Journal of The Brazilian Society of Mechanical Sciences and Engineering最新文献_第7页

Ankle torque estimation based on disturbance observers for robotic rehabilitation 基于干扰观测器的踝关节扭矩估算用于机器人康复

IF 2.2 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-14 DOI: 10.1007/s40430-024-05132-1

Jonathan C. Jaimes, Alvaro D. Orjuela-Cañón, Adriano A. G. Siqueira

{"title":"Ankle torque estimation based on disturbance observers for robotic rehabilitation","authors":"Jonathan C. Jaimes, Alvaro D. Orjuela-Cañón, Adriano A. G. Siqueira","doi":"10.1007/s40430-024-05132-1","DOIUrl":"https://doi.org/10.1007/s40430-024-05132-1","url":null,"abstract":"Designing safe and tailored strategies for robotic therapy requires the knowledge of patient joint torques, allowing control strategies to adjust the torque level provided by the robotic device according to the patient’s performance. Given the impracticability of measuring human joint torques directly, many works in the area have used estimation techniques that require complex calibration and signal processing or introduce uncertainty in their system modeling. This paper evaluates three disturbance observer techniques for estimating ankle joint torque as an alternative solution. Based on the generalized momentum and Kalman filter methodologies, the approaches were implemented on a robotic device for ankle rehabilitation. They were evaluated on six healthy voluntary users for sitting position movements. The techniques demonstrated effectiveness in estimating human joint torque across three distinct human–robot interaction modes, with performance evaluation through normalized root-mean-square error (NRMSE) metrics. Statistical analysis, including ANOVA, Kruskal–Wallis, and Dunn’s post hoc tests, was employed to assess approach performance and impact effects under different configuration settings. These analyses highlighted significant differences in performance among the techniques, enhancing the understanding of the estimation approaches and highlighting their potential integration into robotic rehabilitation settings.","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142216575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Research on position synchronization control strategy of double hydraulic cylinders based on cross-coupling 基于交叉耦合的双液压缸位置同步控制策略研究

IF 2.2 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-13 DOI: 10.1007/s40430-024-05085-5

Bingwei Gao, Wei Zhang, Lintao Zheng, Hongjian Zhao

引用次数: 0

On the characterization of 3D-printed diaphragmatic hernia sensor for health monitoring of bovine: FEA, morphological, and in vitro analysis 用于牛健康监测的 3D 打印膈疝传感器的特性分析：有限元分析、形态学和体外分析

IF 2.2 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-13 DOI: 10.1007/s40430-024-05133-0

Rupinder Singh, Gurwinder Singh, Arun Anand

{"title":"On the characterization of 3D-printed diaphragmatic hernia sensor for health monitoring of bovine: FEA, morphological, and in vitro analysis","authors":"Rupinder Singh, Gurwinder Singh, Arun Anand","doi":"10.1007/s40430-024-05133-0","DOIUrl":"https://doi.org/10.1007/s40430-024-05133-0","url":null,"abstract":"The problem of diaphragmatic hernia (DH) and surgical procedures for its treatment in bovine have been widely reported by researchers. However, limited studies have been reported on the health monitoring of bovines post-DH surgery, especially to ascertain their reoccurrence for early diagnosis. This study highlights the fabrication and characterization of a DH sensor prepared by 3D printing (using 17-4 precipitation hardened (PH) stainless steel (SS) as conductor and polyvinylidene fluoride (PVDF) composite as dielectric) for health monitoring of bovine to ascertain its reoccurrence for supporting the early diagnosis. The study highlights the plastic strain deformation of the designed model for 3D printing (observed as 0 at 0.01645 MPa), followed by fatigue testing (observed as safe for 108 cycles of loading) through finite element analysis (FEA) for the assembly of 17-4 PH SS and PVDF composite. The morphological and in vitro assessments were also carried out on 3D-printed functional prototypes. The results suggest that the 3D-printed DH sensor has acceptable mechanical properties (with a factor of safety of 12) and, hence, may be used as a commercial solution to ascertain the reoccurrence of DH in bovine.","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142216580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Constants of ignition delay model of diesel fuel surrogates with cetane numbers of 35 and 45, based on Cantera simulations 基于 Cantera 模拟的十六烷值为 35 和 45 的柴油代用燃料点火延迟模型常数

IF 2.2 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-13 DOI: 10.1007/s40430-024-05066-8

Paulo Gustavo Krejci Nunes, Waldyr Luiz Ribeiro Gallo

{"title":"Constants of ignition delay model of diesel fuel surrogates with cetane numbers of 35 and 45, based on Cantera simulations","authors":"Paulo Gustavo Krejci Nunes, Waldyr Luiz Ribeiro Gallo","doi":"10.1007/s40430-024-05066-8","DOIUrl":"https://doi.org/10.1007/s40430-024-05066-8","url":null,"abstract":"The study aims to present new constants of ignition delay based on the Arrhenius model for two diesel fuel surrogates formulated from four components (n-Hexadecane, Heptamethylnonane, Decahydro-naphthalene, and 1-Methyl-naphthalene) as a function of temperature and pressure, obtained by simulation in an adiabatic, homogeneous and constant pressure reactor using the Cantera simulator. The reaction was considered stoichiometric, with a temperature and pressure range varying from 700 to 2200 K and 40 to 120 atm, typical values found in the combustion chamber of turbocharged compression ignition engines. It was found that two-stage combustion occurs for temperatures between 700 and 1000 K (for pressure of 80 atm). When the combustion occurs in two-stages, we detail the ignition delay of each stage, and its first-stage fraction are presented. Surrogate fuels was modeled in 35 and 45 cetane numbers and 48 and 35 threshold soot index, respectively, to compare low and medium fuels in cetane numbers. The main application of these models relates to stochastic combustion models, which require fast models with low computational cost. The main differential of this study refers to its description of two-stage combustion, if it occurs. The model does not consider the physical ignition delay, referring to atomization, mixing and heating of the fuel. Results were compared with models from the literature, showing good agreement and presented intermediate values when compared with the literature.","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142216577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamics of cantilevered fluid-conveying pipes by Galerkin method combined with Laplace-based transfer matrix method 伽勒金方法与基于拉普拉斯的传递矩阵法相结合的悬臂流体输送管道动力学研究

IF 2.2 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-12 DOI: 10.1007/s40430-024-05127-y

Jiang Liu, Qianli Zhao, Dongqi Wu

{"title":"Dynamics of cantilevered fluid-conveying pipes by Galerkin method combined with Laplace-based transfer matrix method","authors":"Jiang Liu, Qianli Zhao, Dongqi Wu","doi":"10.1007/s40430-024-05127-y","DOIUrl":"https://doi.org/10.1007/s40430-024-05127-y","url":null,"abstract":"A novel hybrid approach combining Galerkin discretization and LTMM (Laplace-based transfer matrix method) is put forward to study the dynamics of cantilevered fluid-conveying pipes possessing potential periodicity and elastic supports. Firstly, the deduction for normalized modal functions of a periodic cantilevered beam additionally supported by a combination of linear and torsional springs via LTMM is reviewed. Secondly, the motion equation for a cantilevered pipe with the same material and cross-section moment of inertia as the former-mentioned beam is discretized through the Galerkin method. A hybrid method, abbreviated as LTMM-Galerkin, is then proposed by incorporating the obtained modal functions into the Galerkin method. Thirdly, the eigenfunction and steady-state displacement response are deduced by LTMM-Galerkin. Finally, numerical calculations are carried out, and the validity of LTMM-Galerkin is verified compared with existed methods including transfer matrix method, finite difference method, differential quadrature method, Green function method, and differential transformation method. LTMM-Galerkin can be radiated to study dynamics problems of fluid-conveying pipes with other supporting formats. Additionally, the creation process of this method can serve as a model for the development of other hybrid approaches.","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141969559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Complete wheeled mobile robot for a variable parameter linear system with a robust predictive control 采用鲁棒预测控制的变参数线性系统完整轮式移动机器人

IF 2.2 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-11 DOI: 10.1007/s40430-024-05107-2

Mostafa Jalalnezhad, Carlos Rodriguez-Benites, Neha Biju, M. K. Sharma

{"title":"Complete wheeled mobile robot for a variable parameter linear system with a robust predictive control","authors":"Mostafa Jalalnezhad, Carlos Rodriguez-Benites, Neha Biju, M. K. Sharma","doi":"10.1007/s40430-024-05107-2","DOIUrl":"https://doi.org/10.1007/s40430-024-05107-2","url":null,"abstract":"Linear variable parameter systems (LPV) are a very special class of nonlinear systems, which are suitable for controlling dynamic systems with parameter changes. Therefore, in this thesis, the problem of using variable parameter linear systems for controller design and stability analysis is raised. A designed controller must be able to reduce the adverse effects of disturbances in the output, for this purpose, in this research, by creating a compromise between the two functions of (H_{2}) and (H_{infty }) and combining them with the anticipatory control of the resistant model, a suitable method can be used to eliminate the effect A disturbance was achieved. The controller designed in this research, while stabilizing the system, in the presence of external disturbance, reduces the effect of external disturbance on the output under the control of the system. In general, the purpose of presenting this research is to provide an effective algorithm for controlling a variable parameter linear system with disturbance using the robust model predictive control method, which method presented in this thesis is based on solving the linear matrix inequality, also the proposed method has the ability to consider It has different restrictions on system states and system output. All the results obtained in different sections, including stability analysis, controller performance analysis, are shown using several validated practical examples and their effectiveness. In this thesis, solving optimization problems in the environment is done, as well as the case solvers. It is used to obtain auxiliary and controlling matrices.","PeriodicalId":17252,"journal":{"name":"Journal of The Brazilian Society of Mechanical Sciences and Engineering","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141946606","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Experimental study on low-speed lubrication characteristics of large tilting pad bearings 大型倾斜垫轴承低速润滑特性试验研究

IF 1.8 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-10 DOI: 10.1007/s40430-024-05120-5

Yang Peiji, Sun Quan, Runlin Chen, Zhiming Zhao, Yao Bing, Pang Kai, Jiangong Sun

引用次数: 0

Experimental study on low-speed lubrication characteristics of large tilting pad bearings 大型倾斜垫轴承低速润滑特性试验研究

IF 1.8 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-10 DOI: 10.1007/s40430-024-05120-5

Yang Peiji, Sun Quan, Runlin Chen, Zhiming Zhao, Yao Bing, Pang Kai, Jiangong Sun

引用次数: 0

Effect of axial rotation on free transverse vibration analysis of two-phase nanobeams 轴向旋转对两相纳米梁自由横向振动分析的影响

IF 1.8 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-10 DOI: 10.1007/s40430-024-05116-1

Fateme Hajisadeghiyan, S. Hosseini-Hashemi, R. Nazemnezhad, Roozbeh Ashrafian

引用次数: 0

Investigation of safe operating conditions for reducing acid corrosion and ABS deposition in rotary air preheater using computational fluid dynamics 利用计算流体动力学研究减少回转式空气预热器酸腐蚀和 ABS 沉积的安全运行条件

IF 1.8 4区工程技术

Journal of The Brazilian Society of Mechanical Sciences and Engineering Pub Date : 2024-08-10 DOI: 10.1007/s40430-024-05121-4

M. Padhi, Prakash Ghose, Vijay Kumar Mishra

引用次数: 0