S. Dulac, Seyedmohammad Mousavisani, T. Breault, B. Seyed-Aghazadeh
Flow-induced vibrations (FIV) of a flexibly-mounted harbor seal whisker module, allowed to oscillate in the cross-flow direction, placed in tandem arrangement with an upstream circular cylinder is studied, experimentally. The FIV response of the whisker module in terms of amplitudes and frequencies of oscillation are studied for a reduced velocity range of U* = 3.2–24.2, corresponding to a Reynolds number range of Re = 279–2,077. Flow-induced vibration response is studied and characterized for a wide range of separation distances between the upstream cylinder and the whisker module, as well as the angle at which the whisker faces the oncoming flow (angle of attack). Instantaneous volumetric flow field behind the whisker model was measured using Volumetric Particle Tracking Velocimetry (PTV) data processed by the “Shake The Box” (STB) algorithm that allowed for the time resolved, three dimensional (3D) 3 components (3C) measurement of flow field in the wake of the whisker module. The wake dynamics of the tandem pair of the whisker module and the upstream cylinder were studied at different angles of attack of the whisker module. Our results show while the whisker module was placed at 0° angle of attack, it did not experience any flow-induced vibration. However, when an upstream cylinder was placed in tandem with the whisker module, the whisker experienced large amplitude oscillations over a wide range of flow velocities. The whisker module picked up the “footprints” left behind the upstream cylinder for center-to center distance up to 25 times the whisker’s diameter. No oscillation was observed when the upstream cylinder was placed at relatively large distance of 50 times the whisker diameter. When the whisker was placed at 90° angle of attack, both for the standalone configuration of the whisker, as well as the tandem arrangement with the upstream cylinder, large amplitude oscillation were observed over a wide, but limited range of reduced velocities. This type of large-amplitude oscillation over a limited range of the flow velocity, while the frequency of oscillation stayed around the natural frequency of the system resembled those classic vortex-induced vibration response observed in the case of an elastically-mounted circular cylinder. Volumetric flow field measurements revealed highly three-dimensional vortex shedding patterns in the wake of the whisker module, which were attributed to the undulatory spanwise structure of the whisker. When the gap size between the upstream cylinder and the downstream whisker module was small, the wake in the gap region was characterized by the presence of two shear layers that were reattached to downstream whisker module. As the gap size increased, well-developed, highly three-dimensional vortical structures were observed in the gap region.
{"title":"Flow-Induced Vibration and Wake Flow Dynamics Behind a Harbor Seal Whisker Model in Tandem Arrangement With an Upstream Cylinder","authors":"S. Dulac, Seyedmohammad Mousavisani, T. Breault, B. Seyed-Aghazadeh","doi":"10.1115/imece2021-69327","DOIUrl":"https://doi.org/10.1115/imece2021-69327","url":null,"abstract":"\u0000 Flow-induced vibrations (FIV) of a flexibly-mounted harbor seal whisker module, allowed to oscillate in the cross-flow direction, placed in tandem arrangement with an upstream circular cylinder is studied, experimentally. The FIV response of the whisker module in terms of amplitudes and frequencies of oscillation are studied for a reduced velocity range of U* = 3.2–24.2, corresponding to a Reynolds number range of Re = 279–2,077. Flow-induced vibration response is studied and characterized for a wide range of separation distances between the upstream cylinder and the whisker module, as well as the angle at which the whisker faces the oncoming flow (angle of attack).\u0000 Instantaneous volumetric flow field behind the whisker model was measured using Volumetric Particle Tracking Velocimetry (PTV) data processed by the “Shake The Box” (STB) algorithm that allowed for the time resolved, three dimensional (3D) 3 components (3C) measurement of flow field in the wake of the whisker module. The wake dynamics of the tandem pair of the whisker module and the upstream cylinder were studied at different angles of attack of the whisker module.\u0000 Our results show while the whisker module was placed at 0° angle of attack, it did not experience any flow-induced vibration. However, when an upstream cylinder was placed in tandem with the whisker module, the whisker experienced large amplitude oscillations over a wide range of flow velocities. The whisker module picked up the “footprints” left behind the upstream cylinder for center-to center distance up to 25 times the whisker’s diameter. No oscillation was observed when the upstream cylinder was placed at relatively large distance of 50 times the whisker diameter. When the whisker was placed at 90° angle of attack, both for the standalone configuration of the whisker, as well as the tandem arrangement with the upstream cylinder, large amplitude oscillation were observed over a wide, but limited range of reduced velocities. This type of large-amplitude oscillation over a limited range of the flow velocity, while the frequency of oscillation stayed around the natural frequency of the system resembled those classic vortex-induced vibration response observed in the case of an elastically-mounted circular cylinder. Volumetric flow field measurements revealed highly three-dimensional vortex shedding patterns in the wake of the whisker module, which were attributed to the undulatory spanwise structure of the whisker. When the gap size between the upstream cylinder and the downstream whisker module was small, the wake in the gap region was characterized by the presence of two shear layers that were reattached to downstream whisker module. As the gap size increased, well-developed, highly three-dimensional vortical structures were observed in the gap region.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75888414","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}
Ariful Islam, C. Campbell, Christian Merrikin, Shawn Duan
To accommodate the ever-expanding data warehouse market, it is necessary to implement a degree of industrial automation to meet maintenance requirements. With the expansion of cloud-based storage and many new and existing companies moving to automate their processes, the need for a more effective method to manage and maintain server warehouses with reduced manpower is necessary. In order to address the need, this design team has developed and prototyped — a platform that would meet the basic requirements for server retrieval. The model navigates on four wheels driven by stepper motors that allow for differential steering and navigation in an indexed workspace. In order to reach servers on both the top and bottom bays, a chassis with low ground clearance was fitted with a scissor lift mechanism. The two sides of the scissor lift are actuated by two stepper motors with a high-ratio gear reduction. The operating system for controls and sensors run on Robot Operating System (ROS) and are powered by a Raspberry Pi that can be remotely programmed and operated from a single network connected computer. For precise controllability of electromechanical devices, appropriately sized drivers and sensors were selected. A Simulink-based step response analysis of inrush current and torque was completed to aid in component selection. This computer-based simulation resulted in important data regarding transient and steady state dynamics of the electromechanical system. This information can be ultimately used to design a PI, PD, or PID controller to eliminate steady state and transient state error from the actual robot, ensuring precise control. Analysis was centered primarily on the lifting, driving, and control mechanisms. The structure of each system was analyzed to ensure proper dimensioning and material selection. At the same time, the mechatronic analysis was completed to ensure lifting requirements were met. Analysis was conducted on the motor shafts, scissor members, gears, and hardware resulting in a robust design. All of the physical parts were initially modeled to meet a minimum safety-factor and were later modified based on the results of finite element analysis studies. This approach will allow the robot to operate safely and effectively regardless of obstruction or human interference. The design and programming enable a single technician to manage a fleet of robots for large scale operations. Because of the simplicity of the robot, the mechanisms and electronics selected can be modified to accommodate specific customer needs. This electromechanical platform and electrical simulation serve as a basis for future research and development of autonomous data warehouse maintenance.
{"title":"Rapid Design and Analysis of Versatile Robotic Platform","authors":"Ariful Islam, C. Campbell, Christian Merrikin, Shawn Duan","doi":"10.1115/imece2021-67358","DOIUrl":"https://doi.org/10.1115/imece2021-67358","url":null,"abstract":"To accommodate the ever-expanding data warehouse market, it is necessary to implement a degree of industrial automation to meet maintenance requirements. With the expansion of cloud-based storage and many new and existing companies moving to automate their processes, the need for a more effective method to manage and maintain server warehouses with reduced manpower is necessary. In order to address the need, this design team has developed and prototyped — a platform that would meet the basic requirements for server retrieval. The model navigates on four wheels driven by stepper motors that allow for differential steering and navigation in an indexed workspace. In order to reach servers on both the top and bottom bays, a chassis with low ground clearance was fitted with a scissor lift mechanism. The two sides of the scissor lift are actuated by two stepper motors with a high-ratio gear reduction. The operating system for controls and sensors run on Robot Operating System (ROS) and are powered by a Raspberry Pi that can be remotely programmed and operated from a single network connected computer. For precise controllability of electromechanical devices, appropriately sized drivers and sensors were selected. A Simulink-based step response analysis of inrush current and torque was completed to aid in component selection. This computer-based simulation resulted in important data regarding transient and steady state dynamics of the electromechanical system. This information can be ultimately used to design a PI, PD, or PID controller to eliminate steady state and transient state error from the actual robot, ensuring precise control. Analysis was centered primarily on the lifting, driving, and control mechanisms. The structure of each system was analyzed to ensure proper dimensioning and material selection. At the same time, the mechatronic analysis was completed to ensure lifting requirements were met. Analysis was conducted on the motor shafts, scissor members, gears, and hardware resulting in a robust design. All of the physical parts were initially modeled to meet a minimum safety-factor and were later modified based on the results of finite element analysis studies. This approach will allow the robot to operate safely and effectively regardless of obstruction or human interference. The design and programming enable a single technician to manage a fleet of robots for large scale operations. Because of the simplicity of the robot, the mechanisms and electronics selected can be modified to accommodate specific customer needs. This electromechanical platform and electrical simulation serve as a basis for future research and development of autonomous data warehouse maintenance.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81247875","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 article presents a novel approach to re-pose the temporal approximation problem as a recursive scheme in terms of displacement and velocity. The recursion matrix is used to obtain the numerical approximation induced amplitude magnification and frequency dilation. From the amplitude magnification term, expressed as a function of the time-step size, one can easily deduce the stability of the method. Similarly, the frequency dilation term can be used to check the accuracy of the numerical scheme. For each time-approximation scheme, a critical parameter (θ = ωΔt) can be identified to guarantee stability and accuracy of the numerical scheme. The performance of classical time-marching schemes, e.g., Newmark scheme, and other single-step schemes is analyzed. Further, a family of Hermite polynomials-based time-approximation methodology is proposed, that can guarantee any desired higher rate of temporal approximation. A residual norm based a-posteriori error estimator has been proposed to investigate the error in the solution. Sample problems have been solved to demonstrate the effectiveness of the current approach.
{"title":"A Novel Formulation to Predict the Accuracy of Implicit Time Integration Schemes","authors":"Sanjay Singh Tomar, C. Upadhyay","doi":"10.1115/imece2021-69778","DOIUrl":"https://doi.org/10.1115/imece2021-69778","url":null,"abstract":"\u0000 The article presents a novel approach to re-pose the temporal approximation problem as a recursive scheme in terms of displacement and velocity. The recursion matrix is used to obtain the numerical approximation induced amplitude magnification and frequency dilation. From the amplitude magnification term, expressed as a function of the time-step size, one can easily deduce the stability of the method. Similarly, the frequency dilation term can be used to check the accuracy of the numerical scheme. For each time-approximation scheme, a critical parameter (θ = ωΔt) can be identified to guarantee stability and accuracy of the numerical scheme. The performance of classical time-marching schemes, e.g., Newmark scheme, and other single-step schemes is analyzed. Further, a family of Hermite polynomials-based time-approximation methodology is proposed, that can guarantee any desired higher rate of temporal approximation. A residual norm based a-posteriori error estimator has been proposed to investigate the error in the solution. Sample problems have been solved to demonstrate the effectiveness of the current approach.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81860472","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 proposed an integrated vibro-acoustic modulation method (IVAM) for multi-bolt loosening monitoring. Numerical simulations and experiments of a single bolt model are initially conducted to illuminate the contact acoustic nonlinearity (CAN) and vibro-acoustic modulation (VAM) phenomenon. The finite element model considers the coupled field effects and the contact interface of the bolted joint. A pumping wave with a certain low frequency combined with a probing signal sweeping through the frequency range of 50 kHz to 100 kHz was implemented and verified to effectively trigger VAM on the bolted connection. A comprehensive damage index (CDI) associated with the linear energy and nonlinear CAN change due to the bolt looseness is then proposed to evaluate bolt looseness in a full life cycle. For further study, IVAM is applied on a complex multi-bolt connection part to locate and identify the loosened bolts. Several cases are investigated to analyze its performance. An intelligent self-verification mechanism is used to ensure the accuracy of the results. The proposed IVAM method with an outcome CDI matrix possesses great application potential for multi-bolt connection monitoring with high sensitivity and accuracy. This paper finishes with summary, concluding remarks, and suggestions for future work.
{"title":"Multi-Bolt Loosening Monitoring Using an Integrated Vibro-Acoustic Modulation Technique","authors":"Minghao Chen, Yanfeng Shen","doi":"10.1115/imece2021-70345","DOIUrl":"https://doi.org/10.1115/imece2021-70345","url":null,"abstract":"\u0000 This paper proposed an integrated vibro-acoustic modulation method (IVAM) for multi-bolt loosening monitoring. Numerical simulations and experiments of a single bolt model are initially conducted to illuminate the contact acoustic nonlinearity (CAN) and vibro-acoustic modulation (VAM) phenomenon. The finite element model considers the coupled field effects and the contact interface of the bolted joint. A pumping wave with a certain low frequency combined with a probing signal sweeping through the frequency range of 50 kHz to 100 kHz was implemented and verified to effectively trigger VAM on the bolted connection. A comprehensive damage index (CDI) associated with the linear energy and nonlinear CAN change due to the bolt looseness is then proposed to evaluate bolt looseness in a full life cycle. For further study, IVAM is applied on a complex multi-bolt connection part to locate and identify the loosened bolts. Several cases are investigated to analyze its performance. An intelligent self-verification mechanism is used to ensure the accuracy of the results. The proposed IVAM method with an outcome CDI matrix possesses great application potential for multi-bolt connection monitoring with high sensitivity and accuracy. This paper finishes with summary, concluding remarks, and suggestions for future work.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79580339","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}
Mahmoud Rezk, Nawal Aljasmi, Rufaidah Salim, H. Ismail, I. Nikolakakos
According to the International Renewable Energy Agency (IRENA), photovoltaic (PV) production anticipates an increase of 10% in 2021. The rapid increase in the PV panels installation requires a robust inspection method of existing solar parks to maintain efficiency and productivity levels. With advancements in drone technology, Unmanned Aerial Vehicles (UAV) are being used to inspect the solar parks, either flown manually or autonomously. Furthermore, there are various image processing approaches to analyze the data gathered. However, current practical application techniques do not effectively localize the defective panels present within the solar farm. This paper proposes a method to inspect large-scale solar parks using an autonomous drone equipped with Real-Time Kinematic (RTK) and camera. The proposed method is a fully autonomous solution for inspecting PV panels, with effective detection and localization of faults. It can ease the procedure of inspection by automating it and give highly reliable results.
{"title":"Autonomous PV Panel Inspection With Geotagging Capabilities Using Drone","authors":"Mahmoud Rezk, Nawal Aljasmi, Rufaidah Salim, H. Ismail, I. Nikolakakos","doi":"10.1115/imece2021-69246","DOIUrl":"https://doi.org/10.1115/imece2021-69246","url":null,"abstract":"\u0000 According to the International Renewable Energy Agency (IRENA), photovoltaic (PV) production anticipates an increase of 10% in 2021. The rapid increase in the PV panels installation requires a robust inspection method of existing solar parks to maintain efficiency and productivity levels. With advancements in drone technology, Unmanned Aerial Vehicles (UAV) are being used to inspect the solar parks, either flown manually or autonomously. Furthermore, there are various image processing approaches to analyze the data gathered. However, current practical application techniques do not effectively localize the defective panels present within the solar farm. This paper proposes a method to inspect large-scale solar parks using an autonomous drone equipped with Real-Time Kinematic (RTK) and camera. The proposed method is a fully autonomous solution for inspecting PV panels, with effective detection and localization of faults. It can ease the procedure of inspection by automating it and give highly reliable results.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76194817","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}
S. M. Tayyab, P. Pennacchi, S. Chatterton, Eram Asghar
Spiral bevel gears are important part of many mechanical transmission systems and are known for their smooth operation and strong load carrying capacity. This type of gear has a high contact ratio, which makes it very difficult to diagnose even serious defects. Therefore, spiral bevel gears have rarely been used as a reference for defect diagnosis techniques. To overcome these challenges, artificial intelligence (AI) techniques are used in this research to diagnose defects in spiral bevel gears. Although Al techniques in the field of fault diagnosis have been very successful, however, these methods largely use the assumption that the training and test data come from the same operating conditions. However, when the operating conditions in which the trained model is deployed for predictions, differ from the operating conditions in which the model was trained, the performance of these approaches might be significantly reduced. Outside the laboratory, in real-world applications, operating conditions significantly vary, and it is difficult to obtain data for all potential operating conditions. To overcome this limitation and to make AI techniques suitable for diagnosing spiral bevel gear faults under different operating conditions, an effort is made to find fault distinguishing features, which are lesser sensitive to operating conditions. Artificial neural network (ANN) and K-nearest neighbors (KNN) are used as classifiers for fault detection. Performance comparison between both classifiers is made to determine their individual capability and suitability for diagnosing defects of spiral bevel gears under different operating conditions.
{"title":"Intelligent Defect Diagnosis of Spiral Bevel Gears Under Different Operating Conditions Using ANN and KNN Classifiers","authors":"S. M. Tayyab, P. Pennacchi, S. Chatterton, Eram Asghar","doi":"10.1115/imece2021-70016","DOIUrl":"https://doi.org/10.1115/imece2021-70016","url":null,"abstract":"\u0000 Spiral bevel gears are important part of many mechanical transmission systems and are known for their smooth operation and strong load carrying capacity. This type of gear has a high contact ratio, which makes it very difficult to diagnose even serious defects. Therefore, spiral bevel gears have rarely been used as a reference for defect diagnosis techniques. To overcome these challenges, artificial intelligence (AI) techniques are used in this research to diagnose defects in spiral bevel gears. Although Al techniques in the field of fault diagnosis have been very successful, however, these methods largely use the assumption that the training and test data come from the same operating conditions. However, when the operating conditions in which the trained model is deployed for predictions, differ from the operating conditions in which the model was trained, the performance of these approaches might be significantly reduced. Outside the laboratory, in real-world applications, operating conditions significantly vary, and it is difficult to obtain data for all potential operating conditions. To overcome this limitation and to make AI techniques suitable for diagnosing spiral bevel gear faults under different operating conditions, an effort is made to find fault distinguishing features, which are lesser sensitive to operating conditions. Artificial neural network (ANN) and K-nearest neighbors (KNN) are used as classifiers for fault detection. Performance comparison between both classifiers is made to determine their individual capability and suitability for diagnosing defects of spiral bevel gears under different operating conditions.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89073520","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}
Bioreactors are engineered physiological environment that can be used to study and grow tissue and organ systems in vitro. They are used to subject the cells to physiologically relevant stimulus such as tensile or compressive stress, bending, torsion or fluid flow. An optimal internal environment of a bioreactor should remain sterile while maintaining the viability of tissue, cells and biomolecules at 37°C (normal body temperature) with a tolerance of + or −0.1 °C. This study presents an Arduino microcontroller-based temperature-controlled system using an autotuning proportional integral derivative (PID) control for a small-scale bioreactor. A table top bioreactor temperature control system was designed, fabricated and assembled with laser cut acrylic enclosure. The closed-loop control system maintained the set temperature of 37°C using a tuned PID controller that used a high precision TMP117 sensor for feedback, and controlled the heating element accordingly. The system achieved the desired performance characteristics such as a fast rise time, settling time, low overshoot and low steady state error. Once the system achieved the steady state, it maintained the temperature at 37 ± 0.1 °C. Since the temperature control can vary and monitor fine changes in the environment, the system can be used to study an impact of temperature variations on cell response such as growth and differentiation.
{"title":"Bioreactor Temperature Control System Using PID Controller","authors":"Richard Alimberti, Vedang Chauhan, Devina Jaiswal","doi":"10.1115/imece2021-71715","DOIUrl":"https://doi.org/10.1115/imece2021-71715","url":null,"abstract":"\u0000 Bioreactors are engineered physiological environment that can be used to study and grow tissue and organ systems in vitro. They are used to subject the cells to physiologically relevant stimulus such as tensile or compressive stress, bending, torsion or fluid flow. An optimal internal environment of a bioreactor should remain sterile while maintaining the viability of tissue, cells and biomolecules at 37°C (normal body temperature) with a tolerance of + or −0.1 °C. This study presents an Arduino microcontroller-based temperature-controlled system using an autotuning proportional integral derivative (PID) control for a small-scale bioreactor. A table top bioreactor temperature control system was designed, fabricated and assembled with laser cut acrylic enclosure. The closed-loop control system maintained the set temperature of 37°C using a tuned PID controller that used a high precision TMP117 sensor for feedback, and controlled the heating element accordingly. The system achieved the desired performance characteristics such as a fast rise time, settling time, low overshoot and low steady state error. Once the system achieved the steady state, it maintained the temperature at 37 ± 0.1 °C. Since the temperature control can vary and monitor fine changes in the environment, the system can be used to study an impact of temperature variations on cell response such as growth and differentiation.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82669007","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}
Martin Garcia, Ciaphus Rouse, Benjamin Estrada, C. Tekes, Amir Ali Amiri Moghadam, A. Tekes
Success of emerging field of soft robotics relies on the development of efficient soft actuators. Most of these actuators suffers from disadvantages such as limited blocking force, lifetime, high actuation voltage, and slow response time. Swimming robots in particular utilizes single or multiple soft actuators to mimic the dynamic of a fish during motion. In this study we used 3D printing to fabricate soft electromagnetic actuators based swimming robot. The mechanism consists of soft actuator legs, compliant paddle and floatation. We designed a hybrid propulsion mechanism by using double soft leg actuators as caudal fins and side paddles as pectoral fins. This increases the thrust and efficiency to overcome the water drag as well as providing stability. We 3D printed the soft actuator using thermoplastic polyurethane (TPU) filament to reduce the manufacturing cost as well as to simplify the process. The main body is also 3D printed using polylactic acid (PLA). The infill percentage of the soft body is adjusted to increase the bending performance without yielding under actuation. The prototype of the swimming robot was tested in water. The body velocity of the robot is measured as 0.106 BL/s. Motion analysis was made MSC Adams by simulating the deformation of flexible beams.
{"title":"Towards Development of 3D Printed Swimming Robot Using Soft Electromagnetic Actuation","authors":"Martin Garcia, Ciaphus Rouse, Benjamin Estrada, C. Tekes, Amir Ali Amiri Moghadam, A. Tekes","doi":"10.1115/imece2021-70151","DOIUrl":"https://doi.org/10.1115/imece2021-70151","url":null,"abstract":"\u0000 Success of emerging field of soft robotics relies on the development of efficient soft actuators. Most of these actuators suffers from disadvantages such as limited blocking force, lifetime, high actuation voltage, and slow response time. Swimming robots in particular utilizes single or multiple soft actuators to mimic the dynamic of a fish during motion. In this study we used 3D printing to fabricate soft electromagnetic actuators based swimming robot. The mechanism consists of soft actuator legs, compliant paddle and floatation. We designed a hybrid propulsion mechanism by using double soft leg actuators as caudal fins and side paddles as pectoral fins. This increases the thrust and efficiency to overcome the water drag as well as providing stability. We 3D printed the soft actuator using thermoplastic polyurethane (TPU) filament to reduce the manufacturing cost as well as to simplify the process. The main body is also 3D printed using polylactic acid (PLA). The infill percentage of the soft body is adjusted to increase the bending performance without yielding under actuation. The prototype of the swimming robot was tested in water. The body velocity of the robot is measured as 0.106 BL/s. Motion analysis was made MSC Adams by simulating the deformation of flexible beams.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76086668","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}
Jian Su, Yu Cao, Anqi Tang, Siyuan Wang, Janet Dong
Keeping sidewalks clean and tidy is a continuously tough task in modern urban environment, traditional solution of cleaning sidewalk is sanitation workers’ manual sweeping. However, manual work is inefficient, laboring intensive and dirty. Main pollutants on the urban sidewalks are simple litter, they consist of recyclable waste such as paper, cardboard and metal cans, and non-recyclable waste like foam and food residue. Thus, the litter on sidewalks can be cleaned, collected and sorted by robots. This paper will discuss the entire design process of a novel litter collection mobile robot for urban sidewalks, including robot structure, drive system, litter collection mechanisms, and stress analysis and motion simulation. This robot can patrol on the sidewalks in urban environment while collecting and sorting litter along the way. Currently, for cleaning the road on urban street, motor sweeper vehicles are used. There are no motorized vehicles used to clean the sidewalks. Therefore, this robotic approach will fill the gap, avoiding inefficient and overwhelmed manual work. The robot is designed to adapt various terrains of sidewalks such as brick pavements, cement sidewalks, and asphalt sidewalks. The size of the robot is designed to fit most of sidewalks according to research of sidewalk standards. The litter collection robot consists of a robust chassis, a driving system, a litter collection system, a sensor system for obstacles avoiding, a navigation system for autonomous control and a vision system for litter sorting. For chassis, based on research on sidewalk size standard, its width is designed less than 80 cm to fit inside the sidewalk and at the same time leave enough space for pedestrians passing robot and conducting normal activities. Its height is designed more than 80cm (including robot arm) to make sure it can be noticed by pedestrians, which will avoid potential safety hazard to pedestrians. The weight of the robot is designed to be light weighted to make the robot easy to carry. Moreover, handles are designed in its structure for the convenience of worker’s carrying. For driving system, a two-wheel driving system is designed to adapt various sidewalks. For litter collection system, a robotic arm with four-finger grippers is designed to pick up litter on the sidewalk, and two standard bins are used to contain recyclable and non-recyclable litter separately. Vision system is designed to detect presence and type of litter, so litter will be placed to different bins accordingly. Navigation system is included to enable the robot patrol along the pre-designed path. By applying abovementioned design, this litter collection robot provides a new autonomous approach for urban sanitation work in collecting and sorting litter on sidewalk.
{"title":"Design of Litter Collection Robot for Urban Environment","authors":"Jian Su, Yu Cao, Anqi Tang, Siyuan Wang, Janet Dong","doi":"10.1115/imece2021-69732","DOIUrl":"https://doi.org/10.1115/imece2021-69732","url":null,"abstract":"\u0000 Keeping sidewalks clean and tidy is a continuously tough task in modern urban environment, traditional solution of cleaning sidewalk is sanitation workers’ manual sweeping. However, manual work is inefficient, laboring intensive and dirty. Main pollutants on the urban sidewalks are simple litter, they consist of recyclable waste such as paper, cardboard and metal cans, and non-recyclable waste like foam and food residue. Thus, the litter on sidewalks can be cleaned, collected and sorted by robots. This paper will discuss the entire design process of a novel litter collection mobile robot for urban sidewalks, including robot structure, drive system, litter collection mechanisms, and stress analysis and motion simulation. This robot can patrol on the sidewalks in urban environment while collecting and sorting litter along the way.\u0000 Currently, for cleaning the road on urban street, motor sweeper vehicles are used. There are no motorized vehicles used to clean the sidewalks. Therefore, this robotic approach will fill the gap, avoiding inefficient and overwhelmed manual work. The robot is designed to adapt various terrains of sidewalks such as brick pavements, cement sidewalks, and asphalt sidewalks. The size of the robot is designed to fit most of sidewalks according to research of sidewalk standards.\u0000 The litter collection robot consists of a robust chassis, a driving system, a litter collection system, a sensor system for obstacles avoiding, a navigation system for autonomous control and a vision system for litter sorting. For chassis, based on research on sidewalk size standard, its width is designed less than 80 cm to fit inside the sidewalk and at the same time leave enough space for pedestrians passing robot and conducting normal activities. Its height is designed more than 80cm (including robot arm) to make sure it can be noticed by pedestrians, which will avoid potential safety hazard to pedestrians. The weight of the robot is designed to be light weighted to make the robot easy to carry. Moreover, handles are designed in its structure for the convenience of worker’s carrying. For driving system, a two-wheel driving system is designed to adapt various sidewalks. For litter collection system, a robotic arm with four-finger grippers is designed to pick up litter on the sidewalk, and two standard bins are used to contain recyclable and non-recyclable litter separately. Vision system is designed to detect presence and type of litter, so litter will be placed to different bins accordingly. Navigation system is included to enable the robot patrol along the pre-designed path. By applying abovementioned design, this litter collection robot provides a new autonomous approach for urban sanitation work in collecting and sorting litter on sidewalk.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86881251","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}
Many dynamical systems experience inputs that are difficult to measure. Knowledge of these unknown inputs, from estimation techniques, may improve the performance of a system. However, there may be uncertainty in both the linear model of the plant and the unknown input. An architecture for the estimation of an unknown input simultaneously with the plant internal states is presented. The architecture allows for error in the realization of the dynamical model, which is corrected using an adaptive feedback term. This allows the estimator to recover the correct physical structure of the plant dynamics. Crucial to the approach is an internal model of the unknown input which is generated by an ordinary differential equation. Discussion on the advantages and disadvantages of the input generator follow, along with general considerations for the selection of basis functions for an unknown function space. Convergence proofs are presented along with illustrative examples to demonstrate the theoretical results. This novel scheme will allow for the reliable online estimates of an unknown input with known waveform while also recovering the physical structure of the internal dynamics.
{"title":"An Adaptive Control Framework for Unknown Input Estimation","authors":"Tristan D. Griffith, M. Balas","doi":"10.1115/imece2021-67484","DOIUrl":"https://doi.org/10.1115/imece2021-67484","url":null,"abstract":"\u0000 Many dynamical systems experience inputs that are difficult to measure. Knowledge of these unknown inputs, from estimation techniques, may improve the performance of a system. However, there may be uncertainty in both the linear model of the plant and the unknown input. An architecture for the estimation of an unknown input simultaneously with the plant internal states is presented. The architecture allows for error in the realization of the dynamical model, which is corrected using an adaptive feedback term. This allows the estimator to recover the correct physical structure of the plant dynamics. Crucial to the approach is an internal model of the unknown input which is generated by an ordinary differential equation. Discussion on the advantages and disadvantages of the input generator follow, along with general considerations for the selection of basis functions for an unknown function space. Convergence proofs are presented along with illustrative examples to demonstrate the theoretical results. This novel scheme will allow for the reliable online estimates of an unknown input with known waveform while also recovering the physical structure of the internal dynamics.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91001633","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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