2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)最新文献_第3页

Finite Element Analysis of Transformable Wheel for Special Vehicle Based on ANSYS 基于ANSYS的特种车辆变形车轮有限元分析

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680844

J. Ma

引用次数: 1

Experimental investigation of the effect of prismatic roughness on the performance of belt skimmers in oil spill recovery applications 溢油回收中棱柱形粗糙度对带式掠油器性能影响的实验研究

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680814

Mohammed Farid Khalil, Abdelrahman Amr Elmaradny, E. Lotfy

{"title":"Experimental investigation of the effect of prismatic roughness on the performance of belt skimmers in oil spill recovery applications","authors":"Mohammed Farid Khalil, Abdelrahman Amr Elmaradny, E. Lotfy","doi":"10.1109/ICMERR54363.2021.9680814","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680814","url":null,"abstract":"Belt skimmers are one of the most widely used techniques in oil-spill recovery for several environmental reasons. This paper aims to illustrate the effect of prismatic artificial surface roughness on the known belt skimmer on its oil recovery rate (ORR). The experimental study was performed involving parameters such as belt inclination angle ranging from 30° to 90°, belt speed ranging from 39 cm/s to 160 cm/s and different oil properties to assess the effect of prismatic roughness on the belt skimmer ORR. The rough belt was found to increase the ORR at low inclination angles. The effect was dominant at highly viscous oils. Enhancement in the ORR due to roughness reached 42% for highly viscous oils at a low inclination angle of 30° and the high belt speed of 108 cm/s. This enhancement decreased gradually with the increase in inclination angle until it reaches an inversion point function of the belt speed beyond which the enhancement effect due to roughness fades gradually. For low viscous oils, the rough belt didn't increase the ORR and had an adverse effect on the belt skimmer performance.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128272988","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}

引用次数: 2

Graph-based Motion Planning with Primitives in a Continuous State Space Search 连续状态空间搜索中基于图元的运动规划

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-12-11 DOI: 10.1109/ICMERR54363.2021.9680825

Matheus V. A. Pedrosa, Tristan Schneider, K. Flaßkamp

引用次数: 3

A Self-Rescue Mechanism for an In-Pipe Robot for Large Obstacle Negotiation in Water Distribution Systems 输水系统大型障碍物管道机器人自救机构研究

2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2021-09-15 DOI: 10.1109/ICMERR54363.2021.9680831

Saber Kazeminasab, Moein Razavi, Sajad Dehghani, Morteza Khosrotabar, M. Banks

{"title":"A Self-Rescue Mechanism for an In-Pipe Robot for Large Obstacle Negotiation in Water Distribution Systems","authors":"Saber Kazeminasab, Moein Razavi, Sajad Dehghani, Morteza Khosrotabar, M. Banks","doi":"10.1109/ICMERR54363.2021.9680831","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680831","url":null,"abstract":"Water distribution systems (WDS) carry potable water with millions of miles of pipelines and deliver purified water to residential areas. The incidents in the WDS cause leak and water loss, which imposes pressure gradient and public health crisis. Hence, utility managers need to assess the condition of pipelines periodically and localize the leak location (in case it is reported). In our previous works, we designed and developed a size-adaptable modular in-pipe robot [1] and controlled its motion in in-service WDS. However, due to the linearization of the dynamical equations of the robot, the stabilizer controller which is a linear quadratic regulator (LQR) cannot stabilize the large deviations of the stabilizing states due to the presence of obstacles that fails the robot during operation. To this aim, we design a “self-rescue” mechanism for the robot in which three auxiliary gear-motors retract and extend the arm modules with the designed controller towards a reliable motion in the negotiation of large obstacles and non-straight configurations. Simulation results show that the proposed mechanism along with the motion controller enables the robot to have an improved motion in pipelines.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"557 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124595391","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}

引用次数: 0