Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.2.78-83
G. Popov, V. Zubanov, E. Goriachkin, A. Scherban, A. Shvyrev
—The paper describes the results of the first step of the research team of the Department of Theory of Aircraft Engines to modernize the working process of a cooled axial two-stage high pressure turbine. The paper describes 2 numerical models of the turbine. The first one is with a small number of finite volumes. It is relatively accurate, but requires moderate computer resources to obtain results. The application of this model is planned for the optimisation process. The second one is with a large number of finite volumes. It is expected to have lower error rate and high computational cost. It will be used by the authors for verification calculations to check the found optimal variants and to choose the final variant. The created numerical models are verified by the available experimental data. The paper substantiates the choice of the number of finite volumes in the annular section of the blade passage, as well as their distribution along the blade height. It is shown that the integral parameters of the turbine obtained in the calculation lie in the scatter field of experimental data.
{"title":"Verification of a Numerical Model of a Two-Stage HPT of a Modern GTE for Civil Aviation","authors":"G. Popov, V. Zubanov, E. Goriachkin, A. Scherban, A. Shvyrev","doi":"10.18178/ijmerr.12.2.78-83","DOIUrl":"https://doi.org/10.18178/ijmerr.12.2.78-83","url":null,"abstract":"—The paper describes the results of the first step of the research team of the Department of Theory of Aircraft Engines to modernize the working process of a cooled axial two-stage high pressure turbine. The paper describes 2 numerical models of the turbine. The first one is with a small number of finite volumes. It is relatively accurate, but requires moderate computer resources to obtain results. The application of this model is planned for the optimisation process. The second one is with a large number of finite volumes. It is expected to have lower error rate and high computational cost. It will be used by the authors for verification calculations to check the found optimal variants and to choose the final variant. The created numerical models are verified by the available experimental data. The paper substantiates the choice of the number of finite volumes in the annular section of the blade passage, as well as their distribution along the blade height. It is shown that the integral parameters of the turbine obtained in the calculation lie in the scatter field of experimental data.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497691","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 : 2023-01-01DOI: 10.18178/ijmerr.12.1.48-56
G. Popov, V. Zubanov, E. Goriachkin, A. Shcherban, A. Shvyrev
— The paper describes an optimization process of an axial two-stage high-pressure turbine (HPT) of a gas turbine engine (GTE) for a civil aviation aircraft. This turbine was optimized to increase efficiency and reduce the output swirl gradient. The original turbine has a high efficiency so no significant improvement of efficiency was found using conventional approaches. A large number of variables must be used to describe the process, and the computational model, taking into account film cooling modeling, is time consuming and computationally intensive. In this regard, direct optimization did not provide a meaningful result. For this reason, a series of optimization problems were solved by varying the parameterization schemes, the number of variable sections, the grid of finite volumes and the degree of detailing of the mathematical model. During the optimization process, the issues of ensuring the strength and service life of the blades were not considered, however, the range of changes in the geometry of the blades was chosen in such a way as to prevent a significant deterioration in the strength parameters. As a result, 2 variants of optimization of turbine geometry have been found: the first variant in which only forms of control sections of blades (2D form) changed allowed to increase efficiency by 0.37 %. The second variant in which both shape of profiles and their mutual position relative to each other were changed (2D and 3D form) allowed to increase efficiency by 0.63% at significant decrease of gradient of the flow exit angle.
{"title":"Optimization of the Working Process of a Two-Stage HPT of a Modern GTE for Civil Aviation","authors":"G. Popov, V. Zubanov, E. Goriachkin, A. Shcherban, A. Shvyrev","doi":"10.18178/ijmerr.12.1.48-56","DOIUrl":"https://doi.org/10.18178/ijmerr.12.1.48-56","url":null,"abstract":"— The paper describes an optimization process of an axial two-stage high-pressure turbine (HPT) of a gas turbine engine (GTE) for a civil aviation aircraft. This turbine was optimized to increase efficiency and reduce the output swirl gradient. The original turbine has a high efficiency so no significant improvement of efficiency was found using conventional approaches. A large number of variables must be used to describe the process, and the computational model, taking into account film cooling modeling, is time consuming and computationally intensive. In this regard, direct optimization did not provide a meaningful result. For this reason, a series of optimization problems were solved by varying the parameterization schemes, the number of variable sections, the grid of finite volumes and the degree of detailing of the mathematical model. During the optimization process, the issues of ensuring the strength and service life of the blades were not considered, however, the range of changes in the geometry of the blades was chosen in such a way as to prevent a significant deterioration in the strength parameters. As a result, 2 variants of optimization of turbine geometry have been found: the first variant in which only forms of control sections of blades (2D form) changed allowed to increase efficiency by 0.37 %. The second variant in which both shape of profiles and their mutual position relative to each other were changed (2D and 3D form) allowed to increase efficiency by 0.63% at significant decrease of gradient of the flow exit angle.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497948","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":"Attempt Towards Automated Guided System for Cage-free Raising Egg Harvesting","authors":"Rubel Ahmed, Takahashi Kei, Wumenjiang Abudoula, T. Miyoshi, Nobuya Tanimoto, Kazuaki Oozeki","doi":"10.18178/ijmerr.12.4.216-222","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.216-222","url":null,"abstract":".","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498347","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 : 2023-01-01DOI: 10.18178/ijmerr.12.5.258-263
Kazuho Kobayashi, Takehiro Higuchi, Seiya Ueno
—Supervision and interventions by operators are essential but restrictive factors for robotic swarm operations, whereas they may also enhance system capability. With the aim of demonstrating this positive effect, this research proposes the hierarchical organization and subgroup forming of robotic swarms for effective use of the interventions. Each robot acts as one of four roles and organizes the swarm hierarchically according to its respective role. The interventions are modelized as instructions to inform the required number of robots to handle a task during patrol missions. The instructions propagate among robots to form a subgroup with the required number of robots and handle the task while the remained robots continue patrolling. The tasks are highly simplified, only requiring the robots to stay nearby each task for a certain period. Simulation results showed that the proposed scheme improved performance regarding the number of completed tasks and required time for each task during patrol missions. The results quantitatively demonstrated that the supervision and interventions on robotic swarms might enhance their capabilities.
{"title":"Hierarchical Control and Subgroup Formation for the Robotic Swarms in Patrol Missions","authors":"Kazuho Kobayashi, Takehiro Higuchi, Seiya Ueno","doi":"10.18178/ijmerr.12.5.258-263","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.258-263","url":null,"abstract":"—Supervision and interventions by operators are essential but restrictive factors for robotic swarm operations, whereas they may also enhance system capability. With the aim of demonstrating this positive effect, this research proposes the hierarchical organization and subgroup forming of robotic swarms for effective use of the interventions. Each robot acts as one of four roles and organizes the swarm hierarchically according to its respective role. The interventions are modelized as instructions to inform the required number of robots to handle a task during patrol missions. The instructions propagate among robots to form a subgroup with the required number of robots and handle the task while the remained robots continue patrolling. The tasks are highly simplified, only requiring the robots to stay nearby each task for a certain period. Simulation results showed that the proposed scheme improved performance regarding the number of completed tasks and required time for each task during patrol missions. The results quantitatively demonstrated that the supervision and interventions on robotic swarms might enhance their capabilities.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136206950","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 : 2023-01-01DOI: 10.18178/ijmerr.12.6.401-409
Wesley Emile Dharmalingum, Jared Padayachee
—The paper presents the design and development of a novel five Degree of Freedom (DOF) Parallel Kinematic Manipulator (PKM) which possesses 3 pairs of coplanar limbs with nested kinematic chains. The design employs actuated prismatic joints and passive revolute joints. Universal joints were decoupled into individual revolute joints to achieve a high rotational range of the end effector about two axes. A pair of coplanar limbs exhibited either a Parallelogram (Pa) or an Irregular Quadrilateral (IQ) structure which was dependent on the orientation of the end effector. The PKM, named the 2-R (Pa-IQ) RR, R(Pa-IQ) R manipulator, possesses three translational DOFs, two rotational DOFs and a parasitic rotational DOF. The inverse kinematic analysis was solved by applying the vector method twice. SolidWorks® and MATLAB® simulations were used to validate the inverse kinematic equations. The Monte Carlo method was used to generate the workspace volume. An additive manufactured desktop prototype was developed and used for testing and experimentation.
{"title":"A Spatial Parallel Kinematic Manipulator with Nested Kinematic Chains and High Rotational Range","authors":"Wesley Emile Dharmalingum, Jared Padayachee","doi":"10.18178/ijmerr.12.6.401-409","DOIUrl":"https://doi.org/10.18178/ijmerr.12.6.401-409","url":null,"abstract":"—The paper presents the design and development of a novel five Degree of Freedom (DOF) Parallel Kinematic Manipulator (PKM) which possesses 3 pairs of coplanar limbs with nested kinematic chains. The design employs actuated prismatic joints and passive revolute joints. Universal joints were decoupled into individual revolute joints to achieve a high rotational range of the end effector about two axes. A pair of coplanar limbs exhibited either a Parallelogram (Pa) or an Irregular Quadrilateral (IQ) structure which was dependent on the orientation of the end effector. The PKM, named the 2-R (Pa-IQ) RR, R(Pa-IQ) R manipulator, possesses three translational DOFs, two rotational DOFs and a parasitic rotational DOF. The inverse kinematic analysis was solved by applying the vector method twice. SolidWorks® and MATLAB® simulations were used to validate the inverse kinematic equations. The Monte Carlo method was used to generate the workspace volume. An additive manufactured desktop prototype was developed and used for testing and experimentation.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134888205","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 : 2023-01-01DOI: 10.18178/ijmerr.12.6.339-346
Michael Baranowski, Nikolas Matkovic, Sebastian Kleim, Marco Friedmann, Jürgen Fleischer, Marlies Springmann, Peter Middendorf, Adrian Schäfer, Marcel Waldhof, Nejila Parspour
.
{"title":"Additive-Subtractive Process Chain for Highly Functional Polymer Components","authors":"Michael Baranowski, Nikolas Matkovic, Sebastian Kleim, Marco Friedmann, Jürgen Fleischer, Marlies Springmann, Peter Middendorf, Adrian Schäfer, Marcel Waldhof, Nejila Parspour","doi":"10.18178/ijmerr.12.6.339-346","DOIUrl":"https://doi.org/10.18178/ijmerr.12.6.339-346","url":null,"abstract":".","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134888258","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 : 2023-01-01DOI: 10.18178/ijmerr.12.4.192-199
Alexandra Dobrokvashina, Roman Lavrenov, E. Magid, Yang Bai, M. Svinin
.
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{"title":"How to Create a New Model of a Mobile Robot in ROS/Gazebo Environment: An Extended Tutorial","authors":"Alexandra Dobrokvashina, Roman Lavrenov, E. Magid, Yang Bai, M. Svinin","doi":"10.18178/ijmerr.12.4.192-199","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.192-199","url":null,"abstract":".","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497581","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 : 2023-01-01DOI: 10.18178/ijmerr.12.4.239-248
Mohamed Aly Abdel Kader, A. Aannaque
—Kinematic chain synthesis normally begins with the generation of a comprehensive list of candidate solutions followed by a time-consuming procedure for isomorph elimination. As a result, the search for isomorphisms in kinematic chains has long attracted the attention of many researchers. Several methods and algorithms have been proposed in the past. Nonetheless, the field still needs fast, efficient and reliable means to prevent duplications across kinematic chains (KC) (i.e., isomorphisms), particularly for configurations with a significant number of bars. Mechanical designers are resorting to kinematic chains and mechanisms with multiple bars to accomplish more complex operations and movements. This complicates the procedure of determining isomorphism. In this paper, we present a simple and efficient method for identifying isomorphisms in kinematic chains by employing a reduced graph matrix, which reduces the adjacency matrix into a compact matrix corresponding to linkages between non-binary bars while implicitly accounting for binary bars. The algorithm’s efficiency and computing complexity are assessed for a number of published situations, including single-joint kinematic chains with 8, 10, 12 bars, and three-complex 13, 15, 28 bars, and lastly 42-bar kinematic chains. This comparison demonstrates the validity and effectiveness of the proposed method.
{"title":"Identification of Isomorphism in Kinematic Chains by Using the Reduced Graph Matrix","authors":"Mohamed Aly Abdel Kader, A. Aannaque","doi":"10.18178/ijmerr.12.4.239-248","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.239-248","url":null,"abstract":"—Kinematic chain synthesis normally begins with the generation of a comprehensive list of candidate solutions followed by a time-consuming procedure for isomorph elimination. As a result, the search for isomorphisms in kinematic chains has long attracted the attention of many researchers. Several methods and algorithms have been proposed in the past. Nonetheless, the field still needs fast, efficient and reliable means to prevent duplications across kinematic chains (KC) (i.e., isomorphisms), particularly for configurations with a significant number of bars. Mechanical designers are resorting to kinematic chains and mechanisms with multiple bars to accomplish more complex operations and movements. This complicates the procedure of determining isomorphism. In this paper, we present a simple and efficient method for identifying isomorphisms in kinematic chains by employing a reduced graph matrix, which reduces the adjacency matrix into a compact matrix corresponding to linkages between non-binary bars while implicitly accounting for binary bars. The algorithm’s efficiency and computing complexity are assessed for a number of published situations, including single-joint kinematic chains with 8, 10, 12 bars, and three-complex 13, 15, 28 bars, and lastly 42-bar kinematic chains. This comparison demonstrates the validity and effectiveness of the proposed method.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498456","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 : 2023-01-01DOI: 10.18178/ijmerr.12.5.284-289
Priyo A. Setiawan, Triyogi Yuwono, Projek P. S. Lukitadi, Emie Santoso, Nopem Ariwiyono, Muhammad Shah, Bambang Antoko, Budi Prasojo, Endang P. Purwanti, Edy P. Hidayat
.
{"title":"Experimental Investigation of Cylinder Rotation Effect on the Advancing Side to Savonius Wind Turbine Performance","authors":"Priyo A. Setiawan, Triyogi Yuwono, Projek P. S. Lukitadi, Emie Santoso, Nopem Ariwiyono, Muhammad Shah, Bambang Antoko, Budi Prasojo, Endang P. Purwanti, Edy P. Hidayat","doi":"10.18178/ijmerr.12.5.284-289","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.284-289","url":null,"abstract":".","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136207146","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 : 2023-01-01DOI: 10.18178/ijmerr.12.6.378-384
I Wayan Widhiada, I Gusti Bagus Wijaya Kusuma, Anak Agung Gede Pradnyana Diputra, I Made Putra Arya Winata, I Gusti Komang Dwijana
—The purpose of this paper is to show the robot’s bionic legs can be moved automatically by applying a deep learning neural network as a control system to improve the function of the bionic legs. The deep learning neural network control system resembles the nerve network in the legs, so it requires a dataset of thigh muscle strength variations, and knee joint angles during the process of walking, going up and down stairs. This dataset is used in the design using the Recurrent Neural Network-Long Short-Term Memory (RNN-LSTM) model through a training process so that an optimal model is obtained using the Tensor flow API to be implemented into the prosthetic leg system. Deep learning control systems require a lot of data for model training, so this study uses a combination of sensors, namely the FSR402 sensor and the MPU sensor. By using a control system based on RNN-LSTM the performance of the robot’s leg movements is better and has a very small error.
{"title":"Implementation of Neural Network Control for Foot Prosthesis as Foot Function Reconstruction in Post-Amputation Patients","authors":"I Wayan Widhiada, I Gusti Bagus Wijaya Kusuma, Anak Agung Gede Pradnyana Diputra, I Made Putra Arya Winata, I Gusti Komang Dwijana","doi":"10.18178/ijmerr.12.6.378-384","DOIUrl":"https://doi.org/10.18178/ijmerr.12.6.378-384","url":null,"abstract":"—The purpose of this paper is to show the robot’s bionic legs can be moved automatically by applying a deep learning neural network as a control system to improve the function of the bionic legs. The deep learning neural network control system resembles the nerve network in the legs, so it requires a dataset of thigh muscle strength variations, and knee joint angles during the process of walking, going up and down stairs. This dataset is used in the design using the Recurrent Neural Network-Long Short-Term Memory (RNN-LSTM) model through a training process so that an optimal model is obtained using the Tensor flow API to be implemented into the prosthetic leg system. Deep learning control systems require a lot of data for model training, so this study uses a combination of sensors, namely the FSR402 sensor and the MPU sensor. By using a control system based on RNN-LSTM the performance of the robot’s leg movements is better and has a very small error.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134888566","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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