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Linear quadratic optimal controller for cable-driven parallel robots
Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI
Front. Mech. Eng.. 2015, 10 (4): 344-351.
https://doi.org/10.1007/s11465-015-0364-8
In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large workspace, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.
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Experimental verification of the interface wave method to detect interlaminar damage of a metal multilayer structure
Bing LI,Xu GENG,Tong LU,Lei QIANG,Minghang LI
Front. Mech. Eng.. 2015, 10 (4): 380-391.
https://doi.org/10.1007/s11465-015-0365-7
The interface wave traveling along the boundary of two materials has been studied for nearly a century. However, experiments, engineering applications, and interface wave applications to the non-destructive inspection of interlaminar composite have developed slowly. In this research, an experiment that applies Stoneley waves (a type of interfacial wave between two solid half-spaces) is implemented to detect the damage in a multilayer structure. The feasibility of this method is also verified. First, the wave velocity and wave structure of Stoneley waves at a perfectly bonded aluminum-steel interface are obtained by solving the Stoneley wave dispersion equation of two elastic half-spaces. Thereafter, an experiment is conducted to measure the Stoneley wave velocity of an aluminum-steel laminated beam and to locate interlaminar cracks by referring to the Stoneley wave velocity and echo wave time. Results indicate that the location error is less than 2%. Therefore, Stoneley waves show great potential as a non-destructive inspection method of a multilayer structure.
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Optimization of multi-objective integrated process planning and scheduling problem using a priority based optimization algorithm
Muhammad Farhan AUSAF,Liang GAO,Xinyu LI
Front. Mech. Eng.. 2015, 10 (4): 392-404.
https://doi.org/10.1007/s11465-015-0353-y
For increasing the overall performance of modern manufacturing systems, effective integration of process planning and scheduling functions has been an important area of consideration among researchers. Owing to the complexity of handling process planning and scheduling simultaneously, most of the research work has been limited to solving the integrated process planning and scheduling (IPPS) problem for a single objective function. As there are many conflicting objectives when dealing with process planning and scheduling, real world problems cannot be fully captured considering only a single objective for optimization. Therefore considering multi-objective IPPS (MOIPPS) problem is inevitable. Unfortunately, only a handful of research papers are available on solving MOIPPS problem. In this paper, an optimization algorithm for solving MOIPPS problem is presented. The proposed algorithm uses a set of dispatching rules coupled with priority assignment to optimize the IPPS problem for various objectives like makespan, total machine load, total tardiness, etc. A fixed sized external archive coupled with a crowding distance mechanism is used to store and maintain the non-dominated solutions. To compare the results with other algorithms, a C-matric based method has been used. Instances from four recent papers have been solved to demonstrate the effectiveness of the proposed algorithm. The experimental results show that the proposed method is an efficient approach for solving the MOIPPS problem.
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Calibration of catalyst temperature in automotive engines over coldstart operation in the presence of different random noises and uncertainty: Implementation of generalized Gaussian process regression machine
Nasser L. AZAD,Ahmad MOZAFFARI
Front. Mech. Eng.. 2015, 10 (4): 405-412.
https://doi.org/10.1007/s11465-015-0354-x
The main scope of the current study is to develop a systematic stochastic model to capture the undesired uncertainty and random noises on the key parameters affecting the catalyst temperature over the coldstart operation of automotive engine systems. In the recent years, a number of articles have been published which aim at the modeling and analysis of automotive engines’ behavior during coldstart operations by using regression modeling methods. Regarding highly nonlinear and uncertain nature of the coldstart operation, calibration of the engine system’s variables, for instance the catalyst temperature, is deemed to be an intricate task, and it is unlikely to develop an exact physics-based nonlinear model. This encourages automotive engineers to take advantage of knowledge-based modeling tools and regression approaches. However, there exist rare reports which propose an efficient tool for coping with the uncertainty associated with the collected database. Here, the authors introduce a random noise to experimentally derived data and simulate an uncertain database as a representative of the engine system’s behavior over coldstart operations. Then, by using a Gaussian process regression machine (GPRM), a reliable model is used for the sake of analysis of the engine’s behavior. The simulation results attest the efficacy of GPRM for the considered case study. The research outcomes confirm that it is possible to develop a practical calibration tool which can be reliably used for modeling the catalyst temperature.
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LCF behavior and life prediction method of a single crystal nickel-based superalloy at high temperature
Zhihua ZHANG,Huichen YU,Chengli DONG
Front. Mech. Eng.. 2015, 10 (4): 418-423.
https://doi.org/10.1007/s11465-015-0362-x
Low cycle fatigue tests were conducted on the single crystal nickel-based superalloy, DD6, with different crystallographic orientations (i.e., [001], [011], and [111]) and strain dwell types (i.e., tensile, compressive, and balanced types) at a certain high temperature. Given the material anisotropy and mean stress, both orientation factor and stress range were introduced to the Smith, Watson, and Topper (SWT) stress model to predict the fatigue life. Experimental results indicated that the fatigue properties of DD6 depend on both crystallographic orientation and loading types. The fatigue life of the tensile, compressive, and balanced strain dwell tests are shorter than those of continuous cycling tests without strain dwell because of the important creep effect. The predicted results of the proposed modified SWT stress method agree well with the experimental data.
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Simulation of abrasive flow machining process for 2D and 3D mixture models
Rupalika DASH,Kalipada MAITY
Front. Mech. Eng.. 2015, 10 (4): 424-432.
https://doi.org/10.1007/s11465-015-0366-6
Improvement of surface finish and material removal has been quite a challenge in a finishing operation such as abrasive flow machining (AFM). Factors that affect the surface finish and material removal are media viscosity, extrusion pressure, piston velocity, and particle size in abrasive flow machining process. Performing experiments for all the parameters and accurately obtaining an optimized parameter in a short time are difficult to accomplish because the operation requires a precise finish. Computational fluid dynamics (CFD) simulation was employed to accurately determine optimum parameters. In the current work, a 2D model was designed, and the flow analysis, force calculation, and material removal prediction were performed and compared with the available experimental data. Another 3D model for a swaging die finishing using AFM was simulated at different viscosities of the media to study the effects on the controlling parameters. A CFD simulation was performed by using commercially available ANSYS FLUENT. Two phases were considered for the flow analysis, and multiphase mixture model was taken into account. The fluid was considered to be a Newtonian fluid and the flow laminar with no wall slip.
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