Seventh International Conference on Advances in Mechanical and Robotics Engineering AMRE 2018最新文献

{"title":"Non-linear control for a group of omni wheel robots","authors":"A. A, G. E.","doi":"10.15224/978-1-63248-159-7-18","DOIUrl":"https://doi.org/10.15224/978-1-63248-159-7-18","url":null,"abstract":"The paper presents a solution of the problem of non-linear control law design for a group of mobile robots. The solution consists of the new approach to control of a group of mobile robot based on principals and methods of synergetic control theory. The design of robots control is considered with the analysis of mathematic model and with specified aim. In the synergetic control theory the set of criteria for the control system is usually expressed in the form of an appropriate system of invariants. Invariants play the role of control objectives, which are enforced a given technological aims. The synergetic synthesis procedure reduces to process of finding the non-linear control law on which these given invariants are satisfied. The synthesized control law provides an asymptotically stable movement of a group of omni-wheel robots with specified type of formation. Keywords— group control; omni-wheel robot; non-linear mathematical model; synergetic control theory","PeriodicalId":224586,"journal":{"name":"Seventh International Conference on Advances in Mechanical and Robotics Engineering AMRE 2018","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117314356","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":"Observer Linearization for Nonlinear Systems Using Piecewise Multi Linear Model","authors":"M. Sugeno, T. Taniguchi","doi":"10.15224/978-1-63248-159-7-17","DOIUrl":"https://doi.org/10.15224/978-1-63248-159-7-17","url":null,"abstract":"— This paper proposes an observer design for piecewise nonlinear systems via observer linearization. The model is a piecewise multi-linear (PML) system, a nonlinear approximation, and fully parametric. Feedback linearization is applied to stabilize PML control system. However, since exact observer linearized conditions are more conservative than exact feedback linearized ones, the exact observer linearization can be applied to only a few nonlinear systems. This paper shows the PML model based linearized observer can be applied to a wider system than the conventional one. We apply the proposed method to TORA (Translational Oscillator with Rotating Actuator) system which is one of the benchmark problem for nonlinear control. Example is shown to confirm the feasibility of our proposals by computer simulation.","PeriodicalId":224586,"journal":{"name":"Seventh International Conference on Advances in Mechanical and Robotics Engineering AMRE 2018","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114639850","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":"Coating Characterizations and Evaluation of Ceramic Metal Mixture Slurry Based Thermal Barrier Coating for Automotive Turbocharger Turbine Application","authors":"alias mohd noor, Fadzlun Nadrah, U. M","doi":"10.15224/978-1-63248-159-7-16","DOIUrl":"https://doi.org/10.15224/978-1-63248-159-7-16","url":null,"abstract":"Turbocharging the internal combustion engine (ICE) is to increase the power density of the engine or known as the downsizing of the engine. Large amount of heat energy is wasted through the exhaust manifold, coolant, convective and radiate heat transfer. The amount of heat loss generated to the surrounding by operating turbine volute will affect the service life of some automotive components. The current material tungsten used for heavy duty automotive turbine volute casing is heavier and costly if to compare to a new suggested material nickel with thermal barrier ceramic coating as an alternative. Thermal barrier coating is an alternative method for insulating cheaper and lighter engineering components operating in extreme temperature condition, there exist different coating techniques, but high installation cost and high technical skills requirement have restricted their widespread acceptance. The need of simple and cost effective thermal barrier coating has become necessary for the alternative coating method. In this study, slurry based coating method was adopted and the Ni/Basalt slurry mixture was coated by using an automatic film applicator in order ensures a uniform thickness of the coating. Appropriate amount of nickel powder and basalt fibre were mixed to produce the slurry mixture. A composition of 70wt% nickel powder and 30wt% basalt fibre was used in depositing the thermal barrier coating layer on nickel substrate. The coating microstructures were analyzed and evaluated by using Optical Microscopy (OM) and Scanning Electron Microscopy (SEM). The coatings were also examined with EDX line (Energy Dispersive X-ray Spectroscopy) in order to determine the phases formed during the coating process. The mechanical properties including adhesion strength and Vickers micro hardness were measured. The results shown that the Ni/Basalt slurry based coating was suitable and appropriate for the coating process of the substrate as an application in the inner passage of the casing. Keywords—Ceramic materials, thermal barrier coating, turbocharger turbine, automotive engine Alias Mohd Noor* (corresponding author) Universiti Teknologi Malaysia Malaysia Fadzlun Nadrah Sharuddin Universiti Teknologi Malaysia Uday M. Basheer Universiti Teknologi Malaysia","PeriodicalId":224586,"journal":{"name":"Seventh International Conference on Advances in Mechanical and Robotics Engineering AMRE 2018","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121461487","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":"Calculation and Analysis of Dynamic Stress of High Altitude Vehicles Working Arms","authors":"Wang Bu, Ying Xi, Y. Zheng","doi":"10.15224/978-1-63248-159-7-14","DOIUrl":"https://doi.org/10.15224/978-1-63248-159-7-14","url":null,"abstract":"","PeriodicalId":224586,"journal":{"name":"Seventh International Conference on Advances in Mechanical and Robotics Engineering AMRE 2018","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134506881","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":"Multi Objective Optimization of a Quarter Car Model Fitted with an MR Damper","authors":"Basyouny Elsouhily, H. Elgamal, Mohamed Abdelnaeem","doi":"10.15224/978-1-63248-159-7-15","DOIUrl":"https://doi.org/10.15224/978-1-63248-159-7-15","url":null,"abstract":"In this paper, an MR-damper fitted to a non-linear quarter car model to obtain the optimum voltage required to handle the MR-damper during the vehicle passing over a bump. Macpherson strut suspension system is implemented for the study. The optimum voltage was obtained depending on ride comfort which was the vertical vehicle RMS acceleration and displacement. The analysis was done by using a genetic algorithm in MATLAB/SIMULINK software. GA is implemented to minimize both the vertical RMS acceleration and displacement of the sprung mass. The results are compared to the passive suspension system. The RMS acceleration is reduced by 71 % and 11% at velocities of 10 and 70 km/hr respectively while the displacement is reduced by 36.6% and 40% at the same velocities after the transient period. A pareto front was obtained at different vehicle velocities to demonstrate the effect of vehicle velocity on vehicle vertical acceleration and displacement and gives more flexibility to choose optimum solution as the designer requirement’s. Keywords— Macpherson, genetic algorithm, Multi Objective Optimization, MR-damper, pareto front.","PeriodicalId":224586,"journal":{"name":"Seventh International Conference on Advances in Mechanical and Robotics Engineering AMRE 2018","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127408487","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}