Alexander N. Stadnik, Sergii Podlesny, Svitlana Kaporovych, O. Kabatskyi
The complex problem of the spatial motion of the "trolley-beam" mechanical system is investigated. Three stages are considered: 1) movement of the beam on a bifilar suspension to the movable trolley; 2) movement of the beam after the breakage of one branch of the suspension; 3) movement of the beam after the breakage of the second branch of the suspension. The study was carried out by creating mathematical models for each stage of the system movement and then conducting a numerical experiment using computer algebra. The tension of the ropes is calculated at the first and second stages of the system movement. Their extreme values are determined. The obtained results will be used in the further study of the system to reduce the tension of the rope and oscillation amplitude and to prevent accidents.
{"title":"Spatial transportation of the beam on a bifilar fastening","authors":"Alexander N. Stadnik, Sergii Podlesny, Svitlana Kaporovych, O. Kabatskyi","doi":"10.5937/fme2203548s","DOIUrl":"https://doi.org/10.5937/fme2203548s","url":null,"abstract":"The complex problem of the spatial motion of the \"trolley-beam\" mechanical system is investigated. Three stages are considered: 1) movement of the beam on a bifilar suspension to the movable trolley; 2) movement of the beam after the breakage of one branch of the suspension; 3) movement of the beam after the breakage of the second branch of the suspension. The study was carried out by creating mathematical models for each stage of the system movement and then conducting a numerical experiment using computer algebra. The tension of the ropes is calculated at the first and second stages of the system movement. Their extreme values are determined. The obtained results will be used in the further study of the system to reduce the tension of the rope and oscillation amplitude and to prevent accidents.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86761876","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 work introduces three nonlinear control solutions for the regulation of a vibrating nonlinear plate considering model uncertainty. These solutions are feedback linearization control (FBL), virtual velocity error-based control (VVEC), and backstepping control (BSC). In the FBL control, a nonlinear control law is designed with linear closed-loop dynamics such that dynamic stability is ensured. Whereas, by the VVEC (or so-called passivity-based approach in the robotics community) the limitations of the feedback linearization are overcome. On the other side, the BSC selects virtual control variables with stabilized intermediate control laws based on Lyapunov theory. Systematic modeling for the target vibrating plate with piezo patches is described. In effect, considering the nonlinear influence makes the resulted mode shapes for the vibrating structure are highly coupled and careful control design is required. Using the Galerkin approach, the partial differential equation for the smart plate is transformed into definite ordinary differential equations; the multi-input multi-output model is established. The aforementioned control strategies are evaluated and investigated in detail. In essence, they are powerful tools for dealing with nonlinear dynamic systems, however, the VVEC could be considered superior in comparison with the FBL control and the BSC since the designed control structure does not include inertia inverse matrix and modal coordinate acceleration that could make computational problems. As a result, simulation experiments were focused on the VVEC strategy, and the latter was implemented on a simply supported thin plate structure with collocated piezo-patches. The results show the validity of the proposed control architecture.
{"title":"Function approximation technique (FAT)-based nonlinear control strategies for smart thin plates with cubic nonlinearities","authors":"H. Al-Shuka, Ehab N. Abbas","doi":"10.5937/fme2201168a","DOIUrl":"https://doi.org/10.5937/fme2201168a","url":null,"abstract":"The current work introduces three nonlinear control solutions for the regulation of a vibrating nonlinear plate considering model uncertainty. These solutions are feedback linearization control (FBL), virtual velocity error-based control (VVEC), and backstepping control (BSC). In the FBL control, a nonlinear control law is designed with linear closed-loop dynamics such that dynamic stability is ensured. Whereas, by the VVEC (or so-called passivity-based approach in the robotics community) the limitations of the feedback linearization are overcome. On the other side, the BSC selects virtual control variables with stabilized intermediate control laws based on Lyapunov theory. Systematic modeling for the target vibrating plate with piezo patches is described. In effect, considering the nonlinear influence makes the resulted mode shapes for the vibrating structure are highly coupled and careful control design is required. Using the Galerkin approach, the partial differential equation for the smart plate is transformed into definite ordinary differential equations; the multi-input multi-output model is established. The aforementioned control strategies are evaluated and investigated in detail. In essence, they are powerful tools for dealing with nonlinear dynamic systems, however, the VVEC could be considered superior in comparison with the FBL control and the BSC since the designed control structure does not include inertia inverse matrix and modal coordinate acceleration that could make computational problems. As a result, simulation experiments were focused on the VVEC strategy, and the latter was implemented on a simply supported thin plate structure with collocated piezo-patches. The results show the validity of the proposed control architecture.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85468905","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":null,"pages":null},"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 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":null,"pages":null},"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":null,"pages":null},"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}
This article presents Wöhler plots, or S-N curves, for use in the analysis of bolt fatigue of preloaded bolted joints. Preloaded bolts under cyclic loading have a high mean stress with a small alternating stress. This is combined with a large stress concentration at the thread root. The method of fatigue analysis presented uses S-N curves with a zero mean stress. The high mean stress experienced by the bolts is accounted for using a function to calculate a damage-equivalent stress. Notch sensitivity was considered to modify S-N curves for materials with chemical compositions encompassed within the material specifications for high strength bolts. This produced S-N curves for stress concentrations relevant to bolt threads. Curve fitting techniques were used to express these curves as a function of the equivalent stress and stress ratio. An estimate of residual stresses in bolts produced by thread rolling was made. The work provides a practical method of calculating fatigue life.
{"title":"Fatigue analysis of preloaded bolted joints","authors":"M. Welch","doi":"10.5937/fme2204607w","DOIUrl":"https://doi.org/10.5937/fme2204607w","url":null,"abstract":"This article presents Wöhler plots, or S-N curves, for use in the analysis of bolt fatigue of preloaded bolted joints. Preloaded bolts under cyclic loading have a high mean stress with a small alternating stress. This is combined with a large stress concentration at the thread root. The method of fatigue analysis presented uses S-N curves with a zero mean stress. The high mean stress experienced by the bolts is accounted for using a function to calculate a damage-equivalent stress. Notch sensitivity was considered to modify S-N curves for materials with chemical compositions encompassed within the material specifications for high strength bolts. This produced S-N curves for stress concentrations relevant to bolt threads. Curve fitting techniques were used to express these curves as a function of the equivalent stress and stress ratio. An estimate of residual stresses in bolts produced by thread rolling was made. The work provides a practical method of calculating fatigue life.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89676970","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":null,"pages":null},"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":null,"pages":null},"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}
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":null,"pages":null},"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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