excludes the possibility of damage to fragile assembly components or for assembly objects with a thin protective coating of a chemical or galvanic nature. This effect is achieved due to the use of elastic corrugated chambers in the module structure, which, when compressed air is supplied to them, correct the position of one of the assembly objects. The article offers a description of the new design of the assembly module, as well as offers analytical dependencies for calculating the design parameters of the module. The results of modeling the parameters of the assembly module are presented. The main economic effect is to reduce the cost of technological equipment for industrial robots while maintaining the ability to adapt to the conditions of the assembly process.
{"title":"Adaptive assembly module for industrial robot: Design and simulation","authors":"M. Polishchuk, S. Telenyk, M. Tkach","doi":"10.5937/fme2201149p","DOIUrl":"https://doi.org/10.5937/fme2201149p","url":null,"abstract":"In modern production, automation of assembly processes is achieved by using industrial robots with high positioning accuracy, as well as with elements of tactile adaptation and expensive software. The article proposes an alternative approach to solving the problem of reducing the cost of assembly processes. This approach consists of using production tooling in the form of a soft adaptive assembly module that is mounted on the robot arm. The proposed assembly module allows not only for compensating for errors in the relative orientation of assembly objects, but also excludes the possibility of damage to fragile assembly components or for assembly objects with a thin protective coating of a chemical or galvanic nature. This effect is achieved due to the use of elastic corrugated chambers in the module structure, which, when compressed air is supplied to them, correct the position of one of the assembly objects. The article offers a description of the new design of the assembly module, as well as offers analytical dependencies for calculating the design parameters of the module. The results of modeling the parameters of the assembly module are presented. The main economic effect is to reduce the cost of technological equipment for industrial robots while maintaining the ability to adapt to the conditions of the assembly process.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"9 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87681405","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}
G. Globočki-Lakić, B. Sredanović, G. Jotić, S. Gotovac
This paper analyses the influence of machining strategies and cutting parameters on the milling of aluminium complex geometry parts. In the first experimental phase, parts were machined with a combination of two roughing strategies and three finishing strategies, with recommended machining parameters. The machining time, machining surface roughness, and the surface geometric accuracy were measured. In the second phase, a new sample was machined with corrected cutting parameters using the best strategy adopted from the first phase. The results have shown that the selection of machining strategy and cutting parameters significantly affects the productivity, quality, and accuracy when machining complex geometry parts.
{"title":"A comparative analysis of milling strategies of complex geometry surfaces","authors":"G. Globočki-Lakić, B. Sredanović, G. Jotić, S. Gotovac","doi":"10.5937/fme2204623g","DOIUrl":"https://doi.org/10.5937/fme2204623g","url":null,"abstract":"This paper analyses the influence of machining strategies and cutting parameters on the milling of aluminium complex geometry parts. In the first experimental phase, parts were machined with a combination of two roughing strategies and three finishing strategies, with recommended machining parameters. The machining time, machining surface roughness, and the surface geometric accuracy were measured. In the second phase, a new sample was machined with corrected cutting parameters using the best strategy adopted from the first phase. The results have shown that the selection of machining strategy and cutting parameters significantly affects the productivity, quality, and accuracy when machining complex geometry parts.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"86 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75827058","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}
Detecting the engine failures of the continuous track military vehicles is challenging because their engines are always built-in narrow places covered with armored plates. In the case of the older engines, modern computer diagnostics cannot be used for failure analysis; the solution for these tasks is the visual analysis with the engine disassembly. A possible cost-effective failure analysis method can be the tribological and chemical analysis of the used oil from the engine, which can eliminate the engine disassembly work and as the results of the chemical oil analysis can also provide information about possible fuel or cooling water dilution or the increased wear of engine components. The main goal of this article is to present the failure analysis method through the tribological investigation of the engines of two PTSZ-M type medium-tracked amphibious military transport vehicles.
{"title":"Detection of the possible engine damages in case of a continuous track military vehicles with tribological investigations","authors":"R. Kuti, F. Könczöl, L. Csapó, L. Földi, Á. Tóth","doi":"10.5937/fme2203526k","DOIUrl":"https://doi.org/10.5937/fme2203526k","url":null,"abstract":"Detecting the engine failures of the continuous track military vehicles is challenging because their engines are always built-in narrow places covered with armored plates. In the case of the older engines, modern computer diagnostics cannot be used for failure analysis; the solution for these tasks is the visual analysis with the engine disassembly. A possible cost-effective failure analysis method can be the tribological and chemical analysis of the used oil from the engine, which can eliminate the engine disassembly work and as the results of the chemical oil analysis can also provide information about possible fuel or cooling water dilution or the increased wear of engine components. The main goal of this article is to present the failure analysis method through the tribological investigation of the engines of two PTSZ-M type medium-tracked amphibious military transport vehicles.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"21 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84718526","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 current research, problems in engineering are becoming more and more prominent. One of the classes of engineering problems in engineering design problems, where a set of variables is calibrated in order for the optimization function to have a minimal or maximal value. This function considers energy efficiency, cost efficiency, and production efficiency in engineering design. One of the ways such problems are solved is metaheuristics. In this paper, we demonstrate how Dingo Optimization Algorithm (DOA) can be used to solve certain optimization problems in mechanical engineering. Firstly, a brief review of the DOA and its biological inspiration is given, along with the most important formulae. The pseudo-code for this algorithm was written using MATLAB R2020a software suite. Dingo Optimization Algorithm (DOA) was used to optimize engineering problems, such as pressure vessel optimization, stepped cantilever beam, car side-impact, and cone clutch optimization. The results presented in this paper show that the DOA can produce relevant results in engineering design problems.
{"title":"An application of Dingo Optimization Algorithm (DOA) for solving continuous engineering problems","authors":"B. Milenković, Đorđe E Jovanović, Mladen Krstić","doi":"10.5937/fme2201331m","DOIUrl":"https://doi.org/10.5937/fme2201331m","url":null,"abstract":"In the current research, problems in engineering are becoming more and more prominent. One of the classes of engineering problems in engineering design problems, where a set of variables is calibrated in order for the optimization function to have a minimal or maximal value. This function considers energy efficiency, cost efficiency, and production efficiency in engineering design. One of the ways such problems are solved is metaheuristics. In this paper, we demonstrate how Dingo Optimization Algorithm (DOA) can be used to solve certain optimization problems in mechanical engineering. Firstly, a brief review of the DOA and its biological inspiration is given, along with the most important formulae. The pseudo-code for this algorithm was written using MATLAB R2020a software suite. Dingo Optimization Algorithm (DOA) was used to optimize engineering problems, such as pressure vessel optimization, stepped cantilever beam, car side-impact, and cone clutch optimization. The results presented in this paper show that the DOA can produce relevant results in engineering design problems.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"3 3 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83473883","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}
Granules are used in various industries such as medicine and agriculture, and their behavior is influenced by the characteristics of the constituent particles. The Discrete Element Method (DEM) is a technique for characterizing the mechanical behavior of granular materials by building a mechanical model that describes the impacted parameters, including particle shape, which is being one of these parameters. As a result, the discrete element method is applied to investigate the macro-and micro-mechanical shear behavior of granular materials. For this study, a gravitational disposition for geometrical arrangement model has been used to model various triple particle sizes for a direct shear test using (EDEM®), which is a three-dimensional (3D) program based on (DEM). Different triple particle sizes were used to create an assembly. The results revealed that the size index affected the relationship between shear strength, angular velocity, dilation, coordination number (CN), and volumetric strain.
{"title":"The effect of Triple Particle sizes on the mechanical behaviour of granular materials using Discrete element method (DEM)","authors":"Muath S. Talafha, I. Oldal","doi":"10.5937/fme2201139t","DOIUrl":"https://doi.org/10.5937/fme2201139t","url":null,"abstract":"Granules are used in various industries such as medicine and agriculture, and their behavior is influenced by the characteristics of the constituent particles. The Discrete Element Method (DEM) is a technique for characterizing the mechanical behavior of granular materials by building a mechanical model that describes the impacted parameters, including particle shape, which is being one of these parameters. As a result, the discrete element method is applied to investigate the macro-and micro-mechanical shear behavior of granular materials. For this study, a gravitational disposition for geometrical arrangement model has been used to model various triple particle sizes for a direct shear test using (EDEM®), which is a three-dimensional (3D) program based on (DEM). Different triple particle sizes were used to create an assembly. The results revealed that the size index affected the relationship between shear strength, angular velocity, dilation, coordination number (CN), and volumetric strain.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"34 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88747775","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, solar water heating systems having nominal water usage of 24 cubic meters per day are considered. To identify the better option, both technologically and economically, a typical geographical location in Saudi Arabia, namely Abha, is considered. Internal rate of return (IRR) values for the solar collectors with glazing are found to be higher as compared with that of the unglazed type. The glazed type collectors are found to be more efficient, provide greater savings in fuel consumption, and result in the reduction of greenhouse gas (GHG) emissions. The findings of this study can be used for locations with similar types of climatic conditions in any part of the world.
{"title":"Economic assessment of industrial solar water heating system","authors":"S. Rehman, A. Şahin, F. Al-Sulaiman","doi":"10.5937/fme2201016r","DOIUrl":"https://doi.org/10.5937/fme2201016r","url":null,"abstract":"In the present work, solar water heating systems having nominal water usage of 24 cubic meters per day are considered. To identify the better option, both technologically and economically, a typical geographical location in Saudi Arabia, namely Abha, is considered. Internal rate of return (IRR) values for the solar collectors with glazing are found to be higher as compared with that of the unglazed type. The glazed type collectors are found to be more efficient, provide greater savings in fuel consumption, and result in the reduction of greenhouse gas (GHG) emissions. The findings of this study can be used for locations with similar types of climatic conditions in any part of the world.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"35 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91182055","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}
Controlling continuum robots with precision is particularly a challenging task due to the complexity of their mathematical models and inaccuracies in modeling approaches. Therefore, most advanced control schemes have shown poor performances, especially in trajectory tracking accuracy. This paper presents a proposed Nonlinear Model Predictive Control (NMPC) scheme to solve the trajectory tracking of a class of continuum robots, namely Cable-Driven Continuum Robot (CDCR). However, since NMPC schemes are often limited by the computational burden associated with the optimization algorithms to be solved at each sampling time, the Particle Swarm Optimization (PSO) algorithm is used to solve the arising optimization problem NMPC, thanks to its simplicity and fast convergence. The proposed NMPC-PSO scheme is applied to the developed kinematic and dynamic models of the considered CDCR. Based on the kinematic and dynamic model, the two proposed controllers have been validated against numerical simulations of two-dimensional CDCR with two bending sections for set-point stabilization and point-to-point trajectory tracking. For both controllers, the performance of tracking accuracy and computation time is analyzed and compared. Moreover, the obtained simulation results are compared to the available literature works. In view of the results obtained on the considered CDCR, the proposed NMPC-PSO scheme can track in real-time the desired trajectory with high accuracy and much less execution time than other advanced control schemes, which makes it an alternative for real-time applications.
{"title":"Nonlinear model predictive control of a class of continuum robots using kinematic and dynamic models","authors":"A. Amouri, A. Cherfia, H. Merabti, Dit Laib","doi":"10.5937/fme2201350a","DOIUrl":"https://doi.org/10.5937/fme2201350a","url":null,"abstract":"Controlling continuum robots with precision is particularly a challenging task due to the complexity of their mathematical models and inaccuracies in modeling approaches. Therefore, most advanced control schemes have shown poor performances, especially in trajectory tracking accuracy. This paper presents a proposed Nonlinear Model Predictive Control (NMPC) scheme to solve the trajectory tracking of a class of continuum robots, namely Cable-Driven Continuum Robot (CDCR). However, since NMPC schemes are often limited by the computational burden associated with the optimization algorithms to be solved at each sampling time, the Particle Swarm Optimization (PSO) algorithm is used to solve the arising optimization problem NMPC, thanks to its simplicity and fast convergence. The proposed NMPC-PSO scheme is applied to the developed kinematic and dynamic models of the considered CDCR. Based on the kinematic and dynamic model, the two proposed controllers have been validated against numerical simulations of two-dimensional CDCR with two bending sections for set-point stabilization and point-to-point trajectory tracking. For both controllers, the performance of tracking accuracy and computation time is analyzed and compared. Moreover, the obtained simulation results are compared to the available literature works. In view of the results obtained on the considered CDCR, the proposed NMPC-PSO scheme can track in real-time the desired trajectory with high accuracy and much less execution time than other advanced control schemes, which makes it an alternative for real-time applications.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"1 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91341267","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}
The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot.
{"title":"Anthropomorphic walking robot: Design and simulation","authors":"M. Polishchuk, M. Tkach, A. Stenin","doi":"10.5937/fme2204724p","DOIUrl":"https://doi.org/10.5937/fme2204724p","url":null,"abstract":"The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"27 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89939499","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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