Volume 5: Dynamics, Vibration, and Control最新文献

{"title":"Effects of Flow-Induced Vibration on Forced Convection Heat Transfer From Three Tandem Cylinders at Different Spacing Ratios","authors":"H. Khan, Md. Islam","doi":"10.1115/imece2022-95139","DOIUrl":"https://doi.org/10.1115/imece2022-95139","url":null,"abstract":"\u0000 This work numerically investigates the effect of FIV on the heat transfer performance of three heated tandem cylinders at different spacing ratios and reduced velocity. The simulation is performed at Reynolds number Re = 100, Prandtl number Pr = 0.7. The three elastically mounted heated cylinders are allowed to oscillate in the transverse direction with reduced velocity Ur = 2–20, mass ratio m* = 2, and zero damping coefficient for maximum oscillation. The spacing ratio between cylinders G* = 2 and 4 are considered to elucidate the effect of FIV on heat transfer in extended body regime (G* = 2) and reattachment regime (G* = 4). The effect of the spacing ratio on FIV and heat transfer is observed through flow structures and quantified through oscillation amplitude, shedding frequency, pressure coefficient, and Nusselt number. The flow around the cylinders and the associated heat transfer depend strongly on the spacing ratio. The present findings can be utilized to develop a strategy for reducing fouling and removing contaminants and wax in piggyback pipes used in nuclear power plants or offshore oil extraction.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130387789","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":"Development of Kinematic and Dynamic Model of an Omnidirectional Four Mecanum Wheeled Robot","authors":"Noah Brown, Trey Pierce, Gloria Ma, James McCusker, Filip Cuckov","doi":"10.1115/imece2022-96143","DOIUrl":"https://doi.org/10.1115/imece2022-96143","url":null,"abstract":"\u0000 This paper focuses on the development of the kinematics and dynamics model of an omnidirectional four Mecanum wheeled robot for the purposes of motion control. The kinematic model is implemented to calculate the RPM of each wheel and control the motors. The model allows for the evaluation of drift of the body and a feedback loop implemented in conjunction with odometry to adjust the trajectory of the robotic platform. This considers route length, pose efficiency, necessity of acceleration, and smoothness of motion.\u0000 This analysis focuses on the determination of effects from slippage of the roller on the shaft connecting it to a wheel while considering the physical geometry of the robotics platform. In doing so, a more accurate kinematic and dynamics model for an omnidirectional platform is created and simulation is conducted in MATLAB/Simulink environment. The inverse kinematics is also presented in this paper. The authors illustrate the validity of this extensive model through experimental and analytical position tracking of the physical system in eight planar directions: forward/backward, laterally, and along 45-degree angle, as well as in two rotating directions. The dynamics model can be used to understand the performance of the mobile robot and further be used to design the control algorithm for object avoidance.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130592477","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":"Research on Characteristics of Load Distribution and Levitation Clearance Response in High-Speed Maglev Train With Electromagnets Overlapping Structure","authors":"Jimin Zhang, Zhao Xue, Qiao Ren, He-chao Zhou","doi":"10.1115/imece2022-94868","DOIUrl":"https://doi.org/10.1115/imece2022-94868","url":null,"abstract":"\u0000 For a certain type of high-speed maglev train with electromagnets overlapping structure, the vertical dynamics model of which was established based on multi-body system dynamics theory, electromagnetic field theory and automatic control theory, the distribution characteristics of the train load on levitation electromagnets were theoretically analyzed. The response characteristics of the levitation clearance, together with the influence of electromagnets overlapping structure on them were studied by numerical calculation. The research results show: it is the electromagnets overlapping structure that causes the uneven distribution of the train load on levitation electromagnets, furthermore leading to the uneven distribution of the levitation clearance at different levitation electromagnets; the larger the load borne by the levitation electromagnet, the smaller the steady-state value of its levitation clearance would be, and the fluctuation range of the levitation clearance would be smaller as well when disturbed by the outside. To avoid the non-uniformity of levitation clearance distribution among different levitation electromagnets, a design method for the vertical stiffness of primary springs based on the characteristics of train load distribution was proposed and proved to be effective by numerical calculation. Through above research, the influence law and mechanism of the electromagnets overlapping structure of high-speed maglev vehicle on its levitation clearance response is revealed, which has guiding significance in terms of operation safety evaluation and levitation control strategy design for the high-speed maglev vehicle. The new design method for the primary springs vertical stiffness shows certain reference for the structural optimization design of the maglev vehicle aiming at higher speed in the future.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"62 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133711050","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":"Four-Wheel Independent Steering Swerve Drive for First Robotics Competition","authors":"Benjamin DeNoma, M. Kendall, Nicholas Poulos, Janet Dong, Ray Frank","doi":"10.1115/imece2022-96192","DOIUrl":"https://doi.org/10.1115/imece2022-96192","url":null,"abstract":"\u0000 Swerve drive is a drive train that is designed to be omnidirectional, with the ability of a robot to move in any direction at any moment. A swerve drive module is composed of two motors, a gearbox, encoders, and a wheel. One of the motors drives the wheel, while the other motor controls the steering. The gearbox is what controls the rotation of the wheel. The encoders are placed in various places to detect the rotational position of the drive wheel. By combining these components, the swerve drive module can be programmed to rotate as fast as the encoders are able to read. The drawbacks of swerve drive include weight and cost. These drawbacks keep this drive train out of reach of many applications, including the FIRST Robotics Competition (FRC). The FRC is an international high school robotics competition. Each year, teams of high school students, coaches, and mentors work during a six-week period to build robots capable of competing in that year’s game that weigh up to 125 pounds. Our intention for this project is to design, prototype, build, and test a drive system comprised of four independent steering modules that are more cost-effective, compact, and have less weight than what is currently available on the market. It is expected that such a drive system with four swerve drive modules will provide a viable option for the teams with their robots in the FRC. It not only allows young adults in high school teams to expose to complex yet affordable drive systems but also gives them the opportunity to build or program this drivetrain for their robots.\u0000 A team of three seniors took on this task to develop four viable swerve drive modules that are cost-effective, and light weighted to fulfill their senior capstone requirement. The project was broken into 3 major sub-sections: structure/frame, steering train, and drive train. This paper will discuss the development of such swerve drive using the engineering design process, including the illustration and description of three feasible design concepts and the selection of the best of three options. The integration of the best drive train design into the robot structure is also illustrated and discussed. The testing of the robot drive will be demonstrated, including speed, maneuverability, and structure analysis. The developed four swerve drive modules later were mounted to the robot built by a local high school team (Colerain High School) in their FRC in March 2022. The team experience and competition results during their FRC will be summarized at the end of this paper. It is evident that the swerve drive is the best overall option for the robotics teams from a competitive and compact design standpoint due to its complete maneuverability combined with the necessary torque and speed with less weight to compete at a high level.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128319717","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":"Characterizing Swimming Locomotions of an Asymmetrical Soft Millirobot in a Rotating Magnetic Field","authors":"Jake T. Bagley, Graham B. Quasebarth, Dalhyung Kim","doi":"10.1115/imece2022-95285","DOIUrl":"https://doi.org/10.1115/imece2022-95285","url":null,"abstract":"\u0000 Millimeter-scale robots have many applications in bioengineering fields due to their ability to be actuated remotely. Certain forms of locomotion allow them to achieve high swim speeds while maintaining controllability. The corkscrew locomotions have been achieved in previous soft robot studies, but their swim speeds were much lower than those exhibited by soft robots of different locomotions. In this paper, a corkscrew swimming motion with a high swim speed was achieved with a 3D rotating magnetic field by designing an asymmetrical soft robot made of flexible polymer embedded with magnetic particles and magnetized at a specific orientation. While this robot exhibited a rolling and transient locomotion at magnetic field frequencies lower than 40 Hz, at frequencies above 40 Hz, the robot exhibited corkscrew swimming locomotion. The swimming speed peaked at a velocity of about 30 mm/s at a magnetic field frequency of 49 Hz. Beyond this frequency, the swim speed of the soft robot decreased because the rotational frequency of the robot could not match the frequency of the actuating magnetic field.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128784350","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":"Dynamic Analysis of Low and Medium Maglev Train-Bridge System With Fuzzy PID Control","authors":"Qiao Ren, Jimin Zhang","doi":"10.1115/imece2022-95041","DOIUrl":"https://doi.org/10.1115/imece2022-95041","url":null,"abstract":"\u0000 In order to analyze the dynamic behavior of medium and low speed maglev train under different suspension control algorithms and effectively improve the robustness of the suspension control system, an optimized fuzzy PID controller is proposed based on the vehicle bridge coupling model of maglev train. The 23-dof (degree-of-freedom) vehicle model, the modeling of the electromagnetic suspension, and track irregularities are described, respectively. Furthermore, the fuzzy PID controller optimized by the genetic algorithm (GA) is addressed for the control of the dynamic response of the maglev system for complex dynamic conditions. Finally, the proposed controller is applied to the whole vehicle multipoint suspension platform for maglev train to verify the suspension performances in different operation conditions, including static and dynamic conditions. The results demonstrate that the introduction of GA has significantly improved the ride comfort of the maglev moving on the track under different operation conditions.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130968181","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":"Evaluation of Fuel Rod Response Using Principal Component Analysis","authors":"Ibrahim Gad-el-Hak, N. Mureithi, K. Karazis","doi":"10.1115/imece2022-96808","DOIUrl":"https://doi.org/10.1115/imece2022-96808","url":null,"abstract":"\u0000 This study pertains to an experimental analysis on the effects of the transverse jet flow geometry on the stability of a 6 × 6 square rod bundle. The experimental work represents a reduced scale fuel assembly subjected to localized cross flow conditions. This type of complex system is typically found in the nuclear industry (pressurized water reactor cores). The goal of the experimental study is to investigate the onset and characterize rod instability as it relates to the intensity and diameter of the jet cross-flow. The rod response was recorded using a high-speed camera in the vibration plane. From image processing, rod vibration amplitudes, and power spectral densities are acquired in both stream-wise and transverse directions. The results indicate that by increasing the jet nozzle diameter ratio, the critical flow velocity is reduced, however, the maximum vibration amplitude in the bundle decreases as the jet diameter ratio increases.\u0000 The experimental datasets produced by all three sets of experiments were analyzed by Principal Component Analysis (PCA). The method obtained the orbit plots of the rod bundle undergoing fluid-elastic instability due to the transverse jet flow penetration for each set of experiments. A significant outcome of this research is the relation of acceleration ratio when the nozzle diameter is increased.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130108504","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":"Open-Loop Optimal Control for Tracking a Reference Signal With Approximate Dynamic Programming","authors":"Jorge A. Diaz, Lei Xu, Tohid Sardarmehni","doi":"10.1115/imece2022-96769","DOIUrl":"https://doi.org/10.1115/imece2022-96769","url":null,"abstract":"\u0000 Dynamic programming (DP) provides a systematic, closed-loop solution for optimal control problems. However, it suffers from the curse of dimensionality in higher orders. Approximate dynamic programming (ADP) methods can remedy this by finding near-optimal rather than exact optimal solutions. In summary, ADP uses function approximators, such as neural networks, to approximate optimal control solutions. ADP can then converge to the near-optimal solution using techniques such as reinforcement learning (RL). The two main challenges in using this approach are finding a proper training domain and selecting a suitable neural network architecture for precisely approximating the solutions with RL. Users select the training domain and the neural networks mostly by trial and error, which is tedious and time-consuming. This paper proposes trading the closed-loop solution provided by ADP methods for more effectively selecting the domain of training. To do so, we train a neural network using a small and moving domain around the reference signal. We asses the method’s effectiveness by applying it to a widely used benchmark problem, the Van der Pol oscillator; and a real-world problem, controlling a quadrotor to track a reference trajectory. Simulation results demonstrate comparable performance to traditional methods while reducing computational requirements.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122677892","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":"Using Deep Convolutional Neural Networks (DCNN) to Learn by Sensor Signal Classification Critical Local Regions of a Physical Shaft-Rotor System: A Complex Mechanical System Example for Machine Learning Considerations","authors":"Pantelis Panagiotis Papageorgiou, I. Georgiou","doi":"10.1115/imece2022-96146","DOIUrl":"https://doi.org/10.1115/imece2022-96146","url":null,"abstract":"\u0000 Complex machinery contains critical regions, such as revolute joints-ball bearings-journal bearings, that are prone to damage initiation and growth. If not detected early, damage in critical local regions leads to premature failure. The overall complexity of an integrated system limits developed classical methods from detecting early damage in complicated local areas. A pure experimental data environment could provide solutions given the broad impact of machine learning. Here an interesting idea is introduced to support a machine learning framework for damage detection in local critical regions. The vibration field developed in a local area surrounding a ball bearing support of a lab flexible shaft-rotor system was measured by a set of accelerometers to form a dataset environment. It was used as an experience for machine learning by a deep convolutional neural network adapted from the AlexNet architecture. Our main result is the casting of a solid mechanics prediction problem into a classification problem and eventually computing a solution by a deep machine learning technique. Technology innovations improve computer speed, data storage media, and graphics processing units. These factors are turning existing machine learning techniques into state-of-the-art prediction tools that can be adapted and developed to exploit large volumes of vibration data for diagnostics. Data-driven predictive-diagnostics results in improved condition monitoring of the complex machinery system with economic gains form estimated low-cost maintenance and energy savings. Classical condition monitoring techniques cannot learn from experiences predictive models of the dynamics-diagnostics of onboard ship and aircraft machinery operating under varying environmental conditions.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117160666","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":"Autonomous Topographic Mapping of Unknown Environments by Dynamic Visual Data","authors":"Vomsheendhur Raju, M. Selekwa","doi":"10.1115/imece2022-95497","DOIUrl":"https://doi.org/10.1115/imece2022-95497","url":null,"abstract":"\u0000 The simultaneous localization and mapping (SLAM) process is what makes it possible for autonomous vehicles to navigate in unknown environments. Early SLAM algorithms used and relied on ranging sensors only. In recent years, there has been an increased interest in vision-based SLAM (V-SLAM) due to the low-cost nature of digital cameras available in the market compared to ranging sensors. V-SLAM uses successive camera frames to either track features in individual frames and triangulates the position to construct a 3-D map or determine the vehicle speed by measuring the rate of change of these features relative to a known reference. This paper proposes an effective real-time method of creating a topological 3D map of the environment from a stereo vision system by using an improved stereo correspondence algorithm that minimizes errors caused by illumination and texture variation in the disparity map generation. The Cartesian world coordinates corresponding to each pixel are computed from the disparity map generated by triangulating the depth of the pixels in the reference perspective projection image to create a 3-D map of the scene as a point cloud plot. Analysis of the resulting point cloud plot indicates that the coordinates of each pixel provide the 3-D information about the scene representing a working topological map that can be used to detect the obstacles in close vicinity to the robot.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120998946","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}