Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.9.682-689
H. H. Sutrisno
—This study determines the cutting force characteristics of the 5-axis milling rough machining process based on the differences in cutting speed, especially on composite materials. The data generated are useful for operators in the machining process in the manufacturing industry. Simulations and experimental methods are used, and data generated from cutting force sensors are validated using mathematical models commonly used for cutting force calculations. From the obtained data, the characteristics of the cutting force influenced by the cutting speed of the machining process are further analysed. The material is a PEEK composite used by the manufacturing industry. The tool used is a material-type high-speed tool steel end mill. By using a machine-type table tilting 5-axis mill for the rough machining process, the variation in cutting speed affects the tool cutting force at each shear angle. The data showed that the lowest cutting speed produces a high cutting force on the x-axis component. In this component, the largest value is 39.73 N at a cutting speed of 18.84 m/min; at the y-axis at the same cutting speed, the largest cutting force value is 79.20 N. The z-axis component value is 16,405 N, which exhibits the lowest cut force value compared to the increase in the speed of the other cuts used in the study. The increase in tool cutting speed does not always increase the cutting force of each machining axis.
-本研究根据切削速度的差异确定了五轴铣削粗加工过程的切削力特性，特别是复合材料。生成的数据对制造业加工过程中的操作人员非常有用。采用仿真和实验方法，利用切削力计算常用的数学模型对切削力传感器产生的数据进行验证。根据得到的数据，进一步分析了切削速度对切削力的影响特性。该材料是制造业使用的PEEK复合材料。所使用的刀具为材料型高速工具钢立铣刀。采用机式工作台倾斜五轴铣床进行粗加工，切削速度的变化会影响刀具在各个剪切角处的切削力。数据表明，最低切削速度对x轴分量产生较大的切削力。在该分量中，切割速度为18.84 m/min时最大为39.73 N;在相同切削速度下，y轴上最大切削力值为79.20 N, z轴分量值为16,405 N，与研究中使用的其他切削速度的增加相比，其切削力值最低。刀具切削速度的提高并不一定增加各加工轴的切削力。
{"title":"The Characteristics of Cutting Force in the Rough Machining Process of 5-Axis Milling on PEEK Material Based on Cutting Speed Parameters","authors":"H. H. Sutrisno","doi":"10.18178/ijmerr.11.9.682-689","DOIUrl":"https://doi.org/10.18178/ijmerr.11.9.682-689","url":null,"abstract":"—This study determines the cutting force characteristics of the 5-axis milling rough machining process based on the differences in cutting speed, especially on composite materials. The data generated are useful for operators in the machining process in the manufacturing industry. Simulations and experimental methods are used, and data generated from cutting force sensors are validated using mathematical models commonly used for cutting force calculations. From the obtained data, the characteristics of the cutting force influenced by the cutting speed of the machining process are further analysed. The material is a PEEK composite used by the manufacturing industry. The tool used is a material-type high-speed tool steel end mill. By using a machine-type table tilting 5-axis mill for the rough machining process, the variation in cutting speed affects the tool cutting force at each shear angle. The data showed that the lowest cutting speed produces a high cutting force on the x-axis component. In this component, the largest value is 39.73 N at a cutting speed of 18.84 m/min; at the y-axis at the same cutting speed, the largest cutting force value is 79.20 N. The z-axis component value is 16,405 N, which exhibits the lowest cut force value compared to the increase in the speed of the other cuts used in the study. The increase in tool cutting speed does not always increase the cutting force of each machining axis.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497649","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.11.10.755-760
Tong Thi Phuong Thanh, Nguyen Truong Thinh
A parallel robot was controlled by a cable that manipulated the end effector in the workspace. The force sensor was used to measure cable force, is placed near the drum. From there, the controller computes and executes the necessary control commands. The purpose of this work is to concentrate on string tension modeling and frictional compensation. The cable tension should be adjusted within the desired range, according to the tension measurements given on the winch's pulley side, to avoid sagging cable. The accuracy of the force measured at the force sensor is influenced by the pulley system. Simulate the Dahl model and the Coulomb model, from which you select the appropriate model to compensate for friction. This frictioncompensated model shows a 65% improvement in string tension accuracy compared to the uncompensated force.
{"title":"Winch-Integrated Cable Force Measurement and Verification on Driven Cable Parallel Robot 6 D.o.F","authors":"Tong Thi Phuong Thanh, Nguyen Truong Thinh","doi":"10.18178/ijmerr.11.10.755-760","DOIUrl":"https://doi.org/10.18178/ijmerr.11.10.755-760","url":null,"abstract":"A parallel robot was controlled by a cable that manipulated the end effector in the workspace. The force sensor was used to measure cable force, is placed near the drum. From there, the controller computes and executes the necessary control commands. The purpose of this work is to concentrate on string tension modeling and frictional compensation. The cable tension should be adjusted within the desired range, according to the tension measurements given on the winch's pulley side, to avoid sagging cable. The accuracy of the force measured at the force sensor is influenced by the pulley system. Simulate the Dahl model and the Coulomb model, from which you select the appropriate model to compensate for friction. This frictioncompensated model shows a 65% improvement in string tension accuracy compared to the uncompensated force.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496038","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.11.12.937-947
Yuri Silva Vidal, David Franco Meneses Huanca, Erick Jesus Valdeiglesias Flores, Fernando Jose Uchamaco Noa, Joseph Guevara Mamani
—For the correct operation of aircraft in the aerospace industry, maintenance and inspection protocols were designed to safeguard the safety of the pilot and the integrity of the aircraft, one of the spaces difficult to access for technicians responsible for the inspection of the aircraft are air intakes, That is why the maintenance area of the Peruvian Air Force (FAP) in collaboration with the National University of San Agustin (UNSA) conducted a review of the latest technological advances in robotics applied to mobility in confined spaces similar to the air intakes of a fighter plane, classifying them according to their locomotion system in wheel robots, caterpillar, adherent and contactless, in order to qualify their possible performance in the inspection work in compliance with the requirements requested by the institutions. Two values were assigned to each technology, the first one qualifies how well it complies with the requirements based on the results exposed in the literature and the second one evaluates the importance of each requirement calculated with the Mudge diagram based on the experience of the
{"title":"Analysis of Robotics Applied to Mobility in the Air Intakes of a Fighter Aircraft","authors":"Yuri Silva Vidal, David Franco Meneses Huanca, Erick Jesus Valdeiglesias Flores, Fernando Jose Uchamaco Noa, Joseph Guevara Mamani","doi":"10.18178/ijmerr.11.12.937-947","DOIUrl":"https://doi.org/10.18178/ijmerr.11.12.937-947","url":null,"abstract":"—For the correct operation of aircraft in the aerospace industry, maintenance and inspection protocols were designed to safeguard the safety of the pilot and the integrity of the aircraft, one of the spaces difficult to access for technicians responsible for the inspection of the aircraft are air intakes, That is why the maintenance area of the Peruvian Air Force (FAP) in collaboration with the National University of San Agustin (UNSA) conducted a review of the latest technological advances in robotics applied to mobility in confined spaces similar to the air intakes of a fighter plane, classifying them according to their locomotion system in wheel robots, caterpillar, adherent and contactless, in order to qualify their possible performance in the inspection work in compliance with the requirements requested by the institutions. Two values were assigned to each technology, the first one qualifies how well it complies with the requirements based on the results exposed in the literature and the second one evaluates the importance of each requirement calculated with the Mudge diagram based on the experience of the","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496061","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.11.12.948-953
A. Vo, Thanh Nguyen Truong, Hee-Jun Kang
—This paper proposes a modified adaptive prescribed performance control method to solve motion control problems of robotic manipulators such as tracking accuracy, transient performance guarantee, convergence rate, and chattering phenomenon. A modified integral terminal sliding mode (ITSM) surface based on the error transformation and prescribed performance function (PPF) is generated to avoid singularity problems and to manage the convergence rate and steady-state of tracking errors within a predefined boundary of the control performance. Furthermore, an adaptive super-twisting reaching control (ASTwRC) law is applied to strengthen the robust performance and to deal with system uncertainties and harmful chattering. The stability of the developed controller is guaranteed using the Lyapunov theory. Several simulations on a 3-DOF robotic manipulator are implemented to investigate the effectiveness of the control solution proposal.
{"title":"A Modified Adaptive Prescribed Performance Control Method for Motion Control Problems of Robotic Manipulato","authors":"A. Vo, Thanh Nguyen Truong, Hee-Jun Kang","doi":"10.18178/ijmerr.11.12.948-953","DOIUrl":"https://doi.org/10.18178/ijmerr.11.12.948-953","url":null,"abstract":"—This paper proposes a modified adaptive prescribed performance control method to solve motion control problems of robotic manipulators such as tracking accuracy, transient performance guarantee, convergence rate, and chattering phenomenon. A modified integral terminal sliding mode (ITSM) surface based on the error transformation and prescribed performance function (PPF) is generated to avoid singularity problems and to manage the convergence rate and steady-state of tracking errors within a predefined boundary of the control performance. Furthermore, an adaptive super-twisting reaching control (ASTwRC) law is applied to strengthen the robust performance and to deal with system uncertainties and harmful chattering. The stability of the developed controller is guaranteed using the Lyapunov theory. Several simulations on a 3-DOF robotic manipulator are implemented to investigate the effectiveness of the control solution proposal.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496067","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.11.4.227-233
Ke-Xin Yang, Z. Xia, Yi-fei Wang, Li Jin
Digital twins can promote the upgrade of enterprise products through predictive analysis of production lines, operation optimization and intelligent regulation. Based on an improved adaptive filter algorithm, this paper introduces filter convergence criteria on the basis of Sage-Husa filter, which can suppress filter divergence, improve filter accuracy and stability, and propose a digital twin modeling of electrical equipment spraying production line Methods, a unified logical structure of the intelligent spraying production line is constructed, and its twin model is uniformly described, and the digital expression of the physical production line, the acquisition of characteristic data, and the fusion processing analysis are realized. Finally, the application scenarios and actual cases of the digital twin model of the intelligent production line are analyzed, which provides a solution for the realization of the digital twin of the enterprise production line.
{"title":"Research on Digital Twin Modeling Method of Electrical Equipment Spraying Production Line Based on Kalman Filter","authors":"Ke-Xin Yang, Z. Xia, Yi-fei Wang, Li Jin","doi":"10.18178/ijmerr.11.4.227-233","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.227-233","url":null,"abstract":"Digital twins can promote the upgrade of enterprise products through predictive analysis of production lines, operation optimization and intelligent regulation. Based on an improved adaptive filter algorithm, this paper introduces filter convergence criteria on the basis of Sage-Husa filter, which can suppress filter divergence, improve filter accuracy and stability, and propose a digital twin modeling of electrical equipment spraying production line Methods, a unified logical structure of the intelligent spraying production line is constructed, and its twin model is uniformly described, and the digital expression of the physical production line, the acquisition of characteristic data, and the fusion processing analysis are realized. Finally, the application scenarios and actual cases of the digital twin model of the intelligent production line are analyzed, which provides a solution for the realization of the digital twin of the enterprise production line.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496239","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.11.11.840-849
Osama, O., M. Al-Habahbeh, Romil S. Al-Adwan
—Autonomous vehicles (AV) have gained ground in recent years. However, they still use the principles of traditional vehicles in terms of design and operation. This work proposes an adaptive transportation system based on autonomous POD vehicles, and investigates a major aspect of its operation. The PODs used in the proposed system can be considered a variant version of existing autonomous PODs. However, their unique design and concept of operation enable them to operate more efficiently than existing PODs. The proposed system involves docking and undocking of these PODs based on passengers’ demands. However, during the merging process, undesired collisions could happen due to unforeseen conditions. If the approach speed is high enough, it could induce damage to the vehicles. This work investigates some possible scenarios of the potential collisions that could happen between these PODs during the merging process. Based on these scenarios, the allowed safe approach speeds are determined. These speeds can help in designing the operation of the proposed transportation system. Some of the variables considered in this work include; type of body material, shell thickness, impact speed, stress, deformation, and absorbed energy. The safe design merging speeds have been determined under different conditions.
{"title":"Optimum Approach Velocity for Twin Merging of Autonomous POD Vehicles","authors":"Osama, O., M. Al-Habahbeh, Romil S. Al-Adwan","doi":"10.18178/ijmerr.11.11.840-849","DOIUrl":"https://doi.org/10.18178/ijmerr.11.11.840-849","url":null,"abstract":"—Autonomous vehicles (AV) have gained ground in recent years. However, they still use the principles of traditional vehicles in terms of design and operation. This work proposes an adaptive transportation system based on autonomous POD vehicles, and investigates a major aspect of its operation. The PODs used in the proposed system can be considered a variant version of existing autonomous PODs. However, their unique design and concept of operation enable them to operate more efficiently than existing PODs. The proposed system involves docking and undocking of these PODs based on passengers’ demands. However, during the merging process, undesired collisions could happen due to unforeseen conditions. If the approach speed is high enough, it could induce damage to the vehicles. This work investigates some possible scenarios of the potential collisions that could happen between these PODs during the merging process. Based on these scenarios, the allowed safe approach speeds are determined. These speeds can help in designing the operation of the proposed transportation system. Some of the variables considered in this work include; type of body material, shell thickness, impact speed, stress, deformation, and absorbed energy. The safe design merging speeds have been determined under different conditions.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496352","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.11.11.865-869
Keun-Oh Lee, H. Cho
—Past efforts in the development of diesel engines were focused on engine performance and functions. Today, implementation of environmental protection policies by the governments has set new directions for engine development. The fuel efficiency of the CI engine is improved to minimize exhaust gas, and post-processing in exhaust gas systems performance enhanced to reduce the emission of toxic contaminants. A common rail direct injection (CRDI) diesel system injects high-pressure fuel directly into the combustion chamber via Common-rail injector. Through this process, complete combustion is achieved in the combustion chamber. The common-rail injector is a critical in terms of combustion emission. This study examined the characteristics of CRDI injector parts and carried out comparative tests on injectors under normal and abnormal conditions. The tests include a compressive pressure test, idle speed comparison test, and injector correction test. Uniform output between cylinders was observed for the normal injector, whereas cylinders with defective injectors showed (-) non-uniformity. Injector correction involved increasing the amount of injected fuel to compensate for the insufficient force between cylinders. Based on the injector current wave, this method of injector correction was found to increase the energizing time by about 0.2 ms in the idle section. The injector fuel return flow test demonstrated an increase in return flow from defective injectors, which can be traced to internal oil fuel leaks or the higher amount of injected fuel.
{"title":"A Study on Solenoid Injector Characteristics in a Common Rail Diesel Engine","authors":"Keun-Oh Lee, H. Cho","doi":"10.18178/ijmerr.11.11.865-869","DOIUrl":"https://doi.org/10.18178/ijmerr.11.11.865-869","url":null,"abstract":"—Past efforts in the development of diesel engines were focused on engine performance and functions. Today, implementation of environmental protection policies by the governments has set new directions for engine development. The fuel efficiency of the CI engine is improved to minimize exhaust gas, and post-processing in exhaust gas systems performance enhanced to reduce the emission of toxic contaminants. A common rail direct injection (CRDI) diesel system injects high-pressure fuel directly into the combustion chamber via Common-rail injector. Through this process, complete combustion is achieved in the combustion chamber. The common-rail injector is a critical in terms of combustion emission. This study examined the characteristics of CRDI injector parts and carried out comparative tests on injectors under normal and abnormal conditions. The tests include a compressive pressure test, idle speed comparison test, and injector correction test. Uniform output between cylinders was observed for the normal injector, whereas cylinders with defective injectors showed (-) non-uniformity. Injector correction involved increasing the amount of injected fuel to compensate for the insufficient force between cylinders. Based on the injector current wave, this method of injector correction was found to increase the energizing time by about 0.2 ms in the idle section. The injector fuel return flow test demonstrated an increase in return flow from defective injectors, which can be traced to internal oil fuel leaks or the higher amount of injected fuel.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496377","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.11.3.138-144
V. Tangtongkid, K. Suwanpakpraek, B. Patamaprohm
This study deals with a lightweight composite disruptor barrel used in a bomb disposal robot for a disposal operations of improvised explosive devices (IEDs). Powered by a blank .50 BMG cartridge to produce a highspeed water jet to disengage the circuit of IED, the lightweight disruptor barrel consists of an aluminum liner for water and temperature resistance and a carbon fiber reinforced polymer composite (CFRP) as a shell for main load carrying. The composite shell is fabricated by a filament winding technique to ensure a good quality of CFRP. Due to difference in water jet and regular gun firing, the internal pressure of disruptor barrel needs to be estimated by using strain gauges and high-speed data acquisition device. Then, the design phase using finite element method (FEM) simulations with smooth particle hydrodynamics (SPH) technique and material damage criteria are performed in order to optimize the thickness of composite shell and liner geometries. Finally, a lightweight composite disruptor barrel is fabricated and tested as a
{"title":"Design of Lightweight Composite Barrel for Water Jet Disruptor Unit in Bomb Disposal Robot","authors":"V. Tangtongkid, K. Suwanpakpraek, B. Patamaprohm","doi":"10.18178/ijmerr.11.3.138-144","DOIUrl":"https://doi.org/10.18178/ijmerr.11.3.138-144","url":null,"abstract":"This study deals with a lightweight composite disruptor barrel used in a bomb disposal robot for a disposal operations of improvised explosive devices (IEDs). Powered by a blank .50 BMG cartridge to produce a highspeed water jet to disengage the circuit of IED, the lightweight disruptor barrel consists of an aluminum liner for water and temperature resistance and a carbon fiber reinforced polymer composite (CFRP) as a shell for main load carrying. The composite shell is fabricated by a filament winding technique to ensure a good quality of CFRP. Due to difference in water jet and regular gun firing, the internal pressure of disruptor barrel needs to be estimated by using strain gauges and high-speed data acquisition device. Then, the design phase using finite element method (FEM) simulations with smooth particle hydrodynamics (SPH) technique and material damage criteria are performed in order to optimize the thickness of composite shell and liner geometries. Finally, a lightweight composite disruptor barrel is fabricated and tested as a","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496420","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.11.12.923-936
Akeel Nazzal, Abdulsattar J. Hasan
—The secondary flow generated within curved ducts accompanies a substantial change in flow structure due to the imbalance between centrifugal forces and transverse pressure gradient. The current study investigates the effect of changing bend angle on the evaporative cooling of an airstream via spray of water in fogging mode. The experimental Particle image velocimetry (PIV) technique has been implemented for visualizing the secondary flow layout when an air-water mixture travels through the bend duct. The bend angles considered are (45 o , 90 o and 135 o ) at velocities of (5, 3.75 and 2.5 m/s) for air flow through 50 cm square duct. PIV results manifested that a single pair of counter rotating vortices appears at 45 o bend angle, while the other two bend angles evinced two pairs of vortices (four-cell pattern) across the duct cross-section. The water spray was set to tilt at three orientations, namely (45 o , 0 o and – 45 o ) to the axial flow direction to suit the change in bend angle. ANSYS FLUENT 19.R1is used in numerical simulation with RNG-k-ε turbulent model to study the spray characteristics which impacts the cooling process. The best cooling of the airstream is obtained when the water is sprayed axially, i.e. at 0 o , prior to the 135 o bent duct ranking 30% reduction in temperature corresponding to 6.5% improvement in heat transfer between the two phases.
{"title":"Effect of Flow Structure on Air-Water Mixing Process at Different Bend Angles","authors":"Akeel Nazzal, Abdulsattar J. Hasan","doi":"10.18178/ijmerr.11.12.923-936","DOIUrl":"https://doi.org/10.18178/ijmerr.11.12.923-936","url":null,"abstract":"—The secondary flow generated within curved ducts accompanies a substantial change in flow structure due to the imbalance between centrifugal forces and transverse pressure gradient. The current study investigates the effect of changing bend angle on the evaporative cooling of an airstream via spray of water in fogging mode. The experimental Particle image velocimetry (PIV) technique has been implemented for visualizing the secondary flow layout when an air-water mixture travels through the bend duct. The bend angles considered are (45 o , 90 o and 135 o ) at velocities of (5, 3.75 and 2.5 m/s) for air flow through 50 cm square duct. PIV results manifested that a single pair of counter rotating vortices appears at 45 o bend angle, while the other two bend angles evinced two pairs of vortices (four-cell pattern) across the duct cross-section. The water spray was set to tilt at three orientations, namely (45 o , 0 o and – 45 o ) to the axial flow direction to suit the change in bend angle. ANSYS FLUENT 19.R1is used in numerical simulation with RNG-k-ε turbulent model to study the spray characteristics which impacts the cooling process. The best cooling of the airstream is obtained when the water is sprayed axially, i.e. at 0 o , prior to the 135 o bent duct ranking 30% reduction in temperature corresponding to 6.5% improvement in heat transfer between the two phases.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496525","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.11.6.373-378
Phalgun Chintala, Rolf Dornberger, T. Hanne
—Q Learning is a form of reinforcement learning for path finding problems that does not require a model of the environment. It allows the agent to explore the given environment and the learning is achieved by maximizing the rewards for the set of actions it takes. In the recent times, Q Learning approaches have proven to be successful in various applications ranging from navigation systems to video games. This paper proposes a Q learning based method that supports path planning for robots. The paper also discusses the choice of parameter values and suggests optimized parameters when using such a method. The performance of the most popular path finding algorithms such as A* and Dijkstra algorithm have been compared to the Q learning approach and were able to outperform Q learning with respect to computation time and resulting path length.
{"title":"Robotic Path Planning by Q Learning and a Performance Comparison with Classical Path Finding Algorithms","authors":"Phalgun Chintala, Rolf Dornberger, T. Hanne","doi":"10.18178/ijmerr.11.6.373-378","DOIUrl":"https://doi.org/10.18178/ijmerr.11.6.373-378","url":null,"abstract":"—Q Learning is a form of reinforcement learning for path finding problems that does not require a model of the environment. It allows the agent to explore the given environment and the learning is achieved by maximizing the rewards for the set of actions it takes. In the recent times, Q Learning approaches have proven to be successful in various applications ranging from navigation systems to video games. This paper proposes a Q learning based method that supports path planning for robots. The paper also discusses the choice of parameter values and suggests optimized parameters when using such a method. The performance of the most popular path finding algorithms such as A* and Dijkstra algorithm have been compared to the Q learning approach and were able to outperform Q learning with respect to computation time and resulting path length.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496564","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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