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Autonomous Control Method for Object Grasping of Logistics Sorting Manipulator Considering Changes in Lighting Environment 考虑光照环境变化的物流分拣机械手抓取物体自主控制方法
Q3 Engineering Pub Date : 2023-07-12 DOI: 10.4273/ijvss.15.2.06
Y. Liu
The autonomous grasping operation is the key to the intelligent logistics sorting manipulators. Since the current logistics sorting manipulators mostly use visual sensors to identify objects, they are extremely vulnerable to the changes in the lighting environment. Therefore, the research considers the influence of complex lighting environment on the autonomous grasping of logistics sorting manipulators. Furthermore, it verifies the effectiveness of SAC-AE-ICM algorithm through simulations and experiments. The experimental results show that SAC-AE-ICM algorithm can quickly achieve convergence in many experiments and can obtain global optimization. In the process of automatic capture, the success rate of SAC-AE-ICM algorithm can reach 90%, which is 25% higher than that of the method without ICM and has better convergence. The success rate was as high as 77% for unknown or irregular targets. In practical experiments, SAC-AE-ICM can effectively capture under good lighting conditions. However, under low light conditions, the probability of capturing unknown targets is about 72.5%. Overall, the success rates for single-object and multi-object capture are 88% and 85%, respectively.
自主抓取操作是智能物流分拣机械手的关键。由于目前的物流分拣机械手多采用视觉传感器识别物体,极易受到光照环境变化的影响。因此,本研究考虑了复杂光照环境对物流分拣机械手自主抓取的影响。通过仿真和实验验证了SAC-AE-ICM算法的有效性。实验结果表明,SAC-AE-ICM算法在多次实验中能够快速实现收敛,并能获得全局最优解。在自动捕获过程中,SAC-AE-ICM算法的成功率可达90%,比不使用ICM的方法提高25%,收敛性更好。对于未知或不规则目标,成功率高达77%。在实际实验中,SAC-AE-ICM可以在良好的光照条件下有效捕获。然而,在弱光条件下,捕获未知目标的概率约为72.5%。总的来说,单目标和多目标捕获的成功率分别为88%和85%。
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引用次数: 0
Mechanical and Barrier Properties of Cellulosic Nano-Fibers Reinforced Bionanocomposite 纤维素纳米纤维增强生物纳米复合材料的力学和阻隔性能
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.08
Kalpit P. Kaurase, Dalbir Singh
Cellulose is one of the most frequently used and generally available materials on Earth and has been utilized for ages in a variety of applications. Numerous researchers have investigated various lignocellulosic sources for the extraction of cellulose and the author has introduced a new source for the extraction of cellulose and cellulosic nanofibers: fruits or seedpods of Delonix Regia (CNF). The solvent casting process is used to create the PVA/CNF composite after the cellulose and CNF have been removed using a mechano-chemical method. SEM, tensile testing, soil burial testing and moisture absorption tests have all been used to examine the morphological, mechanical, biodegradable and moisture absorption capabilities of pure PVA and PVA/CNF composite with 1, 3, 5, 7 and 9 percentages of CNF. According to SEM findings, agglomeration was seen at higher concentrations but uniform and homogenous distribution of nano-fillers was seen at lower percentages of CNF. It is profusely clear from the results of the tensile tests that the percentage elongation initially decreased and then began to increase at higher concentration, while the Young’s modulus and tensile strength initially increased at lower percentages of CNF rapidly and gradually decreased for higher concentration. Pure PVA had the least resistance to degradation in biodegradability test, while the biodegradability test showed that the inclusion of CNF decreased the composite material’s ability to degrade. With the addition of CNF, the rate of moisture absorption decreased, resulting in a PVA/CNF composite material that will last longer and perform better without material degradation.
纤维素是地球上最常用和最普遍的材料之一,已经在各种应用中使用了很长时间。许多研究人员已经研究了提取纤维素的各种木质纤维素来源,作者介绍了一种提取纤维素和纤维素纳米纤维的新来源:龙葵(Delonix Regia, CNF)的果实或种子荚。在机械化学法去除纤维素和CNF后,采用溶剂铸造工艺制备PVA/CNF复合材料。通过扫描电镜、拉伸试验、土埋试验和吸湿试验,考察了纯PVA和CNF含量分别为1、3、5、7和9的PVA/CNF复合材料的形态、力学、生物降解和吸湿性能。SEM结果表明,纳米填料在CNF浓度较高时出现团聚现象,而在CNF浓度较低时,纳米填料分布均匀。拉伸试验结果非常清楚地表明,当CNF含量较高时,伸长率先下降后上升,而当CNF含量较低时,杨氏模量和抗拉强度开始迅速上升,当CNF含量较高时,杨氏模量和抗拉强度逐渐下降。在生物降解性测试中,纯PVA的抗降解性最低,而生物降解性测试表明,CNF的加入降低了复合材料的降解能力。随着CNF的加入,吸湿率降低,使PVA/CNF复合材料的使用寿命更长,性能更好,不会发生材料降解。
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引用次数: 0
Impact of Steering Column Stiffness on the Injury Criteria of Dummies using Siemens Madymo 利用西门子Madymo研究转向柱刚度对假人损伤判据的影响
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.20
F. Bentgens, P. Koenig, M. Jaikumar, V. Hariram
In the event of an accident, in today’s vehicle belt and airbag systems and steering columns absorb the kinetic energy of occupants in front crashes. Most steering columns are equipped with a deformation device, which provides additional forward displacement of the steering wheel when being impacted dynamically by the occupant. As these features perform on predefined force levels, they deform less when loaded with lower energy, e.g. when impacted by a smaller occupant. So especially for occupants of lower kinetic energy the maximum available forward displacement is not provided, so they will be decelerated on a higher g-levels than needed. This study investigates for different dummies how the force level of the steering column must be designed to keep the standard injury criteria as low as possible. The aim is to make a statement about the required optimized force levels of the steering column in order to examine technical feasibility in subsequent studies. To carry out these investigations, a parameter study is carried out in Siemens Madymo and the results obtained are interpreted. Subsequently, the limitations of this study are pointed out and further improvements are suggested.
在发生事故的情况下,在今天的汽车安全带和安全气囊系统和转向柱吸收乘客的动能在前排碰撞。大多数转向柱都配备了变形装置,当方向盘受到乘员的动态冲击时,它可以提供额外的前向位移。由于这些特征在预定义的力水平上执行,因此当负载较低的能量时,例如当受到较小的乘员撞击时,它们的变形较小。因此,特别是对于动能较低的乘员,没有提供最大可用的向前位移,因此他们将在比需要的更高的g水平上减速。这项研究调查了不同的假人如何的力量水平的转向柱必须设计,以保持尽可能低的标准伤害标准。其目的是对转向柱所需的优化力水平作出声明,以便在随后的研究中审查技术可行性。为了进行这些调查,在西门子Madymo中进行了参数研究,并对所得结果进行了解释。在此基础上,指出了本研究的局限性,并提出了进一步改进的建议。
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引用次数: 0
Ride Behaviour of Three-Wheel Vehicle using Semi-Active Suspension using Skyhook Control Strategy 基于Skyhook控制策略的半主动悬架三轮车辆平顺性研究
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.05
R. Sharma, Sono Bhardawaj, S. Sharma, Shashi Bahl
This paper analyses the ride behaviour of a 2 degrees of freedom model of three-wheel vehicle subjected to bounce and pitch velocity inputs. This paper also demonstrates the isolation properties of semi-active suspension using skyhook dampers. The results show semi-active suspension can provide isolation near resonance as compared with passive suspension when subjected to bounce and pitch velocity inputs. Below and beyond the resonating frequencies, the behaviour of passive and semi-active suspension is identical for all damping values.
本文分析了2自由度三轮汽车模型在弹跳和俯仰速度输入下的平顺性。本文还论证了采用天钩阻尼器的半主动悬架的隔振性能。结果表明,在受弹跳和俯仰速度输入时,半主动悬架比被动悬架更能隔离近共振。在谐振频率以下和以外,所有阻尼值的被动和半主动悬架的行为是相同的。
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引用次数: 0
Mechanical Properties and Pitting Corrosion of Friction Stir Welded Aluminium Alloy 5083 (H321) 搅拌摩擦焊接铝合金5083 (H321)的机械性能和点蚀
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.17
K. Elsie Femina, M. Koilraj
In the present work, 6 mm plates of Al-Mg alloy AA5083-H321 was friction welded. Weld microstructures, hardness values and tensile properties were evaluated in the welded condition. Macrostructure studies revealed that the shape of the stir zone is a basin-shaped type and it appeared more like a rectangular box and no macroscopic defect or weakly bonded regions were observed in the weld region, which extended through the full thickness of the plates. There were no noticeable changes in the microstructure compared to the respective unaffected base material and there was not much of difference in the microstructures of the nugget and the base metal. The pitting corrosion results indicate that there was noticeable improvement in the pitting potential values of the welds. The weld nugget region exhibited better pitting corrosion resistance compared to other regions. The base material and the friction stir welded materials are far superior in resistance to salt fog corrosion.
在本工作中,采用6mm Al-Mg合金AA5083-H321板进行摩擦焊接。在焊接状态下对焊缝组织、硬度值和拉伸性能进行了评价。宏观组织研究表明,搅拌区的形状为盆状,更像一个矩形盒子,焊缝区没有宏观缺陷和弱结合区,并延伸到整个板的厚度。与未受影响的母材相比,金块的显微组织没有明显的变化,金块和母材的显微组织也没有太大的差异。点蚀结果表明,焊缝的点蚀电位值有明显改善。焊核区具有较好的抗点蚀性。基材和搅拌摩擦焊材料的耐盐雾腐蚀性能明显优于搅拌摩擦焊材料。
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引用次数: 0
A Review of Wheel-Rail Dynamic Behavior on Curved Tracks 弯曲轨道轮轨动力特性研究进展
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.04
R. Sharma, S. Palli, Sono Bhardawaj
With a speedy advancement in vehicle speed and transport capability, a huge challenge has been imposed to improve railway vehicle dynamic behaviour and track design to ensure the optimum performance of railway vehicles and tracks. To safely negotiate the vehicle speed on circular and transition curve tracks several aspects such as wheel-rail wear, smooth ride and vehicle stability need to be analysed. The investigators have paid great attention to exploring the compatibility among vehicle stability and curving ability, parametric analysis and optimization of curving performance, minimising the wheel-rail wear and curve squeal noise etc. The present paper focuses on reviewing these past efforts made by the researchers.
随着车辆速度和运输能力的迅速提高,改善铁路车辆的动力性能和轨道设计以确保铁路车辆和轨道的最佳性能是一个巨大的挑战。为了使车辆在圆形和过渡曲线轨道上安全协商速度,需要对轮轨磨损、平顺性和车辆稳定性等几个方面进行分析。研究人员着重研究了车辆稳定性与弯道性能的相容性、弯道性能的参数化分析与优化、轮轨磨损与弯道噪声的最小化等问题。本文着重对这些研究人员过去所做的努力进行了回顾。
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引用次数: 0
Performance Evaluation of BTMS for Electric Vehicles using Heat Sink - A Numerical Study 基于散热器的电动汽车BTMS性能评价——数值研究
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.07
K. R. Patil, A. Raul, Aniket Anbhule, Madhura Barve, Ajay Bedare, Yogesh Magare
Batteries have wide applications in engineering. They are extensively used in hybrid electric vehicles (HEVs) and electric vehicles (EVs), where a suitable battery thermal management system (BTMS) is vital in ensuring the safety and reliability operations of batteries. The purpose of this study is to offer an air-cooling system that utilizes a novel V-type staggered arrangement of plate-fin heat sink for forced air cooling. To keep the temperature of a lithium-ion battery pack within the optimal temperature range for the safety of the battery and the consumer to prevent the battery from catching fire. The paper also presents a comparison between straight rectangular fins and V-type staggered arrangement heat sinks. The thermal management of batteries equipped with a heat sink is numerically controlled, to ensure the battery's overall performance and longevity modules/packs for electric cars. A three-dimensional heat sink model was constructed and a numerical approach was used to explore the impacts of the number of fins on the heat sink, fin spacing and angle of inclination of the fins at different inlet air mass flow rates and varied heat input. The analysis presents a computational approach and traditional heat transfer theory.
电池在工程上有广泛的应用。它们广泛用于混合动力电动汽车(hev)和电动汽车(ev),其中合适的电池热管理系统(BTMS)对于确保电池的安全性和可靠性至关重要。本研究的目的是提供一种采用新型v型交错布置板翅片散热器进行强制风冷的风冷系统。将锂离子电池组的温度保持在电池和消费者安全的最佳温度范围内,以防止电池着火。本文还对直矩形翅片和v型交错布置散热器进行了比较。配备散热器的电池的热管理是数控的,以确保电池的整体性能和使用寿命模块/电池组用于电动汽车。建立了三维散热器模型,采用数值方法研究了在不同进口空气质量流量和不同热输入下,翅片数量、翅片间距和翅片倾角对散热器的影响。分析提出了一种计算方法和传统的传热理论。
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引用次数: 0
Hybrid PV Wind Battery Optimal Sizing using Horse-Herd Optimization 基于马群优化的混合光伏风电池优化尺寸
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.24
B. Nithin, K. Shafeeque Ahmed, R. Zahira
Hybrid systems are evaluated primarily on GHG reduction reliability and cost of their system. It was decided that a rural Indian village would benefit from a grid-connected hybrid PV/WT battery system, the main objective of this investigation was to find the most cost-effective sizing of the parts for non-conventional energy-based hybrid systems. Maximizing the NCEF of the system was employed as the third fitness function to accomplish this aim by using the horse herd optimization approach to minimize two other objective functions, COE and LPSP while maximizing the system's NCEF. Three scenarios were given in this report to investigate how a proposed hybrid system and the grid's capacity to sell or purchase energy from each other would affect the interplay between the two. Economically optimum solution (lowest COE), renewable energy utilization viewpoint (highest NCEF) and ecologically ideal option (lowest COE) were the three views of horse herd optimization outcomes and the overall system is simulated and tested in MATLAB/Simulink.
混合动力系统的评估主要基于其系统的温室气体减排、可靠性和成本。我们决定,印度的一个乡村将受益于并网的PV/WT混合电池系统,本次调查的主要目的是为非传统的基于能源的混合系统找到最具成本效益的部件尺寸。为了实现这一目标,我们将最大化系统的NCEF作为第三个适应度函数,利用马群优化方法最小化另外两个目标函数COE和LPSP,同时最大化系统的NCEF。本报告给出了三种情况,以调查拟议的混合系统和电网相互出售或购买能源的能力将如何影响两者之间的相互作用。以经济最优方案(最低COE)、可再生能源利用观点(最高NCEF)和生态理想选择观点(最低COE)作为马群优化结果的三种观点,并在MATLAB/Simulink中对整个系统进行了仿真和测试。
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引用次数: 0
Influence of Nano Material Coating on the Automotive Brake Liner – An Investigational Approach 纳米材料涂层对汽车制动衬垫的影响研究
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.21
B. Gowthama Rajan, P. Sambandam, V. Hariram, V. Vinodkumar
It is very advantageous to have a solid grasp of the thermo-elasticity property of the material while designing an automobile brake at an early design stage. To ensure mechanical brakes' longevity and compactness, which are both crucial in this application, it is recommended that the accurate prediction technique of maximum structural stress be employed throughout the design process for mechanical brakes. As a consequence of this research, a practical and dependable analytical approach for the design of mechanical brakes has been developed, which makes use of modelling and analysis methodologies to accomplish its objectives. In this research, the stress analysis of an automobile's brake was carried out, with the purpose of minimising the stress and pressure created in the brake as a result of the vehicle braking. The complete investigation of the brake, as well as the modelling of the brake, will be carried out using the ANSYS software. The CAD software called CATIA will be used to do the clutch analysis. It is envisaged that this effort will also contribute to the creation of the most efficient and dependable mechanical brake design in the future. In this study, we investigate the structural, thermal and wear behaviour aspects of brake shoe liners coated with nano composite coating materials such as ZrO2 to see how they perform.
在设计汽车制动器的早期,对材料的热弹性特性有较好的把握是非常有利的。为了确保机械制动器的使用寿命和紧凑性,建议在机械制动器的整个设计过程中采用最大结构应力的准确预测技术。由于这项研究的结果,开发了一种实用可靠的机械制动器设计分析方法,它利用建模和分析方法来实现其目标。在这项研究中,对汽车制动器进行了应力分析,目的是尽量减少由于车辆制动而在制动器中产生的应力和压力。制动器的完整研究,以及制动器的建模,将使用ANSYS软件进行。使用CAD软件CATIA进行离合器分析。据设想,这一努力也将有助于在未来创造最有效和最可靠的机械制动设计。在这项研究中,我们研究了涂有纳米复合涂层材料(如ZrO2)的刹车蹄片衬垫的结构、热性能和磨损性能,以了解它们的性能。
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引用次数: 0
Grid Dependency of Severe Plastic Deformation during Combined Extrusion and Forging Process 挤压锻造复合过程中严重塑性变形的网格依赖性
Q3 Engineering Pub Date : 2023-04-03 DOI: 10.4273/ijvss.15.1.10
P. Balguri, S. Sathees Kumar, T. Tirupathi, Yugendher Malothu, D. Gara, Ajith Raj Rajendran
Plastic deformation during the metal forming process involves very distinctive behavior of parameters, which results in complicated mathematical modelling to estimate the forming load. As the complexity of the shape increase, the determination of forming (punch) load becomes intricate. In this context, the present work cover parameters influencing the grid independency on forming load during combined extrusion and forging of single collar collet chuck holder which is predicted followed by validation with experimental results. It can be observed from the numerical analysis that the grid dependency on the ram velocities shows a negligible effect whereas friction factor ensued a fragile variation.
金属在成形过程中的塑性变形涉及到非常独特的参数行为,这导致了复杂的数学建模来估计成形载荷。随着形状复杂性的增加,成形(冲孔)载荷的确定也变得复杂起来。在此背景下,本文预测了单领夹头夹头挤压锻造复合成形载荷过程中影响网格独立性的工作盖参数,并进行了实验验证。从数值分析中可以看出,栅格对撞击速度的影响可以忽略不计,而摩擦系数则发生了脆弱的变化。
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引用次数: 0
期刊
International Journal of Vehicle Structures and Systems
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