Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.10.784-792
K. Sherov, Isa Kuanov, Yernat Imanbaev, M. Mussayev, N. Karsakova, B. Mardonov, Lutfiddin Makhmudov
—This article presents the research results aimed at solving the problem of ensuring the hardness of welded surfaces after a machining treatment. Two methods of the thermal friction milling are proposed as a mechanical treatment – a traditional thermal friction milling and a thermal friction milling with a pulse cooling. For the experimental research the planning of experiment was carried out and the necessary number of the carried-out experiments was determined. For a processing were prepared special samples with a welded layer of the welding material, which is used in the production of LLP "Electric locomotive assembly factory" (Nur-Sultan, Kazakhstan). The results of the experimental studies have shown that both methods of the thermal friction milling provide an increase in the hardness of the welded surface. The influence of the milling modes on the hardness of the machined surface was also investigated. Optimal values of the milling modes, which provide an increase in the initial hardness of the machined surface, were established. Simulation of the process of the thermal friction milling modes and analysis of the achieved hardness of the machined surface were performed.
{"title":"The Investigation and Improvement of the Hardness of the Clad Surface by Thermal Friction Milling Methods","authors":"K. Sherov, Isa Kuanov, Yernat Imanbaev, M. Mussayev, N. Karsakova, B. Mardonov, Lutfiddin Makhmudov","doi":"10.18178/ijmerr.11.10.784-792","DOIUrl":"https://doi.org/10.18178/ijmerr.11.10.784-792","url":null,"abstract":"—This article presents the research results aimed at solving the problem of ensuring the hardness of welded surfaces after a machining treatment. Two methods of the thermal friction milling are proposed as a mechanical treatment – a traditional thermal friction milling and a thermal friction milling with a pulse cooling. For the experimental research the planning of experiment was carried out and the necessary number of the carried-out experiments was determined. For a processing were prepared special samples with a welded layer of the welding material, which is used in the production of LLP \"Electric locomotive assembly factory\" (Nur-Sultan, Kazakhstan). The results of the experimental studies have shown that both methods of the thermal friction milling provide an increase in the hardness of the welded surface. The influence of the milling modes on the hardness of the machined surface was also investigated. Optimal values of the milling modes, which provide an increase in the initial hardness of the machined surface, were established. Simulation of the process of the thermal friction milling modes and analysis of the achieved hardness of the machined surface were performed.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67495601","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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.10.793-800
I. Daniyan, K. Mpofu, A. Adeodu, I. Uchegbu
—Surface roughness is a quality index which partly determines the ability of a material to meet its service or functional requirements. In this study, the Response Surface Methodology (RSM) was used for numerical analysis of the pocket milling operation of AISI D3 alloy steel and this was validated via physical experimentations. The physical experimentations were carried with the aid of a Deckel Maho DMU80mono BLOCK 5-axis CNC milling machine. The range of the process parameters selected include; feed rate between 0.1-0.5 mm/rev, depth of cut between 1- 3 mm and speed of cut between 150-375 m/min. The RSM generated 20 possible experimental runs while their responses (surface roughness) were gotten from physical experimentations. The results of the physical experimentations serve as input into the numerical analysis carried out using the RSM. This was used to obtain a predictive model equation for determining the magnitude of surface roughness as a function of the three cutting parameters employed (feed rate, depth of cut and cutting speed). Furthermore, the optimisation of the solutions obtained generated 10 possible solutions whose desirability values were equal to 1. The findings of this study may assist machinist in achieving good surface quality during the milling operation of AISI D3 alloy steel.
{"title":"Numerical and Experimental Analysis of Surface Roughness of AISI D3 Alloy Steel during Pocket Milling Operation","authors":"I. Daniyan, K. Mpofu, A. Adeodu, I. Uchegbu","doi":"10.18178/ijmerr.11.10.793-800","DOIUrl":"https://doi.org/10.18178/ijmerr.11.10.793-800","url":null,"abstract":"—Surface roughness is a quality index which partly determines the ability of a material to meet its service or functional requirements. In this study, the Response Surface Methodology (RSM) was used for numerical analysis of the pocket milling operation of AISI D3 alloy steel and this was validated via physical experimentations. The physical experimentations were carried with the aid of a Deckel Maho DMU80mono BLOCK 5-axis CNC milling machine. The range of the process parameters selected include; feed rate between 0.1-0.5 mm/rev, depth of cut between 1- 3 mm and speed of cut between 150-375 m/min. The RSM generated 20 possible experimental runs while their responses (surface roughness) were gotten from physical experimentations. The results of the physical experimentations serve as input into the numerical analysis carried out using the RSM. This was used to obtain a predictive model equation for determining the magnitude of surface roughness as a function of the three cutting parameters employed (feed rate, depth of cut and cutting speed). Furthermore, the optimisation of the solutions obtained generated 10 possible solutions whose desirability values were equal to 1. The findings of this study may assist machinist in achieving good surface quality during the milling operation of AISI D3 alloy steel.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67495634","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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.1.1-7
Ryuichi Tsutada, Trong-Thuc Hoang, C. Pham
An inverted pendulum is an inherently unstable system and cannot be maintained in a balancing state without control. There are several types of inverted pendulums, such as truck-type inverted pendulums, wheel-type inverted pendulums and rotary-type inverted pendulums. In this paper, we focus on a two-wheeled self-balancing robot (TWSBR) based on the wheel-type inverted pendulum. TWSBR can be controlled by many different methods. The most common method to control TWSBR is to use PID controller [1]. In [2], state feedback control by Linear Quadratic Regulator (LQR) is proposed. It is common that microprocessors such as ARM Cortex-M4 [3], STM32 [4] and AVR [5], [6] have been used to control TWSBR. Also, obstacle avoidance of robots has been researched for many years and many methods are adopted fuzzy inference. In [7], obstacle avoidance by multiple ultrasonic sensors for TWSBR is proposed.
{"title":"An Obstacle Avoidance Two-Wheeled Self-Balancing Robot","authors":"Ryuichi Tsutada, Trong-Thuc Hoang, C. Pham","doi":"10.18178/ijmerr.11.1.1-7","DOIUrl":"https://doi.org/10.18178/ijmerr.11.1.1-7","url":null,"abstract":"An inverted pendulum is an inherently unstable system and cannot be maintained in a balancing state without control. There are several types of inverted pendulums, such as truck-type inverted pendulums, wheel-type inverted pendulums and rotary-type inverted pendulums. In this paper, we focus on a two-wheeled self-balancing robot (TWSBR) based on the wheel-type inverted pendulum. TWSBR can be controlled by many different methods. The most common method to control TWSBR is to use PID controller [1]. In [2], state feedback control by Linear Quadratic Regulator (LQR) is proposed. It is common that microprocessors such as ARM Cortex-M4 [3], STM32 [4] and AVR [5], [6] have been used to control TWSBR. Also, obstacle avoidance of robots has been researched for many years and many methods are adopted fuzzy inference. In [7], obstacle avoidance by multiple ultrasonic sensors for TWSBR is proposed.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67495903","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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.10.737-744
Chin-Yi Cheng, Jhy-Chyang Renn, I. Saputra, Chen-En Shi
— Grasping an unstructured object and setting the required air pressure is a significant problem for a soft robotic gripper. However, most extant Soft Robotic Grippers struggle to create this function automatically and efficiently. This article develops a new approach to an automated control method for a gripper using the NI Vision Builder Automated Inspection (VBAI) to create an intelligent robotic gripper based on the LabVIEW program. Machine vision and object classification methods were used in this experiment to get information about each object to be gripped. This system has collaborated between measurement and gripping tasks in real-time. Using the state diagram design, detecting and classifying objects at the point of placement found that the state diagram can detect and categorize all measured things precisely according to their actual size with an accuracy of ±0.5 millimeters. Furthermore, from the data obtained by utilizing the NI Distributed system manager feature to transmit data in real-time into the gripper control program, it was found that the gripper can grip perfectly with the automation system that has been built.
{"title":"Smart Grasping of a Soft Robotic Gripper Using NI Vision Builder Automated Inspection Based on LabVIEW Program","authors":"Chin-Yi Cheng, Jhy-Chyang Renn, I. Saputra, Chen-En Shi","doi":"10.18178/ijmerr.11.10.737-744","DOIUrl":"https://doi.org/10.18178/ijmerr.11.10.737-744","url":null,"abstract":"— Grasping an unstructured object and setting the required air pressure is a significant problem for a soft robotic gripper. However, most extant Soft Robotic Grippers struggle to create this function automatically and efficiently. This article develops a new approach to an automated control method for a gripper using the NI Vision Builder Automated Inspection (VBAI) to create an intelligent robotic gripper based on the LabVIEW program. Machine vision and object classification methods were used in this experiment to get information about each object to be gripped. This system has collaborated between measurement and gripping tasks in real-time. Using the state diagram design, detecting and classifying objects at the point of placement found that the state diagram can detect and categorize all measured things precisely according to their actual size with an accuracy of ±0.5 millimeters. Furthermore, from the data obtained by utilizing the NI Distributed system manager feature to transmit data in real-time into the gripper control program, it was found that the gripper can grip perfectly with the automation system that has been built.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"10 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67495994","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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.6.445-451
N. Quoc, Nguyen Vo Tam Toan, Tran The Luc, Nguyen Truong Thinh
—In this paper, a limb rehabilitation system based on the integration of Augmented Reality (AR) and Artificial Intelligence (AI) technology, which is called RAA, is introduced. By creating rehabilitation exercises on a physical system with a crank and pedal mechanism with an AR interface, the RAA enhances the patient’s incentive to exercise. Therefore, the efficacy of practice is increased. In addition, the AI platform serves as a medical assistant for patients by suggesting practicing courses according to Fuzzy logic. Furthermore, using the Perceptron network and Microsoft Kinect, the RAA can assess and correct a patient’s exercise posture, thereby decreasing reliance on physiotherapists. Training data is stored by the system during exercise, which is a critical parameter for analyzing and assessing recovery. Two experimental processes ( n = 20 ) were conducted to assess the efficacy of the RAA, yielding promising results.
{"title":"A Limb Rehabilitation Training System Based on Augmented Reality and Artificial Intelligence","authors":"N. Quoc, Nguyen Vo Tam Toan, Tran The Luc, Nguyen Truong Thinh","doi":"10.18178/ijmerr.11.6.445-451","DOIUrl":"https://doi.org/10.18178/ijmerr.11.6.445-451","url":null,"abstract":"—In this paper, a limb rehabilitation system based on the integration of Augmented Reality (AR) and Artificial Intelligence (AI) technology, which is called RAA, is introduced. By creating rehabilitation exercises on a physical system with a crank and pedal mechanism with an AR interface, the RAA enhances the patient’s incentive to exercise. Therefore, the efficacy of practice is increased. In addition, the AI platform serves as a medical assistant for patients by suggesting practicing courses according to Fuzzy logic. Furthermore, using the Perceptron network and Microsoft Kinect, the RAA can assess and correct a patient’s exercise posture, thereby decreasing reliance on physiotherapists. Training data is stored by the system during exercise, which is a critical parameter for analyzing and assessing recovery. Two experimental processes ( n = 20 ) were conducted to assess the efficacy of the RAA, yielding promising results.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496917","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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.7.535-541
John M. Guirguis, S. Hammad, S. Maged
In this paper, an adaptive Model Predictive Controller (MPC) is proposed as a solution for path tracking control problem for autonomous vehicles. The effect of feeding the MPC with a continuously changing vehicle’s mathematical model is studied, so that the controller becomes more adaptable to changing parameter values accompanied with instantaneous states. The proposed MPC is compared with both Stanley controller and a similar MPC that uses a fixed vehicle model. The performance is measured by the ability to minimize both lateral position and heading angle errors. A dynamic bicycle model for the vehicle is deployed in the MPC and the controllers are simulated in CarSimMATLAB/Simulink co-simulation environment using three common maneuvers: S-Road, double lane change and curved road. Results show that the proposed controller gives better tracking performance than the two others with minimal instantaneous and root mean square RMS errors.
{"title":"Path Tracking Control Based on an Adaptive MPC to Changing Vehicle Dynamics","authors":"John M. Guirguis, S. Hammad, S. Maged","doi":"10.18178/ijmerr.11.7.535-541","DOIUrl":"https://doi.org/10.18178/ijmerr.11.7.535-541","url":null,"abstract":"In this paper, an adaptive Model Predictive Controller (MPC) is proposed as a solution for path tracking control problem for autonomous vehicles. The effect of feeding the MPC with a continuously changing vehicle’s mathematical model is studied, so that the controller becomes more adaptable to changing parameter values accompanied with instantaneous states. The proposed MPC is compared with both Stanley controller and a similar MPC that uses a fixed vehicle model. The performance is measured by the ability to minimize both lateral position and heading angle errors. A dynamic bicycle model for the vehicle is deployed in the MPC and the controllers are simulated in CarSimMATLAB/Simulink co-simulation environment using three common maneuvers: S-Road, double lane change and curved road. Results show that the proposed controller gives better tracking performance than the two others with minimal instantaneous and root mean square RMS errors.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497217","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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.7.542-548
Juan C. Guacheta Alba, Diego A. Nunez, M. Mauledoux, Oscar Avilés
For the construction of a piece using additive manufacturing technology, there are several methods of toolpath planning, which affect the quality and quantity of material deposited. In this document, we take an approach to commonly used patterns, and propose two path planning techniques based on contour-parallel and Hilbert curves, applying a smoothing process on them. To evaluate these methods, the areas of overfilling, underfilling and external filling are quantified; as well as the length of the deposited material, the travel moves and the estimated time in the printing process. A comparison is presented with the trajectories offered by a commercial software. The planning and quantization method has been implemented in MATLAB and evaluated on diverse geometries to be filled.
{"title":"Deposition Toolpath Pattern Comparison: Contour-Parallel and Hilbert Curve Application","authors":"Juan C. Guacheta Alba, Diego A. Nunez, M. Mauledoux, Oscar Avilés","doi":"10.18178/ijmerr.11.7.542-548","DOIUrl":"https://doi.org/10.18178/ijmerr.11.7.542-548","url":null,"abstract":"For the construction of a piece using additive manufacturing technology, there are several methods of toolpath planning, which affect the quality and quantity of material deposited. In this document, we take an approach to commonly used patterns, and propose two path planning techniques based on contour-parallel and Hilbert curves, applying a smoothing process on them. To evaluate these methods, the areas of overfilling, underfilling and external filling are quantified; as well as the length of the deposited material, the travel moves and the estimated time in the printing process. A comparison is presented with the trajectories offered by a commercial software. The planning and quantization method has been implemented in MATLAB and evaluated on diverse geometries to be filled.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497271","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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.8.622-630
laylaa EL-Tehewy, Mohamed A. Shamseldin, M. Sallam, A. Ghany
—Pantograph Robot Mechanism is considered a type of parallel manipulator which has been developed largely for industrial applications that need high accuracy and speed. Whereas, it needs a high-performance controller to track preselected trajectory planning. It is also able to carry higher weights than the open-chain mechanism with suitable accuracy and stability; this is because it consists of four active links and one passive link, instead of two links as in the open chain. This study presents a mathematical model for a closed chain pantograph mechanism, where the boundary conditions are taken into account. A complete MATLAB Simulink has been developed to simulate the dynamics of the pantograph robot mechanism. To validate the proposed mathematical model of the pantograph, the corresponding Simscape model had been developed. Also, two different tracking controllers were designed. The first control is the PID controller which had optimized by Flower Pollination (FP) optimization. The second control is an enhanced Nonlinear PID (NLPID) controller where its parameters were obtained by Flower Pollination (FP) optimization based on the effective objective function. A rectangular trajectory was selected to be a position reference of the end effector of the pantograph robot. This task was done using the proposed controllers to investigate the performance. The results show that the NLPID controller-based FP has a better performance compared to the PID controller. The end effector has a less rise time and settling time with high accuracy in the case of the NLPID controller.
{"title":"Optimal Flower Pollination Based Nonlinear PID Controller for Pantograph Robot Mechanism","authors":"laylaa EL-Tehewy, Mohamed A. Shamseldin, M. Sallam, A. Ghany","doi":"10.18178/ijmerr.11.8.622-630","DOIUrl":"https://doi.org/10.18178/ijmerr.11.8.622-630","url":null,"abstract":"—Pantograph Robot Mechanism is considered a type of parallel manipulator which has been developed largely for industrial applications that need high accuracy and speed. Whereas, it needs a high-performance controller to track preselected trajectory planning. It is also able to carry higher weights than the open-chain mechanism with suitable accuracy and stability; this is because it consists of four active links and one passive link, instead of two links as in the open chain. This study presents a mathematical model for a closed chain pantograph mechanism, where the boundary conditions are taken into account. A complete MATLAB Simulink has been developed to simulate the dynamics of the pantograph robot mechanism. To validate the proposed mathematical model of the pantograph, the corresponding Simscape model had been developed. Also, two different tracking controllers were designed. The first control is the PID controller which had optimized by Flower Pollination (FP) optimization. The second control is an enhanced Nonlinear PID (NLPID) controller where its parameters were obtained by Flower Pollination (FP) optimization based on the effective objective function. A rectangular trajectory was selected to be a position reference of the end effector of the pantograph robot. This task was done using the proposed controllers to investigate the performance. The results show that the NLPID controller-based FP has a better performance compared to the PID controller. The end effector has a less rise time and settling time with high accuracy in the case of the NLPID controller.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497434","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}
{"title":"Simulation Study on Cross Flow Turbine Performance with an Angle of 20 ° to the Variation of the Number of Blades","authors":"Purwanto, Budiono, Hermawan, Dandun Mahesa Prabowoputra","doi":"10.18178/ijmerr.11.1.31-36","DOIUrl":"https://doi.org/10.18178/ijmerr.11.1.31-36","url":null,"abstract":"","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67495921","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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