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Sample records for rolling friction robot

  1. Origins of Rolling Friction

    Science.gov (United States)

    Cross, Rod

    2017-01-01

    When a hard object rolls on a soft surface, or vice versa, rolling friction arises from deformation of the soft object or the soft surface. The friction force can be described in terms of an offset in the normal reaction force or in terms of energy loss arising from the deformation. The origin of the friction force itself is not entirely clear. It…

  2. Measurement of Normal and Friction Forces in a Rolling Process

    DEFF Research Database (Denmark)

    Henningsen, Poul; Arentoft, Mogens; Wanheim, Tarras

    2004-01-01

    by the fric-tion conditions. To achieve this important informa-tion, measurements of the normal pressure and friction stresses in the deformation zone are re-quested. The direction of the friction stresses is changing during the rolling gap. At the entrance of the de-formation zone, the peripherical velocity...... of the roll is higher than for the incoming material, which causes frictional stresses at the material acting in the rolling direction. At the outlet of the rolling gap, the velocity of the deformed material exceeds the velocity of the roll, generating frictional stresses contrary to the direction of rolling....... In a narrow area in the deformation zone, the velocity of the de-formed material is equal to the velocity of the rolls. This area or line is named “neutral line”. The posi-tion of the neutral line depends on friction, reduc-tion ratio, diameter of the rolls, and width of the sheet....

  3. Study Friction Distribution during the Cold Rolling of Material by Matroll Software

    International Nuclear Information System (INIS)

    Abdollahi, H.; Dehghani, K.

    2007-01-01

    Rolling process is one of the most important ways of metal forming. Since the results of this process are almost finished product, therefore controlling the parameters affecting this process is very important in order to have cold rolling products with high quality. Among the parameters knowing the coefficient of friction within the roll gap is known as the most significant one. That is because other rolling parameters such as rolling force, pressure in the roll gap, forward slip, surface quality of sheet, and the life of work rolls are directly influenced by friction. On the other hand, in rolling calculation due to lake of a true amount for coefficient of friction a supposed value is considered for it. In this study, a new software (Matroll), is introduced which can determine the coefficient of friction (COF) and plot the friction hills for an industrial mill. Besides, based on rolling equations, it offers about 30 rolling parameters as outputs. Having the rolling characteristics as inputs, the software is able to calculate the coefficient of friction. Many rolling passes were performed on real industrial aluminum mill. The coefficient of friction was obtained for all passes. The results are in good agreement with the findings of the other researchers

  4. Frictional resistance of adiabatic two-phase flow in narrow rectangular duct under rolling conditions

    International Nuclear Information System (INIS)

    Xing, Dianchuan; Yan, Changqi; Sun, Licheng; Jin, Guangyuan; Tan, Sichao

    2013-01-01

    Highlights: ► Two-phase flow frictional resistance in narrow duct in rolling is studied. ► Frictional resistance behaviors in rolling are divided into three regions. ► Transient frictional pressure drop fluctuates synchronously with rolling motion. ► Conventional correlations are evaluated against experimental data in rolling motion. ► New correlation for transient frictional resistance in rolling motion is developed. - Abstract: Frictional resistance of air-water two-phase flow in a narrow rectangular duct subjected to rolling motion was investigated experimentally. Time-averaged and transient frictional pressure drop under rolling condition were compared with conventional correlation in laminar flow region (Re l l ⩽ 1400) and turbulent flow region (Re l > 1400) respectively. The result shows that, despite no influence on time-averaged frictional resistance, rolling motion does induce periodical fluctuation of the pressure drop in laminar and transition flow regions. Transient frictional pressure drop fluctuates synchronously with the rolling motion both in laminar and in transition flow region, while it is nearly invariable in turbulent flow region. The fluctuation amplitude of the Relative frictional pressure gradient decreases with the increasing of the superficial velocities. Lee and Lee (2002) correlation and Chisholm (1967) correlation could satisfactorily predict time-averaged frictional pressure drop under rolling conditions, whereas poorly predict the transient frictional pressure drop when it fluctuates periodically. A new correlation with better accuracy for predicting the transient frictional pressure drop in rolling motion is achieved by modifying the Chisholm (1967) correlation on the basis of analyzing the present experimental results with a great number of data points

  5. Development of a Minimally Actuated Jumping-Rolling Robot

    Directory of Open Access Journals (Sweden)

    Thanhtam Ho

    2015-04-01

    Full Text Available This paper presents development of a hybrid mobile robot in order to take advantage of both rolling and jumping locomotion on the ground. According to the unique design of the mechanism, the robot is able to execute both jumping and rolling skilfully by using only one DC motor. Changing the centre of gravity enables rolling of the robot and storage of energy is utilized for jumping. Mechanism design and control logic are validated by computer simulation. Simulation results show that the robot can jump nearly 1.3 times its diameter and roll at the speed of 3.3 times its diameter per second.

  6. THE THEORETICAL FOUNDATIONS OF VIBRATION DAMPERS BY ROLLING FRICTION

    Directory of Open Access Journals (Sweden)

    L. M. Bondarenko

    2015-06-01

    Full Text Available Purpose. There are some unresolved issues in vibration damping – the lack of engineering calculations for the vibration dampers by rolling friction; the absence of evidence of their application appropriateness. Considering this fact, the authors suggest to prove that the dampers based on rolling friction, are similar in rate of oscillation damping by hydraulic shock absorbers. At the same time, they are easier for the hydraulic design, and easily amenable to manual adjustment, both in automatic and manual mode. Methodology. Fixed techniques of practice in order to determine amplitudes of the oscillations of a shock absorber led to a predetermined result and will apply this theory in the calculation of other vibration dampers. Findings. Analysis of the formulas and graphs leads to the following conclusions and recommendations: 1 the nature of the oscillation damping at vibration dampers by rolling friction is close to their decay in the viscous resistance; 2 when conducting the necessary experiments the shock absorber rolling can be recommended as alternatives to hydraulic ones. The research results of this task will help implement the new trend in reduction of dynamic loads in vehicles. Originality. With the help of theoretical curves to determine the coefficients of rolling friction the dependences for determining the amplitudes of the oscillations in the vertical movement of cargo were obtained. At the same time, the previously proposed analytical dependence for determining the coefficient of rolling friction contains only conventional mechanical constants of the contacting bodies and there geometrical dimensions. Practical value. Due to the existing well-known disadvantages of hydraulic shock absorbers it would be logical to apply shock absorbers that are technologically convenient in manufacturing and easy to adjust the damping rate. The proposed theory can be used in the design of shock absorbers rolling as an alternative to the hydraulic

  7. Tribo-chemical behavior of eutectoid steel during rolling contact friction

    Energy Technology Data Exchange (ETDEWEB)

    Zhou, Y.; Cai, Z.B. [Key Laboratory of Advanced Technologies of Materials, Ministry of Education, Southwest Jiaotong University, Chengdu 610031 (China); Peng, J.F. [Tribology Research Institute, State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031 (China); Cao, B.B. [Key Laboratory of Advanced Technologies of Materials, Ministry of Education, Southwest Jiaotong University, Chengdu 610031 (China); Jin, X.S. [Tribology Research Institute, State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031 (China); Zhu, M.H., E-mail: zhuminhao@swjtu.cn [Key Laboratory of Advanced Technologies of Materials, Ministry of Education, Southwest Jiaotong University, Chengdu 610031 (China); Tribology Research Institute, State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031 (China)

    2016-12-01

    Highlights: • Tribo-chemical behavior was investigated during rolling contact friction. • Tribo-film may weaken the absorptive ability of O/C atoms on the surface. • Tribo-film is related to a low friction coefficient at rolling friction condition. - Abstract: The tribo-chemical behavior of the eutectoid steel during rolling contact friction is investigated via scanning electron microscopy, X-ray diffraction, X-ray photoelectron spectroscopy (XPS) and electron probe X-ray microanalysis. The worn surface is divided into three zones: matrix zone (without friction), tribo-film zone (formed during friction) and delamination zone (tribo-film spalling). The different chemical states of atoms between those three zones and the air were investigated using the XPS analysis. The results showed that the matrix zone is composed of Fe{sub 2}O{sub 3}, FeO and metallic Fe, while the tribo-film and delamination zones only contain Fe{sub 2}O{sub 3} and FeO. Where the tribo-film is formed, the absorptive ability of O and C atoms on the top 2–3 atomic layers is probably weakened, while the exposed fresh metal in the delamination zone tends to be continuously oxidized and form tribo-film. The tribo-chemical reaction in the delamination zone is more activated than that in the other two zones. The protective nature of the tribo-film probably maintains a low friction coefficient under rolling contact friction condition.

  8. A new transducer for local load measurements of friction and roll pressure in cold flat rolling

    DEFF Research Database (Denmark)

    Lagergren, J.; Wanheim, Tarras; Precz, W.

    2006-01-01

    The only way to establish the true rolling pressure and the true friction condition in cold rolling is to conduct measurements in the roll bite. A new transducer design is therefore proposed, in order to overcome problems in previous measurements in the past 70 years. The new idea is to increase ...... and able to avoid signal disturbance. The pressure and friction stress distribution results was as expected by the authors and showed good reproducibility, together with a proven agreement between recorded and simulated signals....... selected from a steady state with no disturbance from the material flow. The transducer was able to simultaneously measure both the normal pressure and the friction stress. An estimation of the coefficient of friction was accordingly performed. The new transducer works very well, it was seen to be robust...

  9. Theoretical research on laminar friction resistance in tubes in rolling motion

    International Nuclear Information System (INIS)

    Yan Binghuo; Yu Lei; Yang Yanhua

    2010-01-01

    The model of laminar flow in tubes in rolling motion is established. The dimensionless correlation of velocity is derived, and the correlation of frictional resistance coefficient is also obtained. Of all the additional forces, only the tangential force effects on the flow. The effect of centrifugal and Coriolis forces on the flow is counteracted. The correlation of average frictional resistance coefficient is the same with that of no rolling motion. The effect of rolling motion on frictional resistance coefficient of laminar flow diminishes with the increase of Reynolds number. (authors)

  10. Rolling Friction on a Wheeled Laboratory Cart

    Science.gov (United States)

    Mungan, Carl E.

    2012-01-01

    A simple model is developed that predicts the coefficient of rolling friction for an undriven laboratory cart on a track that is approximately independent of the mass loaded onto the cart and of the angle of inclination of the track. The model includes both deformation of the wheels/track and frictional torque at the axles/bearings. The concept of…

  11. Isotropic compression of cohesive-frictional particles with rolling resistance

    NARCIS (Netherlands)

    Luding, Stefan; Benz, Thomas; Nordal, Steinar

    2010-01-01

    Cohesive-frictional and rough powders are the subject of this study. The behavior under isotropic compression is examined for different material properties involving Coulomb friction, rolling-resistance and contact-adhesion. Under isotropic compression, the density continuously increases according

  12. Design and Rolling Analysis of a Novel Deformable Polyhedron Robot

    Directory of Open Access Journals (Sweden)

    Yaobin Tian

    2014-10-01

    Full Text Available In this paper, a new rolling robot is proposed. The mechanism of the robot consists of eight links with three degrees of freedom (DOFs. The shape of each link of the robot is an equilateral triangle. The robot realizes its direction switching function by deforming into different modes of planar parallelogram mechanisms (PPM. In any deterministic mode, the robot can roll on the ground. The motion of the robot is studied based on the kinematic and zero moment point (ZMP analyses. Though the robot has three DOFs, we show that it can realize flexible mobility via direction switching and rolling functions with two DOFs and one DOF, respectively. A prototype robot was manufactured. A series of simulations and experiments done using this prototype is reported, verifying the feasibility of the design.

  13. Assessment of friction between a rolling cylindrical element and a ...

    African Journals Online (AJOL)

    A cost-effective friction coefficient measuring technique was developed and tested. The technique involved the mounting of two sensing elements on the surface of rolls, in a manner that sought to measure simultaneously the normal and the tangential stresses during rolling. The instrumented roll termed “SGRoll” was ...

  14. Energy-based control for a biologically inspired hexapod robot with rolling locomotion

    Directory of Open Access Journals (Sweden)

    Takuma Nemoto

    2015-04-01

    Full Text Available This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.

  15. Transducer for measuring normal and friction stress in contact zone during rolling

    DEFF Research Database (Denmark)

    Henningsen, Poul; Wanheim, Tarras; Arentoft, Mogens

    2004-01-01

    , generating frictional stresses contrary to the direction of rolling. In a narrow area in the deformation zone, the velocity of the deformed material is equal to the velocity of the rolls. This area or line is named “neutral line”[2]. The position of the neutral line depends on friction, reduction ratio...

  16. GoQBot: a caterpillar-inspired soft-bodied rolling robot

    International Nuclear Information System (INIS)

    Lin, Huai-Ti; Trimmer, Barry; Leisk, Gary G

    2011-01-01

    Rolling locomotion using an external force such as gravity has evolved many times. However, some caterpillars can curl into a wheel and generate their own rolling momentum as part of an escape repertoire. This change in body conformation occurs well within 100 ms and generates a linear velocity over 0.2 m s -1 , making it one of the fastest self-propelled wheeling behaviors in nature. Inspired by this behavior, we construct a soft-bodied robot to explore the dynamics and control issues of ballistic rolling. This robot, called GoQBot, closely mimics caterpillar rolling. Analyzing the whole body kinematics and 2D ground reaction forces at the robot ground anchor reveals about 1G of acceleration and more than 200 rpm of angular velocity. As a novel rolling robot, GoQBot demonstrates how morphing can produce new modes of locomotion. Furthermore, mechanical coupling of the actuators improves body coordination without sensory feedback. Such coupling is intrinsic to soft-bodied animals because there are no joints to isolate muscle-generated movements. Finally, GoQBot provides an estimate of the mechanical power for caterpillar rolling that is comparable to that of a locust jump. How caterpillar musculature produces such power in such a short time is yet to be discovered.

  17. GoQBot: a caterpillar-inspired soft-bodied rolling robot

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Huai-Ti; Trimmer, Barry [Department of Biology, Tufts University, 163 Packard Avenue, Medford, MA 02155 (United States); Leisk, Gary G, E-mail: huaiti.lin@gmail.com, E-mail: gary.leisk@tufts.edu, E-mail: barry.trimmer@tufts.edu [Department of Mechanical Engineering, Tufts University, 200 College Avenue, Medford, MA 02155 (United States)

    2011-06-15

    Rolling locomotion using an external force such as gravity has evolved many times. However, some caterpillars can curl into a wheel and generate their own rolling momentum as part of an escape repertoire. This change in body conformation occurs well within 100 ms and generates a linear velocity over 0.2 m s{sup -1}, making it one of the fastest self-propelled wheeling behaviors in nature. Inspired by this behavior, we construct a soft-bodied robot to explore the dynamics and control issues of ballistic rolling. This robot, called GoQBot, closely mimics caterpillar rolling. Analyzing the whole body kinematics and 2D ground reaction forces at the robot ground anchor reveals about 1G of acceleration and more than 200 rpm of angular velocity. As a novel rolling robot, GoQBot demonstrates how morphing can produce new modes of locomotion. Furthermore, mechanical coupling of the actuators improves body coordination without sensory feedback. Such coupling is intrinsic to soft-bodied animals because there are no joints to isolate muscle-generated movements. Finally, GoQBot provides an estimate of the mechanical power for caterpillar rolling that is comparable to that of a locust jump. How caterpillar musculature produces such power in such a short time is yet to be discovered.

  18. Using Plasticine (TM) to Measure the Rolling Friction Coefficient.

    Science.gov (United States)

    Castellvi, Francesc; And Others

    1995-01-01

    Presents an experiment that makes manifest the energy lost to friction of an iron ball moving along an inclined iron rail, which allows students to compute the rolling friction coefficient. Uses a method based on measurement of deformation produced in a piece of Plasticine by an inelastic collision with the ball and combines mechanical concepts…

  19. Development of a Dung Beetle Robot and Investigation of Its Dung-Rolling Behavior

    Directory of Open Access Journals (Sweden)

    Jen-Wei Wang

    2018-04-01

    Full Text Available In this study, a bio-inspired dung beetle robot was developed that emulated the dung rolling motion of the dung beetle. Dung beetles, which can roll objects up to 1000 times their own body weight, are one of the strongest insect species in the world. While the locomotion of many insects, such as cockroaches, inchworms, and butterflies, has been studied widely, the locomotion of dung beetles has rarely been given attention. Here, we report on the development of a dung beetle robot made specifically to investigate dung-rolling behavior and to determine and understand the underlying mechanism. Two versions of the robot were built, and the leg trajectories were carefully designed based on kinematic analysis. Cylinder and ball rolling experiments were conducted, and the results showed that the dung beetle robot could successfully and reliably roll objects. This further suggests that the dung beetle robot, with its current morphology, is capable of reliably rolling dung without the need for complex control strategies.

  20. Methods and devices used to measure friction in rolling

    DEFF Research Database (Denmark)

    Jeswiet, J.; Arentoft, Mogens; Henningsen, Poul

    2006-01-01

    Friction at the workpiece-die boundary, in both bulk forming and sheet forming is, arguably, the single most important physical parameter influencing the processing of metals; yet it remains the least understood. Hence there is a need for basic research into metal-die interface mechanisms. To gain...... a good understanding of the mechanisms at the interface and to be able to verify the friction and tribology models that exist, friction sensors are needed. Designing sensors to measure frictional stress in metal working has been pursued by many researchers. This paper surveys methods that have been used...... to measure friction in rolling in the past and discusses some of the recent sensor designs that can now be used to measure friction both in production situations and for research purposes....

  1. Effects of rolling friction on a spinning coin or disk

    Science.gov (United States)

    Cross, Rod

    2018-05-01

    Experimental and theoretical results are presented concerning the motion of a spinning disk on a horizontal surface. The disk precesses about a vertical axis while falling either quickly or slowly onto the surface depending on the coefficient of rolling friction. The rate of fall also depends on the offset distance, in the rolling direction, between the centre of mass and the line of action of the normal reaction force. Euler’s angular momentum equations are solved to obtain estimates of both the coefficient of friction and the offset distance for a 50.6 mm diameter brass disk spinning on three different surfaces. The fall times varied from about 3 s on P800 emery paper to about 30 s on glass.

  2. Missile rolling tail brake torque system. [simulating bearing friction on canard controlled missiles

    Science.gov (United States)

    Davis, W. T. (Inventor)

    1984-01-01

    Apparatus for simulating varying levels of friction in the bearings of a free rolling tail afterbody on a canard-controlled missile to determine friction effects on aerodynamic control characteristics is described. A ring located between the missile body and the afterbody is utilized in a servo system to create varying levels of friction between the missile body and the afterbody to simulate bearing friction.

  3. A numerical study of the rolling friction between a microsphere and a substrate considering the adhesive effect

    International Nuclear Information System (INIS)

    Zhang, Yuyan; Wang, Xiaoli; Yang, Weixu; Li, Hanqing

    2016-01-01

    A numerical model of the rolling friction between a microsphere and a substrate is established by introducing the adhesion hysteresis between the front and rear sides of the contact region into Zhang’s adhesive contact model. Effects of the size ratio which is defined as the sphere radius divided by the equilibrium separation, relative amount of adhesion hysteresis and Tabor parameter on the dimensionless maximum rolling friction torque in the case of zero normal force are inspected, and the quantitative relationship between the maximum rolling friction torque and the normal force is achieved. Results indicate that due to adhesion hysteresis at microscale, the dimensionless maximum rolling friction torque at zero normal force is not zero, which not only increases with decreasing size ratio, showing clear size effects, but also increases with increasing relative amount of adhesion hysteresis and Tabor parameter. In addition, the maximum rolling friction torque at microscale presents a sublinear relationship with the normal force, and the exponent of the normal force is influenced by the size ratio, relative amount of adhesion hysteresis and Tabor parameter, which are remarkably different from the superlinear relationship at macroscale. (paper)

  4. NORMAL PRESSURE AND FRICTION STRESS MEASUREMENT IN ROLLING PROCESSES

    DEFF Research Database (Denmark)

    Henningsen, Poul; Arentoft, Mogens; Lagergren, Jonas

    2005-01-01

    the output from the transducer, the friction stress and normal pressure in the contact zone can be determined. The new concept differs from existing pin designs by a lower disturbance of lubricant film and material flow and limited penetration of material between transducer and roll. Aluminum, cupper...

  5. Rudder Based Roll Control via host-computer of A Robotic Boat

    Directory of Open Access Journals (Sweden)

    Xinping Bao

    2009-03-01

    Full Text Available Rudder based roll control of a small-sized robotic boat is a key technique for the devices on board to achieve good performance. This paper introduces a host-based robotic boat capable of performing basic movement operations. The course keeping and roll reduction are studied via rudder based method in simulations and sea trials. The boat dynamic model is built with the combination of mathematical analysis and system identification technique. A mixed sensitivity H control method design is selected since yaw and roll motion are posed in different frequency domains. Computer simulations and experiments carried out show that successful results are achieved.

  6. Rudder Based Roll Control via Host-Computer of a Robotic Boat

    Directory of Open Access Journals (Sweden)

    Xinping Bao

    2009-03-01

    Full Text Available Rudder based roll control of a small-sized robotic boat is a key technique for the devices on board to achieve good performance. This paper introduces a host-based robotic boat capable of performing basic movement operations. The course keeping and roll reduction are studied via rudder based method in simulations and sea trials. The boat dynamic model is built with the combination of mathematical analysis and system identification technique. A mixed sensitivity H∞ control method design is selected since yaw and roll motion are posed in different frequency domains. Computer simulations and experiments carried out show that successful results are achieved.

  7. Rudder Based Roll Control via host-computer of A Robotic Boat

    OpenAIRE

    Bao, Xinping; Yu, Zhenyu; Nonami, Kenzo

    2009-01-01

    Rudder based roll control of a small-sized robotic boat is a key technique for the devices on board to achieve good performance. This paper introduces a host-based robotic boat capable of performing basic movement operations. The course keeping and roll reduction are studied via rudder based method in simulations and sea trials. The boat dynamic model is built with the combination of mathematical analysis and system identification technique. A mixed sensitivity H control method design is sele...

  8. Controlling Tensegrity Robots through Evolution using Friction based Actuation

    Science.gov (United States)

    Kothapalli, Tejasvi; Agogino, Adrian K.

    2017-01-01

    Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

  9. Celtic Stone Dynamics Revisited Using Dry Friction and Rolling Resistance

    Directory of Open Access Journals (Sweden)

    J. Awrejcewicz

    2012-01-01

    Full Text Available The integral model of dry friction components is built with assumption of classical Coulomb friction law and with specially developed model of normal stress distribution coupled with rolling resistance for elliptic contact shape. In order to avoid a necessity of numerical integration over the contact area at each the numerical simulation step, few versions of approximate model are developed and then tested numerically. In the numerical experiments the simulation results of the Celtic stone with the friction forces modelled by the use of approximants of different complexity (from no coupling between friction force and torque to the second order Padé approximation are compared to results obtained from model with friction approximated in the form of piecewise polynomial functions (based on the Taylor series with hertzian stress distribution. The coefficients of the corresponding approximate models are found by the use of optimization methods, like as in identification process using the real experiment data.

  10. Variation of the Friction Coefficient for a Cylinder Rolling down an Inclined Board

    Science.gov (United States)

    Yan, Zixiang; Xia, Heming; Lan, Yueheng; Xiao, Jinghua

    2018-01-01

    A cylinder rolling down an inclined board is a commonly seen and interesting object to study and it is also easy to experiment with and model. Following what has become a popular practice, we use smartphones to measure the angular acceleration of a cylinder rolling down a plane of different inclining angles. The friction force deviates from the…

  11. Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot

    Science.gov (United States)

    Ding, Wan; Wu, Jianxu; Yao, Yan'an

    2015-07-01

    Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube(PE-Cube) is proposed. The three-dimensional(3D) expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom(DoFs) is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator(pneumatic cylinder) is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules' construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules' construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules' construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the

  12. SU-F-P-31: Dosimetric Effects of Roll and Pitch Corrections Using Robotic Table

    Energy Technology Data Exchange (ETDEWEB)

    Mamalui, M; Su, Z; Flampouri, S; Li, Z [University of Florida Proton Therapy Institute, Jacksonville, FL (United States)

    2016-06-15

    Purpose: To quantify the dosimetric effect of roll and pitch corrections being performed by two types of robotic tables available at our institution: BrainLabTM 5DOF robotic table installed at VERO (BrainLab&MHI) dedicated SBRT linear accelerator and 6DOF robotic couch by IBA Proton Therapy with QFixTM couch top. Methods: Planning study used a thorax phantom (CIRSTM), scanned at 4DCT protocol; targets (IGTV, PTV) were determined according to the institutional lung site-specific standards. 12 CT sets were generated with Pitch and Roll angles ranging from −4 to +4 degrees each. 2 table tops were placed onto the scans according to the modality-specific patient treatment workflows. The pitched/rolled CT sets were fused to the original CT scan and the verification treatment plans were generated (12 photon SBRT plans and 12 proton conventional fractionation lung plans). Then the CT sets were fused again to simulate the effect of patient roll/pitch corrections by the robotic table. DVH sets were evaluated for all cases. Results: The effect of not correcting the phantom position for roll/pitch in photon SBRT cases was reducing the target coverage by 2% as maximum; correcting the positional errors by robotic table varied the target coverage within 0.7%. in case of proton treatment, not correcting the phantom position led to the coverage loss up to 4%, applying the corrections using robotic table reduced the coverage variation to less than 2% for PTV and within 1% for IGTV. Conclusion: correcting the patient position by using robotic tables is highly preferable, despite the small dosimetric changes introduced by the devices.

  13. SU-F-P-31: Dosimetric Effects of Roll and Pitch Corrections Using Robotic Table

    International Nuclear Information System (INIS)

    Mamalui, M; Su, Z; Flampouri, S; Li, Z

    2016-01-01

    Purpose: To quantify the dosimetric effect of roll and pitch corrections being performed by two types of robotic tables available at our institution: BrainLabTM 5DOF robotic table installed at VERO (BrainLab&MHI) dedicated SBRT linear accelerator and 6DOF robotic couch by IBA Proton Therapy with QFixTM couch top. Methods: Planning study used a thorax phantom (CIRSTM), scanned at 4DCT protocol; targets (IGTV, PTV) were determined according to the institutional lung site-specific standards. 12 CT sets were generated with Pitch and Roll angles ranging from −4 to +4 degrees each. 2 table tops were placed onto the scans according to the modality-specific patient treatment workflows. The pitched/rolled CT sets were fused to the original CT scan and the verification treatment plans were generated (12 photon SBRT plans and 12 proton conventional fractionation lung plans). Then the CT sets were fused again to simulate the effect of patient roll/pitch corrections by the robotic table. DVH sets were evaluated for all cases. Results: The effect of not correcting the phantom position for roll/pitch in photon SBRT cases was reducing the target coverage by 2% as maximum; correcting the positional errors by robotic table varied the target coverage within 0.7%. in case of proton treatment, not correcting the phantom position led to the coverage loss up to 4%, applying the corrections using robotic table reduced the coverage variation to less than 2% for PTV and within 1% for IGTV. Conclusion: correcting the patient position by using robotic tables is highly preferable, despite the small dosimetric changes introduced by the devices.

  14. Friction control using ultrasonic oscillation for rolling-element linear-motion guide

    International Nuclear Information System (INIS)

    Oiwa, Takaaki

    2006-01-01

    This article reports a friction-control method for rolling-element linear-motion guides used for precision positioning. In general, static friction greater than dynamic friction generates stick-slip motion and diminishes the positioning accuracy. Two ultrasonic actuators excite both the rail and the carriage of the guide to give relative displacements to bearing surfaces. In order to effectively propagate the vibration over the entire rail without damping, the actuator drives at that frequency with a half wavelength corresponding to the distances between the rail mounting bolts. This also minimizes undesirable vibration of the machine structure. Moreover, the bearing surfaces of the carriage are resonated by a second ultrasonic actuator. The experiments using a force sensor showed that the static and dynamic friction forces were reduced by approximately 25% at any place on the 600-mm-long rail. Moreover, excitation only at very low velocity decreased the static friction peak

  15. Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Linhui Zhao

    2014-01-01

    Full Text Available Vehicle velocity and roll angle are important information for active safety control systems of four-wheel independent drive electric vehicle. In order to obtain robustness estimation of vehicle velocity and roll angle, a novel method is proposed based on vehicle dynamics and the measurement information provided by the sensors equipped in modern cars. The method is robust with respect to different road and friction conditions. Firstly, the dynamic characteristics of four-wheel independent drive electric vehicle are analyzed, and a four-degree-of-freedom nonlinear dynamic model of vehicle and a tire longitudinal dynamic equation are established. The relationship between the longitudinal and lateral friction forces is derived based on Dugoff tire model. The unknown input reconstruction technique of sliding mode observer is used to achieve longitudinal tire friction force estimation. A simple observer is designed for the estimation of the roll angle of the vehicle. And then using the relationship, the estimated longitudinal friction forces and roll angle, a sliding mode observer for vehicle velocity estimation is provided, which does not need to know the tire-road friction coefficient and road angles. Finally, the proposed method is evaluated experimentally under a variety of maneuvers and road conditions.

  16. METHOD OF THE DRIVE POWER DETERMINATION OF THE MECHANISMS OF THE BRIDGE CRANE MOVEMENT CONSIDERING THE ROLLING FRICTION

    Directory of Open Access Journals (Sweden)

    V. M. Bohomaz

    2015-08-01

    Full Text Available Purpose. The value of drive resistance to its movement is the main parameter at calculating the drive power of bridge crane. The value of the wheel rolling friction on the rails is one of the important parts of the resistance to movement. It is necessary to determine the dependence of static (dynamic quantities of resistance to the bridge crane movement on a straight section of the track from the position of the bogie in the span, and explore the influence of the wheel flanges resistance for wear. Methodology. Using the analytical dependences for determining the rolling friction coefficient, that depends on the size of the half-width of the contact between the wheel and rail, the improved method for calculating the required drive power of the crane was proposed. Findings. With the proposed method of power calculation the characteristic curve of the crane wheel loads, the coefficient of rolling friction of the wheels and the crane resistance to movement from the position of the bogie on span were built. In the result of graphs analysis it was found that the engine power, obtained by the proposed method is higher than the recommended by the existing standards. The more precise formula for determining the total coefficient of sliding friction that takes into account the friction of wheel flanges on the rail is given. The characteristic curves of such coefficient of friction and the total resistance to movement of the position of the crane bogie were built. Originality. The scientists proposed an improved method of determining the required engine power of bridge crane, which takes into account the effect of rolling friction of the wheels on the rails and the bogie in the span. The improved formula for determining the coefficient of friction that takes into account the friction wheel flanges of the rail was given. The characteristic curve of this coefficient of friction and the total resistance movement of crane from the position of the crane bogie

  17. Internal friction in cold-rolled metallic glasses Cu50Ti50 and Ni78Si8B14

    International Nuclear Information System (INIS)

    Zolotukhin, I.V.; Khonik, V.A.; Ryabtseva, T.N.; Belyavskii, V.I.

    1989-01-01

    The influence of cold rolling on the low temperature (30 to 300 K) internal friction of metallic glasses Cu 50 Ti 50 and Ni 78 Si 8 B 14 is investigated. It is shown that cold rolling of both metallic glasses up to 2 to 6% results in the appearance of a high relaxation damping peak around 260 to 280 K. The internal friction background below the peak shows a strong amplitude dependence. In highly predeformed specimens (∼ 16%) the internal friction peak is absent. Electron irradiation (2 MeV, 10 19 cm -2 ) leads to the suppression of the deformation-induced internal friction peak. The results are interpreted in the framework of the dislocation models of plastic flow of metallic glasses. (author)

  18. Controller tuning based on optimization algorithms of a novel spherical rolling robot

    International Nuclear Information System (INIS)

    Sadegjian, Rasou; Masouleh, Mehdi Tale

    2016-01-01

    This study presents the construction process of a novel spherical rolling robot and control strategies that are used to improve robot locomotion. The proposed robot drive mechanism is constructed based on a combination of the pendulum and wheel drive mechanisms. The control model of the proposed robot is developed, and the state space model is calculated based on the obtained control model. Two control strategies are defined to improve the synchronization performance of the proposed robot motors. The proportional-derivative and proportional-integral-derivative controllers are designed based on the pole placement method. The proportional-integral-derivative controller leads to a better step response than the proportional-derivative controller. The controller parameters are tuned with genetic and differential evaluation algorithms. The proportional-integral-derivative controller which is tuned based on the differential evaluation algorithm leads to a better step response than the proportional-integral-derivative controller that is tuned based on genetic algorithm. Fuzzy logics are used to reduce the robot drive mechanism motors synchronizing process time to the end of achieving a high-performance controller. The experimental implementation results of fuzzy-proportional-integral-derivative on the proposed spherical rolling robot resulted in a desirable synchronizing performance in a short time

  19. Controller tuning based on optimization algorithms of a novel spherical rolling robot

    Energy Technology Data Exchange (ETDEWEB)

    Sadegjian, Rasou [Dept. of Electrical, Biomedical, and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, QazvinI (Iran, Islamic Republic of); Masouleh, Mehdi Tale [Human and Robot Interaction Laboratory, Faculty of New Sciences and Technologies, University of Tehran, Tehran (Iran, Islamic Republic of)

    2016-11-15

    This study presents the construction process of a novel spherical rolling robot and control strategies that are used to improve robot locomotion. The proposed robot drive mechanism is constructed based on a combination of the pendulum and wheel drive mechanisms. The control model of the proposed robot is developed, and the state space model is calculated based on the obtained control model. Two control strategies are defined to improve the synchronization performance of the proposed robot motors. The proportional-derivative and proportional-integral-derivative controllers are designed based on the pole placement method. The proportional-integral-derivative controller leads to a better step response than the proportional-derivative controller. The controller parameters are tuned with genetic and differential evaluation algorithms. The proportional-integral-derivative controller which is tuned based on the differential evaluation algorithm leads to a better step response than the proportional-integral-derivative controller that is tuned based on genetic algorithm. Fuzzy logics are used to reduce the robot drive mechanism motors synchronizing process time to the end of achieving a high-performance controller. The experimental implementation results of fuzzy-proportional-integral-derivative on the proposed spherical rolling robot resulted in a desirable synchronizing performance in a short time.

  20. Standard test method for measuring rolling friction characteristics of a spherical shape on a flat horizontal plane

    CERN Document Server

    American Society for Testing and Materials. Philadelphia

    2008-01-01

    1.1 This test method covers the use of an angled launch ramp to initiate rolling of a sphere or nearly spherical shape on a flat horizontal surface to determine the rolling friction characteristics of a given spherical shape on a given surface. 1.1.1 Steel balls on a surface plate were used in interlaboratory tests (see Appendix X1). Golf balls on a green, soccer and lacrosse balls on playing surfaces, bowling balls on an a lane, basketballs on hardwood, and marbles on composite surface were tested in the development of this test method, but the test applies to any sphere rolling on any flat horizontal surface. 1.1.2 The rolling friction of spheres on horizontal surfaces is affected by the spherical shape’s stiffness, radius of curvature, surface texture, films on the surface, the nature of the counterface surface; there are many factors to consider. This test method takes all of these factors into consideration. The spherical shape of interest is rolled on the surface of interest using a standard ramp to...

  1. R3D3 : The Rolling Receptionist Robot with Double Dutch Dialogue

    NARCIS (Netherlands)

    Linssen, Jeroen; Theune, Mariet

    We discuss the design of R3D3, a rolling receptionist robot with the ability to conduct 'double Dutch dialogues': dialogues (in Dutch) that involve, besides a human user, both a robot and a virtual human. R3D3 is intended to assist people when they visit shops, museums, or other establishments by

  2. R3D3: The Rolling Receptionist Robot with Double Dutch Dialogue

    NARCIS (Netherlands)

    Linssen, Jeroen; Theune, Mariet

    We discuss the design of R3D3, a rolling receptionist robot with the ability to conduct 'double Dutch dialogues': dialogues (in Dutch) that involve, besides a human user, both a robot and a virtual human. R3D3 is intended to assist people when they visit shops, museums, or other establishments by

  3. Estimation of coefficient of rolling friction by the evolvent pendulum method

    Science.gov (United States)

    Alaci, S.; Ciornei, F. C.; Ciogole, A.; Ciornei, M. C.

    2017-05-01

    The paper presents a method for finding the coefficient of rolling friction using an evolvent pendulum. The pendulum consists in a fixed cylindrical body and a mobile body presenting a plane surface in contact with a cylindrical surface. The mobile body is placed over the fixed one in an equilibrium state; after applying a small impulse, the mobile body oscillates. The motion of the body is video recorded and afterwards the movie is analyzed by frames and the decrease with time of angular amplitude of the pendulum is found. The equation of motion is established for oscillations of the mobile body. The equation of motion, differential nonlinear, is integrated by Runge-Kutta method. Imposing the same damping both to model’s solution and to theoretical model, the value of coefficient of rolling friction is obtained. The last part of the paper presents results for actual pairs of materials. The main advantage of the method is the fact that the dimensions of contact regions are small, of order a few millimeters, and thus is substantially reduced the possibility of variation of mechanical characteristic for the two surfaces.

  4. A substitute model of two-dimensional dry friction exposed to dither generated by rolling contact of wheel and rail

    Science.gov (United States)

    Piotrowski, Jerzy

    2012-10-01

    Dither generated by rolling contact of wheel and rail smoothes dry friction damping provided by the primary suspension dampers of freight wagons and it should be taken into account in numerical simulations. But numerically the problem is non-smooth and this leads to long execution time during simulation, especially when the vehicle with friction dampers is modelled in the environment of an multi-body system simulation program, whose solver has to cope with many strong non-linearities. The other difficulty is the necessity of handling within the code a number of big volume files of recorded dither sampled with high frequency. To avoid these difficulties, a substitute model of two-dimensional dry friction exposed to dither is proposed that does not need application of dither during simulation, but it behaves as if dither were applied. Due to this property of the model, the excitation of the vehicle model by track irregularities may be supplied as low-frequency input, which allows fast execution and, the necessity of handling high-volume files of recorded dither is avoided. The substitute model is numerically effective. To identify parameters of the substitute model, a pre-processing employing a sample of the realistic dither is carried-out on a simple two-degrees-of-freedom system. The substitute model is anisotropic, describing anisotropic properties of the two-dimensional friction arising in the presence of one-dimensional dither. The model may be applied in other branches of engineering, for example, in mechatronics and robotics, where application of dither may improve the accuracy of positioning devices.

  5. Frictional performance of ball screw

    International Nuclear Information System (INIS)

    Nakashima, Katuhiro; Takafuji, Kazuki

    1985-01-01

    As feed screws, ball screws have become to be adopted in place of trapezoidal threads. The structure of ball screws is complex, but those are the indispensable component of NC machine tools and machining centers, and are frequently used for industrial robots. As the problems in the operation of ball screws, there are damage, life and the performance related to friction. As to the damage and life, though there is the problem of the load distribution on balls, the results of the research on rolling bearings are applied. The friction of ball screws consists of the friction of balls and a spiral groove, the friction of a ball and a ball, the friction in a ball-circulating mechanism and the viscous friction of lubricating oil. It was decided to synthetically examine the frictional performance of ball screws, such as driving torque, the variation of driving torque, efficiency, the formation of oil film and so on, under the working condition of wide range, using the screws with different accuracy and the nuts of various circuit number. The experimental setup and the processing of the experimental data, the driving performance of ball screws and so on are reported. (Kako, I.)

  6. Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot

    Science.gov (United States)

    Errico, Gianmarco; Fava, Victor; Resta, Ferruccio; Ripamonti, Francesco

    2015-04-01

    This paper presents a hyper-redundant continuous robot used to perform work in places which humans can not reach. This type of robot is generally a bio-inspired solution, it is composed by a lot of flexible segments driven by multiple actuators and its dynamics is described by a lot degrees of freedom. In this paper a model composed of some rigid links connected to each other by revolution joint is presented. In each link a torsional spring is added in order to simulate the resistant torque between the links and the interactions among the cables and the robot during the relative rotation. Moreover a type of EAP actuator, called spring roll, is used as the end-effector of the robot. Through a suitable sensor, such as a camera, the spring roll allows to track a target and it closes the control loop on the robot to follow it.

  7. Terrain Perception in a Shape Shifting Rolling-Crawling Robot

    Directory of Open Access Journals (Sweden)

    Fuchida Masataka

    2016-09-01

    Full Text Available Terrain perception greatly enhances the performance of robots, providing them with essential information on the nature of terrain being traversed. Several living beings in nature offer interesting inspirations which adopt different gait patterns according to nature of terrain. In this paper, we present a novel terrain perception system for our bioinspired robot, Scorpio, to classify the terrain based on visual features and autonomously choose appropriate locomotion mode. Our Scorpio robot is capable of crawling and rolling locomotion modes, mimicking Cebrenus Rechenburgi, a member of the huntsman spider family. Our terrain perception system uses Speeded Up Robust Feature (SURF description method along with color information. Feature extraction is followed by Bag of Word method (BoW and Support Vector Machine (SVM for terrain classification. Experiments were conducted with our Scorpio robot to establish the efficacy and validity of the proposed approach. In our experiments, we achieved a recognition accuracy of over 90% across four terrain types namely grass, gravel, wooden deck, and concrete.

  8. Theoretical Analysis of Unit Friction Force Working on the Metal Contact Surface with the Roll Change during Feedstock with Non-Uniform Temperature Distribution Rolling Process

    Directory of Open Access Journals (Sweden)

    Sygut P.

    2016-06-01

    Full Text Available The paper presents the results of theoretical studies influence of non-uniform temperature distribution along the feedstock length to the unit friction force working on the metal contact surface with the roll change during the round bars 70 mm in diameter continuous rolling process. This value is one of the major factors affecting the grooves wear during the rolling process. The studies were carried out based on the actual engineering data for 160 × 160 mm square cross-section feedstock of steel S355J0. Numerical modelling of the rolling process was performed using Forge2008®, a finite-element based computer program.

  9. Fault Diagnosis of a Reconfigurable Crawling–Rolling Robot Based on Support Vector Machines

    Directory of Open Access Journals (Sweden)

    Karthikeyan Elangovan

    2017-10-01

    Full Text Available As robots begin to perform jobs autonomously, with minimal or no human intervention, a new challenge arises: robots also need to autonomously detect errors and recover from faults. In this paper, we present a Support Vector Machine (SVM-based fault diagnosis system for a bio-inspired reconfigurable robot named Scorpio. The diagnosis system needs to detect and classify faults while Scorpio uses its crawling and rolling locomotion modes. Specifically, we classify between faulty and non-faulty conditions by analyzing onboard Inertial Measurement Unit (IMU sensor data. The data capture nine different locomotion gaits, which include rolling and crawling modes, at three different speeds. Statistical methods are applied to extract features and to reduce the dimensionality of original IMU sensor data features. These statistical features were given as inputs for training and testing. Additionally, the c-Support Vector Classification (c-SVC and nu-SVC models of SVM, and their fault classification accuracies, were compared. The results show that the proposed SVM approach can be used to autonomously diagnose locomotion gait faults while the reconfigurable robot is in operation.

  10. Testbed of a novel robotic pitch-roll wrist parameter identification

    DEFF Research Database (Denmark)

    Ma, Xiao Qing; Chopra, Vikram; Angeles, Jorge

    2010-01-01

    The paper reports work in progress on the development of an innovative gearless pitch-roll wrist (PRW)for robotic applications. The PRW bears the morphology of a bevel-gear differential, its novelty lying in the absence of gears. Indeed, the PRW motivating this study is based on cams and rollers,...

  11. Immersed friction stir welding of ultrafine grained accumulative roll-bonded Al alloy

    International Nuclear Information System (INIS)

    Hosseini, M.; Danesh Manesh, H.

    2010-01-01

    In this research, ultrafine grained strips of commercial pure strain hardenable aluminum (AA1050) were produced by accumulative roll-bonding (ARB) technique. These strips were joined by friction stir welding (FSW) in immersed (underwater) and conventional (in-air) conditions to investigate the effect of the immersion method on the microstructure and mechanical properties of the joint, aiming to reduce the deterioration of the mechanical properties of the joint. Transmission electron microscopy and X-ray diffraction analyses were used to evaluate the microstructure, showing smaller grains and subgrains in the stir zone of the immersed FSW condition with respect to the conventional FSW method. The hardness and tensile properties of the immersed friction stir welded sample and ARBed base metal show more similarity compared to the conventional friction stir welded sample. Moreover, the aforementioned method can result in the enhancement of the superplasticity tendency of the material.

  12. Effect of the cold-rolling parameters and the yield strength of the strip material on the friction stresses in a deformation zone

    Science.gov (United States)

    Garber, E. A.; Yagudin, I. V.; Ermilov, V. V.; Traino, A. I.

    2009-10-01

    The reliability of the methods of determining the friction coefficient is analyzed, since the friction stresses in the deformation zone during cold rolling significantly affect the quality of cold-rolled sheets and the energy consumption. The well-known experimental data and empirical dependences are shown to contradict each other, and the statistical assurance of these dependences is absent. A database on the interrelated technological and energy-force parameters of a five-stand cold-rolling mill, which includes a wide range of steel grades and strip sizes and shapes, is analyzed. Regression analysis is used to obtain a statistically reliable regression dependence of the friction coefficient in the deformation zone on the most significant technological parameters. The application of this dependence decreases the error of energy-force calculations by more than two times.

  13. Rolling Friction Torque in Ball-Race Contacts Operating in Mixed Lubrication Conditions

    Directory of Open Access Journals (Sweden)

    Mihaela Rodica D. Bălan

    2015-04-01

    Full Text Available Based on a theoretical model and an experimental methodology for defining the friction torque for lubricated conditions in a modified thrust ball bearing having only three balls, the authors experimentally investigated the influence of the lubricant parameter Λ on friction torque for mixed IVR (isoviscous rigid and EHL (elastohydrodynamic lubrication conditions. The experiments were conducted using ball diameters of 3 mm, 3.97 mm and 6.35 mm loaded at 0.125 N, 0.400 N and 0.633 N. Two oils of viscosity 0.08 Pa·s and 0.05 Pa·s were used and rotational speed was varied in the range 60–210 rpm to obtain a lubricant parameter Λ varying between 0.3 and 3.2. The experiments confirmed that the measured friction torque can be explained using hydrodynamic rolling force relationships respecting the transition from an IVR to an EHL lubrication regime.

  14. FASTSIM2: a second-order accurate frictional rolling contact algorithm

    Science.gov (United States)

    Vollebregt, E. A. H.; Wilders, P.

    2011-01-01

    In this paper we consider the frictional (tangential) steady rolling contact problem. We confine ourselves to the simplified theory, instead of using full elastostatic theory, in order to be able to compute results fast, as needed for on-line application in vehicle system dynamics simulation packages. The FASTSIM algorithm is the leading technology in this field and is employed in all dominant railway vehicle system dynamics packages (VSD) in the world. The main contribution of this paper is a new version "FASTSIM2" of the FASTSIM algorithm, which is second-order accurate. This is relevant for VSD, because with the new algorithm 16 times less grid points are required for sufficiently accurate computations of the contact forces. The approach is based on new insights in the characteristics of the rolling contact problem when using the simplified theory, and on taking precise care of the contact conditions in the numerical integration scheme employed.

  15. BiLBIQ A Biologically Inspired Robot with Walking and Rolling Locomotion

    CERN Document Server

    King, Ralf Simon

    2013-01-01

    The book ‘BiLBIQ: A biologically inspired Robot with walking and rolling locomotion’ deals with implementing a locomotion behavior observed in the biological archetype Cebrennus villosus to a robot prototype whose structural design needs to be developed.   The biological sample is investigated as far as possible and compared to other evolutional solutions within the framework of nature’s inventions. Current achievements in robotics are examined and evaluated for their relation and relevance to the robot prototype in question. An overview of what is state of the art in actuation ensures the choice of the hardware available and most suitable for this project. Through a constant consideration of the achievement of two fundamentally different ways of locomotion with one and the same structure, a robot design is developed and constructed taking hardware constraints into account. The development of a special leg structure that needs to resemble and replace body elements of the biological archetype is a speci...

  16. Investigation of squeal noise under positive friction characteristics condition provided by friction modifiers

    Science.gov (United States)

    Liu, Xiaogang; Meehan, Paul A.

    2016-06-01

    Field application of friction modifiers on the top of rail has been shown to effectively curb squeal and reduce lateral forces, but performance can be variable, according to other relevant research. Up to now, most investigations of friction modifiers were conducted in the field, where it is difficult to control or measure important parameters such as angle of attack, rolling speed, adhesion ratio etc. In the present investigation, the effect of different friction modifiers on the occurrence of squeal was investigated on a rolling contact two disk test rig. In particular, friction-creep curves and squeal sound pressure levels were measured under different rolling speeds and friction modifiers. The results show friction modifiers can eliminate or reduce the negative slope of friction-creep curves, but squeal noise still exists. Theoretical modelling of instantaneous creep behaviours reveals a possible reason why wheel squeal still exists after the application of friction modifiers.

  17. An Omnidirectional Mobile Millimeters Size Micro-Robot with Novel Duel-Wheels

    Directory of Open Access Journals (Sweden)

    Zhenbo Li

    2006-09-01

    Full Text Available A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotation. Kinematics model is analyzed to prove the omni-directional mobility. Virtual-Winding Approach (VWA and PWM-Based Vector-Synthesize Approach(PBVSA current control methods are presented to satisfy a requirement of higher positioning accuracy. Experimental results demonstrate the feasibility of this concept.

  18. An Omnidirectional Mobile Millimeters Size Micro-Robot with Novel Duel-Wheels

    Directory of Open Access Journals (Sweden)

    Chen Zhang

    2008-11-01

    Full Text Available A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm?2.1mm?1.3mm size. Three of them are for translation and the other one is for rotation. Kinematics model is analyzed to prove the omni-directional mobility. Virtual-Winding Approach (VWA and PWM-Based VectorSynthesize Approach(PBVSA current control methods are presented to satisfy a requirement of higher positioning accuracy. Experimental results demonstrate the feasibility of this concept.

  19. Kalker's algorithm Fastsim solves tangential contact problems with slip-dependent friction and friction anisotropy

    Science.gov (United States)

    Piotrowski, J.

    2010-07-01

    This paper presents two extensions of Kalker's algorithm Fastsim of the simplified theory of rolling contact. The first extension is for solving tangential contact problems with the coefficient of friction depending on slip velocity. Two friction laws have been considered: with and without recuperation of the static friction. According to the tribological hypothesis for metallic bodies shear failure, the friction law without recuperation of static friction is more suitable for wheel and rail than the other one. Sample results present local quantities inside the contact area (division to slip and adhesion, traction) as well as global ones (creep forces as functions of creepages and rolling velocity). For the coefficient of friction diminishing with slip, the creep forces decay after reaching the maximum and they depend on the rolling velocity. The second extension is for solving tangential contact problems with friction anisotropy characterised by a convex set of the permissible tangential tractions. The effect of the anisotropy has been shown on examples of rolling without spin and in the presence of pure spin for the elliptical set. The friction anisotropy influences tangential tractions and creep forces. Sample results present local and global quantities. Both extensions have been described with the same language of formulation and they may be merged into one, joint algorithm.

  20. A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect

    Science.gov (United States)

    Wang, Liang; Shu, Chengyou; Jin, Jiamei; Zhang, Jianhui

    2017-03-01

    A novel traveling wave piezoelectric-actuated tracked mobile robot with potential application to robotic rovers was proposed and investigated in this study. The proposed tracked mobile robot is composed of a parallelogram-frame-structure piezoelectric transducer with four rings and a metal track. Utilizing the converse piezoelectric and friction effects, traveling waves were propagated in the rings and then the metal track was actuated by the piezoelectric transducer. Compared with traditional tracked mechanisms, the proposed tracked mobile robot has a simpler and more compact structure without lubricant, which eliminates the problem of lubricant volatilization and deflation, thus, it could be operated in the vacuum environment. Dynamic characteristics were simulated and measured to reveal the mechanism of actuating track of the piezoelectric transducer. Experimental investigations of the traveling wave piezoelectric-actuated tracked mobile robot were then carried out, and the results indicated that the robot prototype with a pair of exciting voltages of 460 Vpp is able to achieve a maximum velocity of 57 mm s-1 moving on the foam plate and possesses the obstacle crossing capability with a maximum height of 27 mm. The proposed tracked mobile robot exhibits potential to be the driving system of robotic rovers.

  1. RELATIONSHIP BETWEEN ROLLING AND SLIP RESISTANCE IN ROLLING BEARINGS

    Directory of Open Access Journals (Sweden)

    L. M. Bondarenko

    2016-06-01

    Full Text Available Purpose. About one of the causes of slip rolling is known from the second half of the 19th century, it was believed that the slip resistance appears at the place of contact due to different speeds on the arc of contact. Only in the mid-20th century it was proved that this resistance is negligible in rolling resistance. However (for some unknown reason it is ignored the fact that in practice in rolling bearings may rotate both the inner ring with a stationary outer one, and vice versa almost in equal relations. It is not taken into account the fact that the ball or roller in the rolling bearings runs the different distance along the roller path of the outer and inner bearing cages in one revolution. This fact is not taken into account in determining the calculated values for the friction coefficient of a rolling bearing reduced to the shaft. Therefore, the aim of this work is to determine the influence of path length on the track riding the outer and inner race of the bearing on the determination of the calculated value of the coefficient of friction of rolling bearings is given to the shaft. Methodology. The solution technique is based on the theory of plane motion of a rigid body, the theory of Hertzian contact deformation and the analytical dependencies for determination of coefficient of rolling friction. Findings. The obtained dependences on determination of rolling resistance of the balls or rollers along the bearing tracks of inner and outer bearing cages as well as path difference metering of the rolling on them allows to analytically obtain the rolling resistance and slipping for any size of bearings and different devices of bearing units. It is also possible at the design stage of rolling nodes to handle not only the design but also the content of the node. Originality. Using the analytical dependences for determination of the rolling resistance of bodies at point and line contacts, and also account for the difference in the path of the

  2. Investigating the role of sliding friction in rolling motion: a teaching sequence based on experiments and simulations

    Science.gov (United States)

    De Ambrosis, Anna; Malgieri, Massimiliano; Mascheretti, Paolo; Onorato, Pasquale

    2015-05-01

    We designed a teaching-learning sequence on rolling motion, rooted in previous research about student conceptions, and proposing an educational reconstruction strongly centred on the role of friction in different cases of rolling. A series of experiments based on video analysis is used to highlight selected key concepts and to motivate students in their exploration of the topic; and interactive simulations, which can be modified on the fly by students to model different physical situations, are used to stimulate autonomous investigation in enquiry activities. The activity sequence was designed for students on introductory physics courses and was tested with a group of student teachers. Comparisons between pre- and post-tests, and between our results and those reported in the literature, indicate that students’ understanding of rolling motion improved markedly and some typical difficulties were overcome.

  3. Multi-source micro-friction identification for a class of cable-driven robots with passive backbone

    Science.gov (United States)

    Tjahjowidodo, Tegoeh; Zhu, Ke; Dailey, Wayne; Burdet, Etienne; Campolo, Domenico

    2016-12-01

    This paper analyses the dynamics of cable-driven robots with a passive backbone and develops techniques for their dynamic identification, which are tested on the H-Man, a planar cabled differential transmission robot for haptic interaction. The mechanism is optimized for human-robot interaction by accounting for the cost-benefit-ratio of the system, specifically by eliminating the necessity of an external force sensor to reduce the overall cost. As a consequence, this requires an effective dynamic model for accurate force feedback applications which include friction behavior in the system. We first consider the significance of friction in both the actuator and backbone spaces. Subsequently, we study the required complexity of the stiction model for the application. Different models representing different levels of complexity are investigated, ranging from the conventional approach of Coulomb to an advanced model which includes hysteresis. The results demonstrate each model's ability to capture the dynamic behavior of the system. In general, it is concluded that there is a trade-off between model accuracy and the model cost.

  4. Effects of rolling on characteristics of single-phase water flow in narrow rectangular ducts

    International Nuclear Information System (INIS)

    Xing Dianchuan; Yan Changqi; Sun Licheng; Xu Chao

    2012-01-01

    Highlights: ► Mass flow rate and friction pressure drop with different pressure head are compared. ► The effect of pressure head on flow fluctuation is considered theoretically. ► Time-mean and real-time friction pressure drop in different rolling motion are studied. ► Rolling motion influences the fluctuation of friction pressure drop in two aspects. ► New correlation for frictional coefficient in rolling motion is achieved. - Abstract: Experimental and theoretical studies of rolling effects on characteristics of single-phase water flow in narrow rectangular ducts are performed under ambient temperature and pressure. Two types of pressure head are supplied by elevate water tank and pump respectively. The results show that the frictional pressure drop under rolling condition fluctuates periodically, with its amplitude decaying as mean Reynolds number increase and the rolling amplitude decrease, while the amplitude is nearly invariable with rolling period. Rolling motion influences the fluctuation amplitude of frictional pressure drop in two aspects, on the one hand, rolling reduced periodical pulsing flow leads to the fluctuation of the frictional pressure drop, on the other hand, additional force acting on fluid near the wall due to the rolling motion makes local frictional resistance oscillate periodically. The mass flow rate oscillates periodically in rolling motion with the pressure head supplied by water tank, while its fluctuation is so weak that could be neglected for the case of the pressure head supplied by pump. An empirical correlation for the frictional coefficient under rolling condition is achieved, and the experimental data is well correlated. A mathematical model is also developed to study the effect of pressure head on mass flow rate fluctuation in rolling motion. The fluctuation amplitude of the mass flow rate decreases rapidly with a higher pressure head. Comparing with the vertical condition, rolling motion nearly has no effects on

  5. Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot

    Directory of Open Access Journals (Sweden)

    Francisco Valero

    2017-01-01

    Full Text Available A collision-free trajectory planner for a car-like mobile robot moving in complex environments is introduced and the influence of the coefficient of friction on important working parameters is analyzed. The proposed planner takes into account not only the dynamic capabilities of the robot but also the behaviour of the tire. This planner is based on sequential quadratic programming algorithms and the normalized time method. Different values for the coefficient of friction have been taken following a normal Gaussian distribution to see its influence on the working parameters. The algorithm has been applied to several examples and the results show that computation times are compatible with real-time work, so the authors call them efficient generated trajectories as they avoid collisions. Besides, working parameters such as the minimum trajectory time, the maximum vehicle speed, computational time, and consumed energy have been monitored and some conclusions have been reached.

  6. A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot

    International Nuclear Information System (INIS)

    Huang, Ke-Jung; Huang, Chun-Kai; Lin, Pei-Chun

    2014-01-01

    We report on the development of a robot’s dynamic locomotion based on a template which fits the robot’s natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with compliant circular legs, the R-SLIP model also acts as the template for general dynamic running. The model has a torsional spring and a large circular arc as the distributed foot, so during locomotion it rolls on the ground with varied equivalent linear stiffness. This differs from the well-known spring loaded inverted pendulum (SLIP) model with fixed stiffness and ground contact points. Through dimensionless steps-to-fall and return map analysis, within a wide range of parameter spaces, the R-SLIP model is revealed to have self-stable gaits and a larger stability region than that of the SLIP model. The R-SLIP model is then embedded as the reduced-order ‘template’ in a more complex ‘anchor’, the RHex-style robot, via various mapping definitions between the template and the anchor. Experimental validation confirms that by merely deploying the stable running gaits of the R-SLIP model on the empirical robot with simple open-loop control strategy, the robot can easily initiate its dynamic running behaviors with a flight phase and can move with similar body state profiles to those of the model, in all five testing speeds. The robot, embedded with the SLIP model but performing walking locomotion, further confirms the importance of finding an adequate template of the robot for dynamic locomotion. (paper)

  7. Aspects Regarding Evaluation of Friction Effects in Robotic Systems

    Directory of Open Access Journals (Sweden)

    Florina-Carmen Ciornei

    2016-06-01

    Full Text Available The paper reveals both experimentally and by numerical simulation that modelling the dynamic behaviour of a robotic system that contains pairs where spin motion exists, finally leads towards nonlinear dynamical models. Despite the fact that academic monographs upon rigid mechanics use the hypothesis that spinning torque depends linearly on the normal force, a simple experiment contradicts this assumption. To this end, the motion of an axi-symmetric body making two contacts with dry friction is analyzed. The qualitative non-linearity of spinning torque on loading force dependence is validated in the end by the modelling of the test using dynamical simulation software.

  8. Low friction slip-rolling contacts. Influences of alternative steels, high performance thin film coatings and lubricants

    Energy Technology Data Exchange (ETDEWEB)

    Scholz, Christian

    2013-02-01

    Due to the growing environmental awareness worldwide, containment provisions for CO{sub 2} emissions in mobility systems and increasing performance requirements the demands on mechanical systems and their materials continuously rise. These high demands require the implementation of new technical approaches, for example of light-weight strategies in automotive powertrains, and directly raise questions about the suitability of the most promising technical solution. Two basic parameters, the surface hardness of the tooth flanks and the core fatigue strength of the tooth root, illustrate exemplarily increasing demands on material grades used for gear wheels in automotive powertrains. In addition to light-weight strategies, a reduction in friction and an increase of the fatigue lifetime are two other major development directions to strive the mentioned targets. It is clear that any kind of solution must show an equal application profile, preferably an improvement, compared to the state-of-the-art solutions. For tribological systems, the following paths may offer lower friction and higher load carrying capabilities: 1. Alternative base oils and additives (such as esters, polyglycols), 2. Thin film coatings (e.g. DLC) and/or 3. Novel steel metallurgies. In previous investigations on the slip-rolling resistance of thin film coatings (a-C, ta-C, Zr(C,N)) the substrates were mainly made of the bearing steels 100Cr6H and Cronidur 30. Applying contact pressures of up to P{sub 0max} = 2.9 GPa (F{sub N} = 2,000 N), the samples were tested up to 10 million load cycles in endurance tests. The aim of the present work is to broaden the research by varying the input parameters. Newly developed engine oil mixtures, high performance thin film coatings and alternative steel solutions are intensively investigated in highly stressed slip-rolling contacts at lubricant temperatures of 120 C. Specifically, in using new steel metallurgies, i.e. the high toughness and high strength steels V300

  9. Assessing the accuracy of different simplified frictional rolling contact algorithms

    Science.gov (United States)

    Vollebregt, E. A. H.; Iwnicki, S. D.; Xie, G.; Shackleton, P.

    2012-01-01

    This paper presents an approach for assessing the accuracy of different frictional rolling contact theories. The main characteristic of the approach is that it takes a statistically oriented view. This yields a better insight into the behaviour of the methods in diverse circumstances (varying contact patch ellipticities, mixed longitudinal, lateral and spin creepages) than is obtained when only a small number of (basic) circumstances are used in the comparison. The range of contact parameters that occur for realistic vehicles and tracks are assessed using simulations with the Vampire vehicle system dynamics (VSD) package. This shows that larger values for the spin creepage occur rather frequently. Based on this, our approach is applied to typical cases for which railway VSD packages are used. The results show that particularly the USETAB approach but also FASTSIM give considerably better results than the linear theory, Vermeulen-Johnson, Shen-Hedrick-Elkins and Polach methods, when compared with the 'complete theory' of the CONTACT program.

  10. Velocity Dependence in the Cyclic Friction Arising with Gears

    OpenAIRE

    García Armada, Elena; González de Santos, Pablo; Canudas de Wit, Carlos

    2002-01-01

    Recent research on friction in robot joints and transmission systems has considered meshing friction a position-dependent friction component. However, in this paper we show experimental evidence that meshing friction depends highly on joint speed.We identify the meshing friction in the gearboxes of a robotic leg, and we propose a new mathematical model that considers the rate dependency of meshing friction. The resulting model is validated through experimentation. Results...

  11. A Coupled Model for Work Roll Thermal Contour with Subsectional Cooling in Aluminum Strip Cold Rolling

    Directory of Open Access Journals (Sweden)

    Shao Jian

    2014-10-01

    Full Text Available Little attention had been given to the evaluation of subsectional cooling control ability under complicated working conditions. In this paper, heat generation was calculated by using finite difference method. Strip hardening, work roll elastic deformation and elastic recovery of strip were taken into account. The mean coefficient of convective heat transfer on work roll surface was simulated by FLUENT. Calculation model had used the alternative finite difference scheme, which improved the model stability and computing speed. The simulation result shows that subsectional cooling control ability is different between different rolling passes. Positive and negative control abilities are roughly the same in the same pass. The increase of rolled length, working pressure of header and friction coefficient has positive effect on subsectional cooling control ability, and the rolling speed is on the contrary. On the beginning of the pass, when work roll surface has not reached the stable temperature, control ability of subsectional cooling is mainly affected by rolled length. The effect of mean coefficient of convective heat transfer and coefficient of friction is linear. When rolling speed is over 500 m/min, control ability of subsectional cooling becomes stable.

  12. Investigating Corrosion, Wear Resistance and Friction of AA5454-O Series after its Severe Deformation by Rolling

    Directory of Open Access Journals (Sweden)

    Sinan SEZEK

    2017-02-01

    Full Text Available AA5454-O is an easily wrought, or in other words, a ductile aluminium alloy, however, its mechanical properties are inferior as compared to those of other alloys. The change taking place in corrosion resistance of AA5454-O alloy as a result of its severe plastic deformation (SPD by rolling has been investigated in this study. It has been observed that significant changes occurred in abrasion wear and corrosion resistances of AA5454-O alloy, which was severely deformed up to 80 % by rolling process. Corrosion resistance of the alloy that was severely deformed by rolling has increased. The effect of deformation rate on corrosion has been investigated by applying potentiodynamic test whereas on the other hand such change has been evidenced also through corrosion test. It has been observed that friction coefficient of severely deformed AA5454-O alloy varied by around 10 %, and that, associated with such change, its wear resistance also increased considerably. It has been determined that, as a result of severe deformation by rolling, hardness values rose in areas where the alloy was in contact with rolling surface. In this study, wear resistance of severely deformed alloy has been investigated as well. It has been observed that deformation value contributed positively to the increase in wear resistance.DOI: http://dx.doi.org/10.5755/j01.ms.23.1.14650

  13. Pressure Drop Correlations of Single-Phase and Two-Phase Flow in Rolling Tubes

    International Nuclear Information System (INIS)

    Xia-xin Cao; Chang-qi Yan; Pu-zhen Gao; Zhong-ning Sun

    2006-01-01

    A series of experimental studies of frictional pressure drop for single phase and two-phase bubble flow in smooth rolling tubes were carried out. The tube inside diameters were 15 mm, 25 mm and 34.5 mm respectively, the rolling angles of tubes could be set as 10 deg. and 20 deg., and the rolling periods could be set as 5 s, 10 s and 15 s. Combining with the analysis of single-phase water motion, it was found that the traditional correlations for calculating single-phase frictional coefficient were not suitable for the rolling condition. Based on the experimental data, a new correlation for calculating single-phase frictional coefficient under rolling condition was presented, and the calculations not only agreed well with the experimental data, but also could display the periodically dynamic characteristics of frictional coefficients. Applying the new correlation to homogeneous flow model, two-phase frictional pressure drop of bubble flow in rolling tubes could be calculated, the results showed that the relative error between calculation and experimental data was less than ± 25%. (authors)

  14. Experimental Validation of Strategy for the Inverse Estimation of Mechanical Properties and Coefficient of Friction in Flat Rolling

    Science.gov (United States)

    Yadav, Vinod; Singh, Arbind Kumar; Dixit, Uday Shanker

    2017-08-01

    Flat rolling is one of the most widely used metal forming processes. For proper control and optimization of the process, modelling of the process is essential. Modelling of the process requires input data about material properties and friction. In batch production mode of rolling with newer materials, it may be difficult to determine the input parameters offline. In view of it, in the present work, a methodology to determine these parameters online by the measurement of exit temperature and slip is verified experimentally. It is observed that the inverse prediction of input parameters could be done with a reasonable accuracy. It was also assessed experimentally that there is a correlation between micro-hardness and flow stress of the material; however the correlation between surface roughness and reduction is not that obvious.

  15. New insights into the short pitch corrugation development enigma based on 3D-FE dynamic vehicle-track coupled modelling in frictional rolling contact

    NARCIS (Netherlands)

    Li, S.; Li, Z.; Nunez Vicencio, Alfredo; Dollevoet, R.P.B.J.

    2017-01-01

    A three-dimensional (3D) finite element (FE) dynamic frictional rolling contact model is presented for the study of short pitch corrugation that considers direct and instantaneous coupling between the contact mechanics and the structural dynamics in a vehicle-track system. In this study, we examine

  16. Finite-element modeling of soft tissue rolling indentation.

    Science.gov (United States)

    Sangpradit, Kiattisak; Liu, Hongbin; Dasgupta, Prokar; Althoefer, Kaspar; Seneviratne, Lakmal D

    2011-12-01

    We describe a finite-element (FE) model for simulating wheel-rolling tissue deformations using a rolling FE model (RFEM). A wheeled probe performing rolling tissue indentation has proven to be a promising approach for compensating for the loss of haptic and tactile feedback experienced during robotic-assisted minimally invasive surgery (H. Liu, D. P. Noonan, B. J. Challacombe, P. Dasgupta, L. D. Seneviratne, and K. Althoefer, "Rolling mechanical imaging for tissue abnormality localization during minimally invasive surgery, " IEEE Trans. Biomed. Eng., vol. 57, no. 2, pp. 404-414, Feb. 2010; K. Sangpradit, H. Liu, L. Seneviratne, and K. Althoefer, "Tissue identification using inverse finite element analysis of rolling indentation," in Proc. IEEE Int. Conf. Robot. Autom. , Kobe, Japan, 2009, pp. 1250-1255; H. Liu, D. Noonan, K. Althoefer, and L. Seneviratne, "The rolling approach for soft tissue modeling and mechanical imaging during robot-assisted minimally invasive surgery," in Proc. IEEE Int. Conf. Robot. Autom., May 2008, pp. 845-850; H. Liu, P. Puangmali, D. Zbyszewski, O. Elhage, P. Dasgupta, J. S. Dai, L. Seneviratne, and K. Althoefer, "An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery," Proc. Inst. Mech. Eng., H, vol. 224, no. 6, pp. 751-63, 2010; D. Noonan, H. Liu, Y. Zweiri, K. Althoefer, and L. Seneviratne, "A dual-function wheeled probe for tissue viscoelastic property identification during minimally invasive surgery," in Proc. IEEE Int. Conf. Robot. Autom. , 2008, pp. 2629-2634; H. Liu, J. Li, Q. I. Poon, L. D. Seneviratne, and K. Althoefer, "Miniaturized force indentation-depth sensor for tissue abnormality identification," IEEE Int. Conf. Robot. Autom., May 2010, pp. 3654-3659). A sound understanding of wheel-tissue rolling interaction dynamics will facilitate the evaluation of signals from rolling indentation. In this paper, we model the dynamic interactions between a wheeled probe and a

  17. An advanced dissymmetric rolling model for online regulation

    Science.gov (United States)

    Cao, Trong-Son

    2017-10-01

    Roll-bite model is employed to predict the rolling force, torque as well as to estimate the forward slip for preset or online regulation at industrial rolling mills. The rolling process is often dissymmetric in terms of work-rolls rotation speeds and diameters as well as the friction conditions at upper and lower contact surfaces between work-rolls and the strip. The roll-bite model thus must be able to account for these dissymmetries and in the same time has to be accurate and fast enough for online applications. In the present study, a new method, namely Adapted Discretization Slab Method (ADSM) is proposed to obtain a robust roll-bite model, which can take into account the aforementioned dissymmetries and has a very short response time, lower than one millisecond. This model is based on the slab method, with an adaptive discretization and a global Newton-Raphson procedure to improve the convergence speed. The model was validated by comparing with other dissymmetric models proposed in the literature, as well as Finite Element simulations and industrial pilot trials. Furthermore, back-calculation tool was also constructed for friction management for both offline and online applications. With very short CPU time, the ADSM-based model is thus attractive for all online applications, both for cold and hot rolling.

  18. Flow and heat transfer in laminar–turbulent transitional flow regime under rolling motion

    International Nuclear Information System (INIS)

    Yuan, Hongsheng; Tan, Sichao; Zhuang, Nailiang; Lan, Shu

    2016-01-01

    Highlights: • Flow and heat transfer experiment in transitional flow regime under rolling motion. • Increases of average friction factor and Nu were found. • Periodic breakdown of laminar flow contributes to the increase. • Nonlinear variation of pressure drop or Nu with Re also contributes to the increase. • Effect of critical Reynolds number shift was discussed. - Abstract: Flow and heat transfer characteristics under rolling motion are extremely important to thermohydraulic analysis of offshore nuclear reactors. An experimental study was conducted in a heated rectangular channel to investigate flow and heat transfer in laminar–turbulent transitional flow regime under rolling motion. The results showed that the average friction factor and Nusselt number are higher than that of the corresponding steady flow as the flow rate fluctuates in transitional flow regime. Larger relative flow rate fluctuation was observed under larger rolling amplitude or higher rolling frequency. In the same manner, larger increases of average friction factor and Nusselt number were achieved under larger rolling amplitude or higher rolling frequency. The increases were mainly caused by the flow rate fluctuation through periodic breakdown of laminar flow and development of turbulence in laminar–turbulent transitional flow regime. First, turbulence, which enhances the rate of momentum and energy exchange, occurs near the crest of flow rate wave even the flow is still in laminar flow regime according to the average Reynolds number. Second, as a result of rapid increases of the friction and heat transfer with Reynolds number in transitional flow regime, the increases of the friction and the heat transfer near the crest of flow rate wave are larger than the decreases of them near the trough of flow rate wave, which also contributes to increases of average friction and heat transfer. Additionally, the effect of critical Reynolds number shift under unsteady flow and heating

  19. Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model

    Directory of Open Access Journals (Sweden)

    Bo You

    2012-01-01

    Full Text Available The severe low-speed creep phenomenon occurs in the telescopic boom system of a heavy-load transfer robot with a long telescopic boom as a result of nonlinear friction. In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance. Traditional proportional-integral-derivative controller (PID and fuzzy PID controls were, respectively, adopted in the position loop, and the control performance was simulated. The results showed that a system with fuzzy PID control eliminates “flat top” position tracking and “dead zone” speed tracking, which are generated by traditional PID, and thereby decreases the effect of friction on the performance of the servo system. This elimination also improved the tracking accuracy and robustness of the system.

  20. Dimensional ranges and rolling efficiency in a tandem cold rolling mill

    Energy Technology Data Exchange (ETDEWEB)

    Larkiola, J.

    1997-12-31

    In this work, physical models and a neural network theory have been combined in order to predict the properties of a steel strip and to optimise the process parameters in cold rolling. The prediction of the deformation resistance of the material and the friction parameter is based on the physical model presented by Bland, Ford and Ellis and artificial neural network computing (ANN). The accuracy of these models has been tested and proved by using a large amount of the measured data. With the aid of these models it has been shown that (a) the small change to the relative reduction distribution can have a clear effect upon the rolling efficiency, (b) the dimensional ranges of the tandem cold roll mill can be determined and optimised and (c) the possibility to cold roll a new product of new width, strength or thickness can be determined and the parameters of the tandem cold rolling process can be optimised. (orig.) 43 refs.

  1. Lubrication in cold rolling : Numerical simulation using multigrid techniques

    NARCIS (Netherlands)

    Lugt, Pieter Martin

    1992-01-01

    In the cold rolling process a lubricant is applied on the rolls and/or the strip mate­rial. Due to the velocities of the rolls and the strip, part of the lubricant is sheared into the contact causing, amongst others, a reduction of the friction. In this thesis a physical-mathematical model is

  2. Numerical analysis of viscous effect on ship rolling motions based on CFD

    Directory of Open Access Journals (Sweden)

    LUO Tian

    2017-03-01

    Full Text Available During the ship design procedure, the analysis of ship rolling motions is of great significance because the rolling motions have extraordinary effects on the sea-keeping, maneuverability and stability of a ship. It is difficult to simulate rolling motions due to the effect of viscosity, which causes many nonlinear components in computation. As such, the potential theory used for other ship motions cannot be used for rolling motions. This paper simulates the rolling motions of the DTMB 5512 ship model and the ship transverse section of the S60 ship model with a naoe-FOAM-SJTU solver using the Reynolds Averaged Navier Stokes(RANSmethod based on the OpenFOAM. The results of rolling motions are compared with the experimental data, which confirms the reliability of the meshes and results. For the ship transverse section of the S60 ship model, the damping coefficient is divided into three parts with the Euler and RANS methods:friction, vorticity and wave parts. For the DTMB 5512 ship model, the damping coefficient is also respectively analyzed, including the friction, vorticity, wave and bilge keel parts. The results in this paper show that the vorticity part accounts for the greatest proportion, while the friction part accounts for the least, and the bilge keels reduces the damping moment to a certain extent which shows the effect of rolling parameters on rolling motions and moments.

  3. On the nature of low temperature internal friction peaks in metallic glasses

    Energy Technology Data Exchange (ETDEWEB)

    Khonik, V.A. [State Pedagogical Univ., Voronezh (Russian Federation); Spivak, L.V. [State Univ., Perm (Russian Federation)

    1996-01-01

    Low temperature (30 < T < 300 K) internal friction in a metallic glass Ni{sub 60}Nb{sub 40} subjected to preliminary inhomogeneous deformation by cold rolling, homogeneous tensile deformation or electrolytic charging with hydrogen is investigated. Cold rolling or hydrogenation result in appearance of similar internal friction peaks and hysteresis damping. Homogeneous deformation has no influence on low temperature internal friction. The phenomenon of microplastic deformation during hydrogenation of weakly stressed samples is revealed. It is argued that microplastic deformation of metallic glasses during hydrogenation without external stress takes place too. Plastic flow both on cold rolling and hydrogenation occurs via formation and motion of dislocation-like defects which are the reason of the observed anelastic anomalies. It is concluded that low temperature internal friction peaks described in the literature for as-cast, cold deformed and hydrogenated samples have common dislocation-like origin.

  4. Investigation of the rolling motion of a hollow cylinder using a smartphone

    Science.gov (United States)

    Puttharugsa, Chokchai; Khemmani, Supitch; Utayarat, Patipan; Luangtip, Wasutep

    2016-09-01

    This paper describes the use of smartphone’s gyroscope sensor to analyse a hollow cylinder rolling down an inclined plane. The smartphone (iPhone 4s) was attached to the end of hollow cylinder and was equipped with the Sensorlog application (Sensorlog app) to record the angular speed of rolling down an inclined plane. The experimental results agree with the theoretical model that is familiar to students for the rolling motion on an inclined plane. Moreover, the coefficients of static friction and kinetic friction were determined to be 0.205 ± 0.011 and 0.178 ± 0.003 from the measurements, respectively. This experiment demonstrated an alternative way to teach the rolling motion in a physics laboratory.

  5. Contact conditions in skin-pass rolling

    DEFF Research Database (Denmark)

    Kijima, Hideo; Bay, Niels

    2007-01-01

    The special contact conditions in skin-pass rolling of steel strip is analysed by studying plane strain upsetting of thin sheet with low reduction applying long narrow tools and dry friction conditions. An extended sticking region is estimated by an elasto-plastic FEM analysis of the plane strain...... upsetting. This sticking region causes a highly inhomogeneous elasto-plastic deformation with large influence of work-hardening and friction. A numerical analysis of skin-pass rolling shows the same contact conditions, i.e. an extended sticking region around the center of the contact zone. The calculated...... size of the sticking region with varying contact length and pressure/reduction is experimentally verified by plane strain upsetting tests measuring the local surface deformation of the work pieces after unloading....

  6. Texture analysis of a friction stir welded ultrafine grained Al–Al2O3 composite produced by accumulative roll-bonding

    International Nuclear Information System (INIS)

    Shamanian, Morteza; Mohammadnezhad, Mahyar; Szpunar, Jerzy

    2014-01-01

    Highlights: • Aluminum matrix composite was successfully bonded using friction stir welding. • After welding process the fraction of low angle boundary area rapidly decreases. • The grain growth in the NZ is related the increase of temperature during the FSW. • The aluminum matrix composite has a strong Rotated Cube texture. • The weld nugget has a Rotated Cube and shear texture. - Abstract: In recent years, several studies have been focused on friction stir welding of aluminum alloys, and some researchers have also been reported on welding of aluminum-based composites. In the present research, ultrafine grained sheets of aluminum matrix composite (Al–Al 2 O 3 ) were produced by accumulative roll-bonding (ARB) technique. The aluminum composite sheets were then joined by friction stir welding. The present work describes the effect of the FSW process on the microstructure and crystallographic textures in the base metal and weld nugget. Electron backscattered diffraction (EBSD) results demonstrated the existence of different grain orientations within the weld nugget as compared to the base metal. Al composite plates have a Rotated Cube texture component. Moreover, in the nugget, grain structure with Rotated Cube and shear texture developed. Friction stir welding coarsened the grain size in the weld zone from the original grain size of 3–17 μm

  7. Amplitude Dependent Internal Friction in a Mg-Al-Zn Alloy Studied after Thermal and Mechanical Treatment

    Directory of Open Access Journals (Sweden)

    Zuzanka Trojanová

    2017-10-01

    Full Text Available The amplitude-dependent internal friction of continuously-cast and rolled AZ31 magnesium alloy was measured in this study. Samples were annealed and quenched step by step; immediately after the treatment, the amplitude dependence of the logarithmic decrement was measured. Changes in the microstructure due to thermomechanical treatment were reflected in changes in the damping. Internal friction is influenced by the dislocation substructure and its modification due to solute atoms migration, microplastic deformation, and twins’ formation. Internal friction in the rolled sheets is affected by the rolling texture.

  8. A Microstructural Evaluation of Friction Stir Welded 7075 Aluminum Rolled Plate Heat Treated to the Semi-Solid State

    Directory of Open Access Journals (Sweden)

    Ava Azadi Chegeni

    2018-01-01

    Full Text Available Two rolled plates of 7075 aluminum alloy were used as starting material. The plates were welded using a simultaneous double-sided friction stir welding (FSW process. One way of obtaining feedstock materials for Semi-solid processing or thixoforming is via deformation routes followed by partial melting in the semi-solid state. As both the base plate materials and the friction weld area have undergone extensive deformation specimens were subjected to a post welding heat-treatment in the semi-solid range at a temperature of 628 °C, for 3 min in order to observe the induced microstructural changes. A comparison between the microstructural evolution and mechanical properties of friction stir welded plates was performed before and after the heat-treatment in the Base Metal (BM, the Heat Affected Zone (HAZ, the Thermomechanically Affected Zone (TMAZ and the Nugget Zone (NZ using optical microscopy, Scanning Electron microscopy (SEM and Vickers hardness tests. The results revealed that an extremely fine-grained structure, obtained in the NZ after FSW, resulted in a rise of hardness from the BM to the NZ. Furthermore, post welding heat-treatment in the semi-solid state gave rise to a consistent morphology throughout the material which was similar to microstructures obtained by the thixoforming process. Moreover, a drop of hardness was observed after heat treatment in all regions as compared to that in the welded microstructure.

  9. Friction coefficient dependence on electrostatic tribocharging.

    Science.gov (United States)

    Burgo, Thiago A L; Silva, Cristiane A; Balestrin, Lia B S; Galembeck, Fernando

    2013-01-01

    Friction between dielectric surfaces produces patterns of fixed, stable electric charges that in turn contribute electrostatic components to surface interactions between the contacting solids. The literature presents a wealth of information on the electronic contributions to friction in metals and semiconductors but the effect of triboelectricity on friction coefficients of dielectrics is as yet poorly defined and understood. In this work, friction coefficients were measured on tribocharged polytetrafluoroethylene (PTFE), using three different techniques. As a result, friction coefficients at the macro- and nanoscales increase many-fold when PTFE surfaces are tribocharged, but this effect is eliminated by silanization of glass spheres rolling on PTFE. In conclusion, tribocharging may supersede all other contributions to macro- and nanoscale friction coefficients in PTFE and probably in other insulating polymers.

  10. Construction of a Precursor Model for the Concept of Rolling Friction in the Thought of Preschool Age Children: A Socio-cognitive Teaching Intervention

    Science.gov (United States)

    Ravanis, Konstantinos; Koliopoulos, Dimitris; Boilevin, Jean-Marie

    2008-08-01

    The aim of this study was to explore the extent to which the characteristics of two teaching interventions can bring about cognitive progress in preschoolers with regard to the factors rolling friction depends on, when it is applied to an object that is freely rolling on a horizontal surface. The study was conducted in three phases: pre-test, teaching intervention, and post-test. Two teaching strategies were compared: one inspired by Piaget’s theory (Piagetian approach) and one inspired by post-Piagetian and Vygotkian assumptions (socio-cognitive approach). A statistically significant difference was found between the pre-test and post-test, providing evidence that the socio-cognitive approach allows for the creation of a more appropriate teaching framework compared to the Piagetian one.

  11. Effect of Rolling Resistance in Dem Models With Spherical Bodies

    Directory of Open Access Journals (Sweden)

    Dubina Radek

    2016-12-01

    Full Text Available The rolling resistance is an artificial moment arising on the contact of two discrete elements which mimics resistance of two grains of complex shape in contact rolling relatively to each other. The paper investigates the influence of rolling resistance on behaviour of an assembly of spherical discrete elements. Besides the resistance to rolling, the contacts between spherical particles obey the Hertzian law in normal straining and Coulomb model of friction in shear.

  12. On the nature of low temperature internal friction peaks in metallic glasses

    International Nuclear Information System (INIS)

    Khonik, V.A.; Spivak, L.V.

    1996-01-01

    Low temperature (30 60 Nb 40 subjected to preliminary inhomogeneous deformation by cold rolling, homogeneous tensile deformation or electrolytic charging with hydrogen is investigated. Cold rolling or hydrogenation result in appearance of similar internal friction peaks and hysteresis damping. Homogeneous deformation has no influence on low temperature internal friction. The phenomenon of microplastic deformation during hydrogenation of weakly stressed samples is revealed. It is argued that microplastic deformation of metallic glasses during hydrogenation without external stress takes place too. Plastic flow both on cold rolling and hydrogenation occurs via formation and motion of dislocation-like defects which are the reason of the observed anelastic anomalies. It is concluded that low temperature internal friction peaks described in the literature for as-cast, cold deformed and hydrogenated samples have common dislocation-like origin

  13. The Rolling Transition in a Granular Flow along a Rotating Wall

    Directory of Open Access Journals (Sweden)

    Aurélie Le Quiniou

    2011-11-01

    Full Text Available The flow of a dry granular material composed of spherical particles along a rotating boundary has been studied by the discrete element method (DEM. This type of flow is used, among others, as a process to spread particles. The flow consists of several phases. A compression phase along the rotating wall is followed by an elongation of the flow along the same boundary. Eventually, the particles slide or roll independently along the boundary. We show that the main motion of the flow can be characterized by a complex deformation rate of traction/compression and shear. We define numerically an effective friction coefficient of the flow on the scale of the continuum and show a strong decrease of this effective friction beyond a certain critical friction coefficient μ*. We correlate this phenomenon with the apparition of a new transition from a sliding regime to a rolling without sliding regime that we called the rolling transition; this dynamic transition is controlled by the value of the friction coefficient between the particle and the wall. We show that the spherical shape for the particles may represent an optimum for the flow in terms of energetic.

  14. Friction coefficient dependence on electrostatic tribocharging

    Science.gov (United States)

    Burgo, Thiago A. L.; Silva, Cristiane A.; Balestrin, Lia B. S.; Galembeck, Fernando

    2013-01-01

    Friction between dielectric surfaces produces patterns of fixed, stable electric charges that in turn contribute electrostatic components to surface interactions between the contacting solids. The literature presents a wealth of information on the electronic contributions to friction in metals and semiconductors but the effect of triboelectricity on friction coefficients of dielectrics is as yet poorly defined and understood. In this work, friction coefficients were measured on tribocharged polytetrafluoroethylene (PTFE), using three different techniques. As a result, friction coefficients at the macro- and nanoscales increase many-fold when PTFE surfaces are tribocharged, but this effect is eliminated by silanization of glass spheres rolling on PTFE. In conclusion, tribocharging may supersede all other contributions to macro- and nanoscale friction coefficients in PTFE and probably in other insulating polymers. PMID:23934227

  15. Texture analysis of a friction stir welded ultrafine grained Al–Al{sub 2}O{sub 3} composite produced by accumulative roll-bonding

    Energy Technology Data Exchange (ETDEWEB)

    Shamanian, Morteza, E-mail: shamanian@cc.iut.ac.ir [Department of Materials Engineering, Isfahan University of Technology, Isfahan 84156-83111 (Iran, Islamic Republic of); Mohammadnezhad, Mahyar [Department of Materials Engineering, Isfahan University of Technology, Isfahan 84156-83111 (Iran, Islamic Republic of); Szpunar, Jerzy [Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N5A9 (Canada)

    2014-12-05

    Highlights: • Aluminum matrix composite was successfully bonded using friction stir welding. • After welding process the fraction of low angle boundary area rapidly decreases. • The grain growth in the NZ is related the increase of temperature during the FSW. • The aluminum matrix composite has a strong Rotated Cube texture. • The weld nugget has a Rotated Cube and shear texture. - Abstract: In recent years, several studies have been focused on friction stir welding of aluminum alloys, and some researchers have also been reported on welding of aluminum-based composites. In the present research, ultrafine grained sheets of aluminum matrix composite (Al–Al{sub 2}O{sub 3}) were produced by accumulative roll-bonding (ARB) technique. The aluminum composite sheets were then joined by friction stir welding. The present work describes the effect of the FSW process on the microstructure and crystallographic textures in the base metal and weld nugget. Electron backscattered diffraction (EBSD) results demonstrated the existence of different grain orientations within the weld nugget as compared to the base metal. Al composite plates have a Rotated Cube texture component. Moreover, in the nugget, grain structure with Rotated Cube and shear texture developed. Friction stir welding coarsened the grain size in the weld zone from the original grain size of 3–17 μm.

  16. Changes in texture and microstructure of friction stir welded Mg alloy during post-rolling and their effects on mechanical properties

    International Nuclear Information System (INIS)

    Xin, Renlong; Liu, Dejia; Xu, Zeren; Li, Bo; Liu, Qing

    2013-01-01

    A strong and complicated microtexture usually forms in stir zone (SZ) of friction stir welded (FSW) Mg alloys, which significantly influences the tensile properties of the joint due to the strong anisotropic mechanical properties of Mg alloys. This study aims to study the evolution of microstructure and texture in SZ during post-rolling of FSW AZ31 alloy and its effect on the tensile properties and fracture of the FSW joint. A detailed characterization of microstructure and texture in SZ and especially in SZ/base material (BM) interface was conducted on the FSW-undeformed and FSW-rolled specimens. Schmid factor (SF) changes for extension twinning and basal slip for transverse tensile tests were analyzed and discussed. It confirmed that the c-axis in SZ-center was parallel to welding direction (WD), but tilted towards transverse direction (TD) with the area moving to SZ-side. After subsequent rolling (by ∼2.5% strain), a large number of extension twins were found in SZ-side, but it was less in SZ-center. The production of extension twins rotated the grains in SZ-side and affected the transverse tensile properties significantly. The electron backscatter diffraction (EBSD) analyses showed that the SF of the twins was decreased compared with the matrix for both extension twinning and basal slip for the transverse tensile tests. So, the extension twins generated by post-rolling could cause texture strengthening for the transverse tensile tests. Moreover, the introduction of twin boundaries subdivided the grains, which also increased the tensile properties of the FSW-rolled specimens. The effect of post-rolling on the tensile properties and fracture was studied. It showed that post-rolling increased the transverse yield strength (YS) of the FSW AZ31 alloy, and the YS was increased further with the increase of rolling strain. The YS was raised from ∼87 MPa of the FSW-undeformed specimen to ∼115 MPa for the FSW-R-2.5 and ∼171 MPa for the FSW-R-7 specimens. Because

  17. A Spherical Aerial Terrestrial Robot

    Science.gov (United States)

    Dudley, Christopher J.

    This thesis focuses on the design of a novel, ultra-lightweight spherical aerial terrestrial robot (ATR). The ATR has the ability to fly through the air or roll on the ground, for applications that include search and rescue, mapping, surveillance, environmental sensing, and entertainment. The design centers around a micro-quadcopter encased in a lightweight spherical exoskeleton that can rotate about the quadcopter. The spherical exoskeleton offers agile ground locomotion while maintaining characteristics of a basic aerial robot in flying mode. A model of the system dynamics for both modes of locomotion is presented and utilized in simulations to generate potential trajectories for aerial and terrestrial locomotion. Details of the quadcopter and exoskeleton design and fabrication are discussed, including the robot's turning characteristic over ground and the spring-steel exoskeleton with carbon fiber axle. The capabilities of the ATR are experimentally tested and are in good agreement with model-simulated performance. An energy analysis is presented to validate the overall efficiency of the robot in both modes of locomotion. Experimentally-supported estimates show that the ATR can roll along the ground for over 12 minutes and cover the distance of 1.7 km, or it can fly for 4.82 minutes and travel 469 m, on a single 350 mAh battery. Compared to a traditional flying-only robot, the ATR traveling over the same distance in rolling mode is 2.63-times more efficient, and in flying mode the system is only 39 percent less efficient. Experimental results also demonstrate the ATR's transition from rolling to flying mode.

  18. High speed friction microscopy and nanoscale friction coefficient mapping

    International Nuclear Information System (INIS)

    Bosse, James L; Lee, Sungjun; Huey, Bryan D; Andersen, Andreas Sø; Sutherland, Duncan S

    2014-01-01

    As mechanical devices in the nano/micro length scale are increasingly employed, it is crucial to understand nanoscale friction and wear especially at technically relevant sliding velocities. Accordingly, a novel technique has been developed for friction coefficient mapping (FCM), leveraging recent advances in high speed AFM. The technique efficiently acquires friction versus force curves based on a sequence of images at a single location, each with incrementally lower loads. As a result, true maps of the coefficient of friction can be uniquely calculated for heterogeneous surfaces. These parameters are determined at a scan velocity as fast as 2 mm s −1 for microfabricated SiO 2 mesas and Au coated pits, yielding results that are identical to traditional speed measurements despite being ∼1000 times faster. To demonstrate the upper limit of sliding velocity for the custom setup, the friction properties of mica are reported from 200 µm s −1 up to 2 cm s −1 . While FCM is applicable to any AFM and scanning speed, quantitative nanotribology investigations of heterogeneous sliding or rolling components are therefore uniquely possible, even at realistic velocities for devices such as MEMS, biological implants, or data storage systems. (paper)

  19. Towards fast, reliable, and manufacturable DEAs: miniaturized motor and Rupert the rolling robot

    Science.gov (United States)

    Rosset, Samuel; Shea, Herbert

    2015-04-01

    Dielectric elastomer transducers (DETs) are known for their large strains, low mass and high compliance, making them very attractive for a broad range of applications, from soft robotics to tuneable optics, or energy harvesting. However, 15 years after the first major paper in the field, commercial applications of the technology are still scarce, owing to high driving voltages, short lifetimes, slow response speed, viscoelastic drift, and no optimal solution for the compliant electrodes. At the EPFL's Microsystems for Space Technologies laboratory, we have been working on the miniaturization and manufacturability of DETs for the past 10 years. In the frame of this talk, we present our fabrication processes for high quality thin-_lm silicone membranes, and for patterning compliant electrodes on the sub mm-scale. We use either implantation of gold nano-clusters through a mask, or pad-printing of conductive rubber to precisely shape the electrodes on the dielectric membrane. Our electrodes are compliant, time stable and present strong adhesion to the membrane. The combination of low mechanical- loss elastomers with robust and precisely-defined electrodes allows for the fabrication of very fast actuators that exhibit a long lifetime. We present different applications of our DET fabrication process, such as a soft tuneable lens with a settling time smaller than 175 microseconds, a motor spinning at 1500 rpm, and a self-commutating rolling robot.

  20. On the nature of low temperature internal friction peaks in metallic glasses

    NARCIS (Netherlands)

    Khonik, VA; Spivak, LV

    Low temperature (30 friction in a metallic glass Ni60Nb40 subjected to preliminary inhomogeneous deformation by cold rolling, homogeneous tensile deformation or electrolytic charging with hydrogen is investigated. Cold rolling or hydrogenation result in appearance of similar

  1. Enhanced friction modeling for steady-state rolling tires

    NARCIS (Netherlands)

    Steen, van der R.

    2010-01-01

    Tire modeling is nowadays a necessary tool in the tire industry. Car manufacturers, governments and consumers demand better traction under all circumstances, less wear and more recently less noise and a lower rolling resistance. Therefore finite element analysis is adopted in the design process of

  2. Spring-back of flexible roll forming bending process

    International Nuclear Information System (INIS)

    Zhang, Y; Kim, D H; Jung, D W

    2015-01-01

    Simulations are now widely used in the field of roll forming because of their convenience. Simulations provide a low cost, secure and fast analysis tool. Flexible roll forming provides the desired shapes with a one time forming process. For roll forming, the velocity of the sheet and friction are important factors to attain an ideal shape. Because it is a complicated process, simulations provide a better understanding of the roll forming process. Simulations were peformed using ABAQUS software linked to elastic-plastic modules which we developed taking into account of interactions between these fields [1]. The application of this method makes it possible to highlight the strain-stress and mechanical behaviour laws and the spring-back. Thus, the flexible roll forming and bending process can be well described by the simulation software and guide the actual machine. (paper)

  3. Rolled-up nanotechnology: 3D photonic materials by design

    International Nuclear Information System (INIS)

    Böttner, Stefan; Jorgensen, Matthew R.; Schmidt, Oliver G.

    2016-01-01

    Rolled-up nanotechnology involves the deposition of strained material layers for subsequent release and relaxation into functional structures with applications spanning several disciplines. Originally developed for use with semiconductor materials, over the last decade the processes involved in rolled-up nanotechnology have been applied across a wide palette of materials resulting in applications (among others) in micro robotics, energy storage, electronics, and photonics. Here we highlight the key advancements and future directions in rolled-up photonics, focusing on the diverse demonstrations of rolled-up three-dimensional microresonators which enable integrated sensing, micro-lasing, and out-of-plane routing of light.

  4. Jamming transition in a two-dimensional open granular pile with rolling resistance

    Directory of Open Access Journals (Sweden)

    Caio F. M. Magalhães

    2014-10-01

    Full Text Available We present a molecular dynamics study of the jamming/unjamming transition in two-dimensional granular piles with open boundaries. The grains are modeled by viscoelastic forces, Coulomb friction and resistance to rolling. Two models for the rolling resistance interaction were assessed: one considers a constant rolling friction coefficient, and the other one a strain dependent coefficient. The piles are grown on a finite size substrate and subsequently discharged through an orifice opened at the center of the substrate. Varying the orifice width and taking the final height of the pile after the discharge as the order parameter, one can devise a transition from a jammed regime (when the grain flux is always clogged by an arch to a catastrophic regime, in which the pile is completely destroyed by an avalanche as large as the system size. A finite size analysis shows that there is a finite orifice width associated with the threshold for the unjamming transition, no matter the model used for the microscopic interactions. As expected, the value of this threshold width increases when rolling resistance is considered, and it depends on the model used for the rolling friction. Received: 14 June 2014, Accepted: 7 October 2014; Reviewed by: R. Arévalo, School of Physical and Mathematical Sciences, Nanyang Technological University, Singapore; Edited by: L. A. Pugnaloni; DOI: http://dx.doi.org/10.4279/PIP.060007 Cite as: C F M. Magalhaes, A P F Atman, G Combe, J G Moreira, Papers in Physics 6, 060007 (2014

  5. Design of a Small Scale Roll to Roll Device

    OpenAIRE

    Pereira, Amon A; White, Edward; Kramer, Rebecca Krone

    2014-01-01

    In the soft robotics field, hyperelastic polymer films are used in conjunction with eutectic gallium indium to create flexible strain gages. However, rapid large scale manufacturing methods of such sensors have yet to be developed. Developing new manufacturing methods will allow for researchers to build and test new soft sensor concepts faster but also pave the way for future mass-production of these sensors for consumer or industrial consumption. One of those methods would be a Roll to...

  6. Slipping and rolling on an inclined plane

    International Nuclear Information System (INIS)

    Aghamohammadi, Cina; Aghamohammadi, Amir

    2011-01-01

    In the first part of the paper, using a direct calculation two-dimensional motion of a particle sliding on an inclined plane is investigated for general values of friction coefficient (μ). A parametric equation for the trajectory of the particle is also obtained. In the second part of the paper, the motion of a sphere on the inclined plane is studied. It is shown that the evolution equation for the contact point of a sliding sphere is similar to that of a point particle sliding on an inclined plane whose friction coefficient is 7/2 μ. If μ > 2/7 tan θ, for any arbitrary initial velocity and angular velocity, the sphere will roll on the inclined plane after some finite time. In other cases, it will slip on the inclined plane. In the case of rolling, the centre of the sphere moves on a parabola. Finally the velocity and angular velocity of the sphere are exactly computed.

  7. Continuum Mechanical Modelling of Skin-pass Rolling

    DEFF Research Database (Denmark)

    Kijima, Hideo; Bay, Niels

    2007-01-01

    The special contact conditions in skin-pass rolling of steel strip is analyzed by studying plane strain upsetting of thin sheet with low reduction applying long narrow tools and dry friction conditions. An extended sticking region is estimated by an elasto-plastic FEM analysis of the plane strain...

  8. Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

    Energy Technology Data Exchange (ETDEWEB)

    Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

    1999-05-15

    Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

  9. Friction torque in thrust ball bearings grease lubricated

    Science.gov (United States)

    Ianuş, G.; Dumitraşcu, A. C.; Cârlescu, V.; Olaru, D. N.

    2016-08-01

    The authors investigated experimentally and theoretically the friction torque in a modified thrust ball bearing having only 3 balls operating at low axial load and lubricated with NGLI-00 and NGLI-2 greases. The experiments were made by using spin-down methodology and the results were compared with the theoretical values based on Biboulet&Houpert's rolling friction equations. Also, the results were compared with the theoretical values obtained with SKF friction model adapted for 3 balls. A very good correlation between experiments and Biboulet_&_Houpert's predicted results was obtained for the two greases. Also was observed that the theoretical values for the friction torque calculated with SKF model adapted for a thrust ball bearing having only 3 balls are smaller that the experimental values.

  10. A fast nonlinear conjugate gradient based method for 3D concentrated frictional contact problems

    NARCIS (Netherlands)

    J. Zhao (Jing); E.A.H. Vollebregt (Edwin); C.W. Oosterlee (Cornelis)

    2015-01-01

    htmlabstractThis paper presents a fast numerical solver for a nonlinear constrained optimization problem, arising from 3D concentrated frictional shift and rolling contact problems with dry Coulomb friction. The solver combines an active set strategy with a nonlinear conjugate gradient method. One

  11. HoverBots: Precise Locomotion Using Robots That Are Designed for Manufacturability

    Directory of Open Access Journals (Sweden)

    Markus P. Nemitz

    2017-11-01

    Full Text Available Scaling up robot swarms to collectives of hundreds or even thousands without sacrificing sensing, processing, and locomotion capabilities is a challenging problem. Low-cost robots are potentially scalable, but the majority of existing systems have limited capabilities, and these limitations substantially constrain the type of experiments that could be performed by robotics researchers. As an alternative to increasing the quantity of robots by reducing their functionality, we have developed a new technology that delivers increased functionality at low-cost. In this study, we present a comprehensive literature review on the most commonly used locomotion strategies of swarm robotic systems. We introduce a new type of low-friction locomotion—active low-friction locomotion—and we show its first implementation in the HoverBot system. The HoverBot system consists of an air levitation and magnet table, and a HoverBot agent. HoverBot agents are levitating circuit boards that we have equipped with an array of planar coils and a Hall-effect sensor. The HoverBot agent uses its coils to pull itself toward magnetic anchors that are embedded into a levitation table. These robots use active low-friction locomotion; consist of only surface-mount components; circumvent actuator calibration; are capable of odometry by using a single Hall-effect sensor; and perform precise movement. We conducted three hours of experimental evaluation of the HoverBot system in which we observed the system performing more than 10,000 steps. We also demonstrate formation movement, random collision, and straight collisions with two robots. This study demonstrates that active low-friction locomotion is an alternative to wheeled and slip-stick locomotion in the field of swarm robotics.

  12. Heat transfer modeling in asymmetrical sheet rolling of aluminium alloys with ultra high shear strain

    Directory of Open Access Journals (Sweden)

    Pesin Alexander

    2016-01-01

    Full Text Available Asymmetrical sheet rolling is a method of severe plastic deformation (SPD for production of aluminium alloys with UFG structure. Prediction of sheet temperature during SPD is important. The temperature of sheet is changed due to the conversion of mechanical work into heat through sliding on contact surfaces and high shear strain. Paper presents the results of FEM simulation of the effect of contact friction, rolling speed and rolls speed ratio on the heating of aluminium sheets during asymmetrical rolling.

  13. Friction and wear properties of ZrO2/SiO2 composite nanoparticles

    International Nuclear Information System (INIS)

    Li Wei; Zheng Shaohua; Cao Bingqiang; Ma Shiyu

    2011-01-01

    In this article, the lubrication properties of ZrO 2 /SiO 2 composite nanoparticles modified with aluminum zirconium coupling agent as additives in lubricating oil under variable applied load and concentration fraction were reported. It was demonstrated that the modified nanoparticles as additives in lubrication can effectively improve the lubricating properties. Under an optimized concentration of 0.1 wt%, the average friction coefficient was reduced by 16.24%. This was because the nanoparticles go into the friction zone with the flow of lubricant, and then the sliding friction changed to rolling friction with a result of the reduction of the friction coefficient.

  14. Static friction of porous bioceramic beta-TCP on intestinal mucus films.

    Science.gov (United States)

    Wang, Xin-Yu; Han, Ying-Chao; Jiang, Xin; Dai, Hong-Lian; Li, Shi-Pu

    2006-09-01

    The static friction behavior between a porous bioceramic material and an intestinal mucus film was investigated in order to develop a new intestine robotic endoscope. Here, the friction couple is porous beta-tricalcium phosphate (beta-TCP) and an artificial intestine mucus film. The effect of pore size of the beta-TCP material on the friction behavior is investigated. The results illustrated that in this friction system there is a relatively small normal force upon the intestinal mucus film of the intestine wall during locomotion. The maximum static friction force in this friction couple varies with the pore size of the porous beta-TCP material.

  15. Static friction of porous bioceramic β-TCP on intestinal mucus films

    International Nuclear Information System (INIS)

    Wang Xinyu; Han Yingchao; Jiang Xin; Dai Honglian; Li Shipu

    2006-01-01

    The static friction behavior between a porous bioceramic material and an intestinal mucus film was investigated in order to develop a new intestine robotic endoscope. Here, the friction couple is porous β-tricalcium phosphate (β-TCP) and an artificial intestine mucus film. The effect of pore size of the β-TCP material on the friction behavior is investigated. The results illustrated that in this friction system there is a relatively small normal force upon the intestinal mucus film of the intestine wall during locomotion. The maximum static friction force in this friction couple varies with the pore size of the porous β-TCP material

  16. Finite element method analysis of surface roughness transfer in micro flexible rolling

    Directory of Open Access Journals (Sweden)

    Qu Feijun

    2016-01-01

    Full Text Available Micro flexible rolling aims to fabricate submillimeter thick strips with varying thickness profile, where the surface quality of products is mainly determined by initial workpiece surface roughness and subsequent surface asperity flattening process, which is affected by process parameters during rolling. This paper shows a 3D finite element model for flexible rolling of a 250 μm thick workpiece with reduction of 20 to 50%, and rolling phase with thinner thickness indicates a better ability to decrease the surface roughness. Four types of initial workpiece surface roughness are studied in the simulation, and the influences of process parameters, such as friction coefficient, rolling speed and roll gap adjusting speed, on surface asperity flattening of workpieces with different initial surface roughness have been numerically investigated and analysed.

  17. Coefficient of friction of a starved lubricated spur gear pair

    International Nuclear Information System (INIS)

    Liu, Huaiju; Zhu, Caichao; Sun, Zhangdong; Zhang, Yuanyuan; Song, Chaosheng

    2016-01-01

    The frictional power loss issue of gear pairs becomes an important concern in both industry and academia due to the requirement of the energy saving and the improvement of power density of gear drives. A thermal starved elastohydrodynamic lubrication model is developed to study the tribological performance of a spur gear pair under starved lubrication conditions. The contact pressure, the film thickness, the temperature rise, the frictional power loss, as well as the coefficient of friction are evaluated by considering the variation of the curvature radius, the sliding/rolling motion, and the load distribution of gear tooth within the meshing period. Effects of lubrication starvation condition, load and speed on the coefficient of friction are studied.

  18. Modeling and identification for robot motion control

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Kurfess, T.R.

    2004-01-01

    This chapter deals with the problems of robot modelling and identification for high-performance model-based motion control. A derivation of robot kinematic and dynamic models was explained. Modelling of friction effects was also discussed. Use of a writing task to establish correctness of the models

  19. Experimental and theoretical study on minimum achievable foil thickness during asymmetric rolling.

    Directory of Open Access Journals (Sweden)

    Delin Tang

    Full Text Available Parts produced by microforming are becoming ever smaller. Similarly, the foils required in micro-machines are becoming ever thinner. The asymmetric rolling technique is capable of producing foils that are thinner than those produced by the conventional rolling technique. The difference between asymmetric rolling and conventional rolling is the 'cross-shear' zone. However, the influence of the cross-shear zone on the minimum achievable foil thickness during asymmetric rolling is still uncertain. In this paper, we report experiments designed to understand this critical influencing factor on the minimum achievable thickness in asymmetric rolling. Results showed that the minimum achievable thickness of rolled foils produced by asymmetric rolling with a rolling speed ratio of 1.3 can be reduced to about 30% of that possible by conventional rolling technique. Furthermore, the minimum achievable thickness during asymmetric rolling could be correlated to the cross-shear ratio, which, in turn, could be related to the rolling speed ratio. From the experimental results, a formula to calculate the minimum achievable thickness was established, considering the parameters cross-shear ratio, friction coefficient, work roll radius, etc. in asymmetric rolling.

  20. Experimental and theoretical study on minimum achievable foil thickness during asymmetric rolling.

    Science.gov (United States)

    Tang, Delin; Liu, Xianghua; Song, Meng; Yu, Hailiang

    2014-01-01

    Parts produced by microforming are becoming ever smaller. Similarly, the foils required in micro-machines are becoming ever thinner. The asymmetric rolling technique is capable of producing foils that are thinner than those produced by the conventional rolling technique. The difference between asymmetric rolling and conventional rolling is the 'cross-shear' zone. However, the influence of the cross-shear zone on the minimum achievable foil thickness during asymmetric rolling is still uncertain. In this paper, we report experiments designed to understand this critical influencing factor on the minimum achievable thickness in asymmetric rolling. Results showed that the minimum achievable thickness of rolled foils produced by asymmetric rolling with a rolling speed ratio of 1.3 can be reduced to about 30% of that possible by conventional rolling technique. Furthermore, the minimum achievable thickness during asymmetric rolling could be correlated to the cross-shear ratio, which, in turn, could be related to the rolling speed ratio. From the experimental results, a formula to calculate the minimum achievable thickness was established, considering the parameters cross-shear ratio, friction coefficient, work roll radius, etc. in asymmetric rolling.

  1. Experimental determination of heat transfer coefficients in roll bite and air cooling for computer simulations of 1100 MPa carbon steel rolling

    Science.gov (United States)

    Leinonen, Olli; Ilmola, Joonas; Seppälä, Oskari; Pohjonen, Aarne; Paavola, Jussi; Koskenniska, Sami; Larkiola, Jari

    2018-05-01

    In modeling of hot rolling pass schedules the heat transfer phenomena have to be known. Radiation to ambient, between rolls and a steel slab as well as heat transfer in contacts must be considered to achieve accurate temperature distribution and thereby accurate material behavior in simulations. Additional heat is generated by friction between the slab and the work roll and by plastic deformation. These phenomena must be taken into account when the effective heat transfer coefficient is determined from experimental data. In this paper we determine the effective heat transfer coefficient at the contact interface and emissivity factor of slab surface for 1100MPa strength carbon steel for hot rolling simulations. Experimental pilot rolling test were carried out and slab temperatures gathered right below the interface and at the mid thickness of the slab. Emissivity factor tests were carried out in the same manner but without rolling. Experimental data is utilized to derive contact heat transfer coefficient at the interface and emissivity factor of slab surface. Pilot rolling test is reproduced in FE-analysis to further refine the heat transfer coefficient and emissivity factor. Material mechanical properties at rolling temperatures were determined by Gleeble™ thermo-mechanical simulator and IDS thermodynamic-kinetic-empirical software.

  2. Elastomers in Combined Rolling-Sliding Contact; Wear and its Underlying Mechanisms

    Science.gov (United States)

    Rowe, Kyle Gene

    Elastomeric materials, specifically rubbers, being both of a practical and scientific importance, have been the subjects of vast amounts of research spanning well over two centuries. There is currently a large effort by tire manufacturers to design new rubber compounds with lower rolling resistance, higher sliding friction, and reduced or predictable wear. At present, these efforts are primarily based on a few empirical rules and very costly trial and error testing; only a basic understanding of the mechanisms involved in the wear of elastomeric materials exists despite rigorous study. In general, the only well controlled experiments have been for simple loading and sliding schemes. The aim of this work is to characterize the tribological properties of a carbon black filled natural rubber sample. This work explores (1) its behavior in unidirectional sliding, (2) contact mechanics, (3) traction properties in combined rolling and sliding, (4) frictional heating response, and (5) wear. It was found that the friction coefficient of this material was dependent upon sliding velocity, contact pressure, and surface roughness. The high friction coefficients also lead to a bifurcation of the contact area into two different pressure regimes at sliding velocities greater than 10 mm/s . The traction response of this material in combined rolling and sliding exhibited similar behavior, being a function of the contact pressure, but not rolling velocity. The wear of this material was found to be linearly dependent upon the global slip condition and occurred preferentially on the sample. Investigations of the worn surface revealed that the most likely mechanism of wear is the degradation of surface material in a confined layer a few micrometers thick. A simple spring-mass model was developed to offer an explanation of localized wear. It was found that the coupling of system elements in the normal direction helped to shift the load from wearing elements to non-wearing ones. The

  3. Effect of Carbon Content on the Properties of Iron-Based Powder Metallurgical Parts Produced by the Surface Rolling Process

    Directory of Open Access Journals (Sweden)

    Yan Zhao

    2018-01-01

    Full Text Available In recent years, the rolling densification process has become increasingly widely used to strengthen powder metallurgy parts. The original composition of the rolled powder metallurgy blank has a significant effect on the rolling densification technology. The present work investigated the effects of different carbon contents (0 wt. %, 0.2 wt. %, 0.45 wt. %, and 0.8 wt. % on the rolling densification. The selection of the raw materials in the surface rolling densification process was analyzed based on the pore condition, structure, hardness, and friction performance of the materials. The results show that the 0.8 wt. % carbon content of the surface rolling material can effectively improve the properties of iron-based powder metallurgy parts. The samples with 0.8 wt. % carbon have the highest surface hardness (340 HV0.1 and the lowest surface friction coefficient (0.35. Even if the dense layer depth is 1.13 mm, which is thinner than other samples with low carbon content, it also meets the requirements for powder metallurgy parts such as gears used in the auto industry.

  4. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  5. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  6. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin...

  7. Indentation versus Rolling: Dependence of Adhesion on Contact Geometry for Biomimetic Structures.

    Science.gov (United States)

    Moyle, Nichole; He, Zhenping; Wu, Haibin; Hui, Chung-Yuen; Jagota, Anand

    2018-04-03

    Numerous biomimetic structures made from elastomeric materials have been developed to produce enhancement in properties such as adhesion, static friction, and sliding friction. As a property, one expects adhesion to be represented by an energy per unit area that is usually sensitive to the combination of shear and normal stresses at the crack front but is otherwise dependent only on the two elastic materials that meet at the interface. More specifically, one would expect that adhesion measured by indentation (a popular and convenient technique) could be used to predict adhesion hysteresis in the more practically important rolling geometry. Previously, a structure with a film-terminated fibrillar geometry exhibited dramatic enhancement of adhesion by a crack-trapping mechanism during indentation with a rigid sphere. Roughly isotropic structures such as the fibrillar geometry show a strong correlation between adhesion enhancement in indentation versus adhesion hysteresis in rolling. However, anisotropic structures, such as a film-terminated ridge-channel geometry, surprisingly show a dramatic divergence between adhesion measured by indentation versus rolling. We study this experimentally and theoretically, first comparing the adhesion of the anisotropic ridge-channel structure to the roughly isotropic fibrillar structure during indentation with a rigid sphere, where only the isotropic structure shows adhesion enhancement. Second, we examine in more detail the anomalous anisotropic film-terminated ridge-channel structure during indentation with a rigid sphere versus rolling to show why these structures show a dramatic adhesion enhancement for the rolling case and no adhesion enhancement for indentation.

  8. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

    Directory of Open Access Journals (Sweden)

    Changan Jiang

    2016-01-01

    Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

  9. Foucault dissipation in a rolling cylinder: a webcam quantitative study

    International Nuclear Information System (INIS)

    Bonanno, A; Bozzo, G; Camarca, M; Sapia, P

    2011-01-01

    In this paper we present an experimental strategy to measure the micro power dissipation due to Foucault 'eddy' currents in a copper cylinder rolling on two parallel conductive rails in the presence of a magnetic field. Foucault power dissipation is obtained from kinematical measurements carried out by using a common PC webcam and video analysis done by means of software tools freely available within Windows operating system (Paint and Movie Maker). The proposed method allows us to experimentally discern the contribution to dissipation due to the velocity-independent rolling friction from that owed to the viscous-like friction emerging from complex electrodynamic interactions among eddy currents and the external magnetic field. In this way a microdissipation of some tens of μW is measured. The easily reproducible experimental setup, the simple implementation of data analysis and the discussion on various experimental approaches and strategies make the proposed activity highly significant for university undergraduates, since involved crucial skills can be efficiently strengthened.

  10. Foucault dissipation in a rolling cylinder: a webcam quantitative study

    Energy Technology Data Exchange (ETDEWEB)

    Bonanno, A; Bozzo, G; Camarca, M; Sapia, P, E-mail: sapia@fis.unical.it [Physics Department, University of Calabria, I-87036 Rende, CS (Italy)

    2011-03-15

    In this paper we present an experimental strategy to measure the micro power dissipation due to Foucault 'eddy' currents in a copper cylinder rolling on two parallel conductive rails in the presence of a magnetic field. Foucault power dissipation is obtained from kinematical measurements carried out by using a common PC webcam and video analysis done by means of software tools freely available within Windows operating system (Paint and Movie Maker). The proposed method allows us to experimentally discern the contribution to dissipation due to the velocity-independent rolling friction from that owed to the viscous-like friction emerging from complex electrodynamic interactions among eddy currents and the external magnetic field. In this way a microdissipation of some tens of {mu}W is measured. The easily reproducible experimental setup, the simple implementation of data analysis and the discussion on various experimental approaches and strategies make the proposed activity highly significant for university undergraduates, since involved crucial skills can be efficiently strengthened.

  11. The influence of suspension components friction on race car vertical dynamics

    Science.gov (United States)

    Benini, Claudio; Gadola, Marco; Chindamo, Daniel; Uberti, Stefano; Marchesin, Felipe P.; Barbosa, Roberto S.

    2017-03-01

    This work analyses the effect of friction in suspension components on a race car vertical dynamics. It is a matter of fact that race cars aim at maximising their performance, focusing the attention mostly on aerodynamics and suspension tuning: suspension vertical and rolling stiffness and damping are parameters to be taken into account for an optimal setup. Furthermore, friction in suspension components must not be ignored. After a test session carried out with a F4 on a Four Poster rig, friction was detected on the front suspension. The real data gathered allow the validation of an analytical model with friction, confirming that its influence is relevant for low frequency values closed to the car pitch natural frequency. Finally, some setup proposals are presented to describe what should be done on actual race cars in order to correct vehicle behaviour when friction occurs.

  12. Sensor Fusion and Model Verification for a Mobile Robot

    DEFF Research Database (Denmark)

    Bisgaard, Morten; Vinther, Dennis; Østergaard, Kasper Zinck

    2005-01-01

    This paper presents the results of modeling, sensor fusion and model verification for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The model derived for the robot describes the actuator and wheel dynamics and the vehicle kinematics, and includes friction terms...

  13. A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

    Directory of Open Access Journals (Sweden)

    Seungmun Jeon

    2017-05-01

    Full Text Available This paper proposes a novel sphericon-shaped magnetic millirobot (SSMM that can roll on a variety of surfaces. The SSMM comprises four identical half cones with a cylindrical magnet inserted into the geometric center. It can roll forward or backward on a surface with repeated rolling cone motions (wobbling motions. Since a rolling SSMM develops its entire surface by means of line contact, a relatively large maximum static friction force can make the SSMM move on a surface steadily and effectively. In this work, a new type of external wobbling magnetic field (EWMF was also derived to manipulate the SSMM’s rolling motions precisely. Then, the controlled rolling motions of prototype SSMMs under various surface conditions were demonstrated to examine the rolling ability of the proposed SSMM.

  14. Friction Stir Welding of Al-B4C Composite Fabricated by Accumulative Roll Bonding: Evaluation of Microstructure and Mechanical Behavior

    Science.gov (United States)

    Moradi Faradonbeh, Alireza; Shamanian, Morteza; Edris, Hossein; Paidar, Moslem; Bozkurt, Yahya

    2018-02-01

    In this investigation, friction stir welding (FSW) of Al-B4C composite fabricated by 10 cycles accumulative roll bonding was conducted. In order to investigate the influences of pin geometry on microstructure and mechanical properties, four different pin geometries (cylindrical, square, triangular and hexagonal) were selected. It was found that FSW parameters had a major effect on the fragmentation and distribution of reinforcement particles in stir zone. When the tool travel speed was increased, the distribution of B4C particles was become gradually uniform in the aluminum matrix. The effect of tool rotational speed on the peak temperature was determined to be greater than the tool travel speed. The attained data of tensile properties and microhardness tests showed that the tool travel speed had bilateral effect on the tensile strength. The maximum tensile joint efficiency was obtained as 238% for FSWed of Al-2%B4C composite to annealed base Al sheet.

  15. WebotsTM: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2008-11-01

    Full Text Available Cyberbotics Ltd. develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots. WebotsTM lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. You can equip each robot with a large number of available sensors and actuators. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. WebotsTM has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. It is now the main commercial product available from Cyberbotics Ltd.

  16. Transient effects in friction fractal asperity creep

    CERN Document Server

    Goedecke, Andreas

    2013-01-01

    Transient friction effects determine the behavior of a wide class of mechatronic systems. Classic examples are squealing brakes, stiction in robotic arms, or stick-slip in linear drives. To properly design and understand mechatronic systems of this type, good quantitative models of transient friction effects are of primary interest. The theory developed in this book approaches this problem bottom-up, by deriving the behavior of macroscopic friction surfaces from the microscopic surface physics. The model is based on two assumptions: First, rough surfaces are inherently fractal, exhibiting roughness on a wide range of scales. Second, transient friction effects are caused by creep enlargement of the real area of contact between two bodies. This work demonstrates the results of extensive Finite Element analyses of the creep behavior of surface asperities, and proposes a generalized multi-scale area iteration for calculating the time-dependent real contact between two bodies. The toolset is then demonstrated both...

  17. PENGENDALIAN PID PADA ROBOT MIROSOT UPN “VETERAN” YOGYAKARTA BERBASIS SENSOR GYROSCOPE DAN ACCELEROMETER

    Directory of Open Access Journals (Sweden)

    Awang Hendrianto Pratomo

    2015-07-01

    Full Text Available MiRoSoT Robot movement is influenced by the speed control from right and left wheels. Wheels speed control on MiroSot robot is determined by parameter PID (Proportional Integral and Derevative value. PID value determined by robot position and angle. MiroSot robot movement is still not stable and can not move in accordance with the instruction have been made. Instability of the robot movement in the game is affected by friction wheels against the ground, friction gear and robot load. In this study, implemented a gyroscope and accelerometer sensors to stabilize robot movement. Based on both sensors are controlled by using a microcontroller ATmega64. Speed control system based on gyroscope and accelerometer sensor is obtained that the robot is able to face a certain angle more precisely. The accelerometer sensor is used as a parameter for the braking system, so the robot is able to move more stable without the loss of power from the motor during a reduction speed from the strategy control.

  18. CPG-based Locomotion Controller Design for a Boxfish-like Robot

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2014-06-01

    Full Text Available This paper focuses on a Central Pattern Generator (CPG-based locomotion controller design for a boxfish-like robot. The bio-inspired controller is aimed at flexible switching in multiple 3D swimming patterns and exact attitude control of yaw and roll such that the robot will swim more like a real boxfish. The CPG network comprises two layers, the lower layer is the network of coupled linear oscillators and the upper is the transition layer where the lower-dimensional locomotion stimuli are transformed into the higher-dimensional control parameters serving for all the oscillators. Based on such a two-layer framework, flexible switching between multiple three-dimensional swimming patterns, such as swimming forwards/backwards, turning left/right, swimming upwards/downwards and rolling clockwise/counter-clockwise, can be simply realized by inputting different stimuli. Moreover, the stability of the CPG network is strictly proved to guarantee the intrinsic stability of the swimming patterns. As to exact attitude control, based on this open-loop CPG network and the sensory feedback from the Inertial Measurement Unit (IMU, a closed-loop CPG controller is advanced for yaw and roll control of the robotic fish for the first time. This CPG-based online attitude control for a robotic fish will greatly facilitate high-level practical underwater applications. A series of relevant experiments with the robotic fish are conducted systematically to validate the effectiveness and stability of the open-loop and closed-loop CPG controllers.

  19. Bio-inspired enhancement of friction and adhesion at the polydimethylsiloxane-intestine interface and biocompatibility characterization

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Hongyu, E-mail: zhanghyu@tsinghua.edu.cn [State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084 (China); Wang, Yi [State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084 (China); Vasilescu, Steven [School of Mathematics and Physical Science, Faculty of Science, University of Technology Sydney, New South Wales 2007 (Australia); Gu, Zhibin [Institute of Electronics, Chinese Academy of Sciences, Beijing 100190 (China); Sun, Tao [State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084 (China)

    2017-05-01

    An active navigation of self-propelled miniaturized robot along the intestinal tract without injuring the soft tissue remains a challenge as yet. Particularly in this case an effective control of the interfacial friction and adhesion between the material used and the soft tissue is crucial. In the present study, we investigated the frictional and adhesive properties between polydimethylsiloxane (PDMS, microscopically patterned with micro-pillar arrays and non-patterned with a flat surface) and rabbit small intestinal tract using a universal material tester. The friction coefficient-time plot and adhesive force-time plot were recorded during the friction test (sliding speed: 0.25 mm/s; normal loading: 0.4 N) and adhesion test (preloading: 0.5 N; hoisting speed: 2.5 × 10{sup −3} mm/s). In addition, biocompatibility of the PDMS samples was characterized in terms of cell morphology (scanning electron microscope) and cell cytotoxicity (alamarBlue assay) using human vascular endothelial cells (HUVECs). The results demonstrated that the interfacial friction (0.27 vs 0.19) and adhesion (34.9 mN vs 26.7 mN) were greatly increased using microscopically patterned PDMS, in comparison with non-patterned PDMS. HUVECs adhered to and proliferated on non-patterned/microscopically patterned PDMS very well, with a relative cell viability of about 90% following seeding at 1 d, 3 d, and 5 d. The favorable enhancement of the frictional and adhesive properties, along with the excellent biocompatibility of the microscopically patterned PDMS, makes it a propitious choice for clinical application of self-propelled miniaturized robots. - Highlights: • Micro-pillars enhanced friction and adhesion between PDMS and intestinal tract. • Micro-patterned PDMS showed good cell morphology and cytotoxicity using HUVECs. • Micro-pattern technology may be applied in self-propelled miniaturized robot.

  20. Bio-inspired enhancement of friction and adhesion at the polydimethylsiloxane-intestine interface and biocompatibility characterization

    International Nuclear Information System (INIS)

    Zhang, Hongyu; Wang, Yi; Vasilescu, Steven; Gu, Zhibin; Sun, Tao

    2017-01-01

    An active navigation of self-propelled miniaturized robot along the intestinal tract without injuring the soft tissue remains a challenge as yet. Particularly in this case an effective control of the interfacial friction and adhesion between the material used and the soft tissue is crucial. In the present study, we investigated the frictional and adhesive properties between polydimethylsiloxane (PDMS, microscopically patterned with micro-pillar arrays and non-patterned with a flat surface) and rabbit small intestinal tract using a universal material tester. The friction coefficient-time plot and adhesive force-time plot were recorded during the friction test (sliding speed: 0.25 mm/s; normal loading: 0.4 N) and adhesion test (preloading: 0.5 N; hoisting speed: 2.5 × 10 −3 mm/s). In addition, biocompatibility of the PDMS samples was characterized in terms of cell morphology (scanning electron microscope) and cell cytotoxicity (alamarBlue assay) using human vascular endothelial cells (HUVECs). The results demonstrated that the interfacial friction (0.27 vs 0.19) and adhesion (34.9 mN vs 26.7 mN) were greatly increased using microscopically patterned PDMS, in comparison with non-patterned PDMS. HUVECs adhered to and proliferated on non-patterned/microscopically patterned PDMS very well, with a relative cell viability of about 90% following seeding at 1 d, 3 d, and 5 d. The favorable enhancement of the frictional and adhesive properties, along with the excellent biocompatibility of the microscopically patterned PDMS, makes it a propitious choice for clinical application of self-propelled miniaturized robots. - Highlights: • Micro-pillars enhanced friction and adhesion between PDMS and intestinal tract. • Micro-patterned PDMS showed good cell morphology and cytotoxicity using HUVECs. • Micro-pattern technology may be applied in self-propelled miniaturized robot.

  1. Effect of Friction Model and Tire Maneuvering on Tire-Pavement Contact Stress

    Directory of Open Access Journals (Sweden)

    Haichao Zhou

    2015-01-01

    Full Text Available This paper aims to simulate the effects of different friction models on tire braking. A truck radial tire (295/80R22.5 was modeled and the model was validated with tire deflection. An exponential decay friction model that considers the effect of sliding velocity on friction coefficients was adopted for analyzing braking performance. The result shows that the exponential decay friction model used for evaluating braking ability meets design requirements of antilock braking system (ABS. The tire-pavement contact stress characteristics at various driving conditions (static, free rolling, braking, camber, and cornering were analyzed. It is found that the change of driving conditions has direct influence on tire-pavement contact stress distribution. The results provide the guidance for tire braking performance evaluation.

  2. State Estimation for Tensegrity Robots

    Science.gov (United States)

    Caluwaerts, Ken; Bruce, Jonathan; Friesen, Jeffrey M.; Sunspiral, Vytas

    2016-01-01

    Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

  3. Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators

    International Nuclear Information System (INIS)

    Nagase, Jun-ya; Saga, Norihiko; Wakimoto, Shuichi; Satoh, Toshiyuki; Suzumori, Koichi

    2011-01-01

    In recent years, Japanese society has been ageing, engendering a labor shortage of young workers. Robots are therefore expected to be useful in performing tasks such as day-to-day support for elderly people. In particular, robots that are intended for use in the field of medical care and welfare are expected to be safe when operating in a human environment because they often come into contact with people. Furthermore, robots must perform various tasks such as regrasping, grasping of soft objects, and tasks using frictional force. Given these demands and circumstances, a tendon-driven robot hand with a stiffness changing finger has been developed. The finger surface stiffness can be altered by adjusting the input pressure depending on the task. Additionally, the coefficient of static friction can be altered by changing the surface stiffness merely by adjusting the input air pressure. This report describes the basic structure, driving mechanism, and basic properties of the proposed robot hand

  4. Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet

    Directory of Open Access Journals (Sweden)

    Kenji Hashimoto

    2014-01-01

    Full Text Available This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot’s feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.

  5. Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

    Directory of Open Access Journals (Sweden)

    Loredana Zollo

    2013-10-01

    Full Text Available This paper presents dynamic characterization and control of an upper-limb rehabilitation machine aimed at improving robot performance in the interaction with the patient. An integrated approach between mechanics and control is the key issue of the paper for the development of a robotic machine with desirable dynamic properties. Robot inertial and acceleration properties are studied in the workspace via a graphical representation based on ellipses. Robot friction is experimentally retrieved by means of a parametric identification procedure. A current-based impedance control is developed in order to compensate for friction and enhance control performance in the interaction with the patient by means of force feedback, without increasing system inertia. To this end, servo-amplifier motor currents are monitored to provide force feedback in the interaction, thus avoiding the need for force sensors mounted at the robot end-effector. Current-based impedance control is implemented on the robot; experimental results in free space as well as in constrained space are provided.

  6. Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2004-03-01

    Full Text Available Cyberbotics Ltd. develops Webots™, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots. Webots™ lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. You can equip each robot with a large number of available sensors and actuators. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. Webots™ has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. It is now the main commercial product available from Cyberbotics Ltd.

  7. Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bendtsen, Jan Dimon; Andersen, Palle; Pedersen, Tom Søndergaard

    This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based...

  8. Adaptive back-stepping control of the harmonic drive system with LuGre model-based friction compensation

    Science.gov (United States)

    Liu, Sen; Gang, Tieqiang

    2018-03-01

    Harmonic drives are widely used in aerospace and industrial robots. Flexibility, friction and parameter uncertainty will result in transmission performance degradation. In this paper, an adaptive back-stepping method with friction compensation is proposed to improve the tracking performance of the harmonic drive system. The nonlinear friction is described by LuGre model and compensated with a friction observer, and the uncertainty of model parameters is resolved by adaptive parameter estimation method. By using Lyapunov stability theory, it is proved that all the errors of the closed-loop system are uniformly ultimately bounded. Simulations illustrate the effectiveness of our friction compensation method.

  9. Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties

    Directory of Open Access Journals (Sweden)

    Xu Yang

    2013-01-01

    Full Text Available The nonlinear model of main drive system in cold rolling process, which considers the influence with parameter uncertainties such as clearance and variable friction coefficient, as well as external disturbance by roll eccentricity and variation of strip material quality, is built. By transformation, the lower triangular structure form of main drive system is obtained. The backstepping algorithm based on signal compensation is proposed to design a linear time-invariant (LTI robust controller, including a nominal controller and a robust compensator. A comparison with PI controller shows that the controller has better disturbance attenuation performance and tracking behaviors. Meanwhile, according to its LTI characteristic, the robust controller can be realized easily; therefore it is also appropriated to high speed dynamic rolling process.

  10. Finite element analysis of plate rolling of duplex-layer steels for long-period fast reactor application

    International Nuclear Information System (INIS)

    Lee, Jungki; Kim, Ji Hyun

    2015-01-01

    With same roll speed and same friction coefficient, curvature is formed on rolled product from FEA result. To reduce this curvature and plastic strain which cause reduction in fabricability, two ways are selected; (i) controlling upper/lower roll speed, and (ii) adjusting upper/lower friction coefficient and contacts. Both results shows it can reduce the curvature and equivalent plastic strain of the plate after the rolling. It can be applied in real plate rolling processing and also the next research for pilgering process for tube and pipe production. The FEA results of equivalent stress and plastic deformation distribution are showed in figure 5. The von-Mises equivalent stress distribution showed that the stress is still concentrated on upper Fe-12Cr-2Si layer, however, it also shows that equivalent plastic strain is distributed uniformly comparing with upper and lower roll speed ratio is 1.0. In high temperature liquid metal environment, there are usually two types of corrosion; one is corrosion by dissolution of alloy elements into liquid metal, and another is corrosion by chemical reaction among impurities in liquid metal and structural alloy. There have been some researches to develop new alloys that can form more dense scale on the surface even in wider impurity range and higher temperature range . M.P Short et al. devised functionally graded composite which is composed of two layers . one is a thin corrosion resistant layer and another is thick structural layer which guarantees mechanical strength, creep rupture strength and shows less irradiation swelling

  11. Two-legged walking robot prescribed motion on a rough cylinder

    Science.gov (United States)

    Golubev, Yury; Melkumova, Elena

    2018-05-01

    The motion of a walking robot with n legs, that ensure the desired motion of the robot body, is described using general dynamics theoretical framework. When each of the robot legs contacts the surface in a single foothold, the momentum and angular momentum theorems yield a system of six differential equations that form a complete description of the robot motion. In the case of two-leg robot (n = 2) the problem of the existence of the solution can be reduced to a system of algebraic inequalities. Using numerical analysis, the classification of footholds positions for different values of the friction coefficient is obtained.

  12. Development of an observation robot `Flying Fish` for comprehensive measurements of ocean environment; Kaiyo kankyo sogo kansoku robot `flying fish` no kaihatsu kenkyu

    Energy Technology Data Exchange (ETDEWEB)

    Koterayama, W.; Yamaguchi, S.; Nakamura, M. [Kyushu Univ., Fukuoka (Japan). Research Inst. for Applied Mechanics; Akamatsu, T. [Mitsubishi Heavy Industries, Ltd., Tokyo (Japan)

    1996-06-01

    A high speed towed type physical and chemical observation marine robot named as `Flying Fish` has been developed since 1992, which can measure chemical substances in the sea as well as physical data, such as flow velocity of the ocean and water temperature. This paper describes its formation, designing, control system, and results of ocean tests. For the space continuous observation of physical, chemical, and biological quantities, it is essential to control the depth, pitch, and roll. The wing control method was employed for this robot. As a result of the ocean tests, the following conclusions were obtained. The accuracy under the steady state was {plus_minus}0.05 m in the depth, {plus_minus}1 degree in the pitch, and {plus_minus}0.5 degree in the roll. This was stable enough to operate chemical analysis, such as dissolved oxygen analysis. Even under the unsteady state during the change of depth, the pitch and roll were controlled in {plus_minus}3 degree and {plus_minus}0.5 degree, respectively. Results of the field tests and the numerical simulations for the performance of this robot were agreed well mutually in the practically sufficient accuracy. 10 refs., 15 figs., 2 tabs.

  13. Parameters design of the dielectric elastomer spring-roll bending actuator (Conference Presentation)

    Science.gov (United States)

    Li, Jinrong; Liu, Liwu; Liu, Yanju; Leng, Jinsong

    2017-04-01

    Dielectric elastomers are novel soft smart material that could deform sustainably when subjected to external electric field. That makes dielectric elastomers promising materials for actuators. In this paper, a spring-roll actuator that would bend when a high voltage is applied was fabricated based on dielectric elastomer. Using such actuators as active parts, the flexible grippers and inchworm-inspired crawling robots were manufactured, which demonstrated some examples of applications in soft robotics. To guide the parameters design of dielectric elastomer based spring-roll bending actuators, the theoretical model of such actuators was established based on thermodynamic theories. The initial deformation and electrical induced bending angle of actuators were formulated. The failure of actuators was also analyzed considering some typical failure modes like electromechanical instability, electrical breakdown, loss of tension and maximum tolerant stretch. Thus the allowable region of actuators was determined. Then the bending angle-voltage relations and failure voltages of actuators with different parameters, including stretches of the dielectric elastomer film, number of active layers, and dimensions of spring, were investigated. The influences of each parameter on the actuator performances were discussed, providing meaningful guidance to the optical design of the spring-roll bending actuators.

  14. Robotic vehicle with multiple tracked mobility platforms

    Science.gov (United States)

    Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

    2012-07-24

    A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

  15. Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips

    Directory of Open Access Journals (Sweden)

    García-Rodríguez Rodolfo

    2016-06-01

    Full Text Available Object manipulation usually requires dexterity, encoded as the ability to roll, which is very difficult to achieve with robotic hands based on point contact models (subject to holonomic constraints. As an alternative for dexterous manipulation, deformable contact with hemispherical shape fingertips has been proposed to yield naturally a rolling constraint. It entails dexterity at the expense of dealing with normal and tangential forces, as well as more elaborated models and control schemes. Furthermore, the essential feature of the quality of grasp can be addressed with this type of robot hands, but it has been overlooked for deformable contact. In this paper, a passivity-based controller that considers an optimal grasping measure is proposed for robotic hands with hemispherical deformable fingertips, to manipulate circular dynamic objects. Optimal grasping that minimizes the contact wrenches is achieved through fingertip rolling until normal forces pass through the center of mass of the object, aligning the relative angle between these normal forces. The case of a circular object is developed in detail, though our proposal can be extended to objects with an arbitrary shape that admit a local decomposition by a circular curvature. Simulation and experimental results show convergence under various conditions, wherein rolling and tangent forces become instrumental to achieve such a quality of grasp.

  16. Effect of Polypropylene Modification by Impregnation with Oil on Its Wear and Friction Coefficient at Variable Load and Various Friction Rates

    Directory of Open Access Journals (Sweden)

    Paweł Sędłak

    2017-01-01

    Full Text Available Laboratorial two-body wear testing was carried out in order to assess effects of polypropylene modification by impregnating it with oils on friction coefficient and wear in comparison to those parameters of unmodified polypropylene, Teflon, and polyamide during operation under conditions of sliding friction without lubrication. Wear behaviour of the tested specimens was investigated using ASTM G77-98 standard wear test equipment. Recording program made it possible to visualise and record the following parameters: rotational speed and load, linear wear, friction coefficient, temperature of the specimen, and ambient temperature. In addition, wear mechanisms of the analysed materials were determined with use of scanning electron microscopy. In the case of the remaining tested polymers, the most important mechanism of wear was adhesion (PP, PTFE, PA 6.6, and PA MoS2, microcutting (PTFE, PA 6.6, and PA MoS2, fatigue wear (PTFE, forming “roll-shaped particles” combined with plastic deformation (PA 6.6 and PA MoS2, and thermal wear (PP. Impregnation of polypropylene with engine oil, gear oil, or RME results in significant reduction of friction coefficient and thus of friction torque, in relation to not only unmodified polypropylene but also the examined polyamide and Teflon.

  17. Characterization of a hot-rolled Cu--Al--Ni--Ti shape memory alloy

    International Nuclear Information System (INIS)

    Segui, C.; Pons, J.; Cesari, E.

    1999-01-01

    The changes in the martensitic transformation of a Cu-Al-Ni-Ti alloy hot-rolled at different temperatures have been studied in detail, covering different aspects such as ageing in the parent phase at temperatures ranging between 250 and 350 o C, stabilisation of the martensite and betatization of the previously hot-rolled specimens. Besides the evolution of transformation temperatures upon different thermal treatments, special attention has been paid to the changes in mechanical properties of the alloy, such as elastic modulus and internal friction. These results are analysed in relation to the microstructural changes as observed by transmission electron microscopy. (orig.)

  18. The influence of post-processing on creep and microstructure of rolled Cu-8Cr-4Nb

    Energy Technology Data Exchange (ETDEWEB)

    Walley, J.L.; Heelan, J.L.; Vettraino, L.G.; Groza, J.R. [Department of Chemical Engineering and Materials Science, University of California, One Shields Ave., Davis, CA 95616 (United States); Gibeling, J.C., E-mail: jcgibeling@ucdavis.edu [Department of Chemical Engineering and Materials Science, University of California, One Shields Ave., Davis, CA 95616 (United States)

    2010-10-15

    Research highlights: {yields} A simulated-life heat treatment anneal of 24 h at 773 K reduced the steady-state creep rate and increased the creep life of a rolled powder metallurgy Cu-8Cr-4Nb alloy. {yields} The primary microstructural difference between the rolled form and the annealed form of Cu-8Cr-4Nb is the development of annealing twins during heat treatment causing a decrease in the intensity of the texture. {yields} Friction stir welding of rolled Cu-8Cr-4Nb negatively affected creep ductility, thereby decreasing creep life at the temperature tested. Strain localization in the soft heat-affected zone of the weld is hypothesized to be the cause of the decreased creep ductility. - Abstract: Previous work has shown that rolling of an extruded Cu-8Cr-4Nb (GRCop-84) alloy results in higher steady-state creep rates over a range of stresses, leading to concern that other post-processing methods could have substantial deleterious effects on creep properties. To explore that possibility, constant-stress creep tests were conducted at 773 K on rolled GRCop-84 after it was subjected to either friction stir welding (FSW) or a 24 h 1073 K simulated-life heat treatment. The FSW had no measurable effect on the creep rate of the rolled material, but did have detrimental effects on the creep ductility caused by softening, and thus strain localization, in the heat-affected zone of the weld. The simulated-life heat treatment decreased the steady-state creep rate by approximately 45% as compared to the rolled material, leading to longer creep life at a particular applied stress. Electron backscatter diffraction methods were used to compare the microstructural features of extruded, rolled and annealed material forms. It was determined that the rolling procedure decreased the grain size, and decreased the intensity of the texture as compared to the extruded form. The simulated-life heat treatment allowed for the substantial development of twins along with minor grain growth, and

  19. The influence of post-processing on creep and microstructure of rolled Cu-8Cr-4Nb

    International Nuclear Information System (INIS)

    Walley, J.L.; Heelan, J.L.; Vettraino, L.G.; Groza, J.R.; Gibeling, J.C.

    2010-01-01

    Research highlights: → A simulated-life heat treatment anneal of 24 h at 773 K reduced the steady-state creep rate and increased the creep life of a rolled powder metallurgy Cu-8Cr-4Nb alloy. → The primary microstructural difference between the rolled form and the annealed form of Cu-8Cr-4Nb is the development of annealing twins during heat treatment causing a decrease in the intensity of the texture. → Friction stir welding of rolled Cu-8Cr-4Nb negatively affected creep ductility, thereby decreasing creep life at the temperature tested. Strain localization in the soft heat-affected zone of the weld is hypothesized to be the cause of the decreased creep ductility. - Abstract: Previous work has shown that rolling of an extruded Cu-8Cr-4Nb (GRCop-84) alloy results in higher steady-state creep rates over a range of stresses, leading to concern that other post-processing methods could have substantial deleterious effects on creep properties. To explore that possibility, constant-stress creep tests were conducted at 773 K on rolled GRCop-84 after it was subjected to either friction stir welding (FSW) or a 24 h 1073 K simulated-life heat treatment. The FSW had no measurable effect on the creep rate of the rolled material, but did have detrimental effects on the creep ductility caused by softening, and thus strain localization, in the heat-affected zone of the weld. The simulated-life heat treatment decreased the steady-state creep rate by approximately 45% as compared to the rolled material, leading to longer creep life at a particular applied stress. Electron backscatter diffraction methods were used to compare the microstructural features of extruded, rolled and annealed material forms. It was determined that the rolling procedure decreased the grain size, and decreased the intensity of the texture as compared to the extruded form. The simulated-life heat treatment allowed for the substantial development of twins along with minor grain growth, and a substantial

  20. Lateral position detection and control for friction stir systems

    Science.gov (United States)

    Fleming, Paul; Lammlein, David; Cook, George E.; Wilkes, Don Mitchell; Strauss, Alvin M.; Delapp, David; Hartman, Daniel A.

    2010-12-14

    A friction stir system for processing at least a first workpiece includes a spindle actuator coupled to a rotary tool comprising a rotating member for contacting and processing the first workpiece. A detection system is provided for obtaining information related to a lateral alignment of the rotating member. The detection system comprises at least one sensor for measuring a force experienced by the rotary tool or a parameter related to the force experienced by the rotary tool during processing, wherein the sensor provides sensor signals. A signal processing system is coupled to receive and analyze the sensor signals and determine a lateral alignment of the rotating member relative to a selected lateral position, a selected path, or a direction to decrease a lateral distance relative to the selected lateral position or selected path. In one embodiment, the friction stir system can be embodied as a closed loop tracking system, such as a robot-based tracked friction stir welding (FSW) or friction stir processing (FSP) system.

  1. Precession of a Spinning Ball Rolling down an Inclined Plane

    Science.gov (United States)

    Cross, Rod

    2015-01-01

    A routine problem in an introductory physics course considers a rectangular block at rest on a plane inclined at angle a to the horizontal. In order for the block not to slide down the incline, the coefficient of sliding friction, µ, must be at least tan a. The situation is similar for the case of a ball rolling down an inclined plane. In order…

  2. Structure and Mechanical Properties of Friction Stir Weld Joints of Magnesium Alloy AZ31

    Science.gov (United States)

    Nagasawa, T.; Otsuka, M.; Yokota, T.; Ueki, T.

    The applicability of friction stir welding to hot rolled sheet of commercial magnesium alloy AZ31 plates has been investigated. Friction stir weld joint showed mechanical strength comparable to that of base material, though the ductility remained at one half of that of the latter. The results are consistent with the microstructure which is characterized by a fine grained bond layer bounded by-intermediate grained base metals. It is found that both anodizing treatment and insertion of aluminum foil between batting faces do not degrade the joint properties at all. The results suggest that friction stir welding can be potentially applied to magnesium alloy.

  3. Friction law and hysteresis in granular materials

    Science.gov (United States)

    DeGiuli, E.; Wyart, M.

    2017-08-01

    The macroscopic friction of particulate materials often weakens as the flow rate is increased, leading to potentially disastrous intermittent phenomena including earthquakes and landslides. We theoretically and numerically study this phenomenon in simple granular materials. We show that velocity weakening, corresponding to a nonmonotonic behavior in the friction law, μ(I), is present even if the dynamic and static microscopic friction coefficients are identical, but disappears for softer particles. We argue that this instability is induced by endogenous acoustic noise, which tends to make contacts slide, leading to faster flow and increased noise. We show that soft spots, or excitable regions in the materials, correspond to rolling contacts that are about to slide, whose density is described by a nontrivial exponent θs. We build a microscopic theory for the nonmonotonicity of μ(I), which also predicts the scaling behavior of acoustic noise, the fraction of sliding contacts χ, and the sliding velocity, in terms of θs. Surprisingly, these quantities have no limit when particles become infinitely hard, as confirmed numerically. Our analysis rationalizes previously unexplained observations and makes experimentally testable predictions.

  4. Fuzzy-Genetic Optimal Control for Four Degreeof Freedom Robotic Arm Movement

    OpenAIRE

    V. K. Banga; R. Kumar; Y. Singh

    2009-01-01

    In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimizatio...

  5. Friction enhancement in concertina locomotion of snakes

    Science.gov (United States)

    Marvi, Hamidreza; Hu, David L.

    2012-01-01

    Narrow crevices are challenging terrain for most organisms and biomimetic robots. Snakes move through crevices using sequential folding and unfolding of their bodies in the manner of an accordion or concertina. In this combined experimental and theoretical investigation, we elucidate this effective means of moving through channels. We measure the frictional properties of corn snakes, their body kinematics and the transverse forces they apply to channels of varying width and inclination. To climb channels inclined at 60°, we find snakes use a combination of ingenious friction-enhancing techniques, including digging their ventral scales to double their frictional coefficient and pushing channel walls transversely with up to nine times body weight. Theoretical modelling of a one-dimensional n-linked crawler is used to calculate the transverse force factor of safety: we find snakes push up to four times more than required to prevent sliding backwards, presumably trading metabolic energy for an assurance of wall stability. PMID:22728386

  6. Application of a Perturbation Method for Realistic Dynamic Simulation of Industrial Robots

    International Nuclear Information System (INIS)

    Waiboer, R. R.; Aarts, R. G. K. M.; Jonker, J. B.

    2005-01-01

    This paper presents the application of a perturbation method for the closed-loop dynamic simulation of a rigid-link manipulator with joint friction. In this method the perturbed motion of the manipulator is modelled as a first-order perturbation of the nominal manipulator motion. A non-linear finite element method is used to formulate the dynamic equations of the manipulator mechanism. In a closed-loop simulation the driving torques are generated by the control system. Friction torques at the actuator joints are introduced at the stage of perturbed dynamics. For a mathematical model of the friction torques we implemented the LuGre friction model that accounts both for the sliding and pre-sliding regime. To illustrate the method, the motion of a six-axes industrial Staeubli robot is simulated. The manipulation task implies transferring a laser spot along a straight line with a trapezoidal velocity profile. The computed trajectory tracking errors are compared with measured values, where in both cases the tip position is computed from the joint angles using a nominal kinematic robot model. It is found that a closed-loop simulation using a non-linear finite element model of this robot is very time-consuming due to the small time step of the discrete controller. Using the perturbation method with the linearised model a substantial reduction of the computer time is achieved without loss of accuracy

  7. Experimental and numerical study of friction and braking characteristics of rolling tires

    NARCIS (Netherlands)

    Steen, R. van der; Lopez, I.; Nijmeijer, H.; Schmeitz, A.J.C.; Bruijn, B. de

    2011-01-01

    Throughout the tire industry, virtual testing has been widely adopted in the design process. Both static deformation and dynamic response of the tire rolling on the road must be accurately predicted to evaluate the handling performance of a tire. Unfortunately, experimental characterization of

  8. Numerical Study of Tire Hydroplaning Based on Power Spectrum of Asphalt Pavement and Kinetic Friction Coefficient

    OpenAIRE

    Shengze Zhu; Xiuyu Liu; Qingqing Cao; Xiaoming Huang

    2017-01-01

    Hydroplaning is a driving phenomenon threating vehicle’s control stability and safety. It happens when tire rolls on wet pavement with high speed that hydrodynamic force uplifts the tire. Accurate numerical simulation to reveal the mechanism of hydroplaning and evaluate the function of relevant factors in this process is significant. In order to describe the friction behaviors of tire-pavement interaction, kinetic friction coefficient curve of tire rubber and asphalt pavement was obtained by ...

  9. The influence of surface topography on the forming friction of automotive aluminum sheet

    Energy Technology Data Exchange (ETDEWEB)

    Kramer, Pamela Ann [Univ. of California, Berkeley, CA (United States). Dept. of Materials Science and Mineral Engineering

    1998-05-01

    Interest in utilizing aluminum alloys in automobiles has increased in recent years as a result of the desire to lower automobile weight and, consequently, increase fuel economy. While aluminum alloy use in cast parts has increased, outer body panel applications are still being investigated. The industry is interested in improving the formability of these sheet alloys by a combination of alloy design and processing. A different avenue of improving the formability of these alloys may be through patterning of the sheet surface. Surface patterns hold the lubricant during the forming process, with a resulting decrease in the sheet-die surface contact. While it has been speculated that an optimum surface pattern would consist of discrete cavities, detailed investigation into the reduction of forming friction by utilizing discrete patterns is lacking. A series of discrete patterns were investigated to determine the dependence of the forming friction of automotive aluminum alloys on pattern lubricant carrying capacity and on material strength. Automotive aluminum alloys used in outer body panel applications were rolled on experimental rolls that had been prepared with a variety of discrete patterns. All patterns for each alloy were characterized before and after testing both optically and, to determine pattern lubricant capacity, using three dimensional laser profilometry. A draw bead simulation (DBS) friction tester was designed and fabricated to determine the forming friction of the patterned sheets. Tensile testing and frictionless DBS testing were performed to ascertain the material properties of each sheet. The most striking result of this work was the inversely linear dependence of forming friction on the lubricant carrying capacity of the discrete patterns.

  10. Review on Parameters Influencing the Rice Breakage and Rubber Roll Wear in Sheller

    Directory of Open Access Journals (Sweden)

    Prabhakaran P.

    2017-09-01

    Full Text Available The present review deals with parameters influencing the rice breakage during rice milling operations and the effect of rubber roll Sheller in rice husk removal process. The main objective of rice milling system is to remove the husk and bran layer to produce the white rice. In this process, rubber roll sheller is used to remove husk from the grains by friction process. If the rubber material is too soft, there may not be sufficient shear force to husk the paddy. Wear will be minimum for rubber material with high hardness but indeed it pronounce the breakage of rice. Hence, for efficient husking the rubber roll material should possess the balance of physico-mechanical properties. Rice breakage depends on several other parameters like the type of harvest, drying temperature, drying methods, physical characteristics of paddy, husking characteristics, paddy moisture content, rubber roller speed, rubber roll pressure, paddy feed rate and fissures. Rubber roll wear depends on the type of rubber material attached to the roller, feed rate, roller speed, pressure etc.

  11. Minimizing Hexapod Robot Foot Deviations Using Multilayer Perceptron

    Directory of Open Access Journals (Sweden)

    Vytautas Valaitis

    2015-12-01

    Full Text Available Rough-terrain traversability is one of the most valuable characteristics of walking robots. Even despite their slower speeds and more complex control algorithms, walking robots have far wider usability than wheeled or tracked robots. However, efficient movement over irregular surfaces can only be achieved by eliminating all possible difficulties, which in many cases are caused by a high number of degrees of freedom, feet slippage, frictions and inertias between different robot parts or even badly developed inverse kinematics (IK. In this paper we address the hexapod robot-foot deviation problem. We compare the foot-positioning accuracy of unconfigured inverse kinematics and Multilayer Perceptron-based (MLP methods via theory, computer modelling and experiments on a physical robot. Using MLP-based methods, we were able to significantly decrease deviations while reaching desired positions with the hexapod's foot. Furthermore, this method is able to compensate for deviations of the robot arising from any possible reason.

  12. Evaluation of dose delivery accuracy due to variation in pitch and roll

    Energy Technology Data Exchange (ETDEWEB)

    Jeong, Chang Young; Bae, Sun Myung; Lee, Dong Hyung; Min, Soon Ki; Kang, Tae Young; Baek, Geum Mun [Dept. of Radiation Oncology, ASAN Medical Center, Seoul (Korea, Republic of)

    2014-12-15

    The purpose of this study is to verify the accuracy of dose delivery according to the pitch and roll rotational setup error with 6D robotic couch in Intensity Modulated Radiation Therapy ( IMRT ) for pelvic region in patients. Trilogy(Varian, USA) and 6D robotic couch(ProturaTM 1.4, CIVCO, USA) were used to measure and analyze the rotational setup error of 14 patients (157 setup cases) for pelvic region. The total 157 Images(CBCT 78, Radiography 79) were used to calculate the mean value and the incidence of pitch and roll rotational setup error with Microsoft Office Excel 2007. The measured data (3 mm, 3%) at the reference angle (0 °) without couch rotation of pitch and roll direction was compared to the others at different pitch and roll angles (1 °, 1.5 °, 2 °, 2.5 °) to verify the accuracy of dose delivery by using 2D array ionization chamber (I'mRT Matrixx, IBA Dosimetry, Germany) and MultiCube Phantom(IBA Dosimetry, Germany). Result from the data, gamma index was evaluated. The mean values of pitch and roll rotational setup error were 0.9±0.7 °, 0.5±0.6 °. The maximum values of them were 2.8 °, 2.0 °. All of the minimum values were zero. The mean values of gamma pass rate at four different pitch angles (1 °, 1.5 °, 2 °, 2.5 °) were 97.75%, 96.65%, 94.38% and 90.91%. The mean values of gamma pass rate at four different roll angles (1 °, 1.5 °, 2 °, 2.5 °) were 93.68%, 93.05%, 87.77% and 84.96%. when the same angles (1 °, 1.5 °, 2 ° ) of pitch and roll were applied simultaneously, The mean values of each angle were 94.90%, 92.37% and 87.88%, respectively. As a result of this study, it was able to recognize that the accuracy of dose delivered is lowered gradually as pitch and roll increases. In order to increase the accuracy of delivered dose, therefore, it is recommended to perform IGRT or correct patient's position in the pitch and roll direction, to improve the quality of treatment.

  13. Parameter Identification of Static Friction Based on An Optimal Exciting Trajectory

    Science.gov (United States)

    Tu, X.; Zhao, P.; Zhou, Y. F.

    2017-12-01

    In this paper, we focus on how to improve the identification efficiency of friction parameters in a robot joint. First, the static friction model that has only linear dependencies with respect to their parameters is adopted so that the servomotor dynamics can be linearized. In this case, the traditional exciting trajectory based on Fourier series is modified by replacing the constant term with quintic polynomial to ensure the boundary continuity of speed and acceleration. Then, the Fourier-related parameters are optimized by genetic algorithm(GA) in which the condition number of regression matrix is set as the fitness function. At last, compared with the constant-velocity tracking experiment, the friction parameters from the exciting trajectory experiment has the similar result with the advantage of time reduction.

  14. Perancangan Lengan Robot 5 Derajat Kebebasan Dengan Pendekatan Kinematika

    Directory of Open Access Journals (Sweden)

    - Firmansyah

    2014-10-01

    Full Text Available This study discusses the design of arm robot model with 5 degree of freedom that is designed to be a small-scale model of the articulated robot industry to simulate the movement of the robots industry. The objective of this research is to build a real arm robot based on kinematic aspects with the movement of waist, shoulder, elbow, wrist pitch, wrist roll and gripper, and to analyze the robot movement. The design includes building the real arm robot based on Arduino Uno board controller and the movement of the robot using servo motor DC. The robot  can be controlled automatically from the computer with the RS-232 or USB port interface and it learns about the kinematic of the robot’s arm when an experiment on the forward kinematic is accomplished. The robot was running well, with the maximum distance that can be reached by the robot on the coordinate axis  x = 425 mm, y = 425 mm and  z = 480 mm.

  15. Multi-fingered robotic hand

    Science.gov (United States)

    Ruoff, Carl F. (Inventor); Salisbury, Kenneth, Jr. (Inventor)

    1990-01-01

    A robotic hand is presented having a plurality of fingers, each having a plurality of joints pivotally connected one to the other. Actuators are connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is covering of the tip of each finger with a resilient and pliable friction enhancing surface.

  16. A method to achieve comparable thermal states of car brakes during braking on the road and on a high-speed roll-stand

    Science.gov (United States)

    Wolff, Andrzej

    2010-01-01

    The temperature of a brake friction surface influences significantly the braking effectiveness. The paper describes a heat transfer process in car brakes. Using a developed program of finite element method, the temperature distributions in brake rotors (disc and drum brake) of a light truck have been calculated. As a preliminary consistency criterion of the brake thermal state in road and roll-stand braking conditions, a balance of the energy cumulated in the brake rotor has been taken into account. As the most reliable consistency criterion an equality of average temperatures of the friction surface has been assumed. The presented method allows to achieve on a roll-stand the analogical thermal states of automotive brakes, which are observed during braking in road conditions. Basing on this method, it is possible to calculate the braking time and force for a high-speed roll-stand. In contrast to the previous papers of the author, new calculation results have been presented.

  17. Friction law and hysteresis in granular materials.

    Science.gov (United States)

    DeGiuli, E; Wyart, M

    2017-08-29

    The macroscopic friction of particulate materials often weakens as the flow rate is increased, leading to potentially disastrous intermittent phenomena including earthquakes and landslides. We theoretically and numerically study this phenomenon in simple granular materials. We show that velocity weakening, corresponding to a nonmonotonic behavior in the friction law, [Formula: see text], is present even if the dynamic and static microscopic friction coefficients are identical, but disappears for softer particles. We argue that this instability is induced by endogenous acoustic noise, which tends to make contacts slide, leading to faster flow and increased noise. We show that soft spots, or excitable regions in the materials, correspond to rolling contacts that are about to slide, whose density is described by a nontrivial exponent [Formula: see text] We build a microscopic theory for the nonmonotonicity of [Formula: see text], which also predicts the scaling behavior of acoustic noise, the fraction of sliding contacts [Formula: see text], and the sliding velocity, in terms of [Formula: see text] Surprisingly, these quantities have no limit when particles become infinitely hard, as confirmed numerically. Our analysis rationalizes previously unexplained observations and makes experimentally testable predictions.

  18. The sound of friction: Real-time models, playability and musical applications

    Science.gov (United States)

    Serafin, Stefania

    Friction, the tangential force between objects in contact, in most engineering applications needs to be removed as a source of noise and instabilities. In musical applications, friction is a desirable component, being the sound production mechanism of different musical instruments such as bowed strings, musical saws, rubbed bowls and any other sonority produced by interactions between rubbed dry surfaces. The goal of the dissertation is to simulate different instrument whose main excitation mechanism is friction. An efficient yet accurate model of a bowed string instrument, which combines the latest results in violin acoustics with the efficient digital waveguide approach, is provided. In particular, the bowed string physical model proposed uses a thermodynamic friction model in which the finite width of the bow is taken into account; this solution is compared to the recently developed elasto-plastic friction models used in haptics and robotics. Different solutions are also proposed to model the body of the instrument. Other less common instruments driven by friction are also proposed, and the elasto-plastic model is used to provide audio-visual simulations of everyday friction sounds such as squeaking doors and rubbed wine glasses. Finally, playability evaluations and musical applications in which the models have been used are discussed.

  19. Closed-Loop Dynamic Parameter Identification of Robot Manipulators Using Modified Fourier Series

    Directory of Open Access Journals (Sweden)

    Wenxiang Wu

    2012-05-01

    Full Text Available This paper concerns the problem of dynamic parameter identification of robot manipulators and proposes a closed-loop identification procedure using modified Fourier series (MFS as exciting trajectories. First, a static continuous friction model is involved to model joint friction for realizable friction compensation in controller design. Second, MFS satisfying the boundary conditions are firstly designed as periodic exciting trajectories. To minimize the sensitivity to measurement noise, the coefficients of MFS are optimized according to the condition number criterion. Moreover, to obtain accurate parameter estimates, the maximum likelihood estimation (MLE method considering the influence of measurement noise is adopted. The proposed identification procedure has been implemented on the first three axes of the QIANJIANG-I 6-DOF robot manipulator. Experiment results verify the effectiveness of the proposed approach, and comparison between identification using MFS and that using finite Fourier series (FFS reveals that the proposed method achieves better identification accuracy.

  20. Controlling Tensegrity Robots Through Evolution

    Science.gov (United States)

    Iscen, Atil; Agogino, Adrian; SunSpiral, Vytas; Tumer, Kagan

    2013-01-01

    Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

  1. Precision Hopping/Rolling Robotic Surface Probe Based on Tensegrity Structures

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to overcome the limitations of wheeled surface rovers by combining recent advances in ball-shaped soft-robots based on tensegrity structures (a tension...

  2. Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes

    OpenAIRE

    Botelho, Wagner Tanaka; Okada, Tokuji; Mahmoud, Abeer; Shimizu, Toshimi

    2011-01-01

    One of the objectives of the paper is to describe the hybrid robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot) with regard to switching between leg-type and wheel-type. Our robot has an easier design and control system than other hybrid robots. The software and hardware control in the process of performing five robot tasks are considered. These are the walking, rolling, switching, turning and spinning. In the switching task, we show the control method based on minimization of...

  3. Robotic Manufacturing of 18-ft (5.5m) Diameter Cryogenic Fuel Tank Dome Assemblies for the NASA Ares I Rocket

    Science.gov (United States)

    Jones, Ronald E.; Carter, Robert W.

    2012-01-01

    The Ares I rocket was the first launch vehicle scheduled for manufacture under the National Aeronautic and Space Administration's Constellation program. A series of full-scale Ares I development articles were constructed on the Robotic Weld Tool at the NASA George C. Marshall Space Flight Center in Huntsville, Alabama. The Robotic Weld Tool is a 100 ton, 7- axis, robotic manufacturing system capable of machining and friction stir welding large-scale space hardware. This paper will focus on the friction stir welding of 18-ft (5.5m) diameter cryogenic fuel tank components; specifically, the liquid hydrogen forward dome and two common bulkhead manufacturing development articles.

  4. Robot-Aided Neurorehabilitation: A Pediatric Robot for Ankle Rehabilitation.

    Science.gov (United States)

    Michmizos, Konstantinos P; Rossi, Stefano; Castelli, Enrico; Cappa, Paolo; Krebs, Hermano Igo

    2015-11-01

    This paper presents the pediAnklebot, an impedance-controlled low-friction, backdriveable robotic device developed at the Massachusetts Institute of Technology that trains the ankle of neurologically impaired children of ages 6-10 years old. The design attempts to overcome the known limitations of the lower extremity robotics and the unknown difficulties of what constitutes an appropriate therapeutic interaction with children. The robot's pilot clinical evaluation is on-going and it incorporates our recent findings on the ankle sensorimotor control in neurologically intact subjects, namely the speed-accuracy tradeoff, the deviation from an ideally smooth ankle trajectory, and the reaction time. We used these concepts to develop the kinematic and kinetic performance metrics that guided the ankle therapy in a similar fashion that we have done for our upper extremity devices. Here we report on the use of the device in at least nine training sessions for three neurologically impaired children. Results demonstrated a statistically significant improvement in the performance metrics assessing explicit and implicit motor learning. Based on these initial results, we are confident that the device will become an effective tool that harnesses plasticity to guide habilitation during childhood.

  5. Are pitch and roll compensations required in all pathologies? A data analysis of 2945 fractions.

    Science.gov (United States)

    Mancosu, Pietro; Reggiori, Giacomo; Gaudino, Anna; Lobefalo, Francesca; Paganini, Lucia; Palumbo, Valentina; Stravato, Antonella; Tomatis, Stefano; Scorsetti, Marta

    2015-01-01

    New linear accelerators can be equipped with a 6D robotic couch, providing two additional rotational motion axes: pitch and roll. These shifts in kilo voltage-cone beam CT (kV-CBCT) image-guided radiotherapy (IGRT) were evaluated over the first 6 months of usage of a 6D robotic couch-top, ranking the treatment sites for which the two compensations are larger for patient set-up. The couch compensations of 2945 fractions for 376 consecutive patients treated on the PerfectPitch™ 6D couch (Varian(®) Medical Systems, Palo Alto, CA) were analysed. Among these patients, 169 were treated for brain, 111 for lung, 54 for liver, 26 for pancreas and 16 for prostate tumours. During the set-up, patient anatomy from planning CT was aligned to kV-CBCT, and 6D movements were executed. Information related to pitch and roll were extracted by proper querying of the Microsoft(®) SQL server (Microsoft Corporation, Redmond, WA) ARIA database (Varian Medical Systems). Mean values and standard deviations were calculated for all sites. Kolmogorov-Smirnov (KS) test was performed. Considering all the data, mean pitch and roll adjustments were -0.10° ± 0.92° and 0.12° ± 0.96°, respectively; mean absolute values for both adjustments were 0.58° ± 0.69° and 0.69° ± 0.72°, respectively. Brain treatments showed the highest mean absolute values for pitch and roll rotations (0.73° ± 0.69° and 0.80° ± 0.78°, respectively); the lowest values of 0.36° ± 0.47° and 0.49° ± 0.58° were found for pancreas. KS test was significant for brain vs liver, pancreas and prostate. Collective corrections (pitch + roll) >0.5°, >1.0° and >2.0° were observed in, respectively, 79.8%, 61.0% and 29.1% for brain and 56.7%, 39.4% and 6.7% for pancreas. Adjustments in all six dimensions, including unconventional pitch and roll rotations, improve the patient set-up in all treatment sites. The greatest improvement was observed for patients with brain tumours. To

  6. Non-intrusive measurements of frictional forces between micro-spheres and flat surfaces

    Science.gov (United States)

    Lin, Wei-Hsun; Daraio, Chiara; Daraio's Group Team

    2014-03-01

    We report a novel, optical pump-probe experimental setup to study micro-friction phenomena between micro-particles and a flat surface. We present a case study of stainless steel microspheres, of diameter near 250 μm, in contact with different surfaces of variable roughness. In these experiments, the contact area between the particles and the substrates is only a few nanometers wide. To excite the particles, we deliver an impulse using a pulsed, high-power laser. The reaction force resulting from the surface ablation induced by the laser imparts a controlled initial velocity to the target particle. This initial velocity can be varied between 10-5 to 1 m/s. We investigate the vibrating and rolling motions of the micro-particles by detecting their velocity and displacement with a laser vibrometer and a high-speed microscope camera. We calculate the effective Hamaker constant from the vibrating motion of a particle, and study its relation to the substrate's surface roughness. We analyze the relation between rolling friction and the minimum momentum required to break surface bonding forces. This non-contact and non-intrusive technique could be employed to study a variety of contact and tribology problems at the microscale.

  7. A technique for the determination of center of gravity and rolling resistance for tilt-seat wheelchairs.

    Science.gov (United States)

    Lemaire, E D; Lamontagne, M; Barclay, H W; John, T; Martel, G

    1991-01-01

    A balance platform setup was defined for use in the determination of the center of gravity in the sagittal plane for a wheelchair and patient. Using the center of gravity information, measurements from the wheelchair and patient (weight, tire coefficients of friction), and various assumptions (constant speed, level-concrete surface, patient-wheelchair system is a rigid body), a method for estimating the rolling resistance for a wheelchair was outlined. The center of gravity and rolling resistance techniques were validated against criterion values (center of gravity error = 1 percent, rolling resistance root mean square error = 0.33 N, rolling resistance Pearson correlation coefficient = 0.995). Consistent results were also obtained from a test dummy and five subjects. Once the center of gravity is known, it is possible to evaluate the stability of a wheelchair (in terms of tipping over) and the interaction between the level of stability and rolling resistance. These quantitative measures are expected to be of use in the setup of wheelchairs with a variable seat angle and variable wheelbase length or when making comparisons between different wheelchairs.

  8. Robot dispatching Scenario for Accident Condition Monitoring of NPP

    International Nuclear Information System (INIS)

    Kim, Jongseog

    2013-01-01

    In March of 2011, unanticipated big size of tsunami attacks Fukushima NPP, this accident results in explosion of containment building. Tokyo electric power of Japan couldn't dispatch a robot for monitoring of containment inside. USA Packbot robot used for desert war in Iraq was supplied to Fukushima NPP for monitoring of high radiation area. Packbot also couldn't reach deep inside of Fukushima NPP due to short length of power cable. Japanese robot 'Queens' also failed to complete a mission due to communication problem between robot and operator. I think major reason of these robot failures is absence of robot dispatching scenario. If there was a scenario and a rehearsal for monitoring during or after accident, these unanticipated obstacles could be overcome. Robot dispatching scenario studied for accident of nuclear power plant was described herein. Study on scenario of robot dispatching is performed. Flying robot is regarded as good choice for accident monitoring. Walking robot with arm equipped is good for emergency valve close. Short time work and shift work by several robots can be a solution for high radiation area. Thin and soft cable with rolling reel can be a good solution for long time work and good communication

  9. An eight-legged tactile sensor to estimate coefficient of static friction.

    Science.gov (United States)

    Wei Chen; Rodpongpun, Sura; Luo, William; Isaacson, Nathan; Kark, Lauren; Khamis, Heba; Redmond, Stephen J

    2015-08-01

    It is well known that a tangential force larger than the maximum static friction force is required to initiate the sliding motion between two objects, which is governed by a material constant called the coefficient of static friction. Therefore, knowing the coefficient of static friction is of great importance for robot grippers which wish to maintain a stable and precise grip on an object during various manipulation tasks. Importantly, it is most useful if grippers can estimate the coefficient of static friction without having to explicitly explore the object first, such as lifting the object and reducing the grip force until it slips. A novel eight-legged sensor, based on simplified theoretical principles of friction is presented here to estimate the coefficient of static friction between a planar surface and the prototype sensor. Each of the sensor's eight legs are straight and rigid, and oriented at a specified angle with respect to the vertical, allowing it to estimate one of five ranges (5 = 8/2 + 1) that the coefficient of static friction can occupy. The coefficient of friction can be estimated by determining whether the legs have slipped or not when pressed against a surface. The coefficients of static friction between the sensor and five different materials were estimated and compared to a measurement from traditional methods. A least-squares linear fit of the sensor estimated coefficient showed good correlation with the reference coefficient with a gradient close to one and an r(2) value greater than 0.9.

  10. Determination of Residual Forces in Mechanisms Assembled by Edge-Form Rolling

    Directory of Open Access Journals (Sweden)

    K. Turgut Gürsel

    2011-03-01

    Full Text Available Steering and suspension systems are components that supply driving safety in vehicles. For a correct working the mechanisms of these systems consist of many ball-joints that have different functions. Generally the ball-joints are assembled to systems in press-fit without any gaps, but even with residual forces. On the other hand excessive tightness causes high moments, which requires additional processes of manufacturing. But low tightness also creates gaps in joints. None of these conditions are desired. Manufacturing a ball-race that has long-life, low-friction and provides required working angles in every road condition, can be designed after long test processes and sample productions including lots of improvements. An important element of steering systems in vehicles is suspension ball-race that can be manufactured by assembling with plastic deformation after designing the ball-joint. In this study, during the manufacturing of the suspension ball-race supplying the motion transmission, the edge-form rolling process that is a subsection of rolling process of manufacturing methods based on plastic deformation was examined. Effects of pressure forces occurring after edge-form rolling in bearing systems at different values were studied by changing operation pressure of edge form rolling by means of specific numerical simulations.

  11. A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces

    Directory of Open Access Journals (Sweden)

    Suguru Arimoto

    2011-01-01

    Full Text Available A computable model of grasping and manipulation of a 3D rigid object with arbitrary smooth surfaces by multiple robot fingers with smooth fingertip surfaces is derived under rolling contact constraints between surfaces. Geometrical conditions of pure rolling contacts are described through the moving-frame coordinates at each rolling contact point under the postulates: (1 two surfaces share a common single contact point without any mutual penetration and a common tangent plane at the contact point and (2 each path length of running of the contact point on the robot fingertip surface and the object surface is equal. It is shown that a set of Euler-Lagrange equations of motion of the fingers-object system can be derived by introducing Lagrange multipliers corresponding to geometric conditions of contacts. A set of 1st-order differential equations governing rotational motions of each fingertip and the object and updating arc-length parameters should be accompanied with the Euler-Lagrange equations. Further more, nonholonomic constraints arising from twisting between the two normal axes to each tangent plane are rewritten into a set of Frenet-Serre equations with a geometrically given normal curvature and a motion-induced geodesic curvature.

  12. A comparative study of roll compaction of free-flowing and cohesive pharmaceutical powders.

    Science.gov (United States)

    Yu, Shen; Gururajan, Bindhu; Reynolds, Gavin; Roberts, Ron; Adams, Michael J; Wu, Chuan-Yu

    2012-05-30

    Roll compaction is widely adopted as a dry granulation method in the pharmaceutical industry. The roll compaction behaviour of feed powders is primarily governed by two parameters: the maximum pressure and the nip angle. Although the maximum pressure can be measured directly using pressure sensors fitted in the rolls, it is not a trivial task to determine the nip angle, which is a measure of the size of the compaction zone and hence the degree of compression. Thus a robust approach based upon the calculation of the pressure gradient, which can be obtained directly from experiments using an instrumented roll compactor, was developed. It has been shown that the resulting nip angles are comparable to those obtained using the methods reported in literature. Nevertheless, the proposed approach has distinctive advantages including (1) it is based on the intrinsic features of slip and no-slip interactions between the powder and roll surface and (2) it is not necessary to carry out wall friction measurements that involve plates that may not be representative of the roll compactor in terms of the surface topography and surface energy. The method was evaluated by investigating the effect of roll speed for two pharmaceutical excipients with distinctive material properties: microcrystalline cellulose (MCC) and di-calcium phosphate dihydrate (DCPD). It was found that the maximum pressure and nip angle for DCPD, which is a cohesive powder, decrease sharply with increasing roll speed whereas they are essentially independent of roll speed for MCC, which is an easy flowing powder. The roll compaction behaviour of MCC-DCPD mixtures with various compositions was also investigated in order to evaluate the effect of flowability. It was found that the nip angle and maximum pressure generally increased with improved flowability of the feed powders. Copyright © 2012 Elsevier B.V. All rights reserved.

  13. Slip-rolling resistance of novel Zr(C,N) thin film coatings under high Hertzian contact pressures

    Energy Technology Data Exchange (ETDEWEB)

    Manier, Charles-Alix

    2010-08-24

    performances in respect of wear and friction induced. Tribological results are also compared with those of newly developed DLC coatings (Diamond-Like Carbon) principally known for their ''chameleon'' tribological properties enabling the singular combination of low friction and low wear, i.e. those having shown the best performances until now under the same slip-rolling testing procedure. (orig.)

  14. DETERMINATION OF FRICTION PERFORMANCE INFLUENCE IN THE SYSTEM "BODY–BOGIE" ON THE FREIGHT CAR DYNAMICS

    Directory of Open Access Journals (Sweden)

    S. V. Myamlin

    2014-03-01

    Full Text Available Purpose. The main requirements for the design of a new generation of cars, according to the Program of rolling stock renovation, are the requirements reducing the operating costs and increasing the cost-effectiveness of their use, taking into account the achievements of scientific and technical thought. Due to the urgency of this subject the paper is devoted to the study of the friction coefficient influence in the bearing connection «center plate – center bowl – bearers»of freight cars on their main dynamic parameters – coefficients of horizontal and vertical dynamics, body acceleration, frame strength, derailment stability factor. Methodology. The study was conducted by numerical integration and mathematical modeling of the freight car dynamic loading using the software package «Dynamics of Rail Vehicles» («DYNRAIL». Findings. Investigations have shown that the safety movement parameters are influenced by both the friction parameters in bearing connection «center plate – center bowl – bearers» of freight cars in empty and loaded state with bogies TSNII-X3 (model 18-100. Effect have other components of freight car dynamics, namely: radii of curved track sections, height of outer rail, etc. Originality. The author investigated the friction influence on the car dynamic loading using new approaches to solving the problem of predicting the rolling stock dynamics. Prediction was carried out on the basis of significantly updated theoretical material that covers all history of the friction theory and includes the results of recent experimental studies because of the speed on the straights and curves of small-and medium-range sections of the road.Practical value. The obtained results have practical orientation. During the research and after modeling with the improved method of accounting of friction processes dependencies of main dynamic parameters of a four-freight gondola on the value of the friction coefficient in the "body

  15. Roll force prediction of high strength steel using foil rolling theory in cold skin pass rolling

    International Nuclear Information System (INIS)

    Song, Gil Ho; Jung, Jae Chook

    2013-01-01

    Skin pass rolling is a very important process for applying a certain elongation to a strip in the cold rolling and annealing processes, which play an important role in preventing the stretching of the yield point when the material is processed. The exact prediction of the rolling force is essential for obtaining a given elongation with the steel grade and strip size. Unlike hot rolling and cold rolling, skin pass rolling is used to apply an elongation of within 2% to the strip. Under a small reduction, it is difficult to predict the rolling force because the elastic deformation behavior of the rolls is complicated and a model for predicting the rolling force has not yet been established. Nevertheless, the exact prediction of the rolling force in skin pass rolling has gained increasing importance in recent times with the rapid development of high strength steels for use in automobiles. In this study, the possibility of predicting the rolling force in skin pass rolling for producing various steel grades was examined using foil rolling theory, which is known to have similar elastic deformation behavior of rolls in the roll bite. It was found that a noncircular arc model is more accurate than a circular model in predicting the roll force of high strength steel below TS 980 MPa in skin pass rolling

  16. Small-scale soft-bodied robot with multimodal locomotion

    Science.gov (United States)

    Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

    2018-02-01

    Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

  17. Experimental and numerical study on single-phase flow characteristics of natural circulation system with heated narrow rectangular channel under rolling motion condition

    International Nuclear Information System (INIS)

    Yu, Shengzhi; Wang, Jianjun; Yan, Ming; Yan, Changqi; Cao, Xiaxin

    2017-01-01

    Highlights: • The phasic difference between flow rate and frictional pressure drop is negligible. • Effect mechanism of rolling motion on flow behaviors of NC is interpreted. • The startup model is proposed and verified. • Steady-state correlations are feasible to predict transient resistance. • The in-house code can simulate instantaneous flow behaviors of NC correctly. - Abstract: Effects of rolling motion on flow characteristics in a natural circulation system were investigated experimentally and numerically. The numerical results from validated code were mainly used to provide detailed information for the discussion and analysis of experimental results. The results indicate that under rolling motion condition, the phasic difference between flow rate and frictional pressure drop of narrow rectangular channel is negligible. Angular acceleration is the eigenvalue for the effects of rolling motion on flow rate under single-phase natural circulation condition. When angular acceleration is approximately equal, even though either the angle or the period of rolling motion is different, peak, trough and time-averaged values of flow rate are approximately equal. Under rolling motion and single-phase natural circulation conditions, the phenomenon that dimensionless time-averaged mass flow rate is smaller than that under steady state condition is controlled by the nonlinear relationship between mass flow rate and the resistance of loop. The factor also causes the result that the absolute difference of dimensionless flow rate between peak and steady state is smaller than that between trough and steady state. The startup model which is proposed in present paper can be used to predict the flow characteristics of single-phase natural circulation system at startup stage of rolling motion favorably. The self-developed code can simulate instantaneous flow characteristics of single-phase natural circulation system under rolling motion and steady state conditions

  18. Texture analysis of a friction stir processed 6061-T6 aluminum alloy using neutron diffraction

    International Nuclear Information System (INIS)

    Woo, W.; Choo, H.; Brown, D.W.; Vogel, S.C.; Liaw, P.K.; Feng, Z.

    2006-01-01

    Time-of-flight neutron diffraction was used to investigate the texture changes in friction stir-processed (FSP) 6061-T6 aluminum alloy plates. Two different specimens were prepared with the purpose of separating the effects of frictional heating and severe plastic deformation on the changes of the preferred orientation in the as-received rolled plates: a plate processed with both stirring pin and tool shoulder, i.e., a regular FSP plate subjected to both severe plastic deformation and frictional heating (Case 1); and a plate processed only with the tool shoulder, i.e., subjected mainly to frictional heating (Case 2). The diffraction peak intensities provide insights into the texture variations at various locations across the centerline and through the thickness of the FSP plates. Comparison of the texture variations between Cases 1 and 2 clearly shows that the severe plastic deformation from the stirring pin affects the preferred orientation during the FSP, while heating alone from the tool shoulder has little effect

  19. Development of a Novel Locomotion Algorithm for Snake Robot

    International Nuclear Information System (INIS)

    Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A

    2013-01-01

    A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation

  20. Robotic Manufacturing of 5.5 Meter Cryogenic Fuel Tank Dome Assemblies for the NASA Ares I Rocket

    Science.gov (United States)

    Jones, Ronald E.

    2012-01-01

    The Ares I rocket is the first launch vehicle scheduled for manufacture under the National Aeronautic and Space Administration's (NASA's) Constellation program. A series of full-scale Ares I development articles have been constructed on the Robotic Weld Tool at the NASA George C. Marshall Space Flight Center in Huntsville, Alabama. The Robotic Weld Tool is a 100 ton, 7-axis, robotic manufacturing system capable of machining and friction stir welding large-scale space hardware. This presentation will focus on the friction stir welding of 5.5m diameter cryogenic fuel tank components; specifically, the liquid hydrogen forward dome (LH2 MDA), the common bulkhead manufacturing development articles (CBMDA) and the thermal protection system demonstration dome (TPS Dome). The LH2 MDA was the first full-scale, flight-like Ares I hardware produced under the Constellation Program. It is a 5.5m diameter elliptical dome assembly consisting of eight gore panels, a y-ring stiffener and a manhole fitting. All components are made from aluminumlithium alloy 2195. Conventional and self-reacting friction stir welding was used on this article. An overview of the manufacturing processes will be discussed. The LH2 MDA is the first known fully friction stir welded dome ever produced. The completion of four Common Bulkhead Manufacturing Development Articles (CBMDA) and the TPS Dome will also be highlighted. Each CBMDA and the TPS Dome consists of a 5.5m diameter spun-formed dome friction stir welded to a y-ring stiffener. The domes and y-rings are made of aluminum 2014 and 2219 respectively. The TPS Dome has an additional aluminum alloy 2195 barrel section welded to the y-ring. Manufacturing solutions will be discussed including "fixtureless" welding with self reacting friction stir welding.

  1. Investigation of subsurface fatigue crack in PEEK shaft under one-point rolling contact by using 2.5D layer observation method

    Directory of Open Access Journals (Sweden)

    KOIKE Hitonobu

    2017-01-01

    Full Text Available Subsurface fatigue cracks under rolling contact area of the PEEK shaft against an alumina bearing’s ball were investigated for application of frictional part in mechanical element in special situations such as chemical environments. In order to explore the flaking process of the PEEK shaft, the rolling contact fatigue tests were carried out by using a one-point radial loading rolling contact machine. The flaking occurred on the rolling track of the PEEK shaft at approximate 4⨉105 fatigue cycles. The subsurface fatigue crack propagation was investigated by using 2.5-Dimension layer observation method. The flaking was caused by the propagations of surface cracks and subsurface shear cracks, and the flaking shape was half-ellipse. Moreover, beach marks as fatigue crack propagation in the flaking were observed.

  2. Three Three-Axis IEPE Accelerometers on the Inner Liner of a Tire for Finding the Tire-Road Friction Potential Indicators.

    Science.gov (United States)

    Niskanen, Arto; Tuononen, Ari J

    2015-08-05

    Direct tire-road contact friction estimation is essential for future autonomous cars and active safety systems. Friction estimation methods have been proposed earlier for driving conditions in the presence of a slip angle or slip ratio. However, the estimation of the friction from a freely-rolling tire is still an unsolved topic. Knowing the existing friction potential would be beneficial since vehicle control systems could be adjusted before any remarkable tire force has been produced. Since accelerometers are well-known and robust, and thus a promising sensor type for intelligent tires, this study uses three three-axis IEPE accelerometers on the inner liner of a tire to detect friction potential indicators on two equally smooth surfaces with different friction levels. The equal roughness was chosen for both surfaces in order to study the friction phenomena by neglecting the effect of surface texture on vibrations. The acceleration data before the contact is used to differentiate the two friction levels between the tire and the road. In addition, the contact lengths from the three accelerometers are used to validate the acceleration data. A method to differentiate the friction levels on the basis of the acceleration signal is also introduced.

  3. Modelling and Simulation of a Manipulator with Stable Viscoelastic Grasping Incorporating Friction

    Directory of Open Access Journals (Sweden)

    A. Khurshid

    2016-12-01

    Full Text Available Design, dynamics and control of a humanoid robotic hand based on anthropological dimensions, with joint friction, is modelled, simulated and analysed in this paper by using computer aided design and multibody dynamic simulation. Combined joint friction model is incorporated in the joints. Experimental values of coefficient of friction of grease lubricated sliding contacts representative of manipulator joints are presented. Human fingers deform to the shape of the grasped object (enveloping grasp at the area of interaction. A mass-spring-damper model of the grasp is developed. The interaction of the viscoelastic gripper of the arm with objects is analysed by using Bond Graph modelling method. Simulations were conducted for several material parameters. These results of the simulation are then used to develop a prototype of the proposed gripper. Bond graph model is experimentally validated by using the prototype. The gripper is used to successfully transport soft and fragile objects. This paper provides information on optimisation of friction and its inclusion in both dynamic modelling and simulation to enhance mechanical efficiency.

  4. Robotic Tactile Sensing Technologies and System

    CERN Document Server

    Dahiya, Ravinder S

    2013-01-01

    Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. For this reason, the hardware, software and application related issues (and resulting trade-offs) that must be considered to make tactile sensing an effective component of robotic platforms are discussed in-depth.To this end, human touch sensing has also been explored. The design hints co...

  5. Marinization concept for the TRICEPT TR600 robot

    Energy Technology Data Exchange (ETDEWEB)

    Meyer, A.; Aust, E.; Niemann, H.R.; Santos, J.F. dos [GKSS-Forschungszentrum Geesthacht GmbH (Germany). Inst. fuer Materialforschung; Hammerin, R.; Neumann, K.E. [Neos Robotics AB, Taeby (Sweden); Gibson, D. [National Hyperbaric Centre, Aberdeen (United Kingdom)

    1998-11-01

    The need for automated welding repair systems of marine structures, ship hulls and nuclear installations had lead to an increasing demand for subsea robots. Considering the application of friction welding to perform underwater repairs, a TRICEPT TR600 robot has been identified as the most suitable system to withstand the high reaction forces characteristic of this process. This study reviews initially the research and development work carried out at GKSS to modify and test a Siemens-MANUTEC robot. After a description of the TRICEPT TR600 robot a marinization concept is presented and discussed in detail. Problems of galvanic corrosion in seawater are addressed in a separate chapter. The deflection of the robot in subsea water currents is estimated with a worst-case calculation. (orig.) [Deutsch] Der Wunsch, Roboter auch unter Wasser einsetzen zu koennen, waechst mit steigendem Interesse nach automatisierten Schweissverfahren fuer Reparaturen an marinen Bauwerken, Schiffsruempfen und in Kernenergieanlagen. Fuer den Einsatz von Reibschweissverfahren fuer diese Reparaturen wurde der TRICEPT TR600-Roboter ausgewaehlt, da dieser auch den charakteristisch hohen Prozesskraeften widerstehen kann. Die notwendigen Modifikationen und Pruefungen werden beispielhaft anhand des bei der GKSS modifizierten Siemens-MANUTEC-Roboters vorgestellt. Nach einer Beschreibung des TRICEPT-Roboters werden die notwendigen Umbaumassnahmen detailliert dargestellt und diskutiert. Auf die Problematik der galvanischen Korrosion in Seewasser wird in einem gesonderten Kapitel naeher eingegangen. Zusaetzlich wird eine moegliche Ablenkung des Roboters durch Wasserstroemung ueberschlaegig berechnet. (orig.)

  6. Purwarupa Sistem Integrasi Quadcopter dan Mobile Robot

    OpenAIRE

    Dharmawan, Andi; Lusiarta Putera, Christian Antonia

    2012-01-01

    AbstrakQuadcopter, juga dikenal sebagai quadrotor, adalah helikopter dengan empat motor yang dilengkapi dengan  empat buah propeller pada masing-masing motornya yang digunakan untuk terbang dan bermanuver. Pada quadcopter terdapat 3 variabel sudut yang menjadi element utama dalam pengendaliannya yaitu roll, pitch, dan yaw yang diperoleh dari penggabungan sensor accelerometer, gyroscope dan magnetometer dengan metode Direction Cosine Matrix. Pada sistem integrasi mobile robot dan quadcopter, d...

  7. Process Development And Simulation For Cold Fabrication Of Doubly Curved Metal Plate By Using Line Array Roll Set

    International Nuclear Information System (INIS)

    Shim, D. S.; Jung, C. G.; Seong, D. Y.; Yang, D. Y.; Han, J. M.; Han, M. S.

    2007-01-01

    For effective manufacturing of a doubly curved sheet metal, a novel sheet metal forming process is proposed. The suggested process uses a Line Array Roll Set (LARS) composed of a pair of upper and lower roll assemblies in a symmetric manner. The process offers flexibility as compared with the conventional manufacturing processes, because it does not require any complex-shaped die and loss of material by blank-holding is minimized. LARS allows flexibility of the incremental forming process and adopts the principle of bending deformation, resulting in a slight deformation in thickness. Rolls composed of line array roll sets are divided into a driving roll row and two idle roll rows. The arrayed rolls in the central lines of the upper and lower roll assemblies are motor-driven so that they deform and transfer the sheet metal using friction between the rolls and the sheet metal. The remaining rolls are idle rolls, generating bending deformation with driving rolls. Furthermore, all the rolls are movable in any direction so that they are adaptable to any size or shape of the desired three-dimensional configuration. In the process, the sheet is deformed incrementally as deformation proceeds simultaneously in rolling and transverse directions step by step. Consequently, it can be applied to the fabrication of doubly curved ship hull plates by undergoing several passes. In this work, FEM simulations are carried out for verification of the proposed incremental forming system using the chosen design parameters. Based on the results of the simulation, the relationship between the roll set configuration and the curvature of a sheet metal is determined. The process information such as the forming loads and torques acting on every roll is analyzed as important data for the design and development of the manufacturing system

  8. Boundary element analysis of stress singularity in dissimilar metals by friction welding

    International Nuclear Information System (INIS)

    Chung, N. Y.; Park, C. H.

    2012-01-01

    Friction welded dissimilar metals are widely applied in automobiles, rolling stocks, machine tools, and various engineering fields. Dissimilar metals have several advantages over homogeneous metals, including high strength, material property, fatigue endurance, impact absorption, high reliability, and vibration reduction. Due to the increased use of these metals, understanding their behavior under stress conditions is necessary, especially the analysis of stress singularity on the interface of friction-welded dissimilar metals. To establish a strength evaluation method and a fracture criterion, it is necessary to analyze stress singularity on the interface of dissimilar metals with welded flashes by friction welding under various loads and temperature conditions. In this paper, a method analyzing stress singularity for the specimens with and without flashes set in friction welded dissimilar metals is introduced using the boundary element method. The stress singularity index (λ) and the stress singularity factor (Γ) at the interface edge are computed from the stress analysis results. The shape and flash thickness, interface length, residual stress, and load are considered in the computation. Based on these results, the variations of interface length (c) and the ratio of flash thickness (t2 t1) greatly influence the stress singularity factors at the interface edge of friction welded dissimilar metals. The stress singularity factors will be a useful fracture parameter that considers stress singularity on the interface of dissimilar metals

  9. Hardware Design and Testing of SUPERball, A Modular Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Chen, Yangxin; Lu, Dizhou; Liu, Yuejia; Agogino, Adrian K.; SunSpiral, Vytas; Agogino, Alice M.

    2014-01-01

    We are developing a system of modular, autonomous "tensegrity end-caps" to enable the rapid exploration of untethered tensegrity robot morphologies and functions. By adopting a self-contained modular approach, different end-caps with various capabilities (such as peak torques, or motor speeds), can be easily combined into new tensegrity robots composed of rods, cables, and actuators of different scale (such as in length, mass, peak loads, etc). As a first step in developing this concept, we are in the process of designing and testing the end-caps for SUPERball (Spherical Underactuated Planetary Exploration Robot), a project at the Dynamic Tensegrity Robotics Lab (DTRL) within NASA Ames's Intelligent Robotics Group. This work discusses the evolving design concepts and test results that have gone into the structural, mechanical, and sensing aspects of SUPERball. This representative tensegrity end-cap design supports robust and repeatable untethered mobility tests of the SUPERball, while providing high force, high displacement actuation, with a low-friction, compliant cabling system.

  10. Finger pad friction and tactile perception of laser treated, stamped and cold rolled micro-structured stainless steel sheet surfaces

    NARCIS (Netherlands)

    Zhang, Sheng; Zeng, X.; Matthews, D.T.A.; Igartua, A.; Rodriguez Vidal, E.; Contreras Fortes, J.; Van Der Heide, E.

    2017-01-01

    Tactile perception is a complex system, which depends on frictional interactions between skin and counter-body. The contact mechanics of tactile friction is governed by many factors such as the state and properties of skin and counter-body. In order to discover the connection between perception and

  11. Development of a 6DOF robotic motion phantom for radiation therapy

    International Nuclear Information System (INIS)

    Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary; Pearson, Erik; Wiersma, Rodney D.

    2014-01-01

    Purpose: The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (left–right), Y (superior–inferior), Z (anterior–posterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronized motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the Stewart–Gough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. Results: Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16°, 0.06°, and 0.08° over 10° of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced

  12. Rolling Process Modeling Report: Finite-Element Prediction of Roll Separating Force and Rolling Defects

    Energy Technology Data Exchange (ETDEWEB)

    Soulami, Ayoub [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Lavender, Curt A. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Paxton, Dean M. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Burkes, Douglas [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2014-04-23

    Pacific Northwest National Laboratory (PNNL) has been investigating manufacturing processes for the uranium-10% molybdenum (U-10Mo) alloy plate-type fuel for the U.S. high-performance research reactors. This work supports the Convert Program of the U.S. Department of Energy’s National Nuclear Security Administration (DOE/NNSA) Global Threat Reduction Initiative. This report documents modeling results of PNNL’s efforts to perform finite-element simulations to predict roll separating forces and rolling defects. Simulations were performed using a finite-element model developed using the commercial code LS-Dyna. Simulations of the hot rolling of U-10Mo coupons encapsulated in low-carbon steel have been conducted following two different schedules. Model predictions of the roll-separation force and roll-pack thicknesses at different stages of the rolling process were compared with experimental measurements. This report discusses various attributes of the rolled coupons revealed by the model (e.g., dog-boning and thickness non-uniformity).

  13. Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot

    International Nuclear Information System (INIS)

    Onal, Cagdas D; Rus, Daniela

    2013-01-01

    Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s −1 . (paper)

  14. Three Three-Axis IEPE Accelerometers on the Inner Liner of a Tire for Finding the Tire-Road Friction Potential Indicators

    Directory of Open Access Journals (Sweden)

    Arto Niskanen

    2015-08-01

    Full Text Available Direct tire-road contact friction estimation is essential for future autonomous cars and active safety systems. Friction estimation methods have been proposed earlier for driving conditions in the presence of a slip angle or slip ratio. However, the estimation of the friction from a freely-rolling tire is still an unsolved topic. Knowing the existing friction potential would be beneficial since vehicle control systems could be adjusted before any remarkable tire force has been produced. Since accelerometers are well-known and robust, and thus a promising sensor type for intelligent tires, this study uses three three-axis IEPE accelerometers on the inner liner of a tire to detect friction potential indicators on two equally smooth surfaces with different friction levels. The equal roughness was chosen for both surfaces in order to study the friction phenomena by neglecting the effect of surface texture on vibrations. The acceleration data before the contact is used to differentiate the two friction levels between the tire and the road. In addition, the contact lengths from the three accelerometers are used to validate the acceleration data. A method to differentiate the friction levels on the basis of the acceleration signal is also introduced.

  15. Experimental Investigation of Friction Effect on Liner Model Rolling Bearings for Large Diameter Thrust Bearing Design

    Directory of Open Access Journals (Sweden)

    S. Babu

    2012-12-01

    Full Text Available Studying friction coefficient has significant importance, especially when dealing with high load and temperature applications that have frequent starting and stopping points. Towards that, two sets of angular contact Linear Model Mockup Bearings (LMMB were designed and fabricated. This linear model assembly was made up of high precision, grounded raceways (AISI 4140 and commercially purchased balls (AISI 52100. The experimental studies were carried out by placing different number of balls between the raceways under different loads at dry lubricating condition. The static friction coefficients were measured using two different experiments: viz gravitation-based experiment and direct linear force measurement experiment. And Digital Image Correlation (DIC technique was used to find the stiffness of LMMB set.

  16. Energy efficiency of mobile soft robots.

    Science.gov (United States)

    Shui, Langquan; Zhu, Liangliang; Yang, Zhe; Liu, Yilun; Chen, Xi

    2017-11-15

    The performance of mobile soft robots is usually characterized by their locomotion/velocity efficiency, whereas the energy efficiency is a more intrinsic and fundamental criterion for the performance evaluation of independent or integrated soft robots. In this work, a general framework is established to evaluate the energy efficiency of mobile soft robots by considering the efficiency of the energy source, actuator and locomotion, and some insights for improving the efficiency of soft robotic systems are presented. Proposed as the ratio of the desired locomotion kinetic energy to the input mechanical energy, the energy efficiency of locomotion is found to play a critical role in determining the overall energy efficiency of soft robots. Four key factors related to the locomotion energy efficiency are identified, that is, the locomotion modes, material properties, geometric sizes, and actuation states. It is found that the energy efficiency of most mobile soft robots reported in the literature is surprisingly low (mostly below 0.1%), due to the inefficient mechanical energy that essentially does not contribute to the desired locomotion. A comparison of the locomotion energy efficiency for several representative locomotion modes in the literature is presented, showing a descending ranking as: jumping ≫ fish-like swimming > snake-like slithering > rolling > rising/turning over > inchworm-like inching > quadruped gait > earthworm-like squirming. Besides, considering the same locomotion mode, soft robots with lower stiffness, higher density and larger size tend to have higher locomotion energy efficiency. Moreover, a periodic pulse actuation instead of a continuous actuation mode may significantly reduce the input mechanical energy, thus improving the locomotion energy efficiency, especially when the pulse actuation matches the resonant states of the soft robots. The results presented herein indicate a large and necessary space for improving the locomotion energy

  17. Lightweight mechanical amplifiers for rolled dielectric elastomer actuators and their integration with bio-inspired wing flappers

    International Nuclear Information System (INIS)

    Lau, Gih-Keong; Lim, Hoong-Ta; Teo, Jing-Ying; Chin, Yao-Wei

    2014-01-01

    Dielectric elastomer actuators (DEAs) are attractive for use in bio-inspired flapping-wing robots because they have high work density (specific energy) and can produce a large actuation strain. Although the active membrane of a dielectric elastomer is lightweight, the support structure that pre-tensions the elastomeric membrane is massive and it lowers the overall work density. If the DEA is to be used successfully to drive flapping-wing robots, its support structure must be as lightweight as possible. In this work, we designed, analysed, and developed a lightweight shell using a cross-ply laminate of carbon fibre reinforced polymer (CFRP) to pre-strain a rolled DEA. The CFRP shell was shown to weigh 24.3% of the total mass for the whole DEA assembly, while providing up to 35.0% axial pre-strain to a rolled DEA (BJB-5005 silicone rubber). This DEA assembly using the CFRP shell achieved 30.9% of the theoretical work density for a BJB-TC5005 membrane at 33.5 MV m −1 . In comparison, spring rolls with a massive spring core were reported with overall work density merely 10–20% of the maximum value. Furthermore, this CFRP shell can amplify an axial DEA stroke into a larger transverse shell deformation. With these deformation characteristics, this CFRP shell and a rolled DEA were successfully integrated with an insect-inspired thoracic mechanism and they were shown to be feasible to drive it for a flapping wing. (paper)

  18. A Haptic Guided Robotic System for Endoscope Positioning and Holding.

    Science.gov (United States)

    Cabuk, Burak; Ceylan, Savas; Anik, Ihsan; Tugasaygi, Mehtap; Kizir, Selcuk

    2015-01-01

    To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery. The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey). The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm. This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.

  19. The Role of Modular Robotics in Mediating Nonverbal Social Exchanges

    DEFF Research Database (Denmark)

    Marti, P; Giusti, L; Lund, Henrik Hautop

    2009-01-01

    This paper outlines the use of modular robotics to encourage and facilitate nonverbal communication during therapeutic intervention in dementia care. A set of new socially interactive modular robotic devices called rolling pins (RPs) has been designed and developed to assist the therapist...... is that they are able to communicate with each other or with other devices equipped with the same radio communication technology. The RPs are usually used in pairs, as the local feedback of an RP can be set depending not only on its own speed and orientation but also on the speed and the orientation of the peer RP...

  20. NUMERICAL EVALUATION OF TEMPERATURE DISTRIBUTION IN THE ROLLING MILL ROLLS

    Directory of Open Access Journals (Sweden)

    José Claudino de Lira Júnior

    2013-06-01

    Full Text Available In hot rolling processes occur changes in the profile of the rolling mill rolls (expansion and contraction and constant wear due to mechanical stress and continuous thermal cycles of heating/cooling caused by contact rolled material- working roll and the cooling system by water jets in their surface, decreasing their lifetime. This paper presents a computational model to simulate the thermal performance of rolling mill rolls. The model was developed using the finite volume method for a transient two-dimensional system and allows calculating the temperature distribution of the rolling mill rolls under various conditions of service. Here it is investigated the influence of flow rate and temperature of the cooling water on the temperature distribution. The results show that the water temperature has greater influence than the water flow to control the surface temperature of the cylinders.

  1. Robotic tool positioning process using a multi-line off-axis laser triangulation sensor

    Science.gov (United States)

    Pinto, T. C.; Matos, G.

    2018-03-01

    Proper positioning of a friction stir welding head for pin insertion, driven by a closed chain robot, is important to ensure quality repair of cracks. A multi-line off-axis laser triangulation sensor was designed to be integrated to the robot, allowing relative measurements of the surface to be repaired. This work describes the sensor characteristics, its evaluation and the measurement process for tool positioning to a surface point of interest. The developed process uses a point of interest image and a measured point cloud to define the translation and rotation for tool positioning. Sensor evaluation and tests are described. Keywords: laser triangulation, 3D measurement, tool positioning, robotics.

  2. Friction dampers, the positive side of friction

    NARCIS (Netherlands)

    Lopez Arteaga, I.; Nijmeijer, H.; Busturia, J.M.; Sas, P.; Munck, de M.

    2004-01-01

    Friction is frequently seen as an unwanted phenomenon whose influence has to be either minimised or controlled. In this work one of the positive sides of friction is investigated: friction damping. Friction dampers can be a cheap and efficient way to reduce the vibration levels of a wide range of

  3. The influence of the vane on the lubrication characteristics between the vane and the rolling piston of a rotary compressor

    International Nuclear Information System (INIS)

    Cho, Ihn Sung; Jung, Jae Youn

    2006-01-01

    The rolling piston type rotary compressor has been widely used for refrigeration and air -conditioning systems due to its compactness and high-speed operation. The present analysis is part of a research program directed toward maximizing the advantages of refrigerant compressors. The study of lubrication characteristics in the critical sliding component is essential for the design of refrigerant compressors. Therefore, theoretical investigation of the lubrication characteristics of a rotary compressor being used for refrigeration and air-conditioning systems was investigated. The Newton-Raphson method was used for a partial elastohydrodynamic lubrication analysis between the vane and the rolling piston of a rotary compressor. The results demonstrated that the vane thickness and the center line position of the vane significantly influenced the friction force and the energy loss between the vane and the rolling piston

  4. The effect of roll with passive segment on the planetary rolling process

    Directory of Open Access Journals (Sweden)

    Qing-Ling Zeng

    2015-03-01

    Full Text Available In three-roll planetary rolling process, there is secondary torsion phenomenon that may lead to rolling instability. This article proposed a new idea to alleviate the secondary torsion phenomenon by dividing the secondary torsion segment out of the roll as an independent and passive one. To study the performance of the roll with passive segment, the three-dimensional finite element models of planetary rolling process using actual roll or new roll with passive segment involving elastic–plastic and thermal–mechanical coupling were established by the software ABAQUS/Explicit, and a series of analysis had been done successfully. The rolling temperature and rolling force of planetary mill were in good agreement with the measured results, which indicated that the finite element method would supply important reference merit for three-dimensional thermo-mechanical simulation of the three-roll planetary rolling process. Comparing the simulation results of the two models, the results indicated that the change in the roll structure had just a little influence on the metal deformation, temperature, and rolling force, but it lessened the secondary torsion deformation effectively and improved the outside roundness of the rolled tube slightly. The research provided a new idea for the roll design of three-roll planetary mill (PSW.

  5. Intelligent tires for identifying coefficient of friction of tire/road contact surfaces using three-axis accelerometer

    International Nuclear Information System (INIS)

    Matsuzaki, Ryosuke; Kamai, Kazuto; Seki, Ryosuke

    2015-01-01

    Intelligent tires equipped with sensors as well as the monitoring of the tire/road contact conditions are in demand for improving vehicle control and safety. With the aim of identifying the coefficient of friction of tire/road contact surfaces during driving, including during cornering, we develop an identification scheme for the coefficient of friction that involves estimation of the slip angle and applied force by using a single lightweight three-axis accelerometer attached on the inner surface of the tire. To validate the developed scheme, we conduct tire-rolling tests using an accelerometer-equipped tire with various slip angles on various types of road surfaces, including dry and wet surfaces. The results of these tests confirm that the estimated slip angle and applied force are reasonable. Furthermore, the identified coefficient of friction by the developed scheme agreed with that measured by standardized tests. (paper)

  6. Modelling of friction anisotropy of deepdrawing sheet in ABAQUS/EXPLICIT

    Directory of Open Access Journals (Sweden)

    F. Stachowicz

    2010-07-01

    Full Text Available This paper presents the experimental and numerical results of rectangular cup drawing of steel sheets. The aim of the experimental study was to analyze material behavior under deformation. The received results were further used to verify the results from numerical simulation by taking friction and material anisotropy into consideration. A 3D parametric finite element (FE model was built using the FE-package ABAQUS/Standard. ABAQUS allows analyzing physical models of real processes putting special emphasis on geometrical non-linearities caused by large deformations, material non-linearities and complex friction conditions. Frictional properties of the deep drawing quality steel sheet were determined by using the pin-on-disc tribometer. It shows that the friction coefficient value depends on the measured angle from the rolling direction and corresponds to the surface topography. A quadratic Hill anisotropic yield criterion was compared with Huber-Mises yield criterion having isotropic hardening. Plastic anisotropy is the result of the distortion of the yield surface shape due to the material microstructural state. The sensitivity of constitutive laws to the initial data characterizing material behavior isalso presented. It is found that plastic anisotropy of the matrix in ductile sheet metal has influence on deformation behavior of the material. If the material and friction anisotropy are taken into account in the finite element analysis, this approach undoubtedly gives the most approximate numerical results to real processes. This paper is the first part of the study of numerical investigation using ABAQUS and mainly deals with the most influencing parameters in a forming process to simulate the sheet metal forming of rectangular cup.

  7. The effect of roll gap geometry on microstructure in cold-rolled aluminum

    DEFF Research Database (Denmark)

    Mishin, Oleg; Bay, B.; Winther, G.

    2004-01-01

    Microstructure and texture are analyzed through the thickness of two aluminum plates cold-rolled 40% with different roll gap geometries. It is found that both texture and microstructure are strongly affected by the rolling geometry. After rolling with intermediate-size draughts a rolling-type tex......Microstructure and texture are analyzed through the thickness of two aluminum plates cold-rolled 40% with different roll gap geometries. It is found that both texture and microstructure are strongly affected by the rolling geometry. After rolling with intermediate-size draughts a rolling...... layers. In these layers, extended planar dislocation boundaries are frequently found to be inclined closely to the rolling direction. The subsurface and central layers of this plate exhibit microstructures similar to those in the plate rolled with intermediate draughts. It is suggested...

  8. An Exploratory Investigation into the Effects of Adaptation in Child-Robot Interaction

    Science.gov (United States)

    Salter, Tamie; Michaud, François; Létourneau, Dominic

    The work presented in this paper describes an exploratory investigation into the potential effects of a robot exhibiting an adaptive behaviour in reaction to a child’s interaction. In our laboratory we develop robotic devices for a diverse range of children that differ in age, gender and ability, which includes children that are diagnosed with cognitive difficulties. As all children vary in their personalities and styles of interaction, it would follow that adaptation could bring many benefits. In this abstract we give our initial examination of a series of trials which explore the effects of a fully autonomous rolling robot exhibiting adaptation (through changes in motion and sound) compared to it exhibiting pre-programmed behaviours. We investigate sensor readings on-board the robot that record the level of ‘interaction’ that the robot receives when a child plays with it and also we discuss the results from analysing video footage looking at the social aspect of the trial.

  9. Influence of the microstructural changes and induced residual stresses on tensile properties of wrought magnesium alloy friction stir welds

    International Nuclear Information System (INIS)

    Commin, Loreleï; Dumont, Myriam; Rotinat, René; Pierron, Fabrice; Masse, Jean-Eric; Barrallier, Laurent

    2012-01-01

    Highlights: ► Study of AZ31 FSW mechanical behaviour. ► Early yielding occurs in the TMAZ, the nugget and base metal zones undergo almost no plastic strains. ► Texture gradient in the TMAZ localises the deformations in this area. ► Residual stresses have a major influence in FSW mechanical behaviour. - Abstract: Friction stir welding induces a microstructural evolution and residual stresses that will influence the resulting mechanical properties. Friction stir welds produced from magnesium alloy hot rolled plates were studied. Electron back scattered diffraction was used to determine the texture evolution, residual stresses were analysed using X ray diffraction and tensile tests coupled with speckle interferometry were performed. The residual stresses induced during friction stir welding present a major influence on the final mechanical properties.

  10. Analysis and Development of Walking Algorithm Kinematic Model for 5-Degree of Freedom Bipedal Robot

    Directory of Open Access Journals (Sweden)

    Gerald Wahyudi Setiono

    2012-12-01

    Full Text Available A design of walking diagram and the calculation of a bipedal robot have been developed. The bipedal robot was designed and constructed with several kinds of servo bracket for the legs, two feet and a hip. Each of the bipedal robot leg was 5-degrees of freedom, three pitches (hip joint, knee joint and ankle joint and two rolls (hip joint and ankle joint. The walking algorithm of this bipedal robot was based on the triangle formulation of cosine law to get the angle value at each joint. The hip height, height of the swinging leg and the step distance are derived based on linear equation. This paper discussed the kinematic model analysis and the development of the walking diagram of the bipedal robot. Kinematics equations were derived, the joint angles were simulated and coded into Arduino board to be executed to the robot.

  11. Fluid-structure interaction of a rolling restrained body of revolution at high angles of attack

    Science.gov (United States)

    Degani, D.; Ishay, M.; Gottlieb, O.

    2017-03-01

    The current work investigates numerically rolling instabilities of a free-to-roll slender rigid-body of revolution placed in a wind tunnel at a high angle of attack. The resistance to the roll moment is represented by a linear torsion spring and equivalent linear damping representing friction in the bearings of a simulated wind tunnel model. The body is subjected to a three-dimensional, compressible, laminar flow. The full Navier-Stokes equations are solved using the second-order implicit finite difference Beam-Warming scheme, adapted to a curvilinear coordinate system, whereas the coupled structural second order equation of motion for roll is solved by a fourth-order Runge-Kutta method. The body consists of a 3.5-diameter tangent ogive forebody with a 7.0-diameter long cylindrical afterbody extending aft of the nose-body junction to x/D = 10.5. We describe in detail the investigation of three angles of attack 20°, 40°, and 65°, at a Reynolds number of 30 000 (based on body diameter) and a Mach number of 0.2. Three distinct configurations are investigated as follows: a fixed body, a free-to-roll body with a weak torsion spring, and a free-to-roll body with a strong torsion spring. For each angle of attack the free-to-roll configuration portrays a distinct and different behavior pattern, including bi-stable limit-cycle oscillations. The bifurcation structure incorporates both large and small amplitude periodic roll oscillations where the latter lose their periodicity with increasing stiffness of the restraining spring culminating with distinct quasiperiodic oscillations. We note that removal of an applied upstream disturbance for a restrained body does not change the magnitude or complexity of the oscillations or of the flow patterns along the body. Depending on structure characteristics and flow conditions even a small rolling moment coefficient at the relatively low angle of attack of 20° may lead to large amplitude resonant roll oscillations.

  12. Roll-to-Roll production of carbon nanotubes based supercapacitors

    Science.gov (United States)

    Zhu, Jingyi; Childress, Anthony; Karakaya, Mehmet; Roberts, Mark; Arcilla-Velez, Margarita; Podila, Ramakrishna; Rao, Apparao

    2014-03-01

    Carbon nanomaterials provide an excellent platform for electrochemical double layer capacitors (EDLCs). However, current industrial methods for producing carbon nanotubes are expensive and thereby increase the costs of energy storage to more than 10 Wh/kg. In this regard, we developed a facile roll-to-roll production technology for scalable manufacturing of multi-walled carbon nanotubes (MWNTs) with variable density on run-of-the-mill kitchen Al foils. Our method produces MWNTs with diameter (heights) between 50-100 nm (10-100 μm), and a specific capacitance as high as ~ 100 F/g in non-aqueous electrolytes. In this talk, the fundamental challenges involved in EDLC-suitable MWNT growth, roll-to-roll production, and device manufacturing will be discussed along with electrochemical characteristics of roll-to-roll MWNTs. Research supported by NSF CMMI Grant1246800.

  13. STELLA: 10 years of robotic observations on Tenerife

    Science.gov (United States)

    Weber, Michael; Granzer, Thomas; Strassmeier, Klaus G.

    2016-07-01

    STELLA is a robotic observatory on Tenerife housing two 1.2m robotic telescopes. One telescope is fibre-feeding a high-resolution (R=55,000) échelle spectrograph (SES), while the other telescope is equipped with a visible wide- field (FOV=22' x 22') imaging instrument (WiFSIP). Robotic observations started mid 2006, and the primary scientific driver is monitoring of stellar-activity related phenomena. The STELLA Control System (SCS) software package was originally tailored to the STELLA roll-off style building and high-resolution spectroscopy, but was extended over the years to support the wide-field imager, an off-axis guider for the imager, separate acquisition telescopes, classical domes, and targets-of-opportunity. The SCS allows for unattended, off-line operation of the observatory, targets can be uploaded at any time and are selected based on merit-functions in real-time (dispatch scheduling). We report on the current status of the observatory and the current capabilities of the SCS.

  14. Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery.

    Science.gov (United States)

    He, Chao; Wang, Shuxin; Sang, Hongqiang; Li, Jinhua; Zhang, Linan

    2014-09-01

    Force sensing for robotic surgery is limited by the size of the instrument, friction and sterilization requirements. This paper presents a force-sensing instrument to avoid these restrictions. Operating forces were calculated according to cable tension. Mathematical models of the force-sensing system were established. A force-sensing instrument was designed and fabricated. A signal collection and processing system was constructed. The presented approach can avoid the constraints of space limits, sterilization requirements and friction introduced by the transmission parts behind the instrument wrist. Test results showed that the developed instrument has a 0.03 N signal noise, a 0.05 N drift, a 0.04 N resolution and a maximum error of 0.4 N. The validation experiment indicated that the operating and grasping forces can be effectively sensed. The developed force-sensing system can be used in minimally invasive robotic surgery to construct a force-feedback system. Copyright © 2013 John Wiley & Sons, Ltd.

  15. Evaluation of Internal Friction versus Plastic Deformations Effects in Impact Dynamics Problems of Robotic Elements

    Directory of Open Access Journals (Sweden)

    Stelian Alaci

    2014-06-01

    Full Text Available The dynamical behavior study of robotic systems is obtained using multibody dynamics method. The joints met in robots are modeled in different manners. In a robotic joint the energy is lost via hysteretic work and plastic deformation work. The paper presents a comparative study for the results obtained by integration of the equations defining two limit models which describe the impact between two robot parts, modeled by the centric collision between two spheres with loss of energy. The motion equations characteristic for the two models are integrated and for a tangible situation, are presented comparatively, for different values of the coefficient of restitution, the time dependencies of impacting force between the two bodies as well as the hysteresis loops. Finally, an evaluation of the lost work during impact, for the whole range of coefficients of restitution, is completed, together with characteristic parameters of collision: approaching period, complete contact time, maximum approaching and plastic imprint.

  16. Artificial Potential Field Approach to Path Tracking for a Non-Holonomic Mobile Robot

    DEFF Research Database (Denmark)

    Sørensen, M.J.

    2003-01-01

    This paper introduces a novel path tracking controller for an over-actuated robotic vehicle moving in an agricultural field. The vehicle itself is a four wheel steered, four wheel driven vehicle subject to the two non-holonomic constraints of free rolling and non-slipping wheels. A dynamic model...

  17. In-service inspection robot for PFBR main vessel- concept

    Energy Technology Data Exchange (ETDEWEB)

    Rajendran, S; Ramakumar, M S [Bhabha Atomic Research Centre, Mumbai (India). Div. of Remote Handling and Robotics

    1994-12-31

    In-service inspection (ISI) of critical components in a nuclear reactor is one of the foremost and important tasks which reveals the state of health of the system, thereby ensuring the safety of the plant, personnel and environment. Prototype Fast Breeder Reactor (PFBR) is designed as a pool type reactor. A safety vessel is provided in the design which envelopes the main reactor vessel. The ISI of the main vessel is mandatory and will be carried out by a robot which will operate on this annular gap. The design of the robot is such that it can crawl around the vessel and into the gap at the bottom of the vessel relying on friction grip. The mobile robot will carry a CCTV camera and the inspection technique packages into the interspace, position and orient these to carry out the ISI of the main vessel. The paper discusses about the design features of the robot including the gripping mechanism and the crawling sequence to perform ISI of the reactor vessel. 3 figs.

  18. In-service inspection robot for PFBR main vessel- concept

    International Nuclear Information System (INIS)

    Rajendran, S.; Ramakumar, M.S.

    1994-01-01

    In-service inspection (ISI) of critical components in a nuclear reactor is one of the foremost and important tasks which reveals the state of health of the system, thereby ensuring the safety of the plant, personnel and environment. Prototype Fast Breeder Reactor (PFBR) is designed as a pool type reactor. A safety vessel is provided in the design which envelopes the main reactor vessel. The ISI of the main vessel is mandatory and will be carried out by a robot which will operate on this annular gap. The design of the robot is such that it can crawl around the vessel and into the gap at the bottom of the vessel relying on friction grip. The mobile robot will carry a CCTV camera and the inspection technique packages into the interspace, position and orient these to carry out the ISI of the main vessel. The paper discusses about the design features of the robot including the gripping mechanism and the crawling sequence to perform ISI of the reactor vessel. 3 figs

  19. Control de Tracción en Robots Móviles con Ruedas

    Directory of Open Access Journals (Sweden)

    R. Fernández

    2012-10-01

    Full Text Available Resumen: En este trabajo se presenta una solución para mejorar el rendimiento de los robots móviles con ruedas que se desplacen sobre superficies con un bajo coeficiente de fricción estática. En estas circunstancias, los robots móviles con ruedas pueden experimentar pérdidas de tracción, y por tanto, sufrir deslizamientos a lo largo de la superficie. La solución descrita propone la utilización de una configuración especial para el robot móvil, en la que todas las ruedas son accionadas de forma independiente, y una estructura de control que consta de tres partes bien diferenciadas: un controlador de seguimiento con realimentación de estado basado en el modelo cinemático del robot, una extensión de la ley de control cinemático resultante para incorporar la dinámica del robot móvil utilizando backstepping, y un algoritmo de distribución de la fuerza de tracción global, que calcula las señales de referencia adecuadas para cada una de las ruedas. Con esta estructura se consigue controlar la posición y la velocidad del robot móvil, y al mismo tiempo, distribuir la fuerza de tracción global entre las ruedas, evitando así el deslizamiento del robot. El funcionamiento de los algoritmos de control es evaluado mediante pruebas experimentales. Abstract: This article presents a solution to improve the performance of wheeled mobile robots that move upon surfaces with small coefficient of static friction. In these circumstances the wheeled mobile robots can experience loss of traction and therefore, slide along the surface. The proposed solution implies the use of a special configuration for the mobile robot, in which all the wheels are driven independently, and a control structure which consists of three distinct parts: firstly, a state-feedback tracking controller based on the kinematic model of the mobile robot is derived. Secondly, an extension of the kinematic control law is made to incorporate the dynamics of the wheeled mobile

  20. The Design and Implementation of a Semi-Autonomous Surf-Zone Robot Using Advanced Sensors and a Common Robot Operating System

    Science.gov (United States)

    2011-06-01

    effective way- point navigation algorithm that interfaced with a Java based graphical user interface (GUI), written by Uzun, for a robot named Bender [2...the angular acceleration, θ̈, or angular rate, θ̇. When considering a joint driven by an electric motor, the inertia and friction can be divided into...interactive simulations that can receive input from user controls, scripts , and other applications, such as Excel and MATLAB. One drawback is that the

  1. Influence of various base oils on friction and power loss in gears; Einfluss verschiedener Grundoele auf Reibung und Verlustleistung in Zahnradgetrieben

    Energy Technology Data Exchange (ETDEWEB)

    Doleschel, A.; Michaelis, K.; Hoehn, B.R.

    2001-03-01

    The frictional behaviour of synthetic lubricants was systematically investigated in a twin disc test rig and a back-to-back gear test rig. For 22 lubricants (mineral oil, polyalfaolefin (PAO), polyglycol (PG), ester and mixtures) the coefficient of friction was measured in the twin disc test rig, dependant on pressure, oil temperature, rolling and sliding velocity. In the gear test rig pressure and velocity was varied for 9 lubricants. The mineral oil shows an estimated coefficient of friction of about {mu} >> 0.045, the synthetic lubricants have a lower coefficient of friction. In the twin disc test rig the lowest coefficient of friction with PG as low as 20% of the coefficient of mineral oil was measured, depending on the mixture of EO:PO. In the gear test rig such low coefficients of friction were not measured, but still values of 60% compared to mineral oil were obtained. Esters show in the twin disc test rig a coefficient of friction in the range of 30% to 100% of the coefficient of friction of mineral oil, in the gear test rig in the range of 60% to 100%. From these investigations a calculation method for the coefficient of friction in disc and gear contacts was derived. With these equations the power loss and efficiency of transmissions in practice, lubricated with synthetic gear oils can be evaluated. (orig.)

  2. Manufacturing Demonstration Facility: Roll-to-Roll Processing

    Energy Technology Data Exchange (ETDEWEB)

    Datskos, Panos G [ORNL; Joshi, Pooran C [ORNL; List III, Frederick Alyious [ORNL; Duty, Chad E [ORNL; Armstrong, Beth L [ORNL; Ivanov, Ilia N [ORNL; Jacobs, Christopher B [ORNL; Graham, David E [ORNL; Moon, Ji Won [ORNL

    2015-08-01

    This Manufacturing Demonstration Facility (MDF)e roll-to-roll processing effort described in this report provided an excellent opportunity to investigate a number of advanced manufacturing approaches to achieve a path for low cost devices and sensors. Critical to this effort is the ability to deposit thin films at low temperatures using nanomaterials derived from nanofermentation. The overarching goal of this project was to develop roll-to-roll manufacturing processes of thin film deposition on low-cost flexible substrates for electronics and sensor applications. This project utilized ORNL s unique Pulse Thermal Processing (PTP) technologies coupled with non-vacuum low temperature deposition techniques, ORNL s clean room facility, slot dye coating, drop casting, spin coating, screen printing and several other equipment including a Dimatix ink jet printer and a large-scale Kyocera ink jet printer. The roll-to-roll processing project had three main tasks: 1) develop and demonstrate zinc-Zn based opto-electronic sensors using low cost nanoparticulate structures manufactured in a related MDF Project using nanofermentation techniques, 2) evaluate the use of silver based conductive inks developed by project partner NovaCentrix for electronic device fabrication, and 3) demonstrate a suite of low cost printed sensors developed using non-vacuum deposition techniques which involved the integration of metal and semiconductor layers to establish a diverse sensor platform technology.

  3. Inflationary dynamics with a smooth slow-roll to constant-roll era transition

    Energy Technology Data Exchange (ETDEWEB)

    Odintsov, S.D. [ICREA, Passeig Luis Companys, 23, 08010 Barcelona (Spain); Oikonomou, V.K., E-mail: odintsov@ieec.uab.es, E-mail: v.k.oikonomou1979@gmail.com [Laboratory for Theoretical Cosmology, Tomsk State University of Control Systems and Radioelectronics (TUSUR), Lenin Avenue 40, 634050 Tomsk (Russian Federation)

    2017-04-01

    In this paper we investigate the implications of having a varying second slow-roll index on the canonical scalar field inflationary dynamics. We shall be interested in cases that the second slow-roll can take small values and correspondingly large values, for limiting cases of the function that quantifies the variation of the second slow-roll index. As we demonstrate, this can naturally introduce a smooth transition between slow-roll and constant-roll eras. We discuss the theoretical implications of the mechanism we introduce and we use various illustrative examples in order to better understand the new features that the varying second slow-roll index introduces. In the examples we will present, the second slow-roll index has exponential dependence on the scalar field, and in one of these cases, the slow-roll era corresponds to a type of α-attractor inflation. Finally, we briefly discuss how the combination of slow-roll and constant-roll may lead to non-Gaussianities in the primordial perturbations.

  4. Modeling Friction in Modelica with the Lund-Grenoble Friction Model

    OpenAIRE

    Aberger, Martin; Otter, Martin

    2002-01-01

    The properties of the Lund-Grenoble friction model are summarized and different types of friction elements - bearing friction, clutch, one-way clutch, are implemented in Modelica using this friction formulation. The dynamic properties of these components are determined in simulations and compared with the friction models available in the Modelica standard library. This includes also an automatic gearbox model where 6 friction elements are coupled dynamically.

  5. Investigation of the rolling motion of a hollow cylinder using a smartphone’s digital compass

    Science.gov (United States)

    Wattanayotin, Phattara; Puttharugsa, Chokchai; Khemmani, Supitch

    2017-07-01

    This study used a smartphone’s digital compass to observe the rolling motion of a hollow cylinder on an inclined plane. The smartphone (an iPhone 4s) was attached to the end of one side of a hollow cylinder to record the experimental data using the SensorLog application. In the experiment, the change of angular position was measured by the smartphone’s digital compass. The obtained results were then analyzed and calculated to determine various parameters of the motion, such as the angular velocity, angular acceleration, critical angle, and coefficient of static friction. The experimental results obtained from using the digital compass were compared with those obtained from using a gyroscope sensor. Moreover, the results obtained from both sensors were consistent with the calculations for the rolling motion. We expect that this experiment will be valuable for use in physics laboratories.

  6. Friction torque of wind-turbine pitch bearings – comparison of experimental results with available models

    Directory of Open Access Journals (Sweden)

    M. Stammler

    2018-03-01

    Full Text Available Pitch bearings of wind turbines are large, grease-lubricated rolling bearings that connect the rotor blades with the rotor hub. They are used to turn the rotor blades to control the power output and/or structural loads of the turbine. Common actuators turning the blades are hydraulic cylinders or electrical motor–gearbox combinations. In order to design pitch actuator systems that are able to turn the blades reliably without imposing an excessive power demand, it is necessary to predict the friction torque of pitch bearings for different operating conditions. In this paper, the results of torque measurements under load are presented and compared to results obtained using different calculation models. The results of this comparison indicate the various sources of friction that should be taken into account for a reliable calculation model.

  7. Soft mobile robots driven by foldable dielectric elastomer actuators

    Energy Technology Data Exchange (ETDEWEB)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong, E-mail: jxzhouxx@mail.xjtu.edu.cn [State Key Laboratory for Strength and Vibration of Mechanical Structures and School of Aerospace, Xi' an Jiaotong University, Xi' an 710049 (China)

    2016-08-28

    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  8. Acoustics of friction

    Science.gov (United States)

    Akay, Adnan

    2002-04-01

    This article presents an overview of the acoustics of friction by covering friction sounds, friction-induced vibrations and waves in solids, and descriptions of other frictional phenomena related to acoustics. Friction, resulting from the sliding contact of solids, often gives rise to diverse forms of waves and oscillations within solids which frequently lead to radiation of sound to the surrounding media. Among the many everyday examples of friction sounds, violin music and brake noise in automobiles represent the two extremes in terms of the sounds they produce and the mechanisms by which they are generated. Of the multiple examples of friction sounds in nature, insect sounds are prominent. Friction also provides a means by which energy dissipation takes place at the interface of solids. Friction damping that develops between surfaces, such as joints and connections, in some cases requires only microscopic motion to dissipate energy. Modeling of friction-induced vibrations and friction damping in mechanical systems requires an accurate description of friction for which only approximations exist. While many of the components that contribute to friction can be modeled, computational requirements become prohibitive for their contemporaneous calculation. Furthermore, quantification of friction at the atomic scale still remains elusive. At the atomic scale, friction becomes a mechanism that converts the kinetic energy associated with the relative motion of surfaces to thermal energy. However, the description of the conversion to thermal energy represented by a disordered state of oscillations of atoms in a solid is still not well understood. At the macroscopic level, friction interacts with the vibrations and waves that it causes. Such interaction sets up a feedback between the friction force and waves at the surfaces, thereby making friction and surface motion interdependent. Such interdependence forms the basis for friction-induced motion as in the case of

  9. A Study on the Optimal Conditions of friction Welding for JLF and STS304 Using AE Technique

    International Nuclear Information System (INIS)

    Yoon, Han Ki; Lee, Sang Pil; Kong, Yu Sik; Lee, Jin Kyung

    2003-01-01

    Japanese low activation terrific steel(JLF) is a good material for the parts of heat exchanger such as blanket and diverter. At first, JLF was developed as a candidate for structural materials in nuclear fusion applications. However, the development of the jointing technique of JLF steel to other materials is important for wide applications of this material to the industry fields. Recently the jointing technologies including diffusion bonding, brazing, roll bonding, explosive bonding and hot iso-static pressing have been studied for the heterogeneous materials of JLF-1 steel(Fe-9Cr-2W-V-Ta) and stainless steel(STS304). Friction welding is one of the most popular welding methods for two different kinds of materials. In this paper, the JLF-1 steel was jointed to SIS304 by friction welding method and the optimal conditions of the friction welding discussed. Acoustic emission was used as a nondestructive technique to evaluate the weld quality in processing

  10. Computer-aided roll pass design in rolling of airfoil shapes

    Science.gov (United States)

    Akgerman, N.; Lahoti, G. D.; Altan, T.

    1980-01-01

    This paper describes two computer-aided design (CAD) programs developed for modeling the shape rolling process for airfoil sections. The first program, SHPROL, uses a modular upper-bound method of analysis and predicts the lateral spread, elongation, and roll torque. The second program, ROLPAS, predicts the stresses, roll separating force, the roll torque and the details of metal flow by simulating the rolling process, using the slab method of analysis. ROLPAS is an interactive program; it offers graphic display capabilities and allows the user to interact with the computer via a keyboard, CRT, and a light pen. The accuracy of the computerized models was evaluated by (a) rolling a selected airfoil shape at room temperature from 1018 steel and isothermally at high temperature from Ti-6Al-4V, and (b) comparing the experimental results with computer predictions. The comparisons indicated that the CAD systems, described here, are useful for practical engineering purposes and can be utilized in roll pass design and analysis for airfoil and similar shapes.

  11. Righting and turning in mid-air using appendage inertia: reptile tails, analytical models and bio-inspired robots

    International Nuclear Information System (INIS)

    Jusufi, A; Full, R J; Kawano, D T; Libby, T

    2010-01-01

    Unlike the falling cat, lizards can right themselves in mid-air by a swing of their large tails in one direction causing the body to rotate in the other. Here, we developed a new three-dimensional analytical model to investigate the effectiveness of tails as inertial appendages that change body orientation. We anchored our model using the morphological parameters of the flat-tailed house gecko Hemidactylus platyurus. The degree of roll in air righting and the amount of yaw in mid-air turning directly measured in house geckos matched the model's results. Our model predicted an increase in body roll and turning as tails increase in length relative to the body. Tails that swung from a near orthogonal plane relative to the body (i.e. 0-30 0 from vertical) were the most effective at generating body roll, whereas tails operating at steeper angles (i.e. 45-60 0 ) produced only half the rotation. To further test our analytical model's predictions, we built a bio-inspired robot prototype. The robot reinforced how effective attitude control can be attained with simple movements of an inertial appendage.

  12. Righting and turning in mid-air using appendage inertia: reptile tails, analytical models and bio-inspired robots

    Energy Technology Data Exchange (ETDEWEB)

    Jusufi, A; Full, R J [Department of Integrative Biology, University of California, Berkeley, CA 94720-3140 (United States); Kawano, D T [Department of Mechanical Engineering, University of California, Berkeley, CA 94720-1740 (United States); Libby, T, E-mail: ardianj@berkeley.ed [Center for Interdisciplinary Bio-inspiration in Education and Research, University of California, Berkeley, CA 94720-3140 (United States)

    2010-12-15

    Unlike the falling cat, lizards can right themselves in mid-air by a swing of their large tails in one direction causing the body to rotate in the other. Here, we developed a new three-dimensional analytical model to investigate the effectiveness of tails as inertial appendages that change body orientation. We anchored our model using the morphological parameters of the flat-tailed house gecko Hemidactylus platyurus. The degree of roll in air righting and the amount of yaw in mid-air turning directly measured in house geckos matched the model's results. Our model predicted an increase in body roll and turning as tails increase in length relative to the body. Tails that swung from a near orthogonal plane relative to the body (i.e. 0-30{sup 0} from vertical) were the most effective at generating body roll, whereas tails operating at steeper angles (i.e. 45-60{sup 0}) produced only half the rotation. To further test our analytical model's predictions, we built a bio-inspired robot prototype. The robot reinforced how effective attitude control can be attained with simple movements of an inertial appendage.

  13. An optimal pole-matching observer design for estimating tyre-road friction force

    Science.gov (United States)

    Faraji, Mohammad; Johari Majd, Vahid; Saghafi, Behrooz; Sojoodi, Mahdi

    2010-10-01

    In this paper, considering the dynamical model of tyre-road contacts, we design a nonlinear observer for the on-line estimation of tyre-road friction force using the average lumped LuGre model without any simplification. The design is the extension of a previously offered observer to allow a muchmore realistic estimation by considering the effect of the rolling resistance and a term related to the relative velocity in the observer. Our aim is not to introduce a new friction model, but to present a more accurate nonlinear observer for the assumed model. We derive linear matrix equality conditions to obtain an observer gain with minimum pole mismatch for the desired observer error dynamic system. We prove the convergence of the observer for the non-simplified model. Finally, we compare the performance of the proposed observer with that of the previously mentioned nonlinear observer, which shows significant improvement in the accuracy of estimation.

  14. Fulltext PDF

    Indian Academy of Sciences (India)

    While discussing friction, often after describing static and sliding friction, a third type called rolling friction is mentioned. The static friction acting on a rolling body can be either in the direction of motion or opposite to it depending upon the forces acting on the body. But the direction of rolling friction is generally not mentioned.

  15. Friction

    Science.gov (United States)

    Matsuo, Yoshihiro; Clarke, Daryl D.; Ozeki, Shinichi

    Friction materials such as disk pads, brake linings, and clutch facings are widely used for automotive applications. Friction materials function during braking due to frictional resistance that transforms kinetic energy into thermal energy. There has been a rudimentary evolution, from materials like leather or wood to asbestos fabric or asbestos fabric saturated with various resins such as asphalt or resin combined with pitch. These efforts were further developed by the use of woven asbestos material saturated by either rubber solution or liquid resin binder and functioned as an internal expanding brake, similar to brake lining system. The role of asbestos continued through the use of chopped asbestos saturated by rubber, but none was entirely successful due to the poor rubber heat resistance required for increased speeds and heavy gearing demands of the automobile industry. The use of phenolic resins as binder for asbestos friction materials provided the necessary thermal resistance and performance characteristics. Thus, the utility of asbestos as the main friction component, for over 100 years, has been significantly reduced in friction materials due to asbestos identity as a carcinogen. Steel and other fibrous components have displaced asbestos in disk pads. Currently, non-asbestos organics are the predominate friction material. Phenolic resins continue to be the preferred binder, and increased amounts are necessary to meet the requirements of highly functional asbestos-free disk pads for the automotive industry. With annual automobile production exceeding 70 million vehicles and additional automobile production occurring in developing countries worldwide and increasing yearly, the amount of phenolic resin for friction material is also increasing (Fig. 14.1). Fig. 14.1 Worldwide commercial vehicle production In recent years, increased fuel efficiency of passenger car is required due to the CO2 emission issue. One of the solutions to improve fuel efficiency is to

  16. A Physics-Based Rock Friction Constitutive Law: Steady State Friction

    Science.gov (United States)

    Aharonov, Einat; Scholz, Christopher H.

    2018-02-01

    Experiments measuring friction over a wide range of sliding velocities find that the value of the friction coefficient varies widely: friction is high and behaves according to the rate and state constitutive law during slow sliding, yet markedly weakens as the sliding velocity approaches seismic slip speeds. We introduce a physics-based theory to explain this behavior. Using conventional microphysics of creep, we calculate the velocity and temperature dependence of contact stresses during sliding, including the thermal effects of shear heating. Contacts are assumed to reach a coupled thermal and mechanical steady state, and friction is calculated for steady sliding. Results from theory provide good quantitative agreement with reported experimental results for quartz and granite friction over 11 orders of magnitude in velocity. The new model elucidates the physics of friction and predicts the connection between friction laws to independently determined material parameters. It predicts four frictional regimes as function of slip rate: at slow velocity friction is either velocity strengthening or weakening, depending on material parameters, and follows the rate and state friction law. Differences between surface and volume activation energies are the main control on velocity dependence. At intermediate velocity, for some material parameters, a distinct velocity strengthening regime emerges. At fast sliding, shear heating produces thermal softening of friction. At the fastest sliding, melting causes further weakening. This theory, with its four frictional regimes, fits well previously published experimental results under low temperature and normal stress.

  17. Architectures of soft robotic locomotion enabled by simple mechanical principles.

    Science.gov (United States)

    Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi

    2017-06-28

    In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.

  18. Selection of Shear Horizontal Wave Transducers for Robotic Nondestructive Inspection in Harsh Environments

    Directory of Open Access Journals (Sweden)

    Sungho Choi

    2016-12-01

    Full Text Available Harsh environments and confined spaces require that nondestructive inspections be conducted with robotic systems. Ultrasonic guided waves are well suited for robotic systems because they can provide efficient volumetric coverage when inspecting for various types of damage, including cracks and corrosion. Shear horizontal guided waves are especially well suited for robotic inspection because they are sensitive to cracks oriented perpendicular or parallel to the wave propagation direction and can be generated with electromagnetic acoustic transducers (EMATs and magnetostrictive transducers (MSTs. Both types of transducers are investigated for crack detection in a stainless steel plate. The MSTs require the robot to apply a compressive normal force that creates frictional force coupling. However, the coupling is observed to be very dependent upon surface roughness and surface debris. The EMATs are coupled through the Lorentz force and are thus noncontact, although they depend on the lift off between transducer and substrate. After comparing advantages and disadvantages of each transducer for robotic inspection the EMATs are selected for application to canisters that store used nuclear fuel.

  19. Inflation with a smooth constant-roll to constant-roll era transition

    Science.gov (United States)

    Odintsov, S. D.; Oikonomou, V. K.

    2017-07-01

    In this paper, we study canonical scalar field models, with a varying second slow-roll parameter, that allow transitions between constant-roll eras. In the models with two constant-roll eras, it is possible to avoid fine-tunings in the initial conditions of the scalar field. We mainly focus on the stability of the resulting solutions, and we also investigate if these solutions are attractors of the cosmological system. We shall calculate the resulting scalar potential and, by using a numerical approach, we examine the stability and attractor properties of the solutions. As we show, the first constant-roll era is dynamically unstable towards linear perturbations, and the cosmological system is driven by the attractor solution to the final constant-roll era. As we demonstrate, it is possible to have a nearly scale-invariant power spectrum of primordial curvature perturbations in some cases; however, this is strongly model dependent and depends on the rate of the final constant-roll era. Finally, we present, in brief, the essential features of a model that allows oscillations between constant-roll eras.

  20. Rancang Bangun Sistem Kontrol Robot Line Follower Menggunakan Logika Fuzzy

    Directory of Open Access Journals (Sweden)

    Anggoro Mukti

    2015-10-01

    Full Text Available Line follower robot is a robot that can follow a line composed of a series of electronic components are equipped with wheels and driven by a motor. Controlling speed is very dependent on the speed limit and friction between the tire robot with the floor. The robots are designed to navigate and move automatically follow a flow line in order to get a response and speed are ideal.. The system consists of hardware and software. The hardware consists of a sensor such as a photodiode input, ATMEGA32 as microcontroller and DC motors. fuzzy logic is divided into three processes namely fuzzyfikasi, evaluation and defuzzyfikasi rule. Defuzzification a conversion step in fuzzy logic system to keluaran crisp value. The conversion result is an action taken by Fuzzy logic control system. The test results were obtained system is capable of identifying a straight line, turn lanes, and lane gray. The system is able to provide an ideal response and speed. input from the reading of the line will be processed by the control system fuzzy and outputs the result as the calculating of the motor speed. fuzzy control system can be an alternative technology development line follower robot control system.

  1. Friction Stir Welding of GR-Cop 84 for Combustion Chamber Liners

    Science.gov (United States)

    Russell, Carolyn K.; Carter, Robert; Ellis, David L.; Goudy, Richard

    2004-01-01

    GRCop-84 is a copper-chromium-niobium alloy developed by the Glenn Research Center for liquid rocket engine combustion chamber liners. GRCop-84 exhibits superior properties over conventional copper-base alloys in a liquid hydrogen-oxygen operating environment. The Next Generation Launch Technology program has funded a program to demonstrate scale-up production capabilities of GR-Cop 84 to levels suitable for main combustion chamber production for the prototype rocket engine. This paper describes a novel method of manufacturing the main combustion chamber liner. The process consists of several steps: extrude the GR-Cop 84 powder into billets, roll the billets into plates, bump form the plates into cylinder halves and friction stir weld the halves into a cylinder. The cylinder is then metal spun formed to near net liner dimensions followed by finish machining to the final configuration. This paper describes the friction stir weld process development including tooling and non-destructive inspection techniques, culminating in the successful production of a liner preform completed through spin forming.

  2. Soft segmented inchworm robot with dielectric elastomer muscles

    Science.gov (United States)

    Conn, Andrew T.; Hinitt, Andrew D.; Wang, Pengchuan

    2014-03-01

    Robotic devices typically utilize rigid components in order to produce precise and robust operation. Rigidity becomes a significant impediment, however, when navigating confined or constricted environments e.g. search-and-rescue, industrial pipe inspection. In such cases adaptively conformable soft structures become optimal. Dielectric elastomers (DEs) are well suited for developing such soft robots since they are inherently compliant and can produce large musclelike actuation strains. In this paper, a soft segmented inchworm robot is presented that utilizes pneumatically-coupled DE membranes to produce inchworm-like locomotion. The robot is constructed from repeated body segments, each with a simple control architecture, so that the total length can be readily adapted by adding or removing segments. Each segment consists of a soft inflatable shell (internal pressure in range of 1.0-15.9 mBar) and a pair of antagonistic DE membranes (VHB 4905). Experimental testing of a single body segment is presented and the relationship between drive voltage, pneumatic pressure and active displacement is characterized. This demonstrates that pneumatic coupling of DE membranes induces complex non-linear electro-mechanical behaviour as drive voltage and pneumatic pressure are altered. Locomotion of a two-segment inchworm robot prototype with a passive length of 80 mm is presented. Artificial setae are included on the body shell to generate anisotropic friction for locomotion. A maximum locomotion speed of 4.1 mm/s was recorded at a drive frequency of 1.5 Hz, which compares favourably to biological counterparts. Future development of the soft inchworm robot are discussed including reflexive low-level control of individual segments.

  3. High precision redundant robotic manipulator

    International Nuclear Information System (INIS)

    Young, K.K.D.

    1998-01-01

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs

  4. Development of small size wall decontamination robot systems in nuclear power plants

    International Nuclear Information System (INIS)

    Fujita, Tsuneaki; Takahashi, Tsuyosi

    2004-01-01

    This paper describes the development of wall decontamination robot systems for nuclear power plants. In nuclear power plants, it is required to reduce maintenance costs, including annual inspection, repairs and so on. Most of such maintenance activities are actually performed after decontamination processes are completed. In particular, the decontamination process of reactor wells is very important for reducing the radiation exposure of human workers. In the past, decontamination of reactor wells used to be done by extra large machine and tools, which caused long working hours and tiresome works. It was one of the reasons maintenance costs couldn't have been easily reduced. There are narrow spaces in the reactor wells that have to be decontaminated by human workers. In order to minimize the radiation exposure to humans, wall decontamination robot systems have been developed. The decontamination robots have rolled brushes and suction mechanisms and are capable of removing contaminants attached to the wall surface of the reactor wells. By making the robots smaller, it is possible to work in narrower spaces. In this paper, the effectiveness of decontamination by the developed robots is shown through experiments in the actual nuclear power plants. (author)

  5. PEBBLES Simulation of Static Friction and New Static Friction Benchmark

    International Nuclear Information System (INIS)

    Cogliati, Joshua J.; Ougouag, Abderrafi M.

    2010-01-01

    Pebble bed reactors contain large numbers of spherical fuel elements arranged randomly. Determining the motion and location of these fuel elements is required for calculating certain parameters of pebble bed reactor operation. This paper documents the PEBBLES static friction model. This model uses a three dimensional differential static friction approximation extended from the two dimensional Cundall and Strack model. The derivation of determining the rotational transformation of pebble to pebble static friction force is provided. A new implementation for a differential rotation method for pebble to container static friction force has been created. Previous published methods are insufficient for pebble bed reactor geometries. A new analytical static friction benchmark is documented that can be used to verify key static friction simulation parameters. This benchmark is based on determining the exact pebble to pebble and pebble to container static friction coefficients required to maintain a stable five sphere pyramid.

  6. Nonlinear analysis for a ship with a general roll-damping model

    Energy Technology Data Exchange (ETDEWEB)

    El-Bassiouny, A F [Mathematics Department, Faculty of Science, Benha University, Benha 13518 (Egypt)

    2007-05-15

    The qualitative behaviour of the response of a ship rolling in longitudinal waves whose amplitude or frequency (parameters) are slowly varied is presented. An analytical and numerical technique is used to predict the qualitative change taking place in the stable solutions of a ship model as one of the parameters is slowly changed. The analysis took into consideration linear, cubic and quantic terms in the polynomial expansion of the relative roll angle. The damping moment consists of the linear term associated with radiation and viscous damping and a cubic term due to frictional resistance and eddies behind bilge keels and hard bilge corners. Two methods (the averaging and the multiple time scales) are used to investigate a first-order approximate analytical solution. The modulation equations of the amplitudes and phases are obtained. These equations are used to determine steady state solutions. Numerical calculations are presented which illustrate the behaviour of the steady state response amplitude as a function of the detuning parameter. The stability of the proposed solution is determined applying Liapunov's first method. The effects of different parameters on the system behaviour are investigated numerically. The results obtained by the two methods are in excellent agreement.

  7. Upscaling of polymer solar cell fabrication using full roll-to-roll processing

    DEFF Research Database (Denmark)

    Krebs, Frederik C; Tromholt, Thomas; Jørgensen, Mikkel

    2010-01-01

    factors (excluding bus bars) of 50, 67 and 75% respectively. In addition modules with lengths of 6, 10, 20, 22.5 and 25 cm were explored. The devices were prepared by full roll-to-roll solution processing in a web width of 305 mm and roll lengths of up to 200 m. The devices were encapsulated...... with a barrier material in a full roll-to-roll process using standard adhesives giving the devices excellent stability during storage and operation. The total area of processed polymer solar cell was around 60 m2 per run. The solar cells were characterised using a roll-to-roll system comprising a solar simulator...... to the cost for electricity using existing technologies the levelized cost of electricity (LCOE) is expected to be significantly higher than the existing technologies due to the inferior operational lifetime. The presented devices are thus competitive for consumer electronics but ill-suited for on...

  8. Trial manufacture of rotary friction tester and frictional force measurement of metals

    CERN Document Server

    Abe, T; Kanari, M; Tanzawa, S

    2002-01-01

    In the plasma confinement type fusion reactor, in-vessel structures such as a blanket module slide at the joints each other when plasma disruption occurs, and then frictional heat is generated there. Therefore, for the selection of material and the use as the design data, it is important to understand the frictional characteristics of metals and ceramic films in the vacuum. In the present study, we have manufactured a prototype of rotary friction tester and examined the performances of the tester. The frictional characteristics of metals in the room air was measured using the friction tester, and the results obtained are as follows. A drifting friction force for a constant time and a friction force during the idling were 98 mN and 225 mN, respectively. These values were sufficiently small as compared to pressing load (9.8 - 57.8 N) used in the friction test. In a friction force measurement of stainless steel, dynamic friction force obeyed Amontons' law which indicated that dynamic friction force is not depend...

  9. Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

    Directory of Open Access Journals (Sweden)

    Liyang Wang

    2017-01-01

    Full Text Available The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i the force-moment equilibrium equation of biped robots, (ii frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

  10. Design and testing of a model CELSS chamber robot

    Science.gov (United States)

    Davis, Mark; Dezego, Shawn; Jones, Kinzy; Kewley, Christopher; Langlais, Mike; McCarthy, John; Penny, Damon; Bonner, Tom; Funderburke, C. Ashley; Hailey, Ruth

    1994-08-01

    . A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended. friction between the actuator drive wheels and drive cable to enable the actuator to fully extend and retract the arm. This pre-test revealed that the coefficient of friction was not large enough to prevent slippage. Sandpaper was glued to the drive wheel and this eliminated the slippage problem. *The class preformed a fit test in the CELSS chamber to ensure that the completed robot arm is capable of reaching the entire working envelope. -The robot was centered in the chamber and the arm was fully extended to the sides of the chamber. The arm was also able to retract to clear the drain pipes separating the upper and lower plant trays.

  11. Jumping robots: a biomimetic solution to locomotion across rough terrain.

    Science.gov (United States)

    Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

    2007-09-01

    This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

  12. Remote technology review: mobile robots continue to march (and crawl, roll, walk, slither, climb and swim) into action

    International Nuclear Information System (INIS)

    Meieran, H.

    1991-01-01

    Mobile robots are performing an increasing range of tasks in nuclear power plants and other nuclear facilities as well as in a wide spectrum of other hazardous industries and environments. The total number of such systems, many of which can be used in the nuclear industry, that have been, are being or will be built, now exceeds 350 separate units manufactured by more than 168 suppliers in 19 countries. In addition to being used in nuclear power plants themselves, they are being, or can be, employed in a variety of other nuclear applications, including hot cells, fuel reprocessing facilities, research establishments, waste sites, uranium mines, and decommissioning projects. The survey results reported here provide current statistics regarding terrestrial based mobile robots and remote teleoperator controlled vehicles (referred to collectively as mobile robots), underwater crawling and swimming robots (the latter known as remotely operated vehicles (ROVs)) and pipecrawlers. (author)

  13. Plasmonic color metasurfaces fabricated by a high speed roll-to-roll method

    DEFF Research Database (Denmark)

    Murthy, Swathi; Pranov, Henrik; Feidenhans'l, Nikolaj Agentoft

    2017-01-01

    Lab-scale plasmonic color printing using nano-structured and subsequently metallized surfaces have been demonstrated to provide vivid colors. However, upscaling these structures for large area manufacturing is extremely challenging due to the requirement of nanometer precision of metal thickness....... In this study, we have investigated a plasmonic color meta-surface design that can be easily upscaled. We have demonstrated the feasibility of fabrication of these plasmonic color surfaces by a high-speed roll-to-roll method, comprising roll-to-roll extrusion coating at 10 m min-1 creating a polymer foil having...... 100 nm deep pits of varying sub-wavelength diameter and pitch length. Subsequently this polymer foil was metallized and coated also by high-speed roll-to-roll methods. The perceived colors have high tolerance towards the thickness of the metal layer, when this thickness exceeds the depths of the pits...

  14. Fabrication of cold-rolled bands of the alloy-ehi 702 in rolls

    International Nuclear Information System (INIS)

    Zhuchin, V.N.; Gindin, A.Sh.; Shaburov, V.E.; Vladimirov, S.M.; Sokolov, V.A.; Shavkun, V.V.; Perepelitsa, I.V.; Markov, V.V.; Naymov, E.P.; Evstaf'ev, P.P.

    1977-01-01

    The questions are discussed, connected with the manufacture of cold-rolled strip of alloy EI702 in reels from strip blanks. It has been established that in the manufacture of hot-rolled stock from EI702 slabs it is necessary to use powerful rolling equipment because of high resistance to deformation. The reel method for manufacturing EI702 alloy improves the rolled stock and increases percentage of serviceable stock, as well as the output

  15. Stress and accidental defect detection on rolling mill rolls

    International Nuclear Information System (INIS)

    Auzas, J.-D.

    1999-01-01

    During the rolling mill process, rolls are submitted to high pressures that can lead to local decohesion or metallurgical changes. Both these cracks or softened areas must be detected as soon as they appear because of the risk of spalling, marks on the product, and mill wreck. These defects can be detected using the eddy current method, and particularly sensors specially developed for micro-defects detection. These sensors must be adapted to the environment of a roll grinding machine on which they must be installed. Users' schedule of conditions also require them to be attached to a wide range of eddy current generator and automatic computerized interpretation. Mill requirements for new high tech roll grades and quality lead to continuous development and improvement of the tools that will provide immediate 'go - no go' information. This paper is an update of these developments. (author)

  16. The friction coefficient of shoulder joints remains remarkably low over 24 h of loading.

    Science.gov (United States)

    Jones, Brian K; Durney, Krista M; Hung, Clark T; Ateshian, Gerard A

    2015-11-05

    The frictional response of whole human joints over durations spanning activities of daily living has not been reported previously. This study measured the friction of human glenohumeral joints during 24 h of reciprocal loading in a pendulum testing device, at moderate (0.2 mm/s, 4320 cycles) and low (0.02 mm/s, 432 cycles) sliding speeds, under a 200 N load. The effect of joint congruence was also investigated by testing human humeral heads against significantly larger mature bovine glenoids. Eight human joints and six bovine joints were tested in four combinations: human joints tested at moderate (hHCMS, n=6) and low speed (hHCLS, n=3), human humeral heads tested against bovine glenoids at moderate speed (LCMS, n=3), and bovine joints tested at moderate speed (bHCMS, n=3). In the first half hour the mean±standard deviation of the friction coefficient was hHCMS: 0.0016±0.0011, hHCLS: 0.0012±0.0002, LCMS: 0.0008±0.0002 and bHCMS: 0.0024±0.0008; in the last four hours it was hHCMS: 0.0057±0.0025, hHCLS: 0.0047±0.0017, LCMS: 0.0012±0.0003 and bHCMS: 0.0056±0.0016. The initial value was lower than the final value (pfriction coefficient of natural human shoulders remains remarkably low (averaging as little as 0.0015 and no greater than 0.006) for up to 24 h of continuous loading. The sustained low friction coefficients observed in incongruent joints (~0.001) likely represent rolling rather than sliding friction. Copyright © 2015. Published by Elsevier Ltd.

  17. The Friction Coefficient of Shoulder Joints Remains Remarkably Low Over 24 h of Loading

    Science.gov (United States)

    Jones, Brian K.; Durney, Krista M.; Hung, Clark T.; Ateshian, Gerard A.

    2015-01-01

    The frictional response of whole human joints over durations spanning activities of daily living has not been reported previously. This study measured the friction of human glenohumeral joints during 24 h of reciprocal loading in a pendulum testing device, at moderate (0.2 mm/s, 4320 cycles) and low (0.02 mm/s, 432 cycles) sliding speeds, under a 200 N load. The effect of joint congruence was also investigated by testing human humeral heads against significantly larger mature bovine glenoids. Six human joints and six bovine joints were tested in four combinations: human joints tested at moderate (hHCMS, n=6) and low speed (hHCLS, n=3), human humeral heads tested against bovine glenoids at moderate speed (LCMS, n=3), and bovine joints tested at moderate speed (bHCMS, n=3). In the first half hour the mean ± standard deviation of the friction coefficient was hHCMS: 0.0016±0.0011, hHCLS: 0.0012±0.0002, LCMS: 0.0008±0.0002 and bHCMS: 0.0024±0.0008; in the last four hours it was hHCMS: 0.0057±0.0025, hHCLS: 0.0047±0.0017, LCMS: 0.0012±0.0003 and bHCMS: 0.0056±0.0016. The initial value was lower than the final value (pfriction coefficient of natural human shoulders remains remarkably low (averaging as little as 0.0015 and no greater than 0.006) for up to 24 h of continuous loading. The sustained low friction coefficients observed in incongruent joints (~0.001) likely represent rolling rather than sliding friction. PMID:26472306

  18. Crimped braided sleeves for soft, actuating arm in robotic abdominal surgery.

    Science.gov (United States)

    Elsayed, Yahya; Lekakou, Constantina; Ranzani, Tommaso; Cianchetti, Matteo; Morino, Mario; Arezzo, Alberto; Menciassi, Arianna; Geng, Tao; Saaj, Chakravarthini M

    2015-01-01

    This paper investigates different types of crimped, braided sleeve used for a soft arm for robotic abdominal surgery, with the sleeve required to contain balloon expansion in the pneumatically actuating arm while it follows the required bending, elongation and diameter reduction of the arm. Three types of crimped, braided sleeves from PET (BraidPET) or nylon (BraidGreyNylon and BraidNylon, with different monofilament diameters) were fabricated and tested including geometrical and microstructural characterisation of the crimp and braid, mechanical tests and medical scratching tests for organ damage of domestic pigs. BraidPET caused some organ damage, sliding under normal force of 2-5 N; this was attributed to the high roughness of the braid pattern, the higher friction coefficient of polyethylene terephthalate (PET) compared to nylon, and the high frequency of the crimp peaks for this sleeve. No organ damage was observed for the BraidNylon, attributed to both the lower roughness of the braid pattern and the low friction coefficient of nylon. BraidNylon also required the lowest tensile force during its elongation to similar maximum strain as that of BraidPET, translating to low power requirements. BraidNylon is recommended for the crimped sleeve of the arm designed for robotic abdominal surgery.

  19. Spray rolling aluminum alloy strip

    Energy Technology Data Exchange (ETDEWEB)

    McHugh, Kevin M.; Delplanque, J.-P.; Johnson, S.B.; Lavernia, E.J.; Zhou, Y.; Lin, Y

    2004-10-10

    Spray rolling combines spray forming with twin-roll casting to process metal flat products. It consists of atomizing molten metal with a high velocity inert gas, cooling the resultant droplets in flight and directing the spray between mill rolls. In-flight convection heat transfer from atomized droplets teams with conductive cooling at the rolls to rapidly remove the alloy's latent heat. Hot deformation of the semi-solid material in the rolls results in fully consolidated, rapidly solidified product. While similar in some ways to twin-roll casting, spray rolling has the advantage of being able to process alloys with broad freezing ranges at high production rates. This paper describes the process and summarizes microstructure and tensile properties of spray-rolled 2124 and 7050 aluminum alloy strips. A Lagrangian/Eulerian poly-dispersed spray flight and deposition model is described that provides some insight into the development of the spray rolling process. This spray model follows droplets during flight toward the rolls, through impact and spreading, and includes oxide film formation and breakup when relevant.

  20. Identification of GMS friction model without friction force measurement

    International Nuclear Information System (INIS)

    Grami, Said; Aissaoui, Hicham

    2011-01-01

    This paper deals with an online identification of the Generalized Maxwell Slip (GMS) friction model for both presliding and sliding regime at the same time. This identification is based on robust adaptive observer without friction force measurement. To apply the observer, a new approach of calculating the filtered friction force from the measurable signals is introduced. Moreover, two approximations are proposed to get the friction model linear over the unknown parameters and an approach of suitable filtering is introduced to guarantee the continuity of the model. Simulation results are presented to prove the efficiency of the approach of identification.

  1. Flocking algorithm for autonomous flying robots.

    Science.gov (United States)

    Virágh, Csaba; Vásárhelyi, Gábor; Tarcai, Norbert; Szörényi, Tamás; Somorjai, Gergő; Nepusz, Tamás; Vicsek, Tamás

    2014-06-01

    Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks.

  2. Replication of nanopits and nanopillars by roll-to-roll extrusion coating using a structured cooling roll

    DEFF Research Database (Denmark)

    Murthy, Swathi; Pranov, Henrik; Pedersen, Henrik Chresten

    2016-01-01

    This paper investigates a novel, very high throughput, roll-to-roll (R2R) process for nanostructuring of polymer foils, called R2R extrusion coating. It has the potential to accelerate the integration of nanostructured materials in consumer products for a variety of applications, including optical....../height of 100 nm. The best replication was achieved in polypropylene, by running at high roller line-speed of 60 m/min, and high cooling roller temperature of 70°C. Replication in other common polymers like polyethylene and polystyrene was not possible for the parameter range used for the investigation......., technical, and functional surfaces and devices. In roll-to-roll extrusion coating, a molten polymer film is extruded through a flat die forming a melt curtain, and then laminated onto a carrier foil. The lamination occurs as the melt curtain is pressed between a cooling roller and a counter roller...

  3. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

    Directory of Open Access Journals (Sweden)

    Leijie Jiang

    2017-01-01

    Full Text Available The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.

  4. Locomotion of inchworm-inspired robot made of smart soft composite (SSC)

    International Nuclear Information System (INIS)

    Wang, Wei; Lee, Jang-Yeob; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon; Chu, Won-Shik

    2014-01-01

    A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot’s locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot’s stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s −1 , a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. (paper)

  5. Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control.

    Science.gov (United States)

    Reinhart, René Felix; Shareef, Zeeshan; Steil, Jochen Jakob

    2017-02-08

    Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant's intrinsic properties and there remain unmodeled dynamics due to varying parameters, unmodeled friction or soft materials. In this context, machine learning is an alternative suitable technique to extract non-linear plant models from data. However, fully data-based models suffer from inaccuracies as well and are inefficient if they include learning of well known analytical models. This paper thus argues that feed-forward control based on hybrid models comprising an analytical model and a learned error model can significantly improve modeling accuracy. Hybrid modeling here serves the purpose to combine the best of the two modeling worlds. The hybrid modeling methodology is described and the approach is demonstrated for two typical problems in robotics, i.e., inverse kinematics control and computed torque control. The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms.

  6. Roll-to-Roll Nanoforming of Metals Using Laser-Induced Superplasticity.

    Science.gov (United States)

    Goswami, Debkalpa; Munera, Juan C; Pal, Aniket; Sadri, Behnam; Scarpetti, Caio Lui P G; Martinez, Ramses V

    2018-05-24

    This Letter describes a low-cost, scalable nanomanufacturing process that enables the continuous forming of thin metallic layers with nanoscale accuracy using roll-to-roll, laser-induced superplasticity (R2RLIS). R2RLIS uses a laser shock to induce the ultrahigh-strain-rate deformation of metallic films at room temperature into low-cost polymeric nanomolds, independently of the original grain size of the metal. This simple and inexpensive nanoforming method does not require access to cleanrooms and associated facilities, and can be easily implemented on conventional CO 2 lasers, enabling laser systems commonly used for rapid prototyping or industrial cutting and engraving to fabricate uniform and three-dimensional crystalline metallic nanostructures over large areas. Tuning the laser power during the R2RLIS process enables the control of the aspect ratio and the mechanical and optical properties of the fabricated nanostructures. This roll-to-roll technique successfully fabricates mechanically strengthened gold plasmonic nanostructures with aspect ratios as high as 5 that exhibit high oxidation resistance and strong optical field enhancements. The CO 2 laser used in R2RLIS can also integrate the fabricated nanostructures on transparent flexible substrates with robust interfacial contact. The ability to fabricate ultrasmooth metallic nanostructures using roll-to-roll manufacturing enables the large scale production, at a relatively low-cost, of flexible plasmonic devices toward emerging applications.

  7. Web based educational tool for neural network robot control

    Directory of Open Access Journals (Sweden)

    Jure Čas

    2007-05-01

    Full Text Available Abstract— This paper describes the application for teleoperations of the SCARA robot via the internet. The SCARA robot is used by students of mehatronics at the University of Maribor as a remote educational tool. The developed software consists of two parts i.e. the continuous neural network sliding mode controller (CNNSMC and the graphical user interface (GUI. Application is based on two well-known commercially available software packages i.e. MATLAB/Simulink and LabVIEW. Matlab/Simulink and the DSP2 Library for Simulink are used for control algorithm development, simulation and executable code generation. While this code is executing on the DSP-2 Roby controller and through the analog and digital I/O lines drives the real process, LabVIEW virtual instrument (VI, running on the PC, is used as a user front end. LabVIEW VI provides the ability for on-line parameter tuning, signal monitoring, on-line analysis and via Remote Panels technology also teleoperation. The main advantage of a CNNSMC is the exploitation of its self-learning capability. When friction or an unexpected impediment occurs for example, the user of a remote application has no information about any changed robot dynamic and thus is unable to dispatch it manually. This is not a control problem anymore because, when a CNNSMC is used, any approximation of changed robot dynamic is estimated independently of the remote’s user. Index Terms—LabVIEW; Matlab/Simulink; Neural network control; remote educational tool; robotics

  8. Rolling into spatial disorientation: Simulator demonstration of the post-roll (Gillingham) illusion

    NARCIS (Netherlands)

    Nooij, S.A.E.; Groen, E.L.

    2011-01-01

    Introduction: Spatial disorientation (SD) is still a contributing factor in many aviation accidents, stressing the need for adequate SD training scenarios. In this article we focused on the post-roll effect (the sensation of rolling back after a roll maneuver, such as an entry of a coordinated turn)

  9. Research on the rolling moment in the symmetrical and asymmetrical rolling process

    Science.gov (United States)

    Alexa, V.; Raţiu, S. A.; Kiss, I.; Cioată, C. G.

    2017-01-01

    Research distribution the rolling moments symmetrical and asymmetrical report presents great importance both in theory and to introduce clarifications to the calculation of rolling resistance line assemblies. Clarifying individuals of metallic material deformation between the rolls single cylinder diameters act of any difference of work and analysis of advance and delay phenomena. Torque drive value for each of the rolling cylinders was done by reducing the thickness of the laminate samples, an experimental facility located in the laboratory of plastic deformation of the Faculty of Engineering Hunedoara. The analysis of research results show that in terms of power consumption for deformation and safety equipment in operation is rational for mills which require such a difference between the work rolls to execute about one cylinder operated.

  10. Bioinspired orientation-dependent friction.

    Science.gov (United States)

    Xue, Longjian; Iturri, Jagoba; Kappl, Michael; Butt, Hans-Jürgen; del Campo, Aránzazu

    2014-09-23

    Spatular terminals on the toe pads of a gecko play an important role in directional adhesion and friction required for reversible attachment. Inspired by the toe pad design of a gecko, we study friction of polydimethylsiloxane (PDMS) micropillars terminated with asymmetric (spatular-shaped) overhangs. Friction forces in the direction of and against the spatular end were evaluated and compared to friction forces on symmetric T-shaped pillars and pillars without overhangs. The shape of friction curves and the values of friction forces on spatula-terminated pillars were orientation-dependent. Kinetic friction forces were enhanced when shearing against the spatular end, while static friction was stronger in the direction toward the spatular end. The overall friction force was higher in the direction against the spatula end. The maximum value was limited by the mechanical stability of the overhangs during shear. The aspect ratio of the pillar had a strong influence on the magnitude of the friction force, and its contribution surpassed and masked that of the spatular tip for aspect ratios of >2.

  11. Investigation of the Microstructure Evolution and Deformation Mechanisms of a Mg-Zn-Zr-RE Twin-Roll-Cast Magnesium Sheet by In-Situ Experimental Techniques

    Czech Academy of Sciences Publication Activity Database

    Máthis, K.; Horváth, Klaudia; Farkas, Gergely; Choe, H.; Shin, K. S.; Vinogradov, A.

    2018-01-01

    Roč. 11, č. 2 (2018), č. článku 200. ISSN 1996-1944 R&D Projects: GA ČR GB14-36566G; GA MŠk EF16_013/0001794 Institutional support: RVO:61389005 Keywords : magnesium * twin roll casting * neutron diffraction * acoustic emission * twinning * yield strength Subject RIV: JL - Materials Fatigue, Friction Mechanics OBOR OECD: Audio engineering, reliability analysis Impact factor: 2.654, year: 2016

  12. Development of a robotic evaluation system for the ability of proprioceptive sensation in slow hand motion.

    Science.gov (United States)

    Tanaka, Yoshiyuki; Mizoe, Genki; Kawaguchi, Tomohiro

    2015-01-01

    This paper proposes a simple diagnostic methodology for checking the ability of proprioceptive/kinesthetic sensation by using a robotic device. The perception ability of virtual frictional forces is examined in operations of the robotic device by the hand at a uniform slow velocity along the virtual straight/circular path. Experimental results by healthy subjects demonstrate that percentage of correct answers for the designed perceptual tests changes in the motion direction as well as the arm configuration and the HFM (human force manipulability) measure. It can be supposed that the proposed methodology can be applied into the early detection of neuromuscular/neurological disorders.

  13. Real-Time Dynamic Observation of Micro-Friction on the Contact Interface of Friction Lining

    Science.gov (United States)

    Zhang, Dekun; Chen, Kai; Guo, Yongbo

    2018-01-01

    This paper aims to investigate the microscopic friction mechanism based on in situ microscopic observation in order to record the deformation and contact situation of friction lining during the frictional process. The results show that friction coefficient increased with the shear deformation and energy loss of the surfacee, respectively. Furthermore, the friction mechanism mainly included adhesive friction in the high-pressure and high-speed conditions, whereas hysteresis friction was in the low-pressure and low-speed conditions. The mixed-friction mechanism was in the period when the working conditions varied from high pressure and speed to low pressure and speed. PMID:29498677

  14. A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm

    NARCIS (Netherlands)

    Lassooij, J.; Tolou, N.; Tortora, G.; Caccavaro, S.; Menciassi, A.; Herder, J.L.

    2012-01-01

    This article presents the design of a newly developed 2DoF robotic arm with a novel statically balanced and bi-stable compliant grasper as the end effector for laparoscopic surgery application. The arm is based on internal motors actuating 2 rotational DoFs: pitch and roll. The positive stiffness of

  15. Characterization and robust filtering of multifunctional surfaces using ISO standards

    DEFF Research Database (Denmark)

    Friis, Kasper Storgaard; Godi, Alessandro; De Chiffre, Leonardo

    2011-01-01

    Engineered surfaces containing lubrication pockets and directional surface texture can decrease wear and friction in sliding or rolling contacts. A new generation of multifunctional (MUFU) surfaces has been created by hard machining followed by robot-assisted polishing. The production method allows...... for a large degree of freedom in specifying surface topography defined by frequency, depth and volume of the lubricant retention valleys, as well as the amount of load bearing area and the surface roughness. The surfaces cannot readily be characterized by means of conventional roughness parameters due...

  16. Friction of elastomer-on-glass system and direct observation of its frictional interface

    International Nuclear Information System (INIS)

    Okamoto, Yoshihiro; Nishio, Kazuyuki; Sugiura, Jun-ichi; Hirano, Motohisa; Nitta, Takahiro

    2007-01-01

    We performed a study on the static friction of PDMS elastomers with well-defined surface topography sliding over glass. An experimental setup for simultaneous measurements of friction force and direct observations of frictional interface has been developed. The static friction force was nearly proportional to normal load. The static friction force was independent of stick time. The simultaneous measurements revealed that the static friction force was proportional to the total area of contact. The coefficient was nearly independent of the surface topography of PDMS elastomers

  17. Roll-to-roll UV imprint lithography for flexible electronics

    NARCIS (Netherlands)

    Maury, P.; Turkenburg, D.H.; Stroeks, N.; Giesen, P.; Barbu, I.; Meinders, E.R.; Bremen, A. van; Iosad, N.; Werf, R. van der; Onvlee, H.

    2011-01-01

    We propose a roll-to-roll UV imprint lithography tool as a way to pattern flexible PET foil with µm-resolution. As a way to overcome dimensional instability of the foil and its effect on overlay, a self-align approach was investigated, that permits to make several layers in a single lithography

  18. A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots

    Directory of Open Access Journals (Sweden)

    Fang Wu

    2017-05-01

    Full Text Available Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory tracking methods of spherical robots, yet very limited studies have been conducted regarding the obstacle avoidance capability of spherical robots. Most of the existing spherical robots rely on the “hit and run” technique, which has been argued to be a reasonable strategy because spherical robots have an inherent ability to recover from collisions. Without protruding components, they will not become stuck and can simply roll back after running into bstacles. However, for small scale spherical robots that contain sensitive surveillance sensors and cannot afford to utilize heavy protective shells, the absence of obstacle avoidance solutions would leave the robot at the mercy of potentially dangerous obstacles. In this paper, a compact magnetic field-based obstacle detection and avoidance system has been developed for miniature spherical robots. It utilizes a passive magnetic field so that the system is both compact and power efficient. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle, therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. Design optimization is conducted to enhance the obstacle detection performance and detailed avoidance strategies are devised. Experimental results are also presented for validation purposes.

  19. Modeling Friction Performance of Drill String Torsional Oscillation Using Dynamic Friction Model

    Directory of Open Access Journals (Sweden)

    Xingming Wang

    2017-01-01

    Full Text Available Drill string torsional and longitudinal oscillation can significantly reduce axial drag in horizontal drilling. An improved theoretical model for the analysis of the frictional force was proposed based on microscopic contact deformation theory and a bristle model. The established model, an improved dynamic friction model established for drill strings in a wellbore, was used to determine the relationship of friction force changes and the drill string torsional vibration. The model results were in good agreement with the experimental data, verifying the accuracy of the established model. The analysis of the influence of drilling mud properties indicated that there is an approximately linear relationship between the axial friction force and dynamic shear and viscosity. The influence of drill string torsional oscillation on the axial friction force is discussed. The results indicated that the drill string transverse velocity is a prerequisite for reducing axial friction. In addition, low amplitude of torsional vibration speed can significantly reduce axial friction. Then, increasing the amplitude of transverse vibration speed, the effect of axial reduction is not significant. In addition, by involving general field drilling parameters, this model can accurately describe the friction behavior and quantitatively predict the frictional resistance in horizontal drilling.

  20. Finite Element Modeling of an Aircraft Tire Rolling on a Steel Drum: Experimental Investigations and Numerical Simulations

    Directory of Open Access Journals (Sweden)

    Iulian Rosu

    2018-04-01

    Full Text Available The aim of this study is to investigate the thermal evolution of an aircraft tire rolling at high velocities up to take off values. As this kind of experiment is difficult to realize on a real runway, experimental tests were realized on aircraft tires rolling on a steel drum. The rotating drum facility allows to apply variable velocities beyond the take off limits, at fixed skidding angles and loadings. The rolling conditions, vertical loading, velocity and cornering conditions were adopted to correspond to the real conditions of an aircraft tire running or skidding on a flat runway. In the experimental part, the influence of skidding angle, velocity and loading on the thermal evolution of the tire tread were investigated. The thermo-mechanical finite element analysis of a pneumatic radial tire structure was performed taking into account the hyper-viscoelastic rubber behavior, with heating mechanisms developed by the inelastic deformation and by friction. Three-dimensional finite element simulations of an aircraft tire rolling on a steel drum were carried out using Abaqus/Standard finite element solver. The comparison of the temperature distribution on the tire tread between numerical results and the experimental data shows the same overall tendencies. The good correlation between numerical and experimental data shows that numerical simulation could predict the thermal evolution of the tire in critical situations. The authors would like to mention that for confidentiality reason, certain numerical data could not be revealed.

  1. Frictional ageing from interfacial bonding and the origins of rate and state friction.

    Science.gov (United States)

    Li, Qunyang; Tullis, Terry E; Goldsby, David; Carpick, Robert W

    2011-11-30

    Earthquakes have long been recognized as being the result of stick-slip frictional instabilities. Over the past few decades, laboratory studies of rock friction have elucidated many aspects of tectonic fault zone processes and earthquake phenomena. Typically, the static friction of rocks grows logarithmically with time when they are held in stationary contact, but the mechanism responsible for this strengthening is not understood. This time-dependent increase of frictional strength, or frictional ageing, is one manifestation of the 'evolution effect' in rate and state friction theory. A prevailing view is that the time dependence of rock friction results from increases in contact area caused by creep of contacting asperities. Here we present the results of atomic force microscopy experiments that instead show that frictional ageing arises from the formation of interfacial chemical bonds, and the large magnitude of ageing at the nanometre scale is quantitatively consistent with what is required to explain observations in macroscopic rock friction experiments. The relative magnitude of the evolution effect compared with that of the 'direct effect'--the dependence of friction on instantaneous changes in slip velocity--determine whether unstable slip, leading to earthquakes, is possible. Understanding the mechanism underlying the evolution effect would enable us to formulate physically based frictional constitutive laws, rather than the current empirically based 'laws', allowing more confident extrapolation to natural faults.

  2. Observations on rotating needle insertions using a brachytherapy robot

    International Nuclear Information System (INIS)

    Meltsner, M A; Ferrier, N J; Thomadsen, B R

    2007-01-01

    A robot designed for prostate brachytherapy implantations has the potential to greatly improve treatment success. Much of the research in robotic surgery focuses on measuring accuracy. However, there exist many factors that must be optimized before an analysis of needle placement accuracy can be determined. Some of these parameters include choice of the needle type, insertion velocity, usefulness of the rotating needle and rotation speed. These parameters may affect the force at which the needle interacts with the tissue. A reduction in force has been shown to decrease the compression of the prostate and potentially increase the accuracy of seed position. Rotating the needle as it is inserted may reduce frictional forces while increasing accuracy. However, needle rotations are considered to increase tissue damage due to the drilling nature of the insertion. We explore many of the factors involved in optimizing a brachytherapy robot, and the potential effects each parameter may have on the procedure. We also investigate the interaction of rotating needles in gel and suggest the rotate-cannula-only method of conical needle insertion to minimize any tissue damage while still maintaining the benefits of reduced force and increased accuracy

  3. Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control †

    Directory of Open Access Journals (Sweden)

    René Felix Reinhart

    2017-02-01

    Full Text Available Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant’s intrinsic properties and there remain unmodeled dynamics due to varying parameters, unmodeled friction or soft materials. In this context, machine learning is an alternative suitable technique to extract non-linear plant models from data. However, fully data-based models suffer from inaccuracies as well and are inefficient if they include learning of well known analytical models. This paper thus argues that feed-forward control based on hybrid models comprising an analytical model and a learned error model can significantly improve modeling accuracy. Hybrid modeling here serves the purpose to combine the best of the two modeling worlds. The hybrid modeling methodology is described and the approach is demonstrated for two typical problems in robotics, i.e., inverse kinematics control and computed torque control. The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms.

  4. Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control †

    Science.gov (United States)

    Reinhart, René Felix; Shareef, Zeeshan; Steil, Jochen Jakob

    2017-01-01

    Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant’s intrinsic properties and there remain unmodeled dynamics due to varying parameters, unmodeled friction or soft materials. In this context, machine learning is an alternative suitable technique to extract non-linear plant models from data. However, fully data-based models suffer from inaccuracies as well and are inefficient if they include learning of well known analytical models. This paper thus argues that feed-forward control based on hybrid models comprising an analytical model and a learned error model can significantly improve modeling accuracy. Hybrid modeling here serves the purpose to combine the best of the two modeling worlds. The hybrid modeling methodology is described and the approach is demonstrated for two typical problems in robotics, i.e., inverse kinematics control and computed torque control. The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms. PMID:28208697

  5. Rolling contact fatigue of low hardness steel for slewing ring application

    Science.gov (United States)

    Knuth, Jason A.

    This thesis discusses the rolling contact fatigue of steel utilized in anti-friction bearings, also referred to as slewing bearings. These slewing bearings are utilized in cranes, excavators, wind turbines and other similar applications. Five materials composed of two different material types were tested. The two material types were high carbon steel and medium carbon alloy steel. The test specimens were processed from forged rolled rings. Two machines were evaluated a ZF-RCF and 3-Ball test machine. The evaluation was to determine which machine can best simulate the application in which the slewing bearing is utilized. Initially, each specimen will be pretested to determine the appropriate testing direction from within the forged rolled rings. Pretesting is needed in order to establish consistent failure modes between samples. The primary goal of the test is to understand the life differences and failure modes between high carbon steel and medium carbon alloy steel. The high carbon steel ring was cut into two sections, one of which was stress relieved and the other was quenched and tempered. The medium carbon alloy steel was cut into three sections, all of which were quenched and tempered to different hardness levels. The test program was dynamically adjusted based upon the previous sample's life and load. An S-N curve was then established from the 5 materials tested at two target loads. The samples were run until the first sign of a crack was detected by an eddy current. At the completion of the rolling contact test, select sample's microstructure was evaluated for crack initiation location. The selected samples were divided into four groups which represent different maximum shear stress levels. These samples displayed indications of material deformation in which the high carbon steel experienced an increased amount of cold work when compared to medium carbon alloy steel. The life of the high carbon steel was nearly equivalent to the expected life of the medium

  6. Effect of rolling reduction on the development of rolling and recrystallization textures in Al-Mg alloys

    Energy Technology Data Exchange (ETDEWEB)

    Endou, S; Inagaki, H [Shonan Inst. of Tech., Fujisawashi (Japan)

    2002-07-01

    In order to investigate the effect of Mg content on the development of the rolling textures in Al pure Al, Al-3% Mg alloy and Al-5% Mg alloy were cold rolled by varying rolling reductions up to 97%. Their rolling textures were investigated by the orientation distribution function analysis. The extent of work hardening introduced by cold rolling was estimated by the hardness measurements. It was found that, at all rolling reductions, the main orientations of the rolling textures depended strongly on the Mg content. In pure Al, {l_brace}123{r_brace} left angle 634 right angle was always the main orientation, whereas {l_brace}112{r_brace} left angle 111 right angle was most strong in the Al-3%Mg alloy. In the Al-5% Mg alloy, the development of both {l_brace}123{r_brace} left angle 634 right angle and {l_brace}112{r_brace} left angle 111 right angle were strongly suppressed, whereas {l_brace}110{r_brace} left angle 112 right angle developed remarkably. In pure Al, most of the texture development occurred at the later half of work hardening, i.e. at rolling reductions above 70%. With increasing Mg content, rolling texture tended to develop already at lower rolling reductions. Dynamic recovery, which occurred at very high rolling reductions, suppressed the development of the rolling textures. All these results strongly suggested that the formation of dislocation cell structures and shear banding are origins of the formation of these rolling textures. On annealing these specimens at 450 C for 30 min, recrystallization textures developed only in specimens having strong rolling textures, i. e. in the specimens cold rolled more than 70%. {l_brace}100{r_brace} left angle 001 right angle developed only in pure Al and in the Al-3% Mg ally, in which {l_brace}123{r_brace} left angle 634 right angle and {l_brace}112{r_brace} left angle 111 right angle were strong in the rolling textures. Recrystallization textures of the Al-5% Mg alloy was wather random. Its main orientation, {l

  7. Enhanced Locomotion Efficiency of a Bio-inspired Walking Robot using Contact Surfaces with Frictional Anisotropy

    DEFF Research Database (Denmark)

    Manoonpong, Poramate; Petersen, Dennis; Kovalev, Alexander

    2016-01-01

    stability. It shows high frictional anisotropy due to an array of sloped denticles. The orientation of the denticles to the underlying collagenous material also strongly influences their mechanical interlocking with the substrate. This study not only opens up a new way of achieving energy-efficient legged...

  8. Instrumented roll technology for the design space development of roller compaction process.

    Science.gov (United States)

    Nesarikar, Vishwas V; Vatsaraj, Nipa; Patel, Chandrakant; Early, William; Pandey, Preetanshu; Sprockel, Omar; Gao, Zhihui; Jerzewski, Robert; Miller, Ronald; Levin, Michael

    2012-04-15

    Instrumented roll technology on Alexanderwerk WP120 roller compactor was developed and utilized successfully for the measurement of normal stress on ribbon during the process. The effects of process parameters such as roll speed (4-12 rpm), feed screw speed (19-53 rpm), and hydraulic roll pressure (40-70 bar) on normal stress and ribbon density were studied using placebo and active pre-blends. The placebo blend consisted of 1:1 ratio of microcrystalline cellulose PH102 and anhydrous lactose with sodium croscarmellose, colloidal silicon dioxide, and magnesium stearate. The active pre-blends were prepared using various combinations of one active ingredient (3-17%, w/w) and lubricant (0.1-0.9%, w/w) levels with remaining excipients same as placebo. Three force transducers (load cells) were installed linearly along the width of the roll, equidistant from each other with one transducer located in the center. Normal stress values recorded by side sensors and were lower than normal stress values recorded by middle sensor and showed greater variability than middle sensor. Normal stress was found to be directly proportional to hydraulic pressure and inversely to screw to roll speed ratio. For active pre-blends, normal stress was also a function of compressibility. For placebo pre-blends, ribbon density increased as normal stress increased. For active pre-blends, in addition to normal stress, ribbon density was also a function of gap. Models developed using placebo were found to predict ribbon densities of active blends with good accuracy and the prediction error decreased as the drug concentration of active blend decreased. Effective angle of internal friction and compressibility properties of active pre blend may be used as key indicators for predicting ribbon densities of active blend using placebo ribbon density model. Feasibility of on-line prediction of ribbon density during roller compaction was demonstrated using porosity-pressure data of pre-blend and normal stress

  9. Frictional coefficient depending on active friction radius with BPV ...

    African Journals Online (AJOL)

    Frictional coefficient depending on active friction radius with BPV and BTV in automobile disc braking system. ... International Journal of Engineering, Science and Technology. Journal Home · ABOUT ... AJOL African Journals Online. HOW TO ...

  10. On the constant-roll inflation

    Science.gov (United States)

    Yi, Zhu; Gong, Yungui

    2018-03-01

    The primordial power spectra of scalar and tensor perturbations during slow-roll inflation are usually calculated with the method of Bessel function approximation. For constant-roll or ultra slow-roll inflation, the method of Bessel function approximation may be invalid. We compare the numerical results with the analytical results derived from the Bessel function approximation, and we find that they differ significantly on super-horizon scales if the constant slow-roll parameter ηH is not small. More accurate method is needed for calculating the primordial power spectrum for constant-roll inflation.

  11. Friction analysis of kinetic schemes : the friction coefficient

    NARCIS (Netherlands)

    Lolkema, Juke S.

    1995-01-01

    Friction analysis is proposed as the application of general control analysis to single enzymes to describe the control of elementary kinetic steps on the overall catalytic rate. For each transition, a friction coefficient is defined that measures the sensitivity of the turnover rate to the free

  12. Studying on tempering transformation and internal friction for low carbon bainitic steel

    International Nuclear Information System (INIS)

    Li, Weijuan; Cai, Mingyu; Wang, Dong; Zhang, Junwei; Zhao, Shengshi; Shao, Peiying

    2017-01-01

    The changes of microstructure during the process of tempering transformation were analyzed by scanning electron microscopy (SEM), transmission electron microscopy (TEM), X-ray diffraction and internal friction (IF) for low carbon bainite steel. The yield strength of the steel was tested after tempering transformation. The results showed that the microstructures of the experimental steel in rolled state were composed of lath bainite and granular bainite with a little Mo 2 C and NbC precipitates. The lath width of bainite increased continuously with the tempering time. More cell structures with different orientations were formed in bainite laths. Furthermore, poly-gonization gradually began in some laths. The microstructure of granular bainite increased and was coarsened when it devoured the lath bainite continuously. The dislocation density of the bainitic ferrite decreased continuously as Mo 2 C and NbC precipitations were further increasing. The peak value of Snoek decreased continuously in internal friction-temperature spectrum. The peak value of SKK at the surface decreased at first and then increased. The peak value of SKK at the center decreased firstly and then had little change. Besides, the yield strength of the steel increased firstly and then decreased.

  13. Studying on tempering transformation and internal friction for low carbon bainitic steel

    Energy Technology Data Exchange (ETDEWEB)

    Li, Weijuan, E-mail: liweijuan826@163.com; Cai, Mingyu; Wang, Dong; Zhang, Junwei; Zhao, Shengshi; Shao, Peiying

    2017-01-02

    The changes of microstructure during the process of tempering transformation were analyzed by scanning electron microscopy (SEM), transmission electron microscopy (TEM), X-ray diffraction and internal friction (IF) for low carbon bainite steel. The yield strength of the steel was tested after tempering transformation. The results showed that the microstructures of the experimental steel in rolled state were composed of lath bainite and granular bainite with a little Mo{sub 2}C and NbC precipitates. The lath width of bainite increased continuously with the tempering time. More cell structures with different orientations were formed in bainite laths. Furthermore, poly-gonization gradually began in some laths. The microstructure of granular bainite increased and was coarsened when it devoured the lath bainite continuously. The dislocation density of the bainitic ferrite decreased continuously as Mo{sub 2}C and NbC precipitations were further increasing. The peak value of Snoek decreased continuously in internal friction-temperature spectrum. The peak value of SKK at the surface decreased at first and then increased. The peak value of SKK at the center decreased firstly and then had little change. Besides, the yield strength of the steel increased firstly and then decreased.

  14. On the nature of the static friction, kinetic friction and creep

    DEFF Research Database (Denmark)

    Persson, B. N. J.; Albohr, O.; Mancosu, F.

    2003-01-01

    of capillary bridges. However, there is no single value of the static friction coefficient, since it depends upon the initial dwell time and on rate of starting.We argue that the correct basis for the Coulomb friction law, which states that the friction force is proportional to the normal load...

  15. Technology development for roll-to-roll production of organic photovoltaics

    NARCIS (Netherlands)

    Galagan, Y.O.; Vries, I.G. de; Langen, A.P.; Andriessen, H.A.J.M.; Verhees, W.J.H.; Veenstra, S.C.; Kroon, J.M.

    2011-01-01

    In order to reach the objective of low-cost, large area organic photovoltaic systems, we build up a knowledge base concerning the influence of process conditions on the performance of polymer solar cells. A large area solar cell module, with roll-to-roll coated PEDOT:PSS and photoactive layers

  16. Frictional Compliant Haptic Contact and Deformation of Soft Objects

    Directory of Open Access Journals (Sweden)

    Naci Zafer

    2016-05-01

    Full Text Available This paper is concerned with compliant haptic contact and deformation of soft objects. A human soft fingertip model is considered to act as the haptic interface and is brought into contact with and deforms a discrete surface. A nonlinear constitutive law is developed in predicting normal forces and, for the haptic display of surface texture, motions along the surface are also resisted at various rates by accounting for dynamic Lund-Grenoble (LuGre frictional forces. For the soft fingertip to apply forces over an area larger than a point, normal and frictional forces are distributed around the soft fingertip contact location on the deforming surface. The distribution is realized based on a kernel smoothing function and by a nonlinear spring-damper net around the contact point. Experiments conducted demonstrate the accuracy and effectiveness of our approach in real-time haptic rendering of a kidney surface. The resistive (interaction forces are applied at the user fingertip bone edge. A 3-DoF parallel robotic manipulator equipped with a constraint based controller is used for the implementation. By rendering forces both in lateral and normal directions, the designed haptic interface system allows the user to realistically feel both the geometrical and mechanical (nonlinear properties of the deforming kidney.

  17. Rolling Force Prediction in Heavy Plate Rolling Based on Uniform Differential Neural Network

    Directory of Open Access Journals (Sweden)

    Fei Zhang

    2016-01-01

    Full Text Available Accurate prediction of the rolling force is critical to assuring the quality of the final product in steel manufacturing. Exit thickness of plate for each pass is calculated from roll gap, mill spring, and predicted roll force. Ideal pass scheduling is dependent on a precise prediction of the roll force in each pass. This paper will introduce a concept that allows obtaining the material model parameters directly from the rolling process on an industrial scale by the uniform differential neural network. On the basis of the characteristics that the uniform distribution can fully characterize the solution space and enhance the diversity of the population, uniformity research on differential evolution operator is made to get improved crossover with uniform distribution. When its original function is transferred with a transfer function, the uniform differential evolution algorithms can quickly solve complex optimization problems. Neural network structure and weights threshold are optimized by uniform differential evolution algorithm, and a uniform differential neural network is formed to improve rolling force prediction accuracy in process control system.

  18. Obstacle negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

    Science.gov (United States)

    Zheng, Li; Yi, Ruan

    2009-11-01

    Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  19. Versatile Friction Stir Welding/Friction Plug Welding System

    Science.gov (United States)

    Carter, Robert

    2006-01-01

    A proposed system of tooling, machinery, and control equipment would be capable of performing any of several friction stir welding (FSW) and friction plug welding (FPW) operations. These operations would include the following: Basic FSW; FSW with automated manipulation of the length of the pin tool in real time [the so-called auto-adjustable pin-tool (APT) capability]; Self-reacting FSW (SRFSW); SR-FSW with APT capability and/or real-time adjustment of the distance between the front and back shoulders; and Friction plug welding (FPW) [more specifically, friction push plug welding] or friction pull plug welding (FPPW) to close out the keyhole of, or to repair, an FSW or SR-FSW weld. Prior FSW and FPW systems have been capable of performing one or two of these operations, but none has thus far been capable of performing all of them. The proposed system would include a common tool that would have APT capability for both basic FSW and SR-FSW. Such a tool was described in Tool for Two Types of Friction Stir Welding (MFS- 31647-1), NASA Tech Briefs, Vol. 30, No. 10 (October 2006), page 70. Going beyond what was reported in the cited previous article, the common tool could be used in conjunction with a plug welding head to perform FPW or FPPW. Alternatively, the plug welding head could be integrated, along with the common tool, into a FSW head that would be capable of all of the aforementioned FSW and FPW operations. Any FSW or FPW operation could be performed under any combination of position and/or force control.

  20. Proximity friction reexamined

    International Nuclear Information System (INIS)

    Krappe, H.J.

    1989-01-01

    The contribution of inelastic excitations to radial and tangential friction form-factors in heavy-ion collisions is investigated in the frame-work of perturbation theory. The dependence of the form factors on the essential geometrical and level-density parameters of the scattering system is exhibited in a rather closed form. The conditions for the existence of time-local friction coefficients are discussed. Results are compared to form factors from other models, in particular the transfer-related proximity friction. For the radial friction coefficient the inelastic excitation mechanism seems to be the dominant contribution in peripheral collisions. (orig.)

  1. Finite-element model to predict roll-separation force and defects during rolling of U-10Mo alloys

    Science.gov (United States)

    Soulami, Ayoub; Burkes, Douglas E.; Joshi, Vineet V.; Lavender, Curt A.; Paxton, Dean

    2017-10-01

    A major goal of the Convert Program of the U.S. Department of Energy's National Nuclear Security Administration (DOE/NNSA) is to enable high-performance research reactors to operate with low-enriched uranium rather than the high-enriched uranium currently used. To this end, uranium alloyed with 10 wt% molybdenum (U-10Mo) represents an ideal candidate because of its stable gamma phase, low neutron caption cross section, acceptable swelling response, and predictable irradiation behavior. However, because of the complexities of the fuel design and the need for rolled monolithic U-10Mo foils, new developments in processing and fabrication are necessary. This study used a finite-element code, LS-DYNA, as a predictive tool to optimize the rolling process. Simulations of the hot rolling of U-10Mo coupons encapsulated in low-carbon steel were conducted following two different schedules. Model predictions of the roll-separation force and roll pack thicknesses at different stages of the rolling process were compared with experimental measurements. The study reported here discussed various attributes of the rolled coupons revealed by the model (e.g., waviness and thickness non-uniformity like dog-boning). To investigate the influence of the cladding material on these rolling defects, other cases were simulated: hot rolling with alternative can materials, namely, 304 stainless steel and Zircaloy-2, and bare-rolling. Simulation results demonstrated that reducing the mismatch in strength between the coupon and can material improves the quality of the rolled sheet. Bare-rolling simulation results showed a defect-free rolled coupon. The finite-element model developed and presented in this study can be used to conduct parametric studies of several process parameters (e.g., rolling speed, roll diameter, can material, and reduction).

  2. Numerical Study of Tire Hydroplaning Based on Power Spectrum of Asphalt Pavement and Kinetic Friction Coefficient

    Directory of Open Access Journals (Sweden)

    Shengze Zhu

    2017-01-01

    Full Text Available Hydroplaning is a driving phenomenon threating vehicle’s control stability and safety. It happens when tire rolls on wet pavement with high speed that hydrodynamic force uplifts the tire. Accurate numerical simulation to reveal the mechanism of hydroplaning and evaluate the function of relevant factors in this process is significant. In order to describe the friction behaviors of tire-pavement interaction, kinetic friction coefficient curve of tire rubber and asphalt pavement was obtained by combining pavement surface power spectrum and complex modulus of tread rubber through Persson’s friction theory. Finite element model of tire-fluid-pavement was established in ABAQUS, which was composed of a 225-40-R18 radial tire and three types of asphalt pavement covered with water film. Mechanical responses and physical behaviors of tire-pavement interaction were observed and compared with NASA equation to validate the applicability and accuracy of this model. Then contact force at tire-pavement interface and critical hydroplaning speed influenced by tire inflation pressure, water film thickness, and pavement types were investigated. The results show higher tire inflation pressure, thinner water film, and more abundant macrotexture enhancing hydroplaning speed. The results could be applied to predict hydroplaning speed on different asphalt pavement and improve pavement skid resistance design.

  3. Perancangan Sistem Stabilisasi Kamera Tiga Sumbu dengan Metode Kontrol Fuzzy untuk Mobile Surveillance Robot

    Directory of Open Access Journals (Sweden)

    Fahrezi Alwi Muhammad

    2017-01-01

    Full Text Available Robot pengintaian (surveillance robot sering digunakan pada militer untuk melakukan tugas pengintaian sehingga tidak perlu membahayakan nyawa manusia karena dikendalikan dari jarak jauh. Robot pengintai memiliki kamera yang diletakkan di atas robot. Ketika melakukan pengamatan menggunakan kamera ini, seringkali pengamatan terganggu akibat guncangan-guncangan yang terjadi pada kamera. Guncangan ini disebabkan karena permukaan jalan yang dilalui oleh robot tidak rata. Sistem stabilisasi kamera adalah perangkat yang digunakan untuk menghilangkan guncangan dan menjaga posisi kamera agar kamera dapat mengambil gambar dengan baik pada suatu sudut pandang tertentu. Pada tugas akhir ini, dibuat sebuah sistem stabilisasi untuk robot pengintai dengan dua buah sensor gyroscope MPU-6050 untuk mengetahui kecepatan sudut guncangan dan kecepatan sudut kamera, mikrokontroler Arduino Mega sebagai pusat kontrol dan tiga buah motor DC brushless sebagai aktuator. Metode kontrol yang ditanamkan pada sistem terdiri dari tiga sistem Fuzzy untuk menangani sumbu pitch, roll, dan yaw. Pada tugas akhir ini diujikan dua metode. Metode pertama menggunakan satu sensor gyroscope sebagai nilai feedback, metode kedua menggunakan dua sensor gyroscope sebagai nilai feedback dan set point. Standar deviasi pada pengujian perekaman video tanpa kontrol untuk pixel x 40.57 dan pixel y 32.95. Standar deviasi dengan metode pertama untuk pixel x 24.73 adalah dan pixel y 21.73, Sedangkan standar deviasi metode kedua untuk pixel x 16.70 dan pixel y 22.44.

  4. 75 FR 42782 - Hot-Rolled Flat-Rolled Carbon-Quality Steel Products From Brazil, Japan, and Russia

    Science.gov (United States)

    2010-07-22

    ...)] Hot-Rolled Flat-Rolled Carbon-Quality Steel Products From Brazil, Japan, and Russia AGENCY: United... Brazil and Japan, and the suspended investigation on hot-rolled steel from Russia. SUMMARY: The... Japan, and the suspended investigation on hot-rolled steel from Russia would be likely to lead to...

  5. 75 FR 62566 - Hot-Rolled Flat-Rolled Carbon-Quality Steel Products From Brazil, Japan, and Russia

    Science.gov (United States)

    2010-10-12

    ...)] Hot-Rolled Flat-Rolled Carbon-Quality Steel Products From Brazil, Japan, and Russia AGENCY: United... antidumping duty investigation on hot-rolled steel from Russia. SUMMARY: The Commission hereby gives notice of... suspended investigation on hot-rolled steel from Russia would be likely to lead to continuation or...

  6. Chemical origins of frictional aging.

    Science.gov (United States)

    Liu, Yun; Szlufarska, Izabela

    2012-11-02

    Although the basic laws of friction are simple enough to be taught in elementary physics classes and although friction has been widely studied for centuries, in the current state of knowledge it is still not possible to predict a friction force from fundamental principles. One of the highly debated topics in this field is the origin of static friction. For most macroscopic contacts between two solids, static friction will increase logarithmically with time, a phenomenon that is referred to as aging of the interface. One known reason for the logarithmic growth of static friction is the deformation creep in plastic contacts. However, this mechanism cannot explain frictional aging observed in the absence of roughness and plasticity. Here, we discover molecular mechanisms that can lead to a logarithmic increase of friction based purely on interfacial chemistry. Predictions of our model are consistent with published experimental data on the friction of silica.

  7. Roll paper pilot. [mathematical model for predicting pilot rating of aircraft in roll task

    Science.gov (United States)

    Naylor, F. R.; Dillow, J. D.; Hannen, R. A.

    1973-01-01

    A mathematical model for predicting the pilot rating of an aircraft in a roll task is described. The model includes: (1) the lateral-directional aircraft equations of motion; (2) a stochastic gust model; (3) a pilot model with two free parameters; and (4) a pilot rating expression that is a function of rms roll angle and the pilot lead time constant. The pilot gain and lead time constant are selected to minimize the pilot rating expression. The pilot parameters are then adjusted to provide a 20% stability margin and the adjusted pilot parameters are used to compute a roll paper pilot rating of the aircraft/gust configuration. The roll paper pilot rating was computed for 25 aircraft/gust configurations. A range of actual ratings from 2 to 9 were encountered and the roll paper pilot ratings agree quite well with the actual ratings. In addition there is good correlation between predicted and measured rms roll angle.

  8. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

  9. Friction induced hunting limit cycles : a comparison between the LuGre and switch friction model

    NARCIS (Netherlands)

    Hensen, R.H.A.; Molengraft, van de M.J.G.; Steinbuch, M.

    2003-01-01

    In this paper, friction induced limit cycles are predicted for a simple motion system consisting of a motor-driven inertia subjected to friction and a PID-controlled regulator task. The two friction models used, i.e., (i) the dynamic LuGre friction model and (ii) the static switch friction model,

  10. Lengthening the lifetime of roll-to-roll produced polymer solar cells

    DEFF Research Database (Denmark)

    Madsen, Morten Vesterager

    the knowledge of the degradation mechanisms involved in roll-to-roll coated polymer solar cells. While only a part of the experiments have directly involved roll-to-roll coated devices, most of the work is applicable to coated devices. The first part of the dissertation is devoted to the study of in......The field of polymer solar cells is a field with an exponential growth in the number of published papers. It is a field defined by a set of challenges including; efficiency, stability and processability. Before all of these challenges have been addressed; polymer solar cells...... will not be a commercial success. This dissertation is devoted primarily to the study of the stability of polymer solar cells, and more specifically to designing and verifying experimental techniques, procedures, and automated solutions to stability tests and characterization. The goal of the project was to expand...

  11. Novel friction law for the static friction force based on local precursor slipping.

    Science.gov (United States)

    Katano, Yu; Nakano, Ken; Otsuki, Michio; Matsukawa, Hiroshi

    2014-09-10

    The sliding of a solid object on a solid substrate requires a shear force that is larger than the maximum static friction force. It is commonly believed that the maximum static friction force is proportional to the loading force and does not depend on the apparent contact area. The ratio of the maximum static friction force to the loading force is called the static friction coefficient µM, which is considered to be a constant. Here, we conduct experiments demonstrating that the static friction force of a slider on a substrate follows a novel friction law under certain conditions. The magnitude of µM decreases as the loading force increases or as the apparent contact area decreases. This behavior is caused by the slip of local precursors before the onset of bulk sliding and is consistent with recent theory. The results of this study will develop novel methods for static friction control.

  12. Static frictional resistance with the slide low-friction elastomeric ligature system.

    Science.gov (United States)

    Jones, Steven P; Ben Bihi, Saida

    2009-11-01

    This ex-vivo study compared the static frictional resistance of a low-friction ligation system against a conventional elastomeric module, and studied the effect of storage in a simulated oral environment on the static frictional resistance of both ligation systems. Eighty stainless steel brackets were tested by sliding along straight lengths of 0.018 inch round and 0.019 x 0.025 inch rectangular stainless steel wires ligated with either conventional elastomerics or the Slide system (Leone, Florence, Italy). During the tests the brackets and wires were lubricated with artificial saliva. A specially constructed jig assembly was used to hold the bracket and archwire securely. The jig was clamped in an Instron universal load testing machine. Crosshead speed was controlled via a microcomputer connected to the Instron machine. The static frictional forces at 0 degree bracket/wire angulation were measured for both systems, fresh from the pack and after storage in artificial saliva at 37 degrees C for 24 hours. The results of this investigation demonstrated that the Slide ligatures produced significantly lower static frictional resistance than conventional elastomeric modules in the fresh condition and after 24 hours of storage in a simulated oral environment (p static frictional resistance of conventional elastomeric modules and the Slide system (p = 0.525). The claim by the manufacturer that the Slide system produces lower frictional resistance than conventional elastomeric modules is upheld.

  13. Influences of rolling method on deformation force in cold roll-beating forming process

    Science.gov (United States)

    Su, Yongxiang; Cui, Fengkui; Liang, Xiaoming; Li, Yan

    2018-03-01

    In process, the research object, the gear rack was selected to study the influence law of rolling method on the deformation force. By the mean of the cold roll forming finite element simulation, the variation regularity of radial and tangential deformation was analysed under different rolling methods. The variation of deformation force of the complete forming racks and the single roll during the steady state under different rolling modes was analyzed. The results show: when upbeating and down beating, radial single point average force is similar, the tangential single point average force gap is bigger, the gap of tangential single point average force is relatively large. Add itionally, the tangential force at the time of direct beating is large, and the dire ction is opposite with down beating. With directly beating, deformation force loading fast and uninstall slow. Correspondingly, with down beating, deformat ion force loading slow and uninstall fast.

  14. Normal Force Influence on 3D Texture Parameters Characterizing the Friction Couple Steel – PBT + 10 % PTFE

    Directory of Open Access Journals (Sweden)

    C. Georgescu

    2014-03-01

    Full Text Available This study presents the influence of the normal force on the surface quality of the friction couple steel – polybutylene terephthalate (PBT + 10 % polytetrafluoroethylene (PTFE. There were calculated the average values of the amplitude and functional parameters, as obtained from investigating square areas on the wear tracks, with the help of a proposed methodology, for initial and tested surfaces generated on the blocks and on counterpart ring made of rolling bearing steel, for the following test conditions: three normal forces (F = 1 N, F = 2.5 N and F =5 N, three sliding speeds (v = 0.25 m/s, v = 0.50 m/s and v = 0.75 m/s and a sliding distance of L = 7500 m. The conclusion of the research study was that the tested normal force range has an insignificant influence on the surface quality for the tested materials and parameters. This friction couple could be recommended for variable conditions (speed and load in dry regimes.

  15. 75 FR 64246 - Certain Hot-Rolled Flat-Rolled Carbon-Quality Steel Products From Brazil: Correction to Notice of...

    Science.gov (United States)

    2010-10-19

    ...-Rolled Carbon-Quality Steel Products From Brazil: Correction to Notice of Antidumping Duty Order AGENCY... certain hot-rolled flat-rolled carbon-quality steel products from Brazil. See Antidumping Duty Order: Certain Hot-Rolled Flat-Rolled Carbon-Quality Steel Products From Brazil, 67 FR 11093 (March 12, 2002...

  16. Reflections on Friction in Quantum Mechanics

    Directory of Open Access Journals (Sweden)

    Yair Rezek

    2010-08-01

    Full Text Available Distinctly quantum friction effects of three types are surveyed: internalfriction, measurement-induced friction, and quantum-fluctuation-induced friction. We demonstrate that external driving will lead to quantum internal friction, and critique the measurement-based interpretation of friction. We conclude that in general systems will experience internal and external quantum friction over and beyond the classical frictional contributions.

  17. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2002-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  18. Rolling Shutter Motion Deblurring

    KAUST Repository

    Su, Shuochen

    2015-06-07

    Although motion blur and rolling shutter deformations are closely coupled artifacts in images taken with CMOS image sensors, the two phenomena have so far mostly been treated separately, with deblurring algorithms being unable to handle rolling shutter wobble, and rolling shutter algorithms being incapable of dealing with motion blur. We propose an approach that delivers sharp and undis torted output given a single rolling shutter motion blurred image. The key to achieving this is a global modeling of the camera motion trajectory, which enables each scanline of the image to be deblurred with the corresponding motion segment. We show the results of the proposed framework through experiments on synthetic and real data.

  19. Nano-friction behavior of phosphorene.

    Science.gov (United States)

    Bai, Lichun; Liu, Bo; Srikanth, Narasimalu; Tian, Yu; Zhou, Kun

    2017-09-01

    Nano-friction of phosphorene plays a significant role in affecting the controllability and efficiency of applying strain engineering to tune its properties. So far, the friction behavior of phosphorene has not been studied. This work studies the friction of single-layer and bilayer phosphorene on an amorphous silicon substrate by sliding a rigid tip. For the single-layer phosphorene, it is found that its friction is highly anisotropic, i.e. the friction is larger along the armchair direction than that along the zigzag direction. Moreover, pre-strain of the phosphorene also exhibits anisotropic effects. The friction increases with the pre-strain along the zigzag direction, but decreases with that along the armchair direction. Furthermore, the strong adhesion between the phosphorene and its substrate increases the friction between the phosphorene and the tip. For bilayer phosphorene, its friction highly depends on its stacking mode, which determines the contact interface with a commensurate or incommensurate pattern. This friction behavior is quite unique and greatly differs from that of graphene and molybdenum disulfide. Detailed analysis reveals that this behavior results from the combination effect of the friction contact area, the potential-energy profile of phosphorene, and its unique elongation.

  20. A 3-DOF parallel robot with spherical motion for the rehabilitation and evaluation of balance performance.

    Science.gov (United States)

    Patanè, Fabrizio; Cappa, Paolo

    2011-04-01

    In this paper a novel electrically actuated parallel robot with three degrees-of-freedom (3 DOF) for dynamic postural studies is presented. The design has been described, the solution to the inverse kinematics has been found, and a numerical solution for the direct kinematics has been proposed. The workspace of the implemented robot is characterized by an angular range of motion of about ±10° for roll and pitch when yaw is in the range ±15°. The robot was constructed and the orientation accuracy was tested by means of an optoelectronic system and by imposing a sinusoidal input, with a frequency of 1 Hz and amplitude of 10°, along the three axes, in sequence. The collected data indicated a phase delay of 1° and an amplitude error of 0.5%-1.5%; similar values were observed for cross-axis sensitivity errors. We also conducted a clinical application on a group of normal subjects, who were standing in equilibrium on the robot base with eyes open (EO) and eyes closed (EC), which was rotated with a tri-axial sinusoidal trajectory with a frequency of 0.5 Hz and amplitude 5° for roll and pitch and 10° for the yaw. The postural configuration of the subjects was recorded with an optoelectronic system. However, due to the mainly technical nature of this paper, only initial validation outcomes are reported here. The clinical application showed that only the tilt and displacement on the sagittal pane of head, trunk, and pelvis in the trials conducted with eyes closed were affected by drift and that the reduction of the yaw rotation and of the mediolateral translation was not a controlled parameter, as happened, instead, for the other anatomical directions.

  1. Frictional Heating with Time-Dependent Specific Power of Friction

    Directory of Open Access Journals (Sweden)

    Topczewska Katarzyna

    2017-06-01

    Full Text Available In this paper analytical solutions of the thermal problems of friction were received. The appropriate boundary-value problems of heat conduction were formulated and solved for a homogeneous semi–space (a brake disc heated on its free surface by frictional heat fluxes with different and time-dependent intensities. Solutions were obtained in dimensionless form using Duhamel's theorem. Based on received solutions, evolution and spatial distribution of the dimensionless temperature were analyzed using numerical methods. The numerical results allowed to determine influence of the time distribution of friction power on the spatio-temporal temperature distribution in brake disc.

  2. Dynamic modeling and mobility analysis of the transforming roving-rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

    Science.gov (United States)

    Edwin, Lionel E.; Mazzoleni, Andre P.

    2016-03-01

    All planetary surface exploration missions thus far have employed traditional rovers with a rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but are not designed to traverse rugged terrain with steep slopes. The fact is, however, that the most scientifically interesting missions require exploration platforms with capabilities for navigating such types of rugged terrain. This issue motivates the development of new kinds of rovers that take advantage of the latest advances in robotic technologies to traverse rugged terrain efficiently. This work analyzes one such rover concept called the Transforming Roving-Rolling Explorer (TRREx) that is principally aimed at addressing the above issue. Biologically inspired by the way the armadillo curls up into a ball when threatened, and the way the golden wheel spider uses the dynamic advantages of a sphere to roll down hills when escaping danger, the TRREx rover can traverse like a traditional 6-wheeled rover over conventional terrain, but can also transform itself into a sphere, when necessary, to travel down steep inclines, or navigate rough terrain. This paper investigates the mobility of the TRREx when it is in its rolling mode, i.e. when it is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. A mathematical model describing the dynamics of the rover in this spherical configuration is presented, and actuated rolling is demonstrated through computer simulation. Parametric analyzes that investigate the rover's mobility as a function of its design parameters are also presented. This work highlights the contribution of the spherical rolling mode to the enhanced mobility of the TRREx rover and how it could enable challenging surface exploration missions in the future.

  3. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  4. Coaxial twin-shaft magnetic fluid seals applied in vacuum wafer-handling robot

    Science.gov (United States)

    Cong, Ming; Wen, Haiying; Du, Yu; Dai, Penglei

    2012-07-01

    Compared with traditional mechanical seals, magnetic fluid seals have unique characters of high airtightness, minimal friction torque requirements, pollution-free and long life-span, widely used in vacuum robots. With the rapid development of Integrate Circuit (IC), there is a stringent requirement for sealing wafer-handling robots when working in a vacuum environment. The parameters of magnetic fluid seals structure is very important in the vacuum robot design. This paper gives a magnetic fluid seal device for the robot. Firstly, the seal differential pressure formulas of magnetic fluid seal are deduced according to the theory of ferrohydrodynamics, which indicate that the magnetic field gradient in the sealing gap determines the seal capacity of magnetic fluid seal. Secondly, the magnetic analysis model of twin-shaft magnetic fluid seals structure is established. By analyzing the magnetic field distribution of dual magnetic fluid seal, the optimal value ranges of important parameters, including parameters of the permanent magnetic ring, the magnetic pole tooth, the outer shaft, the outer shaft sleeve and the axial relative position of two permanent magnetic rings, which affect the seal differential pressure, are obtained. A wafer-handling robot equipped with coaxial twin-shaft magnetic fluid rotary seals and bellows seal is devised and an optimized twin-shaft magnetic fluid seals experimental platform is built. Test result shows that when the speed of the two rotational shafts ranges from 0-500 r/min, the maximum burst pressure is about 0.24 MPa. Magnetic fluid rotary seals can provide satisfactory performance in the application of wafer-handling robot. The proposed coaxial twin-shaft magnetic fluid rotary seal provides the instruction to design high-speed vacuum robot.

  5. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  6. Frictional behaviour of high performance fibrous tows: Friction experiments

    NARCIS (Netherlands)

    Cornelissen, Bo; Rietman, Bert; Akkerman, Remko

    2013-01-01

    Tow friction is an important mechanism in the production and processing of high performance fibrous tows. The frictional behaviour of these tows is anisotropic due to the texture of the filaments as well as the tows. This work describes capstan experiments that were performed to measure the

  7. Interlayer adhesion in roll-to-roll processed flexible inverted polymer solar cells

    KAUST Repository

    Dupont, Stephanie R.; Oliver, Mark; Krebs, Frederik C.; Dauskardt, Reinhold H.

    2012-01-01

    The interlayer adhesion of roll-to-roll processed flexible inverted P3HT:PCBM bulk heterojunction (BHJ) polymer solar cells is reported. Poor adhesion between adjacent layers may result in loss of device performance from delamination driven

  8. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

  9. The Effect of Rolling As-Cast and Homogenized U-10Mo Samples on the Microstructure Development and Recovery Curves

    Energy Technology Data Exchange (ETDEWEB)

    Joshi, Vineet V. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Paxton, Dean M. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Lavender, Curt A. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Burkes, Douglas [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2016-07-30

    microstructure. However, annealing the samples led to quick recovery in hardness as evidenced by a drop in Vickers hardness of 20%. Hot rolling was performed at 650 and 800°C. The hot-rolling mill loads (load separation force) were approximately 40 to 50% less than the cold-rolling for the same reduction and thickness. It was observed that hot rolling the samples with 50% or more reduction in thickness were responsible for dynamic recrystallization in the hot-rolled samples and led to grain refinement. Unlike the cold-rolled samples, the hot-rolled samples did not fracture the carbides and appeared to heal the casting defects. The recovery phenomenon was similar to the cold-rolled samples above the eutectoid temperatures, but owing to the refined grain size, the precipitation of the lamellar phase was far more rapid in these samples and the hardness increased more rapidly than in the cold rolled sample when heated below the eutectoid temperature. The data generated from these rolling efforts has been used to make the process modeling efforts more robust and applicable to all USHPRR partner rolling mills. The flow stress for cold rolling the samples was determined to be between 170-190 ksi, with frictional forces between 0.2 and 0.4 for the PNNL mill. The measured roll separation forces and those simulated using finite element methods for hot and cold rolling for the PNNL rolling mill were in good agreement.

  10. A Computational Mechatronics Approach for the Analysis, Synthesis and Design of a Simple Active Biped Robot: Theory and Experiments

    Directory of Open Access Journals (Sweden)

    L.-I. Lugo-Villeda

    2006-01-01

    Full Text Available Biped walking is a quite complex process that has been mastered only by human beings. Transferring this skill to a robot requires implementing advanced techniques in every aspect. To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. An experimental underactuated three-degree-of-freedom (two active and one passive active biped robot yields encouraging results; that is, achieving biped walking with this simple device requires adding a telescopic support leg. Considering a more complete dynamic model to take into account frictional and contact forces.

  11. Roll-to-roll printed silver nanowires for increased stability of flexible ITO-free organic solar cell modules

    DEFF Research Database (Denmark)

    Benatto, Gisele Alves dos Reis; Roth, Bérenger; Corazza, Michael

    2016-01-01

    We report the use of roll-to-roll printed silver nanowire networks as front electrodes for fully roll-to-roll processed flexible indium-tin-oxide (ITO) free OPV modules. We prepared devices with two types of back electrodes, a simple PEDOT:PSS back electrode and a PEDOT:PSS back electrode...

  12. Effect of Process Parameters on Friction Model in Computer Simulation of Linear Friction Welding

    Directory of Open Access Journals (Sweden)

    A. Yamileva

    2014-07-01

    Full Text Available The friction model is important part of a numerical model of linear friction welding. Its selection determines the accuracy of the results. Existing models employ the classical law of Amonton-Coulomb where the friction coefficient is either constant or linearly dependent on a single parameter. Determination of the coefficient of friction is a time consuming process that requires a lot of experiments. So the feasibility of determinating the complex dependence should be assessing by analysis of effect of approximating law for friction model on simulation results.

  13. Fabrication of Superhydrophobic Metallic Surface by Wire Electrical Discharge Machining for Seamless Roll-to-Roll Printing

    Directory of Open Access Journals (Sweden)

    Jin-Young So

    2018-04-01

    Full Text Available This paper presents a proposal of a direct one-step method to fabricate a multi-scale superhydrophobic metallic seamless roll mold. The mold was fabricated using the wire electrical discharge machining (WEDM technique for a roll-to-roll imprinting application to produce a large superhydrophobic surface. Taking advantage of the exfoliating characteristic of the metallic surface, nano-sized surface roughness was spontaneously formed while manufacturing the micro-sized structure: that is, a dual-scale hierarchical structure was easily produced in a simple one-step fabrication with a large area on the aluminum metal surface. This hierarchical structure showed superhydrophobicity without chemical coating. A roll-type seamless mold for the roll-to-roll process was fabricated through engraving the patterns on the cylindrical substrate, thereby enabling to make a continuous film with superhydrophobicity.

  14. Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

    Science.gov (United States)

    Jayaram, Kaushik; Full, Robert J.

    2016-01-01

    Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300–800 ms by compressing their body 40–60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm⋅s−1, despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion—“body-friction legged crawling” with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces. PMID:26858443

  15. Rolling Resistance Measurement and Model Development

    DEFF Research Database (Denmark)

    Andersen, Lasse Grinderslev; Larsen, Jesper; Fraser, Elsje Sophia

    2015-01-01

    There is an increased focus worldwide on understanding and modeling rolling resistance because reducing the rolling resistance by just a few percent will lead to substantial energy savings. This paper reviews the state of the art of rolling resistance research, focusing on measuring techniques, s......, surface and texture modeling, contact models, tire models, and macro-modeling of rolling resistance...

  16. A rolling-gliding wear simulator for the investigation of tribological material pairings for application in total knee arthroplasty

    Science.gov (United States)

    2010-01-01

    Background Material wear testing is an important technique in the development and evaluation of materials for use in implant for total knee arthroplasty. Since a knee joint induces a complex rolling-gliding movement, standardised material wear testing devices such as Pin-on-Disc or Ring-on-Disc testers are suitable to only a limited extent because they generate pure gliding motion only. Methods A rolling-gliding wear simulator was thus designed, constructed and implemented, which simulates and reproduces the rolling-gliding movement and loading of the knee joint on specimens of simplified geometry. The technical concept was to run a base-plate, representing the tibia plateau, against a pivoted cylindrical counter-body, representing one femur condyle under an axial load. A rolling movement occurs as a result of the friction and pure gliding is induced by limiting the rotation of the cylindrical counter-body. The set up also enables simplified specimens handling and removal for gravimetrical wear measurements. Long-term wear tests and gravimetrical wear measurements were carried out on the well known material pairings: cobalt chrome-polyethylene, ceramic-polyethylene and ceramic-ceramic, over three million motion cycles to allow material comparisons to be made. Results The observed differences in wear rates between cobalt-chrome on polyethylene and ceramic on polyethylene pairings were similar to the differences of published data for existing material-pairings. Test results on ceramic-ceramic pairings of different frontal-plane geometry and surface roughness displayed low wear rates and no fracture failures. Conclusions The presented set up is able to simulate the rolling-gliding movement of the knee joint, is easy to use, and requires a minimum of user intervention or monitoring. It is suitable for long-term testing, and therefore a useful tool for the investigation of new and promising materials which are of interest for application in knee joint replacement

  17. A rolling-gliding wear simulator for the investigation of tribological material pairings for application in total knee arthroplasty

    Directory of Open Access Journals (Sweden)

    Denkena Berend

    2010-06-01

    Full Text Available Abstract Background Material wear testing is an important technique in the development and evaluation of materials for use in implant for total knee arthroplasty. Since a knee joint induces a complex rolling-gliding movement, standardised material wear testing devices such as Pin-on-Disc or Ring-on-Disc testers are suitable to only a limited extent because they generate pure gliding motion only. Methods A rolling-gliding wear simulator was thus designed, constructed and implemented, which simulates and reproduces the rolling-gliding movement and loading of the knee joint on specimens of simplified geometry. The technical concept was to run a base-plate, representing the tibia plateau, against a pivoted cylindrical counter-body, representing one femur condyle under an axial load. A rolling movement occurs as a result of the friction and pure gliding is induced by limiting the rotation of the cylindrical counter-body. The set up also enables simplified specimens handling and removal for gravimetrical wear measurements. Long-term wear tests and gravimetrical wear measurements were carried out on the well known material pairings: cobalt chrome-polyethylene, ceramic-polyethylene and ceramic-ceramic, over three million motion cycles to allow material comparisons to be made. Results The observed differences in wear rates between cobalt-chrome on polyethylene and ceramic on polyethylene pairings were similar to the differences of published data for existing material-pairings. Test results on ceramic-ceramic pairings of different frontal-plane geometry and surface roughness displayed low wear rates and no fracture failures. Conclusions The presented set up is able to simulate the rolling-gliding movement of the knee joint, is easy to use, and requires a minimum of user intervention or monitoring. It is suitable for long-term testing, and therefore a useful tool for the investigation of new and promising materials which are of interest for application in

  18. A rolling-gliding wear simulator for the investigation of tribological material pairings for application in total knee arthroplasty.

    Science.gov (United States)

    Richter, Berna I; Ostermeier, Sven; Turger, Anke; Denkena, Berend; Hurschler, Christof

    2010-06-15

    Material wear testing is an important technique in the development and evaluation of materials for use in implant for total knee arthroplasty. Since a knee joint induces a complex rolling-gliding movement, standardised material wear testing devices such as Pin-on-Disc or Ring-on-Disc testers are suitable to only a limited extent because they generate pure gliding motion only. A rolling-gliding wear simulator was thus designed, constructed and implemented, which simulates and reproduces the rolling-gliding movement and loading of the knee joint on specimens of simplified geometry. The technical concept was to run a base-plate, representing the tibia plateau, against a pivoted cylindrical counter-body, representing one femur condyle under an axial load. A rolling movement occurs as a result of the friction and pure gliding is induced by limiting the rotation of the cylindrical counter-body. The set up also enables simplified specimens handling and removal for gravimetrical wear measurements. Long-term wear tests and gravimetrical wear measurements were carried out on the well known material pairings: cobalt chrome-polyethylene, ceramic-polyethylene and ceramic-ceramic, over three million motion cycles to allow material comparisons to be made. The observed differences in wear rates between cobalt-chrome on polyethylene and ceramic on polyethylene pairings were similar to the differences of published data for existing material-pairings. Test results on ceramic-ceramic pairings of different frontal-plane geometry and surface roughness displayed low wear rates and no fracture failures. The presented set up is able to simulate the rolling-gliding movement of the knee joint, is easy to use, and requires a minimum of user intervention or monitoring. It is suitable for long-term testing, and therefore a useful tool for the investigation of new and promising materials which are of interest for application in knee joint replacement implants.

  19. Friction-induced Vibrations in an Experimental Drill-string System for Various Friction Situations

    NARCIS (Netherlands)

    Mihajlovic, N.; Wouw, van de N.; Hendriks, M.P.M.; Nijmeijer, H.

    2005-01-01

    Friction-induced limit cycling deteriorates system performance in a wide variety of mechanical systems. In this paper, we study the way in which essential friction characteristics affect the occurrence and nature of friction-induced limit cycling in flexible rotor systems. This study is performed on

  20. SU-F-BRE-05: Development and Evaluation of a Real-Time Robotic 6D Quality Assurance Phantom

    Energy Technology Data Exchange (ETDEWEB)

    Belcher, AH; Liu, X; Grelewicz, Z; Wiersma, RD [The University of Chicago, Chicago, IL (United States)

    2014-06-15

    Purpose: A 6 degree-of-freedom robotic phantom capable of reproducing dynamic tumor motion in 6D was designed to more effectively match solid tumor movements throughout pre-treatment scanning and radiation therapy. With the abundance of optical and x-ray 6D real-time tumor tracking methodologies clinically available, and the substantial dosimetric consequences of failing to consider tumor rotation as well as translation, this work presents the development and evaluation of a 6D instrument with the facility to improve quality assurance. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the so-called Stewart-Gough parallel kinematics platform archetype. The device was then controlled using an inverse kinematics formulation, and precise movements in all six degrees of freedom (X, Y, Z, pitch, roll, and yaw) as well as previously obtained cranial motion, were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system (Polaris, NDI), and quantitatively compared to the input trajectory. Thus, the accuracy and repeatability of 6D motion was investigated and the phantom performance was characterized. Results: Evaluation of the 6D platform demonstrated translational RMSE values of 0.196 mm, 0.260 mm, and 0.101 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.068 degrees, 0.0611 degrees, and 0.095 degrees over 10 degrees of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 minutes, with a maximal RMSE of 0.044 mm translationally and 0.036 degrees rotationally. Conclusion: This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Consequently, such a robotics device has the potential to serve as a more effective system for IGRT QA that involves both translational and

  1. SU-F-BRE-05: Development and Evaluation of a Real-Time Robotic 6D Quality Assurance Phantom

    International Nuclear Information System (INIS)

    Belcher, AH; Liu, X; Grelewicz, Z; Wiersma, RD

    2014-01-01

    Purpose: A 6 degree-of-freedom robotic phantom capable of reproducing dynamic tumor motion in 6D was designed to more effectively match solid tumor movements throughout pre-treatment scanning and radiation therapy. With the abundance of optical and x-ray 6D real-time tumor tracking methodologies clinically available, and the substantial dosimetric consequences of failing to consider tumor rotation as well as translation, this work presents the development and evaluation of a 6D instrument with the facility to improve quality assurance. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the so-called Stewart-Gough parallel kinematics platform archetype. The device was then controlled using an inverse kinematics formulation, and precise movements in all six degrees of freedom (X, Y, Z, pitch, roll, and yaw) as well as previously obtained cranial motion, were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system (Polaris, NDI), and quantitatively compared to the input trajectory. Thus, the accuracy and repeatability of 6D motion was investigated and the phantom performance was characterized. Results: Evaluation of the 6D platform demonstrated translational RMSE values of 0.196 mm, 0.260 mm, and 0.101 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.068 degrees, 0.0611 degrees, and 0.095 degrees over 10 degrees of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 minutes, with a maximal RMSE of 0.044 mm translationally and 0.036 degrees rotationally. Conclusion: This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Consequently, such a robotics device has the potential to serve as a more effective system for IGRT QA that involves both translational and

  2. Computational design of rolling bearings

    CERN Document Server

    Nguyen-Schäfer, Hung

    2016-01-01

    This book comprehensively presents the computational design of rolling bearings dealing with many interdisciplinary difficult working fields. They encompass elastohydrodynamics (EHD), Hertzian contact theory, oil-film thickness in elastohydrodynamic lubrication (EHL), bearing dynamics, tribology of surface textures, fatigue failure mechanisms, fatigue lifetimes of rolling bearings and lubricating greases, Weibull distribution, rotor balancing, and airborne noises (NVH) in the rolling bearings. Furthermore, the readers are provided with hands-on essential formulas based on the up-to-date DIN ISO norms and helpful examples for computational design of rolling bearings. The topics are intended for undergraduate and graduate students in mechanical and material engineering, research scientists, and practicing engineers who want to understand the interactions between these working fields and to know how to design the rolling bearings for automotive industry and many other industries.

  3. Microstructural and mechanical responses to various rolling speeds determined in multi-pass break-down rolling of AZ31B alloy

    Science.gov (United States)

    Jia, Weitao; Tang, Yan; Ning, Fangkun; Le, Qichi; Cui, Jianzhong

    2018-04-01

    Different rolling operations of as-cast AZ31B alloy were performed under different rolling speed (18 ∼ 72 m min‑1) and rolling pass conditions at 400 °C. Microstructural studies, tensile testing and formability evaluation relevant to each rolling operation were investigated. For 1-pass rolling, coarse average grain size (CAGS) region gradually approached the center layer as the rolling speed increased. Moreover, twins, shear bands and coarse-grain structures were the dominant components in the microstructure of plates rolled at 18, 48 and 72 m min‑1, respectively, indicating the severe deformation inhomogeneity under the high reduction per pass condition. For 2-pass rolling and 4-pass rolling, dynamic recrystallization was observed to be well and CAGS region has substantially disappeared, indicating the significant improvement in deformation uniformity and further the grain homogenization under the conditions. Microstructure uniformity degree of 2-pass rolled plates did not vary much as the rolling speed varied. On this basis, shear band distribution dominated the deformation behavior during the uniaxial tension of the 2-pass rolled plates. However, microstructure uniformity accompanied by twin distribution played a leading role in stretching the 4-pass rolled plates.

  4. Micromechanical study of macroscopic friction and dissipation in idealised granular materials: the effect of interparticle friction

    NARCIS (Netherlands)

    Kruyt, Nicolaas P.; Gutkowski, Witold; Rothenburg, L.; Kowalewski, Tomasz A.

    2004-01-01

    Using Discrete Element Method (DEM) simulations with varying interparticle friction coefficient, the relation between interparticle friction coefficient and macroscopic continuum friction and dissipation is investigated. As expected, macroscopic friction and dilatancy increase with interparticle

  5. 75 FR 77828 - Certain Hot-Rolled Flat-Rolled Carbon-Quality Steel Products From Brazil: Extension of Time Limit...

    Science.gov (United States)

    2010-12-14

    ...-Rolled Carbon-Quality Steel Products From Brazil: Extension of Time Limit for Final Results of...-Rolled Carbon Quality Steel Products From Brazil: Preliminary Results of Countervailing Duty... administrative review of the countervailing duty order on certain hot-rolled flat-rolled carbon- quality steel...

  6. Multilength Scale Patterning of Functional Layers by Roll-to-Roll Ultraviolet-Light-Assisted Nanoimprint Lithography.

    Science.gov (United States)

    Leitgeb, Markus; Nees, Dieter; Ruttloff, Stephan; Palfinger, Ursula; Götz, Johannes; Liska, Robert; Belegratis, Maria R; Stadlober, Barbara

    2016-05-24

    Top-down fabrication of nanostructures with high throughput is still a challenge. We demonstrate the fast (>10 m/min) and continuous fabrication of multilength scale structures by roll-to-roll UV-nanoimprint lithography on a 250 mm wide web. The large-area nanopatterning is enabled by a multicomponent UV-curable resist system (JRcure) with viscous, mechanical, and surface properties that are tunable over a wide range to either allow for usage as polymer stamp material or as imprint resist. The adjustable elasticity and surface chemistry of the resist system enable multistep self-replication of structured resist layers. Decisive for defect-free UV-nanoimprinting in roll-to-roll is the minimization of the surface energies of stamp and resist, and the stepwise reduction of the stiffness from one layer to the next is essential for optimizing the reproduction fidelity especially for nanoscale features. Accordingly, we demonstrate the continuous replication of 3D nanostructures and the high-throughput fabrication of multilength scale resist structures resulting in flexible polyethylenetherephtalate film rolls with superhydrophobic properties. Moreover, a water-soluble UV-imprint resist (JRlift) is introduced that enables residue-free nanoimprinting in roll-to-roll. Thereby we could demonstrate high-throughput fabrication of metallic patterns with only 200 nm line width.

  7. Science 101: What Causes Friction?

    Science.gov (United States)

    Robertson, Bill

    2014-01-01

    Defining friction and asking what causes it might seem like a trivial question. Friction seems simple enough to understand. Friction is a force between surfaces that pushes against things that are moving or tending to move, and the rougher the surfaces, the greater the friction. Bill Robertson answers this by saying, "Well, not exactly".…

  8. Development of a force-reflecting robotic platform for cardiac catheter navigation.

    Science.gov (United States)

    Park, Jun Woo; Choi, Jaesoon; Pak, Hui-Nam; Song, Seung Joon; Lee, Jung Chan; Park, Yongdoo; Shin, Seung Min; Sun, Kyung

    2010-11-01

    Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force-reflecting robotic catheter navigation system. The system is a network-based master-slave configuration having a 3-degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions-forward and backward movements, rolling, and catheter tip bending-are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real-time operating system-based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady-state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. © 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

  9. Obstacle traversal and self-righting of bio-inspired robots reveal the physics of multi-modal locomotion

    Science.gov (United States)

    Li, Chen; Fearing, Ronald; Full, Robert

    Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.

  10. Novel Friction Law for the Static Friction Force based on Local Precursor Slipping

    OpenAIRE

    Katano, Yu; Nakano, Ken; Otsuki, Michio; Matsukawa, Hiroshi

    2014-01-01

    The sliding of a solid object on a solid substrate requires a shear force that is larger than the maximum static friction force. It is commonly believed that the maximum static friction force is proportional to the loading force and does not depend on the apparent contact area. The ratio of the maximum static friction force to the loading force is called the static friction coefficient µ M, which is considered to be a constant. Here, we conduct experiments demonstrating that the static fricti...

  11. Roll forming of eco-friendly stud

    Science.gov (United States)

    Keum, Y. T.; Lee, S. Y.; Lee, T. H.; Sim, J. K.

    2013-12-01

    In order to manufacture an eco-friendly stud, the sheared pattern is designed by the Taguchi method and expanded by the side rolls. The seven geometrical shape of sheared pattern are considered in the structural and thermal analyses to select the best functional one in terms of the durability and fire resistance of dry wall. For optimizing the size of the sheared pattern chosen, the L9 orthogonal array and smaller-the-better characteristics of the Taguchi method are used. As the roll gap causes forming defects when the upper-and-lower roll type is adopted for expanding the sheared pattern, the side roll type is introduced. The stress and strain distributions obtained by the FEM simulation of roll-forming processes are utilized for the design of expanding process. The expanding process by side rolls shortens the length of expanding process and minimizes the cost of dies. Furthermore, the stud manufactured by expanding the sheared pattern of the web is an eco-friend because of the scrapless roll-forming process. In addition, compared to the conventionally roll-formed stud, the material cost is lessened about 13.6% and the weight is lightened about 15.5%.

  12. Material-Process-Performance Relationships for Roll-to-Roll Coated PEM Electrodes

    Energy Technology Data Exchange (ETDEWEB)

    Mauger, Scott; Neyerlin, K.C.; Stickel, Jonathan; Ulsh, Michael; More, Karren; Wood, David

    2017-04-26

    Roll-to-roll (R2R) coating is the most economical and highest throughput method for producing fuel cell electrodes. R2R coating encompasses many different methodologies to create uniform films on a moving web substrate. Here we explore two coating methods, gravure and slot die, to understand the impacts of each on film uniformity and performance.

  13. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  14. Constant-roll (quasi-)linear inflation

    Science.gov (United States)

    Karam, A.; Marzola, L.; Pappas, T.; Racioppi, A.; Tamvakis, K.

    2018-05-01

    In constant-roll inflation, the scalar field that drives the accelerated expansion of the Universe is rolling down its potential at a constant rate. Within this framework, we highlight the relations between the Hubble slow-roll parameters and the potential ones, studying in detail the case of a single-field Coleman-Weinberg model characterised by a non-minimal coupling of the inflaton to gravity. With respect to the exact constant-roll predictions, we find that assuming an approximate slow-roll behaviour yields a difference of Δ r = 0.001 in the tensor-to-scalar ratio prediction. Such a discrepancy is in principle testable by future satellite missions. As for the scalar spectral index ns, we find that the existing 2-σ bound constrains the value of the non-minimal coupling to ξphi ~ 0.29–0.31 in the model under consideration.

  15. Rolling of molybdenum and niobium tubes on cold-rolling mill with high stiff stand

    Energy Technology Data Exchange (ETDEWEB)

    Potapov, I N; Shejkh-Ali, A D; Filimonov, G V; Lunev, A G

    1984-03-01

    To develop the technique of tube production the process of rolling is studied and comparative evaluation of the structure formed is carried out. It is shown that billets of rods deformed by screw rolling have the improved plastic properties and are deformed on cold-rolling mill (CRM) with a high degree of reduction without defect formation. High stiff stand of the CRM permits to produce high-quality molybdenum tubes.

  16. Nanotribological Behavior of Carbon Based Thin Films: Friction and Lubricity Mechanisms at the Nanoscale

    Directory of Open Access Journals (Sweden)

    Costas A. Charitidis

    2013-04-01

    Full Text Available The use of materials with very attractive friction and wear properties has raised much attention in research and industrial sectors. A wide range of tribological applications, including rolling and sliding bearings, machining, mechanical seals, biomedical implants and microelectromechanical systems (MEMS, require thin films with high mechanical strength, chemical inertness, broad optical transparency, high refractive index, wide bandgap excellent thermal conductivity and extremely low thermal expansion. Carbon based thin films like diamond, diamond-like carbon, carbon nitride and cubic boron nitride known as “super-hard” material have been studied thoroughly as the ideal candidate for tribological applications. In this study, the results of experimental and simulation works on the nanotribological behavior of carbon films and fundamental mechanisms of friction and lubricity at the nano-scale are reviewed. The study is focused on the nanomechanical properties and analysis of the nanoscratching processes at low loads to obtain quantitative analysis, the comparison obtain quantitative analysis, the comparison of their elastic/plastic deformation response, and nanotribological behavior of the a-C, ta-C, a-C:H, CNx, and a-C:M films. For ta-C and a-C:M films new data are presented and discussed.

  17. Kulturens rolle

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2007-01-01

    Kulturens rolle. Herunder kulturens betydning for psykologisk teori og forskning set i lyset af den stigende globalisering og væksten i kulturmøder. Der gives eksempler fra hverdagssituationer, den pædagogiske praksis, fra indvandrerforskning, turister men også fra avisernes referater af kulturmø......Kulturens rolle. Herunder kulturens betydning for psykologisk teori og forskning set i lyset af den stigende globalisering og væksten i kulturmøder. Der gives eksempler fra hverdagssituationer, den pædagogiske praksis, fra indvandrerforskning, turister men også fra avisernes referater af...

  18. Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

    CERN Document Server

    Moreira, António; Lima, Pedro; Montano, Luis; Muñoz-Martinez, Victor

    2016-01-01

    This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other...

  19. Research on a New Bilateral Self-locking Mechanism for an Inchworm Micro In-pipe Robot with Large Traction

    Directory of Open Access Journals (Sweden)

    Junhong Yang

    2014-10-01

    Full Text Available In this paper, we present an innovative bilaterally-controllable self-locking mechanism that can be applied to the micro in-pipe robot. The background and state of the art of the inchworm micro in-pipe robot is briefly described in the very beginning of the paper, where the main factors that influence the traction ability are also discussed. Afterwards, the micro in-pipe robots’ propulsion principle based on a unidirectional self-locking mechanism is discussed. Then, several kinds of self-locking mechanisms are compared, and a new bilaterally-controllable self-locking mechanism is proposed. By implementing the self-locking mechanism, the robot's tractive force is no longer restricted by the friction force, and both two-way motion and position locking for the robot can be achieved. Finally, the traction experiment is conducted using a prototype robot with the new bilaterally-controllable self-locking mechanism. Test results show that this new self-locking mechanism can adapt itself to a diameter of >17~>20 mm and has a blocking force up to 25N, and the maximum tractive force of the in-pipe robot based on such a locking mechanism is 12N under the maximum velocity of 10mm/s.

  20. Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform

    Directory of Open Access Journals (Sweden)

    Eduardo Paciência Godoy

    2012-01-01

    Full Text Available A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA. One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS. This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.

  1. Finite-element model to predict roll-separation force and defects during rolling of U-10Mo alloys

    Energy Technology Data Exchange (ETDEWEB)

    Soulami, Ayoub; Burkes, Douglas E.; Joshi, Vineet V.; Lavender, Curt A.; Paxton, Dean

    2017-10-01

    This study used a finite element code, LSDYNA, as a predictive tool to optimize the rolling process. Simulations of the hot rolling of U-10Mo coupons encapsulated in low-carbon steel were conducted following two different schedules. Model predictions of the roll-separation force and roll pack thicknesses at different stages of the rolling process were compared with experimental measurements. The study reported here discussed various attributes of the rolled coupons revealed by the model (e.g., waviness and thickness non-uniformity like dog boning). To investigate the influence of the cladding material on these rolling defects, other cases were simulated:  hot rolling with alternative can materials, namely, 304 stainless steel and Zircaloy-2, and bare-rolling.

  2. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2003-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controllers. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position, and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques in conjunction with results from projective geometry are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  3. Hot rolling of thick uranium molybdenum alloys

    Science.gov (United States)

    DeMint, Amy L.; Gooch, Jack G.

    2015-11-17

    Disclosed herein are processes for hot rolling billets of uranium that have been alloyed with about ten weight percent molybdenum to produce cold-rollable sheets that are about one hundred mils thick. In certain embodiments, the billets have a thickness of about 7/8 inch or greater. Disclosed processes typically involve a rolling schedule that includes a light rolling pass and at least one medium rolling pass. Processes may also include reheating the rolling stock and using one or more heavy rolling passes, and may include an annealing step.

  4. Bioinspired legged-robot based on large deformation of flexible skeleton

    International Nuclear Information System (INIS)

    Mayyas, Mohammad

    2014-01-01

    In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot’s leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot. (paper)

  5. Bioinspired legged-robot based on large deformation of flexible skeleton.

    Science.gov (United States)

    Mayyas, Mohammad

    2014-11-11

    In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot's leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot.

  6. Kinematic effects of inertia and friction added by a robotic knee exoskeleton after prolonged walking.

    Science.gov (United States)

    Shirota, C; Tucker, M R; Lambercy, O; Gassert, R

    2017-07-01

    The capabilities of robotic gait assistive devices are ever increasing; however, their adoption outside of the lab is still limited. A critical barrier for the functionality of these devices are the still unknown mechanical properties of the human leg during dynamic conditions such as walking. We built a robotic knee exoskeleton to address this problem. Here, we present the effects of our device on the walking pattern of four subjects. We assessed the effects after a short period of acclimation as well as after a 1.5h walking protocol. We found that the knee exoskeleton decreased (towards extension) the peak hip extension and peak knee flexion of the leg with the exoskeleton, while minimally affecting the non-exoskeleton leg. Comparatively smaller changes occurred after prolonged walking. These results suggest that walking patterns attained after a few minutes of acclimation with a knee exoskeleton are stable for at least a couple of hours.

  7. Corrosion effects on friction factors

    International Nuclear Information System (INIS)

    Magleby, H.L.; Shaffer, S.J.

    1996-01-01

    This paper presents the results of NRC-sponsored material specimen tests that were performed to determine if corrosion increases the friction factors of sliding surfaces of motor-operated gate valves, which could require higher forces to close and open safety-related valves when subjected to their design basis differential pressures. Friction tests were performed with uncorroded specimens and specimens subjected to accelerated corrosion. Preliminary tests at ambient conditions showed that corrosion increased the friction factors, indicating the need for additional tests duplicating valve operating parameters at hot conditions. The additional tests showed friction factors of corroded specimens were 0.1 to 0.2 higher than for uncorroded specimens, and that the friction factors of the corroded specimens were not very dependent on contact stress or corrosion film thickness. The measured values of friction factors for the three corrosion films tested (simulating three operating times) were in the range of 0.3 to 0.4. The friction factor for even the shortest simulated operating time was essentially the same as the others, indicating that the friction factors appear to reach a plateau and that the plateau is reached quickly

  8. A systematic study of ball passing frequencies based on dynamic modeling of rolling ball bearings with localized surface defects

    Science.gov (United States)

    Niu, Linkai; Cao, Hongrui; He, Zhengjia; Li, Yamin

    2015-11-01

    Ball passing frequencies (BPFs) are very important features for condition monitoring and fault diagnosis of rolling ball bearings. The ball passing frequency on outer raceway (BPFO) and the ball passing frequency on inner raceway (BPFI) are usually calculated by two well-known kinematics equations. In this paper, a systematic study of BPFs of rolling ball bearings is carried out. A novel method for accurately calculating BPFs based on a complete dynamic model of rolling ball bearings with localized surface defects is proposed. In the used dynamic model, three-dimensional motions, relative slippage, cage effects and localized surface defects are all considered. Moreover, localized surface defects are modeled accurately with consideration of the finite size of the ball, the additional clearance due to material absence, and changes of contact force directions. The reasonability of the proposed method for the prediction of dynamic behaviors of actual ball bearings with localized surface defects and for the calculation of BPFs is discussed by investigating the motion characteristics of a ball when it rolls through a defect. Parametric investigation shows that the shaft speed, external loads, the friction coefficient, raceway groove curvature factors, the initial contact angle, and defect sizes have great effects on BPFs. For a loaded ball bearing, the combination of rolling and sliding in contact region occurs, and the BPFs calculated by simple kinematical relationships are inaccurate, especially for high speed, low external load, and large initial contact angle conditions where severe skidding occurs. The hypothesis that the percentage variation of the spacing between impulses in a defective ball bearing was about 1-2% reported in previous investigations can be satisfied only for the conditions where the skidding effect in a bearing is slight. Finally, the proposed method is verified with two experiments.

  9. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

    2013-01-01

    In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

  10. Ship Roll Damping Control

    DEFF Research Database (Denmark)

    Perez, Tristan; Blanke, Mogens

    2012-01-01

    limitations and large variations of the spectral characteristics of wave-induced roll motion. This tutorial paper presents an account of the development of various ship roll motion control systems together with the challenges associated with their design. It discusses the assessment of performance...

  11. Improved Dutch Roll Approximation for Hypersonic Vehicle

    Directory of Open Access Journals (Sweden)

    Liang-Liang Yin

    2014-06-01

    Full Text Available An improved dutch roll approximation for hypersonic vehicle is presented. From the new approximations, the dutch roll frequency is shown to be a function of the stability axis yaw stability and the dutch roll damping is mainly effected by the roll damping ratio. In additional, an important parameter called roll-to-yaw ratio is obtained to describe the dutch roll mode. Solution shows that large-roll-to-yaw ratio is the generate character of hypersonic vehicle, which results the large error for the practical approximation. Predictions from the literal approximations derived in this paper are compared with actual numerical values for s example hypersonic vehicle, results show the approximations work well and the error is below 10 %.

  12. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  13. Efficient Circulation of Railway Rolling Stock

    NARCIS (Netherlands)

    Alfieri, A.; Groot, R.; Kroon, L.G.; Schrijver, A.

    2006-01-01

    Railway rolling stock (locomotives, carriages, and train units) is one of the most significant cost sources for operatorsof passenger trains, both public and private. Rolling stock costsare due to material acquisition, power supply, and material maintenance. The efficient circulation of rolling

  14. Characterization of friction and wear behavior of friction modifiers used in wheel-rail contacts

    NARCIS (Netherlands)

    Oomen, M. A.; Bosman, R.; Lugt, P. M.

    2017-01-01

    Reliable traction between wheel and rail is an important issue in the railway industry. To reduce variations in the coefficient of friction, so-called “friction modifiers” (carrier with particles) are used. Twin-disk tests were done with three commercial friction modifiers, based on different

  15. Nonlinear rolling of a biased ship in a regular beam wave under external and parametric excitations

    Energy Technology Data Exchange (ETDEWEB)

    El-Bassiouny, A.F. [Mathematics Dept., Benha Univ., Benha (Egypt)

    2007-10-15

    We consider a nonlinear oscillator simultaneously excited by external and parametric functions. The oscillator has a bias parameter that breaks the symmetry of the motion. The example that we use to illustrate the problem is the rolling oscillation of a biased ship in longitudinal waves, but many mechanical systems display similar features. The analysis took into consideration linear, quadratic, cubic, quintic, and seven terms in the polynomial expansion of the relative roll angle. The damping moment consists of the linear term associated with radiation and viscous damping and a cubic term due to frictional resistance and eddies behind bilge keels and hard bilge corners. Two methods (the averaging and the multiple time scales) are used to investigate the first-order approximate analytical solution. The modulation equations of the amplitudes and phases are obtained. These equations are used to obtain the stationary state. The stability of the proposed solution is determined applying Liapunov's first method. Effects of different parameters on the system behaviour are investigated numerically. Results are presented graphically and discussed. The results obtained by two methods are in excellent agreement. (orig.)

  16. Small-Molecule Organic Photovoltaic Modules Fabricated via Halogen-Free Solvent System with Roll-to-Roll Compatible Scalable Printing Method.

    Science.gov (United States)

    Heo, Youn-Jung; Jung, Yen-Sook; Hwang, Kyeongil; Kim, Jueng-Eun; Yeo, Jun-Seok; Lee, Sehyun; Jeon, Ye-Jin; Lee, Donmin; Kim, Dong-Yu

    2017-11-15

    For the first time, the photovoltaic modules composed of small molecule were successfully fabricated by using roll-to-roll compatible printing techniques. In this study, blend films of small molecules, BTR and PC 71 BM were slot-die coated using a halogen-free solvent system. As a result, high efficiencies of 7.46% and 6.56% were achieved from time-consuming solvent vapor annealing (SVA) treatment and roll-to-roll compatible solvent additive approaches, respectively. After successful verification of our roll-to-roll compatible method on small-area devices, we further fabricated large-area photovoltaic modules with a total active area of 10 cm 2 , achieving a power conversion efficiency (PCE) of 4.83%. This demonstration of large-area photovoltaic modules through roll-to-roll compatible printing methods, even based on a halogen-free solvent, suggests the great potential for the industrial-scale production of organic solar cells (OSCs).

  17. Tactile friction of topical formulations.

    Science.gov (United States)

    Skedung, L; Buraczewska-Norin, I; Dawood, N; Rutland, M W; Ringstad, L

    2016-02-01

    The tactile perception is essential for all types of topical formulations (cosmetic, pharmaceutical, medical device) and the possibility to predict the sensorial response by using instrumental methods instead of sensory testing would save time and cost at an early stage product development. Here, we report on an instrumental evaluation method using tactile friction measurements to estimate perceptual attributes of topical formulations. Friction was measured between an index finger and an artificial skin substrate after application of formulations using a force sensor. Both model formulations of liquid crystalline phase structures with significantly different tactile properties, as well as commercial pharmaceutical moisturizing creams being more tactile-similar, were investigated. Friction coefficients were calculated as the ratio of the friction force to the applied load. The structures of the model formulations and phase transitions as a result of water evaporation were identified using optical microscopy. The friction device could distinguish friction coefficients between the phase structures, as well as the commercial creams after spreading and absorption into the substrate. In addition, phase transitions resulting in alterations in the feel of the formulations could be detected. A correlation was established between skin hydration and friction coefficient, where hydrated skin gave rise to higher friction. Also a link between skin smoothening and finger friction was established for the commercial moisturizing creams, although further investigations are needed to analyse this and correlations with other sensorial attributes in more detail. The present investigation shows that tactile friction measurements have potential as an alternative or complement in the evaluation of perception of topical formulations. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

  18. Friction laws at the nanoscale.

    Science.gov (United States)

    Mo, Yifei; Turner, Kevin T; Szlufarska, Izabela

    2009-02-26

    Macroscopic laws of friction do not generally apply to nanoscale contacts. Although continuum mechanics models have been predicted to break down at the nanoscale, they continue to be applied for lack of a better theory. An understanding of how friction force depends on applied load and contact area at these scales is essential for the design of miniaturized devices with optimal mechanical performance. Here we use large-scale molecular dynamics simulations with realistic force fields to establish friction laws in dry nanoscale contacts. We show that friction force depends linearly on the number of atoms that chemically interact across the contact. By defining the contact area as being proportional to this number of interacting atoms, we show that the macroscopically observed linear relationship between friction force and contact area can be extended to the nanoscale. Our model predicts that as the adhesion between the contacting surfaces is reduced, a transition takes place from nonlinear to linear dependence of friction force on load. This transition is consistent with the results of several nanoscale friction experiments. We demonstrate that the breakdown of continuum mechanics can be understood as a result of the rough (multi-asperity) nature of the contact, and show that roughness theories of friction can be applied at the nanoscale.

  19. Multi-level approach for parametric roll analysis

    Science.gov (United States)

    Kim, Taeyoung; Kim, Yonghwan

    2011-03-01

    The present study considers multi-level approach for the analysis of parametric roll phenomena. Three kinds of computation method, GM variation, impulse response function (IRF), and Rankine panel method, are applied for the multi-level approach. IRF and Rankine panel method are based on the weakly nonlinear formulation which includes nonlinear Froude- Krylov and restoring forces. In the computation result of parametric roll occurrence test in regular waves, IRF and Rankine panel method show similar tendency. Although the GM variation approach predicts the occurrence of parametric roll at twice roll natural frequency, its frequency criteria shows a little difference. Nonlinear roll motion in bichromatic wave is also considered in this study. To prove the unstable roll motion in bichromatic waves, theoretical and numerical approaches are applied. The occurrence of parametric roll is theoretically examined by introducing the quasi-periodic Mathieu equation. Instability criteria are well predicted from stability analysis in theoretical approach. From the Fourier analysis, it has been verified that difference-frequency effects create the unstable roll motion. The occurrence of unstable roll motion in bichromatic wave is also observed in the experiment.

  20. Preorganization of Nanostructured Inks for Roll-to-Roll-Coated Polymer Solar Cells

    DEFF Research Database (Denmark)

    Krebs, Frederik C; Senkovskyy, Volodymyr; Kiriy, Anton

    2010-01-01

    , a preorganized ink was obtained that was used to make polymer solar cell modules in a full roll-to-roll coating and printing process operating in ambient air. The polymer solar cells were thus prepared by a mixture of slot die and flat-bed screen printing. Various polymer solar cell modules were prepared ranging...

  1. Friction surfaced Stellite6 coatings

    International Nuclear Information System (INIS)

    Rao, K. Prasad; Damodaram, R.; Rafi, H. Khalid; Ram, G.D. Janaki; Reddy, G. Madhusudhan; Nagalakshmi, R.

    2012-01-01

    Solid state Stellite6 coatings were deposited on steel substrate by friction surfacing and compared with Stellite6 cast rod and coatings deposited by gas tungsten arc and plasma transferred arc welding processes. Friction surfaced coatings exhibited finer and uniformly distributed carbides and were characterized by the absence of solidification structure and compositional homogeneity compared to cast rod, gas tungsten arc and plasma transferred coatings. Friction surfaced coating showed relatively higher hardness. X-ray diffraction of samples showed only face centered cubic Co peaks while cold worked coating showed hexagonally close packed Co also. - Highlights: ► Stellite6 used as coating material for friction surfacing. ► Friction surfaced (FS) coatings compared with casting, GTA and PTA processes. ► Finer and uniformly distributed carbides in friction surfaced coatings. ► Absence of melting results compositional homogeneity in FS Stellite6 coatings.

  2. Self-Aligned Metal Electrodes in Fully Roll-to-Roll Processed Organic Transistors

    Directory of Open Access Journals (Sweden)

    Marja Vilkman

    2016-01-01

    Full Text Available We demonstrate the production of organic bottom gate transistors with self-aligned electrodes, using only continuous roll-to-roll (R2R techniques. The self-alignment allows accurate <5 µm layer-to-layer registration, which is usually a challenge in high-speed R2R environments as the standard registration methods are limited to the millimeter range—or, at best, to tens of µm if online cameras and automatic web control are utilized. The improved registration enables minimizing the overlap between the source/drain electrodes and the gate electrode, which is essential for minimizing the parasitic capacitance. The complete process is a combination of several techniques, including evaporation, reverse gravure, flexography, lift-off, UV exposure and development methods—all transferred to a continuous R2R pilot line. Altogether, approximately 80 meters of devices consisting of thousands of transistors were manufactured in a roll-to-roll fashion. Finally, a cost analysis is presented in order to ascertain the main costs and to predict whether the process would be feasible for the industrial production of organic transistors.

  3. A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators

    Directory of Open Access Journals (Sweden)

    Adriana Salinas

    2016-02-01

    Full Text Available This article addresses the joint position control of torque-driven robot manipulators under actuators subject to torque saturation. Robots having viscous friction, but without gravity vector, are considered. By assuming a static model for the torque actuator (specifically, a model of nonlinear and non-differentiable hard saturation function, a family of nonlinear proportional–integral–derivative-like controllers is proposed. Lyapunov stability theory is used to establish conditions for local asymptotic stability of the closed-loop system. A notable feature of the proposed controller is that stability conditions do not depend on the saturation levels of the actuators. In addition, an experimental study complements the proposed theory.

  4. Research on Duct Flow Field Optimisation of a Robot Vacuum Cleaner

    Directory of Open Access Journals (Sweden)

    Xiao-bo Lai

    2011-11-01

    Full Text Available The duct of a robot vacuum cleaner is the length of the flow channel between the inlet of the rolling brush blower and the outlet of the vacuum blower. To cope with the pressure drop problem of the duct flow field in a robot vacuum cleaner, a method based on Pressure Implicit with Splitting of Operators (PRISO algorithm is introduced and the optimisation design of the duct flow field is implemented. Firstly, the duct structure in a robot vacuum cleaner is taken as a research object, with the computational fluid dynamics (CFD theories adopted; a three-dimensional fluid model of the duct is established by means of the FLUENT solver of the CFD software. Secondly, with the k-∊ turbulence model of three-dimensional incompressible fluid considered and the PRISO pressure modification algorithm employed, the flow field numerical simulations inside the duct of the robot vacuum cleaner are carried out. Then, the velocity vector plots on the arbitrary plane of the duct flow field are obtained. Finally, an investigation of the dynamic characteristics of the duct flow field is done and defects of the original duct flow field are analysed, the optimisation of the original flow field has then been conducted. Experimental results show that the duct flow field after optimisation can effectively reduce pressure drop, the feasibility as well as the correctness of the theoretical modelling and optimisation approaches are validated.

  5. Research on Duct Flow Field Optimisation of a Robot Vacuum Cleaner

    Directory of Open Access Journals (Sweden)

    Xiao-bo Lai

    2011-11-01

    Full Text Available The duct of a robot vacuum cleaner is the length of the flow channel between the inlet of the rolling brush blower and the outlet of the vacuum blower. To cope with the pressure drop problem of the duct flow field in a robot vacuum cleaner, a method based on Pressure Implicit with Splitting of Operators (PRISO algorithm is introduced and the optimisation design of the duct flow field is implemented. Firstly, the duct structure in a robot vacuum cleaner is taken as a research object, with the computational fluid dynamics (CFD theories adopted; a three‐dimensional fluid model of the duct is established by means of the FLUENT solver of the CFD software. Secondly, with the k‐ε turbulence model of three‐ dimensional incompressible fluid considered and the PRISO pressure modification algorithm employed, the flow field numerical simulations inside the duct of the robot vacuum cleaner are carried out. Then, the velocity vector plots on the arbitrary plane of the duct flow field are obtained. Finally, an investigation of the dynamic characteristics of the duct flow field is done and defects of the original duct flow field are analysed, the optimisation of the original flow field has then been conducted. Experimental results show that the duct flow field after optimisation can effectively reduce pressure drop, the feasibility as well as the correctness of the theoretical modelling and optimisation approaches are validated.

  6. Friction stir welding of SiCp/2009Al composite plate

    International Nuclear Information System (INIS)

    Wang, D.; Xiao, B.L.; Wang, Q.Z.; Ma, Z.Y.

    2013-01-01

    Highlights: ► SiCp/2009Al plates were successfully friction stir welded using an ultra-hard tool. ► Under T4 temper condition, the joint coefficient of tensile strength was 95.9%. ► Coarsen Al 2 Cu in the nugget zone dissolved and precipitated after T4. - Abstract: Six milimeter thick hot-rolled SiCp/2009Al composite plates were successfully joined by friction stir welding (FSW) using an ultra-hard material tool. After FSW, the distribution of the SiC particles in the nugget zone (NZ) was more homogeneous than that in the base material (BM). Scanning electron microscopic examinations (SEM) and X-ray analysis (XRD) indicated that part of the Al 2 Cu was dissolved into the aluminum matrix in the NZ due to intense plastic deformation and high temperature during FSW. The undissolved Al 2 Cu particles remained in the NZ and coarsened during the cooling process after FSW. The ultimate tensile strength (UTS) of the as-welded joint is only 321 MPa and failed in the BM zone due to the low strength of the BM. After T4 heat treatment, the strength of the joint increased and became close to that of the BM with T4 temper, because most of the Al 2 Cu particles were dissolved into the matrix and re-precipitated homogeneously as the GP zones, which are the major strengthening precipitates for T4-tempered 2009Al alloy

  7. Roll-to-Roll fabrication of large area functional organic materials

    DEFF Research Database (Denmark)

    Søndergaard, Roar R.; Hösel, Markus; Krebs, Frederik C

    2013-01-01

    With the prospect of extremely fast manufacture of very low cost devices, organic electronics prepared by thin film processing techniques that are compatible with roll-to-roll (R2R) methods are presently receiving an increasing interest. Several technologies using organic thin films...... research fields such as organic photovoltaics, organic thin film transistors, light-emitting diodes, polymer electrolyte membrane fuel cells, and electrochromic devices. © 2012 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys 000: 000–000, 2012...

  8. Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots.

    Science.gov (United States)

    Umedachi, T; Vikas, V; Trimmer, B A

    2016-03-10

    Robots that can easily interact with humans and move through natural environments are becoming increasingly essential as assistive devices in the home, office and hospital. These machines need to be safe, effective, and easy to control. One strategy towards accomplishing these goals is to build the robots using soft and flexible materials to make them much more approachable and less likely to damage their environment. A major challenge is that comparatively little is known about how best to design, fabricate and control deformable machines. Here we describe the design, fabrication and control of a novel soft robotic platform (Softworms) as a modular device for research, education and public outreach. These robots are inspired by recent neuromechanical studies of crawling and climbing by larval moths and butterflies (Lepidoptera, caterpillars). Unlike most soft robots currently under development, the Softworms do not rely on pneumatic or fluidic actuators but are electrically powered and actuated using either shape-memory alloy microcoils or motor tendons, and they can be modified to accept other muscle-like actuators such as electroactive polymers. The technology is extremely versatile, and different designs can be quickly and cheaply fabricated by casting elastomeric polymers or by direct 3D printing. Softworms can crawl, inch or roll, and they are steerable and even climb steep inclines. Softworms can be made in any shape but here we describe modular and monolithic designs requiring little assembly. These modules can be combined to make multi-limbed devices. We also describe two approaches for controlling such highly deformable structures using either model-free state transition-reward matrices or distributed, mechanically coupled oscillators. In addition to their value as a research platform, these robots can be developed for use in environmental, medical and space applications where cheap, lightweight and shape-changing deformable robots will provide new

  9. Perovskite solar cells for roll-to-roll fabrication

    Directory of Open Access Journals (Sweden)

    Uddin Ashraf

    2017-01-01

    Full Text Available Perovskite solar cell (PSCs is considered as the game changer in emerging photovoltaics technology. The highest certified efficiency is 22% with high temperature processed (∼500 °C TiO2 based electron transport layer (ETL. High temperature process is a rudimentary hindrance towards roll-to-roll processing of PSCs on flexible substrates. Low temperature solution process (<150 °C ZnO based ETL is one of the most promising candidate for large scale roll-to-roll fabrication of cells as it has nearly identical electron affinity (4.2 eV of TiO2. The mixed organic perovskite (MA0.6FA0.4PbI3 devices with Al doped ZnO (AZO ETL demonstrate average cell efficiency over 16%, which is the highest ever reported efficiency for this device configuration. The energy level alignment and related interfacial charge transport dynamics at the interface of ZnO and perovskite films and the adjacent charge transport layers are investigated. Significantly improved device stability, hysteresis free device photocurrent have been observed in MA0.6FA0.4PbI3 cells. A systematic electrochemical impedance spectroscopy, frequency dependent capacitance spectra, surface morphology and topography characterization have been conducted to understand the role of interfacial electronic properties between perovskite and neighbouring layers in perovskite device. A standardized degradation study, interfacial electronic property and capacitive spectra analysis of aged device, have been measured to understand the enhanced device stability in mixed MA0.6FA0.4PbI3 cells. Slow perovskite material decomposition rate and augmented device lifetime with AZO based devices have been found to be correlated with the more hydrophobic and acidic nature of AZO surface compared to pristine ZnO film.

  10. Roll-to-roll coated PBI membranes for high temperature PEM fuel cells

    DEFF Research Database (Denmark)

    Steenberg, Thomas; Hjuler, Hans Aage; Terkelsen, Carina

    2012-01-01

    We employed roll-to-roll coating in the preparation of 40 μm thick poly[2,2′(m-phenylene)-5,5′bibenzimidazole] (PBI) films for fuel cells using both knife-coating (KC) and slot-die (SD) coating. The films were coated directly from a 9% (w/w) solution of PBI in dimethylacetamide onto a sacrificial...

  11. Troll, a Language for specifying Dice-rolls

    DEFF Research Database (Denmark)

    Mogensen, Torben Ægidius

    2009-01-01

    Dice are used in many games, and often in fairly complex ways that make it difficult to unambiguously describe the dice-roll mechanism in plain language. Many role-playing games, such as Dungeons & Dragons, use a formalised notation for some instances of dice-rolls. This notation, once explained...... natural language to describe rolls. Even Dungeons & Dragons use formal notation only for some of the dice-roll methods used in the game. Hence, a more complete notation is in this paper proposed, and a tool for pseudo-random rolls and (nearly) exact probability calculations is described. The notation...... is called "Troll", combining the initial of the Danish word for dice ("terninger") with the English word "roll". It is a development of the language Roll described in an earlier paper. The present paper describes the most important features of Troll and its implementation....

  12. Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

  13. The effect of texture and grain size on improving the mechanical properties of Mg-Al-Zn alloys by friction stir processing.

    Science.gov (United States)

    Peng, Jinhua; Zhang, Zhen; Liu, Zhao; Li, Yaozu; Guo, Peng; Zhou, Wei; Wu, Yucheng

    2018-03-08

    Friction stir processing (FSP) was used to achieve grain refinement on Mg-Al-Zn alloys, which also brought in significant texture modification. The different micro-texture characteristics were found to cause irregular micro-hardness distribution in FSPed region. The effects of texture and grain size were investigated by comparative analyses with strongly textured rolling sheet. Grain refinement improved both strength and elongation in condition of a basal texture while such led to an increment in yield stress and a drop in elongation and ultimate stress when the basal texture was modified by FSP.

  14. Autonomous Supervision and Control of Parametric Roll Resonance

    DEFF Research Database (Denmark)

    Galeazzi, Roberto

    therefore two objectives. The first is to develop methods for detection of the inception of parametric roll resonance. The second is to develop control strategies to stabilize the motion after parametric roll has started. Stabilisation of parametric roll resonance points to two possible courses of action...... strategies are then combined to stabilise parametric roll resonance within few roll cycles. Limitations on the maximum stabilisable roll angle are analysed and linked to the ii slew rate saturation and hydrodynamic stall characteristics of the fin stabilisers. The study on maximum stabilisable roll angle...... leads to the requirements for early detection. Two novel detectors are proposed, which work within a shorttime prediction horizon, and issue early warnings of parametric roll inception within few roll cycles from its onset. The main idea behind these detection schemes is that of exploiting the link...

  15. New perspectives on constant-roll inflation

    Science.gov (United States)

    Cicciarella, Francesco; Mabillard, Joel; Pieroni, Mauro

    2018-01-01

    We study constant-roll inflation using the β-function formalism. We show that the constant rate of the inflaton roll is translated into a first order differential equation for the β-function which can be solved easily. The solutions to this equation correspond to the usual constant-roll models. We then construct, by perturbing these exact solutions, more general classes of models that satisfy the constant-roll equation asymptotically. In the case of an asymptotic power law solution, these corrections naturally provide an end to the inflationary phase. Interestingly, while from a theoretical point of view (in particular in terms of the holographic interpretation) these models are intrinsically different from standard slow-roll inflation, they may have phenomenological predictions in good agreement with present cosmological data.

  16. Argo packing friction research update

    International Nuclear Information System (INIS)

    VanTassell, D.M.

    1994-01-01

    This paper focuses on the issue of valve packing friction and its affect on the operability of motor- and air-operated valves (MOVs and AOVs). At this time, most nuclear power plants are required to perform postmaintenance testing following a packing adjustment or replacement. In many cases, the friction generated by the packing does not impact the operability window of a valve. However, to date there has not been a concerted effort to substantiate this claim. To quantify the effects of packing friction, it has become necessary to develop a formula to predict the friction effects accurately. This formula provides a much more accurate method of predicting packing friction than previously used factors based strictly on stem diameter. Over the past 5 years, Argo Packing Company has been developing and testing improved graphite packing systems at research facilities, such as AECL Chalk River and Wyle Laboratories. Much of this testing has centered around reducing and predicting friction that is related to packing. In addition, diagnostic testing for Generic Letter 89-10 MOVs and AOVs has created a significant data base. In July 1992 Argo asked several utilities to provide running load data that could be used to quantify packing friction repeatability and predictability. This technical paper provides the basis to predict packing friction, which will improve calculations for thrust requirements for Generic Leter 89-10 and future AOV programs. In addition, having an accurate packing friction formula will improve packing performance when low running loads are identified that would indicate insufficient sealing force

  17. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  18. Effect of grafted oligopeptides on friction.

    Science.gov (United States)

    Iarikov, Dmitri D; Ducker, William A

    2013-05-14

    Frictional and normal forces in aqueous solution at 25 °C were measured between a glass particle and oligopeptide films grafted from a glass plate. Homopeptide molecules consisting of 11 monomers of either glutamine, leucine, glutamic acid, lysine, or phenylalanine and one heteropolymer were each "grafted from" an oxidized silicon wafer using microwave-assisted solid-phase peptide synthesis. The peptide films were characterized using X-ray photoelectron spectroscopy and secondary ion mass spectrometry. Frictional force measurements showed that the oligopeptides increased the magnitude of friction compared to that on a bare hydrophilic silicon wafer but that the friction was a strong function of the nature of the monomer unit. Overall we find that the friction is lower for more hydrophilic films. For example, the most hydrophobic monomer, leucine, exhibited the highest friction whereas the hydrophilic monomer, polyglutamic acid, exhibited the lowest friction at zero load. When the two surfaces had opposite charges, there was a strong attraction, adhesion, and high friction between the surfaces. Friction for all polymers was lower in phosphate-buffered saline than in pure water, which was attributed to lubrication via hydrated salt ions.

  19. Effects of Rotational Motion in Robotic Needle Insertion

    Science.gov (United States)

    Ramezanpour, H.; Yousefi, H.; Rezaei, M.; Rostami, M.

    2015-01-01

    Background Robotic needle insertion in biological tissues has been known as one the most applicable procedures in sampling, robotic injection and different medical therapies and operations. Objective In this paper, we would like to investigate the effects of angular velocity in soft tissue insertion procedure by considering force-displacement diagram. Non-homogenous camel liver can be exploited as a tissue sample under standard compression test with Zwick/Roell device employing 1-D axial load-cell. Methods Effects of rotational motion were studied by running needle insertion experiments in 5, 50 and 200 mm/min in two types of with or without rotational velocity of 50, 150 and 300 rpm. On further steps with deeper penetrations, friction force of the insertion procedure in needle shaft was acquired by a definite thickness of the tissue. Results Designed mechanism of fixture for providing different frequencies of rotational motion is available in this work. Results for comparison of different force graphs were also provided. Conclusion Derived force-displacement graphs showed a significant difference between two procedures; however, tissue bleeding and disorganized micro-structure would be among unavoidable results. PMID:26688800

  20. Calculation and experimental technique of determination of rolling procedure for cold-rolling tube mills

    International Nuclear Information System (INIS)

    Igoshin, V.F.; Aleshin, V.A.; Khoroshikh, Yu.G.; Bogatov, A.A.; Mizhiritskij, O.I.

    1983-01-01

    Calculation and experimental technique of determination of tube cold rolling procedure has been developed. Rolling procedure based on the usage of regression equation epsilon=1.24 psi, where psi is the relative reduction of area, delta-permissible reduction during rolling, has been tested on 08Kh18N10T steel. The effect of tube geometry, tool calibration parameters, lubrication conditions etc. on metal deformability in taking into account experimentally. The use of the technique proposed has allowed to shorten the time of mastering of the production of tubes from different steels

  1. Effects of antimony trisulfide (Sb2S3) on sliding friction of automotive brake friction materials

    Science.gov (United States)

    Lee, Wan Kyu; Rhee, Tae Hee; Kim, Hyun Seong; Jang, Ho

    2013-09-01

    The effect of antimony trisulfide (Sb2S3) on the tribological properties of automotive brake friction materials was investigated using a Krauss type tribometer and a 1/5 scale dynamometer with a rigid caliper. Results showed that Sb2S3 improved fade resistance by developing transfer films on the disc surface at elevated temperatures. On the other hand, the rubbing surfaces of the friction material exhibited contact plateaus with a broader height distribution when it contained Sb2S3, indicating fewer contact junctions compared to the friction material with graphite. The friction material with Sb2S3 also exhibited a lower stick-slip propensity than the friction material with graphite. The improved fade resistance with Sb2S3 is attributed to its lubricating capability sustained at high temperatures, while the lower stick-slip propensity of the friction material with Sb2S3 is associated with the slight difference between its static and kinetic coefficients of friction and high normal stiffness.

  2. Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

    Science.gov (United States)

    Snead, C. J.; Jang, J. H.; Cowden, T. R.; McCubbin, F. M.

    2018-01-01

    The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with

  3. Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

    Science.gov (United States)

    Vu, Van Tan; Sename, Olivier; Dugard, Luc; Gaspar, Peter

    2017-09-01

    Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.

  4. Effect of friction time on the microstructure and mechanic properties of friction welded AISI 1040/Duplex stainless steel

    Directory of Open Access Journals (Sweden)

    İhsan Kırık

    2000-06-01

    Full Text Available In this study, the effect on the characteristic microstructure and mechanic properties of friction time on the couple steels AISI 1040/AISI 2205 stainless steel joining with friction welding method was experimentally investigated. Friction welding experiment were carried out in privately prepared PLC controlled continuous friction welding machine by us. Joints were carried out under 1700 rpm rotation speed, with 30MPa process friction pressure, 60MPa forging pressure, 4 second forging pressure and under 3, 5, 7, 9 and 11 second friction time, respectively. After friction welding, the bonding interface microstructures of the specimens were examined by SEM microscopy and EDS analysis. After weld microhardness and tensile strength of specimens were carried out. The result of applied tests and observations pointed out that the properties of microstructure were changed with friction time increased. The excellent tensile strength of joint observed on 1700 rpm rotation speed and 3 second friction time sample.

  5. Development of a penetration friction apparatus (PFA) to measure the frictional performance of surgical suture.

    Science.gov (United States)

    Zhang, Gangqiang; Ren, Tianhui; Lette, Walter; Zeng, Xiangqiong; van der Heide, Emile

    2017-10-01

    Nowadays there is a wide variety of surgical sutures available in the market. Surgical sutures have different sizes, structures, materials and coatings, whereas they are being used for various surgeries. The frictional performances of surgical sutures have been found to play a vital role in their functionality. The high friction force of surgical sutures in the suturing process may cause inflammation and pain to the person, leading to a longer recovery time, and the second trauma of soft or fragile tissue. Thus, the investigation into the frictional performance of surgical suture is essential. Despite the unquestionable fact, little is actually known on the friction performances of surgical suture-tissue due to the lack of appropriate test equipment. This study presents a new penetration friction apparatus (PFA) that allowed for the evaluation of the friction performances of various surgical needles and sutures during the suturing process, under different contact conditions. It considered the deformation of tissue and can realize the puncture force measurements of surgical needles as well as the friction force of surgical sutures. The developed PFA could accurately evaluate and understand the frictional behaviour of surgical suture-tissue in the simulating clinical conditions. The forces measured by the PFA showed the same trend as that reported in literatures. Copyright © 2017 Elsevier Ltd. All rights reserved.

  6. Scalable, ambient atmosphere roll-to-roll manufacture of encapsulated large area, flexible organic tandem solar cell modules

    DEFF Research Database (Denmark)

    Andersen, Thomas Rieks; Dam, Henrik Friis; Hösel, Markus

    2014-01-01

    the manufacture of completely functional devices in exceptionally high yields. Critical to the ink and process development is a carefully chosen technology transfer to industry method where first a roll coater is employed enabling contactless stack build up, followed by a small roll-to-roll coater fitted to an X...

  7. Friction in sheet metal forming

    DEFF Research Database (Denmark)

    Wiklund, D.; Liljebgren, M.; Berglund, J.

    2010-01-01

    and calls for functional tool surfaces that are durable in these severe tribological conditions. In this study the influence of tool surface topography on friction has been investigated. The frictional response was studied in a Bending Under Tension test. The results did show that a low frictional response...

  8. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  9. Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet

    Science.gov (United States)

    Zhu, Yaguang; Jin, Bo; Wu, Yongsheng; Guo, Tong; Zhao, Xiangmo

    2016-01-01

    Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value between the ideal foothold and real foothold is analyzed. The forward/inverse kinematic solutions between the ideal foothold and joint angular vectors are formulated and the problem of direct/inverse kinematic nonlinear mapping is solved by using the LS-SVM. Compared with the previous approximation method, this correction methodology has better accuracy and faster calculation speed with regards to inverse kinematics solutions. Experiments on a leg platform and a hexapod walking robot are conducted with multi-sensors for the analysis of foot tip trajectory, base joint vibration, contact force impact, direction deviation, and power consumption, respectively. The comparative analysis shows that the trajectory correction methodology can effectively correct the joint trajectory, thus eliminating the contact force influence of semi-round rigid feet, significantly improving the locomotion of the walking robot and reducing the total power consumption of the system. PMID:27589766

  10. Optimization of wheel-rail interface friction using top-of-rail friction modifiers: State of the art

    Science.gov (United States)

    Khan, M. Roshan; Dasaka, Satyanarayana Murty

    2018-05-01

    High Speed Railways and Dedicated Freight Corridors are the need of the day for fast and efficient transportation of the ever growing population and freight across long distances of travel. With the increase in speeds and axle loads carried by these trains, wearing out of rails and train wheel sections are a common issue, which is due to the increase in friction at the wheel-rail interfaces. For the cases where the wheel-rail interface friction is less than optimum, as in case of high speed trains with very low axle loads, wheel-slips are imminent and loss of traction occurs when the trains accelerate rapidly or brake all of a sudden. These vast variety of traction problems around the wheel-rail interface friction need to be mitigated carefully, so that the contact interface friction neither ascents too high to cause material wear and need for added locomotive power, nor be on the lower side to cause wheel-slips and loss of traction at high speeds. Top-of-rail friction modifiers are engineered surface coatings applied on top of rails, to maintain an optimum frictional contact between the train wheels and the rails. Extensive research works in the area of wheel-rail tribology have revealed that the optimum frictional coefficients at wheel-rail interfaces lie at a value of around 0.35. Application of top-of-rail (TOR) friction modifiers on rail surfaces add an extra layer of material coating on top of the rails, with a surface frictional coefficient of the desired range. This study reviews the common types of rail friction modifiers, the methods for their application, issues related with the application of friction modifiers, and a guideline on selection of the right class of coating material based on site specific requirements of the railway networks.

  11. High-velocity frictional properties of gabbro

    Science.gov (United States)

    Tsutsumi, Akito; Shimamoto, Toshihiko

    High-velocity friction experiments have been performed on a pair of hollow-cylindrical specimens of gabbro initially at room temperature, at slip rates from 7.5 mm/s to 1.8 m/s, with total circumferential displacements of 125 to 174 m, and at normal stresses to 5 MPa, using a rotary-shear high-speed friction testing machine. Steady-state friction increases slightly with increasing slip rate at slip rates to about 100 mm/s (velocity strengthening) and it decreases markedly with increasing slip rate at higher velocities (velocity weakening). Steady-state friction in the velocity weakening regime is lower for the non-melting case than the frictional melting case, due perhaps to severe thermal fracturing. A very large peak friction is always recognized upon the initiation of visible frictional melting, presumably owing to the welding of fault surfaces upon the solidification of melt patches. Frictional properties thus change dramatically with increasing displacement at high velocities, and such a non-linear effect must be incorporated into the analysis of earthquake initiation processes.

  12. Systematics of constant roll inflation

    Science.gov (United States)

    Anguelova, Lilia; Suranyi, Peter; Wijewardhana, L. C. R.

    2018-02-01

    We study constant roll inflation systematically. This is a regime, in which the slow roll approximation can be violated. It has long been thought that this approximation is necessary for agreement with observations. However, recently it was understood that there can be inflationary models with a constant, and not necessarily small, rate of roll that are both stable and compatible with the observational constraint ns ≈ 1. We investigate systematically the condition for such a constant-roll regime. In the process, we find a whole new class of inflationary models, in addition to the known solutions. We show that the new models are stable under scalar perturbations. Finally, we find a part of their parameter space, in which they produce a nearly scale-invariant scalar power spectrum, as needed for observational viability.

  13. Constant-roll tachyon inflation and observational constraints

    Science.gov (United States)

    Gao, Qing; Gong, Yungui; Fei, Qin

    2018-05-01

    For the constant-roll tachyon inflation, we derive the analytical expressions for the scalar and tensor power spectra, the scalar and tensor spectral tilts and the tensor to scalar ratio to the first order of epsilon1 by using the method of Bessel function approximation. The derived ns-r results are compared with the observations, we find that only the constant-roll inflation with ηH being a constant is consistent with the observations and observations constrain the constant-roll inflation to be slow-roll inflation. The tachyon potential is also reconstructed for the constant-roll inflation which is consistent with the observations.

  14. Friction and wear calculation methods

    CERN Document Server

    Kragelsky, I V; Kombalov, V S

    1981-01-01

    Friction and Wear: Calculation Methods provides an introduction to the main theories of a new branch of mechanics known as """"contact interaction of solids in relative motion."""" This branch is closely bound up with other sciences, especially physics and chemistry. The book analyzes the nature of friction and wear, and some theoretical relationships that link the characteristics of the processes and the properties of the contacting bodies essential for practical application of the theories in calculating friction forces and wear values. The effect of the environment on friction and wear is a

  15. Anisotropic constant-roll inflation

    Energy Technology Data Exchange (ETDEWEB)

    Ito, Asuka; Soda, Jiro [Kobe University, Department of Physics, Kobe (Japan)

    2018-01-15

    We study constant-roll inflation in the presence of a gauge field coupled to an inflaton. By imposing the constant anisotropy condition, we find new exact anisotropic constant-roll inflationary solutions which include anisotropic power-law inflation as a special case. We also numerically show that the new anisotropic solutions are attractors in the phase space. (orig.)

  16. Cosmology with rolling tachyon

    Indian Academy of Sciences (India)

    Email: sami@iucaa.ernet.in. Abstract. We examine the possibility of rolling tachyon to play the dual role of inflaton at early epochs and dark matter at late times. We argue that enough inflation can be generated with the rolling tachyon either by invoking the large number of branes or brane world assisted inflation. However ...

  17. A decentralized control scheme for an effective coordination of phasic and tonic control in a snake-like robot

    International Nuclear Information System (INIS)

    Sato, Takahide; Kano, Takeshi; Ishiguro, Akio

    2012-01-01

    Autonomous decentralized control has attracted considerable attention because it enables us to understand the adaptive and versatile locomotion of animals and facilitates the construction of truly intelligent artificial agents. Thus far, we have developed a snake-like robot (HAUBOT I) that is driven by a decentralized control scheme based on a discrepancy function, which incorporates phasic control. In this paper, we investigate a decentralized control scheme in which phasic and tonic control are well coordinated, as an extension of our previous study. To verify the validity of the proposed control scheme, we apply it to a snake-like robot (HAUBOT II) that can adjust both the phase relationship between its body segments and the stiffness at each joint. The results indicate that the proposed control scheme enables the robot to exhibit remarkable real-time adaptability over various frictional and inclined terrains. These findings can potentially enable us to gain a deeper insight into the autonomous decentralized control mechanism underlying the adaptive and resilient locomotion of animals.

  18. METHOD OF HOT ROLLING URANIUM METAL

    Science.gov (United States)

    Kaufmann, A.R.

    1959-03-10

    A method is given for quickly and efficiently hot rolling uranium metal in the upper part of the alpha phase temperature region to obtain sound bars and sheets possessing a good surface finish. The uranium metal billet is heated to a temperature in the range of 1000 deg F to 1220 deg F by immersion iii a molten lead bath. The heated billet is then passed through the rolls. The temperature is restored to the desired range between successive passes through the rolls, and the rolls are turned down approximately 0.050 inch between successive passes.

  19. Microstructure formation via roll-to-roll UV embossing using a flexible mould made from a laminated polymer–copper film

    International Nuclear Information System (INIS)

    Zhong, Z W; Shan, X C

    2012-01-01

    Roll-to-roll large format UV embossing processes aim to revolutionize the manufacturing of functional films, with the ability to process a large area at one time, resulting in high throughput and cost reduction. In this paper, we present the experimental results obtained during the process development for roll-to-roll large format UV embossing. Flexible moulds were fabricated from a hybrid film substrate made of a liquid crystal polymer with clad copper foils laminated on both sides of it. The effective pattern area of the fabricated flexible mould was 400 mm × 300 mm with a minimal feature size of 50 µm. The results show that the roll-to-roll embossing processes are capable of producing micro-scale structures and functional devices over a large area at one time. Large-area roll-to-roll embossing was demonstrated by using the hybrid flexible mould, and micro-features and structures such as micro-channels and dot arrays were replicated on thermoplastic substrates. In addition to its ease and low cost in fabrication, the hybrid flexible moulds demonstrated to have acceptable fidelity and durability. The hybrid flexible mould is a novel solution for large-area embossing. (paper)

  20. Friction and anchorage loading revisited.

    Science.gov (United States)

    Dholakia, Kartik D

    2012-01-01

    Contemporary concepts of sliding mechanics explain that friction is inevitable. To overcome this frictional resistance, excess force is required to retract the tooth along the archwire (ie, individual retraction of canines, en masse retraction of anterior teeth), in addition to the amount of force required for tooth movement. The anterior tooth retraction force, in addition to excess force (to overcome friction), produces reciprocal protraction force on molars, thereby leading to increased anchorage loading. However, this traditional concept was challenged in recent literature, which was based on the finite element model, but did not bear correlation to the clinical scenario. This article will reinforce the fact that clinically, friction increases anchorage loading in all three planes of space, considering the fact that tooth movement is a quasistatic process rather than a purely continuous or static one, and that conventional ways of determining the effects of static or dynamic friction on anchorage load cannot be applied to clinical situations (which consist of anatomical resistance units and a complex muscular force system). The article does not aim to quantify friction and its effect on the amount of anchorage load. Rather, a new perspective regarding the role of various additional factors (which is not explained by contemporary concept) that may influence friction and anchorage loading is provided..

  1. The effect of friction in coulombian damper

    Science.gov (United States)

    Wahad, H. S.; Tudor, A.; Vlase, M.; Cerbu, N.; Subhi, K. A.

    2017-02-01

    The study aimed to analyze the damping phenomenon in a system with variable friction, Stribeck type. Shock absorbers with limit and dry friction, is called coulombian shock-absorbers. The physical damping vibration phenomenon, in equipment, is based on friction between the cushioning gasket and the output regulator of the shock-absorber. Friction between them can be dry, limit, mixture or fluid. The friction is depending on the contact pressure and lubricant presence. It is defined dimensionless form for the Striebeck curve (µ friction coefficient - sliding speed v). The friction may damp a vibratory movement or can maintain it (self-vibration), depending on the µ with v (it can increase / decrease or it can be relative constant). The solutions of differential equation of movement are obtained for some work condition of one damper for automatic washing machine. The friction force can transfer partial or total energy or generates excitation energy in damper. The damping efficiency is defined and is determined analytical for the constant friction coefficient and for the parabolic friction coefficient.

  2. Effect of hexagonal boron nitride and calcined petroleum coke on friction and wear behavior of phenolic resin-based friction composites

    International Nuclear Information System (INIS)

    Yi Gewen; Yan Fengyuan

    2006-01-01

    Calcined petroleum coke (CPC) and hexagonal boron nitride (h-BN) were used as the friction modifiers to improve the friction and wear properties of phenolic resin-based friction composites. Thus, the composites with different relative amounts of CPC and h-BN as the friction modifiers were prepared by compression molding. The hardness and bending strength of the friction composites were measured. The friction and wear behaviors of the composites sliding against cast iron at various temperatures were evaluated using a pin-on-disc test rig. The worn surfaces and wear debris of the friction composites were analyzed by means of scanning electron microscopy, energy dispersive spectroscopy, and X-ray photoelectron spectroscopy. It was found that the hybrid of the two friction modifiers was effective to significantly decrease the wear rate and stabilize the friction coefficient of the friction composites at various temperatures by forming a uniform lubricating and/or transferred film on the rubbing surfaces. The uniform and durable transfer films were also able to effectively diminish the direct contact between the friction composite and the cast iron counterpart and hence prevent severe wear of the latter as well. The effectiveness of the hybrid of CPC and h-BN in improving the friction and wear behavior of the phenolic resin-based friction modifiers could be attributed to the complementary action of the 'low temperature' lubricity of CPC and the 'high temperature' lubricity of h-BN. The optimum ratio of the two friction modifiers CPC and h-BN in the friction composites was suggested to be 1:1, and the corresponding friction composite showed the best friction-reducing and antiwear abilities

  3. 75 FR 32160 - Certain Hot-Rolled Flat-Rolled Carbon-Quality Steel Products from Brazil: Extension of Time Limit...

    Science.gov (United States)

    2010-06-07

    ...-Rolled Carbon-Quality Steel Products from Brazil: Extension of Time Limit for Preliminary Results of...-quality steel products from Brazil. See Agreement Suspending the Countervailing Duty Investigation on Hot... duty order on certain hot-rolled flat-rolled carbon-quality steel products from Brazil. See Initiation...

  4. Microstructural evolution in warm-rolled and cold-rolled strip cast 6.5 wt% Si steel thin sheets and its influence on magnetic properties

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Xianglong, E-mail: 215454278@qq.com; Liu, Zhenyu, E-mail: zyliu@mail.neu.edu.cn; Li, Haoze; Wang, Guodong

    2017-07-01

    Highlights: • The experimental materials used in the study are based on strip casting. • Magnetic properties between warm rolled and cold rolled sheets are investigated. • Cold rolled 6.5% Si sheet has better magnetic properties than warm rolled sheet. • The γ and λ-fiber recrystallization textures can be optimized after cold rolling. • Cold rolling should be more suitable for fabricating 6.5% Si steel thin sheets. - Abstract: 6.5 wt% Si steel thin sheets were usually fabricated by warm rolling. In our previous work, 6.5 wt% Si steel thin sheets with good magnetic properties had been successfully fabricated by cold rolling based on strip casting. In the present work, the main purposes were to find out the influences of warm rolling and cold rolling on microstructures and magnetic properties of the thin sheets with the thickness of 0.2 mm, and to confirm which rolling method was more suitable for fabricating 6.5 wt% Si steel thin sheets. The results showed that the cold rolled sheet could obtain good surface quality and flatness, while the warm rolled sheet could not. The intensity of γ-fiber rolling texture (<1 1 1>//ND) of cold rolled specimen was weaker than that of the warm rolled specimen, especially for the {1 1 1}<1 1 2> component at surface layer and {1 1 1}<1 1 0> component at center layer. After the same annealing treatment, the cold rolled specimen, which had higher stored energy and weaker intensity of γ-fiber rolling texture, could obtain smaller recrystallization grain size, weaker intensity of γ-fiber recrystallization texture and stronger intensity of λ-fiber recrystallization texture. Therefore, due to the good surface quality, smaller recrystallization grain size and optimum recrystallization texture, the cold rolled specimen possessed improved magnetic properties, and cold rolling should be more suitable for fabricating 6.5 wt% Si steel thin sheets.

  5. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

    arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis......Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem...... is to increase the versatility and practical usability of modular robots by introducing new conceptual designs. Until now modular robots have been based on a pre-specified set of modules, and thus, their functionality is limited. We propose an open heterogeneous design concept, which allows a modular robot...

  6. Internal friction, microstructure, and radiation effects

    International Nuclear Information System (INIS)

    Wechsler, M.S.; Sommer, W.F.; Davidson, D.R.

    1984-01-01

    A brief review is given of internal friction relaxation peaks and background internal friction. The microstructural origin of the internal friction is discussed. Particular emphasis is placed on radiation effects

  7. Just Roll with It? Rolling Volumes vs. Discrete Issues in Open Access Library and Information Science Journals

    Directory of Open Access Journals (Sweden)

    Jill Cirasella

    2013-08-01

    Full Text Available INTRODUCTION Articles in open access (OA journals can be published on a rolling basis, as they become ready, or in complete, discrete issues. This study examines the prevalence of and reasons for rolling volumes vs. discrete issues among scholarly OA library and information science (LIS journals based in the United States. METHODS A survey was distributed to journal editors, asking them about their publication model and their reasons for and satisfaction with that model. RESULTS Of the 21 responding journals, 12 publish in discrete issues, eight publish in rolling volumes, and one publishes in rolling volumes with an occasional special issue. Almost all editors, regardless of model, cited ease of workflow as a justification for their chosen publication model, suggesting that there is no single best workflow for all journals. However, while all rolling-volume editors reported being satisfied with their model, satisfaction was less universal among discrete-issue editors. DISCUSSION The unexpectedly high number of rolling-volume journals suggests that LIS journal editors are making forward-looking choices about publication models even though the topic has not been much addressed in the library literature. Further research is warranted; possibilities include expanding the study’s geographic scope, broadening the study to other disciplines, and investigating publication model trends across the entire scholarly OA universe. CONCLUSION Both because satisfaction is high among editors of rolling-volume journals and because readers and authors appreciate quick publication times, the rolling-volume model will likely become even more prevalent in coming years.

  8. Advances on LuGre friction model

    OpenAIRE

    Fuad, Mohammad; Ikhouane, Fayçal

    2013-01-01

    LuGre friction model is an ordinary differential equation that is widely used in describing the friction phenomenon for mechanical systems. The importance of this model comes from the fact that it captures most of the friction behavior that has been observed including hysteresis. In this paper, we study some aspects related to the hysteresis behavior induced by the LuGre friction model.

  9. A Pedagogical Model of Static Friction

    OpenAIRE

    Pickett, Galen T.

    2015-01-01

    While dry Coulombic friction is an elementary topic in any standard introductory course in mechanics, the critical distinction between the kinetic and static friction forces is something that is both hard to teach and to learn. In this paper, I describe a geometric model of static friction that may help introductory students to both understand and apply the Coulomb static friction approximation.

  10. Friction in volcanic environments

    Science.gov (United States)

    Kendrick, Jackie E.; Lavallée, Yan

    2016-04-01

    Volcanic landscapes are amongst the most dynamic on Earth and, as such, are particularly susceptible to failure and frictional processes. In rocks, damage accumulation is frequently accompanied by the release of seismic energy, which has been shown to accelerate in the approach to failure on both a field and laboratory scale. The point at which failure occurs is highly dependent upon strain-rate, which also dictates the slip-zone properties that pertain beyond failure, in scenarios such as sector collapse and pyroclastic flows as well as the ascent of viscous magma. High-velocity rotary shear (HVR) experiments have provided new opportunities to overcome the grand challenge of understanding faulting processes during volcanic phenomena. Work on granular ash material demonstrates that at ambient temperatures, ash gouge behaves according to Byerlee's rule at low slip velocities, but is slip-weakening, becoming increasingly lubricating as slip ensues. In absence of ash along a slip plane, rock-rock friction induces cataclasis and heating which, if sufficient, may induce melting (producing pseudotachylyte) and importantly, vesiculation. The viscosity of the melt, so generated, controls the subsequent lubrication or resistance to slip along the fault plane thanks to non-Newtonian suspension rheology. The shear-thinning behaviour and viscoelasticity of frictional melts yield a tendency for extremely unstable slip, and occurrence of frictional melt fragmentation. This velocity-dependence acts as an important feedback mechanism on the slip plane, in addition to the bulk composition, mineralogy and glass content of the magma, that all influence frictional behaviour. During sector collapse events and in pyroclastic density currents it is the frictional properties of the rocks and ash that, in-part, control the run-out distance and associated risk. In addition, friction plays an important role in the eruption of viscous magmas: In the conduit, the rheology of magma is integral

  11. Ultra-Fine Friction Grinding of Sunflower Kernels – Thereof Tahini and Halva Production and Rheological Characterization

    Directory of Open Access Journals (Sweden)

    Emil RACOLŢA

    2016-11-01

    Full Text Available Tahini is a paste obtained by milling the roasted sunflower kernel. Usually, a time and energy consuming two-steps process is involved, a three-roll refiner and a beating machine. The aim of this work was to identify and test a milling process for roasted sunflower kernels with lower time and energy consumption. Different particle size sunflower tahini and halva samples were produced by Ultra-Fine Friction Grinding machine Masuko Sangyo “Supermasscolloider” MKCA6-2 and compared to standard technology. The rheological properties of tahini and textural parameters of halva were assessed. Rheological analysis revealed that all tahini samples produced by “Supermasscolloider” showed a different viscosity profile, as compared to control, the sample milled with the gap set at 100µm being the most viscous and the one at 200µm being the most fluid. When testing the halva samples texture, the sample obtained from the tahini milled at 200µm was clearly highlighted as having the lowest hardness values, while the other samples showed similar texture profiles. The feasibility of using an Ultra-Fine Friction Grinding machine for obtaining sunflower tahini and thereof halva with improved textural properties, was assessed successfully.

  12. Chirality-dependent friction of bulk molecular solids.

    Science.gov (United States)

    Yang, Dian; Cohen, Adam E

    2014-08-26

    We show that the solid-solid friction between bulk chiral molecular solids can depend on the relative chirality of the two materials. In menthol and 1-phenyl-1-butanol, heterochiral friction is smaller than homochiral friction, while in ibuprofen, heterochiral friction is larger. Chiral asymmetries in the coefficient of sliding friction vary with temperature and can be as large as 30%. In the three compounds tested, the sign of the difference between heterochiral and homochiral friction correlated with the sign of the difference in melting point between racemate (compound or conglomerate) and pure enantiomer. Menthol and ibuprofen each form a stable racemic compound, while 1-phenyl-1-butanol forms a racemic conglomerate. Thus, a difference between heterochiral and homochiral friction does not require the formation of a stable interfacial racemic compound. Measurements of chirality-dependent friction provide a unique means to distinguish the role of short-range intermolecular forces from all other sources of dissipation in the friction of bulk molecular solids.

  13. A Simple Device For Measuring Skin Friction

    Directory of Open Access Journals (Sweden)

    Gupta A.B

    1995-01-01

    Full Text Available A simple device for measuring skin friction in vivo is described. The frictional coefficient of normal Indian skin and the effect of hydration and application of talc and glycerol on the frictional coefficient and also the friction of ichthyotic skin have been determined with its help. The average value of friction of friction of normal India skin at forearm is found to be 0.41 +- 0.08, the hydration raises the value to 0.71 +- 0.11 and the effect of glycerol is also to school it up to 0.70+- 0.05, almost equal to that of water. The effect of talc however is opposite and its application lowers the friction to 0.21+-0.07. The mean coeff of friction for ichthyotic skin is found to be 0.21+- 0.0.5, which closely agrees with talc-treated normal skin. A good positive correlation (p<0.01 between friction and sebum level at skin site, with r = 0.64, has been observed.

  14. Roll-to-roll compatible organic thin film transistor manufacturing technique by printing, lamination, and laser ablation

    International Nuclear Information System (INIS)

    Hassinen, Tomi; Ruotsalainen, Teemu; Laakso, Petri; Penttilä, Raimo; Sandberg, Henrik G.O.

    2014-01-01

    We present roll-to-roll printing compatible techniques for manufacturing organic thin film transistors using two separately processed foils that are laminated together. The introduction of heat-assisted lamination opens up possibilities for material and processing combinations. The lamination of two separately processed substrates together will allow usage of pre-patterned electrodes on both substrates and materials with non-compatible solvents. Also, the surface microstructure is formed differently when laminating dry films together compared to film formation from liquid phase. Demonstrator transistors, inverters and ring oscillators were produced using lamination techniques. Finally, a roll-to-roll compatible lamination concept is proposed where also the source and drain electrodes are patterned by laser ablation. The demonstrator transistors have shown very good lifetime in air, which is contributed partly to the good material combination and partly to the enhanced interface formation in heat-assisted lamination process. - Highlights: • A roll-to-roll compatible lamination technique for printed electronics is proposed. • Laser ablation allows highly defined metal top and bottom electrodes. • Method opens up processing possibilities for incompatible materials and solvents. • Shearing forces may enhance molecular orientation and packing. • An air stable polymer transistor is demonstrated with a lifetime of years

  15. Inflation with a constant rate of roll

    International Nuclear Information System (INIS)

    Motohashi, Hayato; Starobinsky, Alexei A.; Yokoyama, Jun'ichi

    2015-01-01

    We consider an inflationary scenario where the rate of inflaton roll defined by ·· φ/H φ-dot remains constant. The rate of roll is small for slow-roll inflation, while a generic rate of roll leads to the interesting case of 'constant-roll' inflation. We find a general exact solution for the inflaton potential required for such inflaton behaviour. In this model, due to non-slow evolution of background, the would-be decaying mode of linear scalar (curvature) perturbations may not be neglected. It can even grow for some values of the model parameter, while the other mode always remains constant. However, this always occurs for unstable solutions which are not attractors for the given potential. The most interesting particular cases of constant-roll inflation remaining viable with the most recent observational data are quadratic hilltop inflation (with cutoff) and natural inflation (with an additional negative cosmological constant). In these cases even-order slow-roll parameters approach non-negligible constants while the odd ones are asymptotically vanishing in the quasi-de Sitter regime

  16. Friction Stir Weld Application and Tooling Design for the Multi-purpose Crew Vehicle Stage Adapter

    Science.gov (United States)

    Alcorn, John

    2013-01-01

    The Multi-Purpose Crew Vehicle (MPCV), commonly known as the Orion capsule, is planned to be the United States' next manned spacecraft for missions beyond low earth orbit. Following the cancellation of the Constellation program and creation of SLS (Space Launch System), the need arose for the MPCV to utilize the Delta IV Heavy rocket for a test launch scheduled for 2014 instead of the previously planned Ares I rocket. As a result, an adapter (MSA) must be used in conjunction with the MPCV to account for the variation in diameter of the launch vehicles; 5.5 meters down to 5.0 meters. Prior to ight article fabrication, a path nder (test article) will be fabricated to ne tune the associated manufacturing processes. The adapter will be comprised of an aluminum frustum (partial cone) that employs isogrid technology and circumferential rings on each end. The frustum will be fabricated by friction stir welding (FSW) three individual panels together on a Vertical Weld Tool (VWT) at NASA Marshall Space Flight Center. Subsequently, each circumferential ring will be friction stir welded to the frustum using a Robotic Weld Tool (RWT). The irregular geometry and large mass of the MSA require that extensive tooling preparation be put into support structures for the friction stir weld. The tooling on the VWT will be comprised of a set of conveyors mounted on pre-existing stanchions so that the MSA will have the ability to be rotated after each of the three friction stir welds. The tooling requirements to friction stir weld the rings with the RWT are somewhat more demanding. To support the mass of the MSA and resist the load of the weld tool, a system of mandrels will be mounted to stanchions and assembled in a circle. The goal of the paper will be to explain the design, fabrication, and assembly of the tooling, to explain the use of friction stir welding on the MSA path nder, and also to discuss the lessons learned and modi cations made in preparation for ight article fabrication

  17. High-throughput roll-to-roll X-ray characterization of polymer solar cell active layers

    DEFF Research Database (Denmark)

    Böttiger, Arvid P.L.; Jørgensen, Mikkel; Menzel, Andreas

    2012-01-01

    Synchrotron-based X-rays were used to probe active materials for polymer solar cells on flexible polyester foil. The active material was coated onto a flexible 130 micron thick polyester foil using roll-to-roll differentially pumped slot-die coating and presented variation in composition, thickness...

  18. A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion

    Directory of Open Access Journals (Sweden)

    Dong-Hoon Yi

    2018-01-01

    Full Text Available In this paper, a new localization system utilizing afocal optical flow sensor (AOFS based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively.

  19. A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion.

    Science.gov (United States)

    Yi, Dong-Hoon; Lee, Tae-Jae; Cho, Dong-Il Dan

    2018-01-10

    In this paper, a new localization system utilizing afocal optical flow sensor (AOFS) based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively.

  20. Towards roll-to-roll manufacturing of polymer photonic devices

    Science.gov (United States)

    Subbaraman, Harish; Lin, Xiaohui; Ling, Tao; Guo, L. Jay; Chen, Ray T.

    2014-03-01

    Traditionally, polymer photonic devices are fabricated using clean-room processes such as photolithography, e-beam lithography, reactive ion etching (RIE) and lift-off methods etc, which leads to long fabrication time, low throughput and high cost. We have utilized a novel process for fabricating polymer photonic devices using a combination of imprinting and ink jet printing methods, which provides high throughput on a variety of rigid and flexible substrates with low cost. We discuss the manufacturing challenges that need to be overcome in order to realize true implementation of roll-to-roll manufacturing of flexible polymer photonic systems. Several metrology and instrumentation challenges involved such as availability of particulate-free high quality substrate, development and implementation of high-speed in-line and off-line inspection and diagnostic tools with adaptive control for patterned and unpatterned material films, development of reliable hardware, etc need to be addressed and overcome in order to realize a successful manufacturing process. Due to extreme resolution requirements compared to print media, the burden of software and hardware tools on the throughput also needs to be carefully determined. Moreover, the effect of web wander and variations in web speed need to accurately be determined in the design of the system hardware and software. In this paper, we show the realization of solutions for few challenges, and utilizing these solutions for developing a high-rate R2R dual stage ink-jet printer that can provide alignment accuracy of web speed of 5m/min. The development of a roll-to-roll manufacturing system for polymer photonic systems opens limitless possibilities for the deployment of high performance components in a variety of applications including communication, sensing, medicine, agriculture, energy, lighting etc.

  1. Socially intelligent robots: dimensions of human-robot interaction.

    Science.gov (United States)

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

  2. Non-uniform Pressure Distribution in Draw-Bend Friction Test and its Influence on Friction Measurement

    International Nuclear Information System (INIS)

    Kim, Young Suk; Jain, Mukesh K.; Metzger, Don R.

    2005-01-01

    From various draw-bend friction tests with sheet metals at lubricated conditions, it has been unanimously reported that the friction coefficient increases as the pin diameter decreases. However, a proper explanation for this phenomenon has not been given yet. In those experiments, tests were performed for different pin diameters while keeping the same average contact pressure by adjusting applied tension forces. In this paper, pressure profiles at pin/strip contacts and the changes in the pressure profiles depending on pin diameters are investigated using finite element simulations. To study the effect of the pressure profile changes on friction measurements, a non-constant friction model (Stribeck friction model), which is more realistic for the lubricated sheet metal contacts, is implemented into the finite element code and applied to the simulations. The study shows that the non-uniformity of the pressure profile increases and the pin/strip contact angle decreases as the pin diameter decreases, and these phenomena increase the friction coefficient, which is calculated from the strip tension forces using a conventional rope-pulley equation

  3. Modeling and data analysis of the NASA-WSTF frictional heating apparatus - Effects of test parameters on friction coefficient

    Science.gov (United States)

    Zhu, Sheng-Hu; Stoltzfus, Joel M.; Benz, Frank J.; Yuen, Walter W.

    1988-01-01

    A theoretical model is being developed jointly by the NASA White Sands Test Facility (WSTF) and the University of California at Santa Barbara (UCSB) to analyze data generated from the WSTF frictional heating test facility. Analyses of the data generated in the first seconds of the frictional heating test are shown to be effective in determining the friction coefficient between the rubbing interfaces. Different friction coefficients for carobn steel and Monel K-500 are observed. The initial condition of the surface is shown to affect only the initial value of the friction coefficient but to have no significant influence on the average steady-state friction coefficient. Rotational speed and the formation of oxide film on the rotating surfaces are shown to have a significant effect on the friction coefficient.

  4. Kinetic Friction of Sport Fabrics on Snow

    Directory of Open Access Journals (Sweden)

    Werner Nachbauer

    2016-03-01

    Full Text Available After falls, skiers or snowboarders often slide on the slope and may collide with obstacles. Thus, the skier’s friction on snow is an important factor to reduce incidence and severity of impact injuries. The purpose of this study was to measure snow friction of different fabrics of ski garments with respect to roughness, speed, and contact pressure. Three types of fabrics were investigated: a commercially available ski overall, a smooth downhill racing suit, and a dimpled downhill racing suit. Friction was measured for fabrics taped on a short ski using a linear tribometer. The fabrics’ roughness was determined by focus variation microscopy. Friction coefficients were between 0.19 and 0.48. Roughness, friction coefficient, and friction force were highest for the dimpled race suit. The friction force of the fabrics was higher for the higher contact pressure than for the lower one at all speeds. It was concluded that the main friction mechanism for the fabrics was dry friction. Only the fabric with the roughest surface showed friction coefficients, which were high enough to sufficiently decelerate a sliding skier on beginner and intermediate slopes.

  5. Rolling block mazes are PSPACE-complete

    NARCIS (Netherlands)

    Buchin, K.; Buchin, M.

    2012-01-01

    In a rolling block maze, one or more blocks lie on a rectangular board with square cells. In most mazes, the blocks have size k × m × n where k, m, n are integers that determine the size of the block in terms of units of the size of the board cells. The task of a rolling block maze is to roll a

  6. Research on micromanipulator’s clamping force sensing based on static wirerope tension of a surgical robot

    Directory of Open Access Journals (Sweden)

    Lingtao Yu

    2015-04-01

    Full Text Available The micromanipulator’s force feedback is one of the key research contents of minimally invasive surgical robotic system. Because the micromanipulator is a kind of compact construction which is suitable for valve installation with small space in surgery, especially for the influence of disinfection method, there are major difficulties and limitations to integrate compact sensors in the end of micromanipulator. This article focuses on the 3-degree-of-freedom micromanipulator’s clamping force sensing, and these three joints are actuated by wirerope driving. A clamping force sensing method is proposed based on static tension of wirerope driving, and a static model between the clamping force and wirerope’s static tension is established considering the influence of real friction resistance in the mechanical system. Finally, an equivalent experimental test platform for 3-degree-of-freedom micromanipulator’s clamping force sensing is set up, and then a series of experiments of the clamping force are studied. The frictional resistances of wirerope between the guide plate and guide pulley mechanism are tested, and a calibration and correction method of the experimental clamping force is proposed. The final experiment results show that the total average accuracy of experimental clamping force is about 78.3%, and it can be the basic measurement force to realize micromanipulator’s clamping force feedback of a minimally invasive surgical robot.

  7. Maintenance Appointments in Railway Rolling Stock Rescheduling

    NARCIS (Netherlands)

    J.C. Wagenaar (Joris); L.G. Kroon (Leo); M.E. Schmidt (Marie)

    2016-01-01

    textabstractThis paper addresses the Rolling Stock Rescheduling Problem (RSRP), while taking maintenance appointments into account. After a disruption, the rolling stock of the disrupted passenger trains has to be rescheduled in order to restore a feasible rolling stock circulation. Usually, a

  8. Roll-to-roll DBD plasma pretreated polyethylene web for enhancement of Al coating adhesion and barrier property

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Haibao; Li, Hua; Fang, Ming; Wang, Zhengduo; Sang, Lijun; Yang, Lizhen; Chen, Qiang, E-mail: lppmchenqiang@hotmail.com

    2016-12-01

    Graphical abstract: The images of Al coating adhesion testes for (a) untreated and (b) roll-to-roll DBD plasma treated PE. - Highlights: • Over three-months ageing a high surface energy was still existed in roll-to-roll DBD plasma-treated PE surface. • The adhesion and barrier property of Al-coated PE web were greatly improved. • The mechanism of plasma grafting to improve the properties of Al-coated PE web was found. - Abstract: In this paper the roll-to-roll atmospheric dielectric barrier discharge (DBD) was used to pre-treat polyethylene (PE) web surface before the conventional thermal evaporation aluminum (Al) was performed as a barrier layer. We emphasized the plasma environment effect based on the inlet three kinds of reactive monomers. The cross hatch test was employed to assess the Al coating adhesion; and the oxygen transmission rate (OTR) was used to evaluate gas barrier property. The results showed that after roll-to-roll DBD plasma treatment all Al coatings adhered strongly on PE films and were free from pinhole defects with mirror morphology. The OTR was reduced from 2673 cm{sup 3}/m{sup 2} day for Al-coated original PE to 138 cm{sup 3}/m{sup 2} day for Al-coated allyamine (C{sub 3}H{sub 7}N) modified PE. To well understand the mechanism the chemical compositions of the untreated and DBD plasma pretreated PE films were analyzed by X-ray photoelectron spectroscopy (XPS). The surface topography was characterized by atomic force microscopy (AFM). For the property of surface energy the water contact angle measurement was also carried out in the DBD plasma treated samples with deionized water.

  9. Roll-to-roll DBD plasma pretreated polyethylene web for enhancement of Al coating adhesion and barrier property

    International Nuclear Information System (INIS)

    Zhang, Haibao; Li, Hua; Fang, Ming; Wang, Zhengduo; Sang, Lijun; Yang, Lizhen; Chen, Qiang

    2016-01-01

    Graphical abstract: The images of Al coating adhesion testes for (a) untreated and (b) roll-to-roll DBD plasma treated PE. - Highlights: • Over three-months ageing a high surface energy was still existed in roll-to-roll DBD plasma-treated PE surface. • The adhesion and barrier property of Al-coated PE web were greatly improved. • The mechanism of plasma grafting to improve the properties of Al-coated PE web was found. - Abstract: In this paper the roll-to-roll atmospheric dielectric barrier discharge (DBD) was used to pre-treat polyethylene (PE) web surface before the conventional thermal evaporation aluminum (Al) was performed as a barrier layer. We emphasized the plasma environment effect based on the inlet three kinds of reactive monomers. The cross hatch test was employed to assess the Al coating adhesion; and the oxygen transmission rate (OTR) was used to evaluate gas barrier property. The results showed that after roll-to-roll DBD plasma treatment all Al coatings adhered strongly on PE films and were free from pinhole defects with mirror morphology. The OTR was reduced from 2673 cm 3 /m 2 day for Al-coated original PE to 138 cm 3 /m 2 day for Al-coated allyamine (C 3 H 7 N) modified PE. To well understand the mechanism the chemical compositions of the untreated and DBD plasma pretreated PE films were analyzed by X-ray photoelectron spectroscopy (XPS). The surface topography was characterized by atomic force microscopy (AFM). For the property of surface energy the water contact angle measurement was also carried out in the DBD plasma treated samples with deionized water.

  10. Design and analysis of roll cage

    Science.gov (United States)

    Angadi, Gurusangappa; Chetan, S.

    2018-04-01

    Wildlife fire fighting vehicles are used to extinguish fires in forests, in this process vehicles face falling objects like rocks, tree branches and other objects. Also due to uneven conditions of the terrain like cliff edges, uneven surfaces etc. makes the vehicle to roll over and these can cause injuries to both the driver and the operator. Roll over of a vehicle is a common incident which makes fatal injuries to the operator and also stands next to the crash accidents. In order to reduce the injury level and continuous roll over of the vehicle it is necessary to equip suitable roll cage according to standards of vehicle. In this present work roll cage for pump operator in wildfire fighting vehicle is designed and analysis is carried out in computer simulated environment when seating position of operator seated outside of the cabin. According to NFPA 1906 standards wildlife fire apparatus, Design and Test procedures that are carried out in Hyperworks maintaining SAE J1194.1983 standards. G load case, roof crush analysis and pendulum impact analysis tests are carried out on roll cage to ensure the saftey of design. These load cases are considerd to satisfy the situation faced in forest terrain. In these test procedures roll cage is analysed for stresses and deformation in various load cases. After recording results these are compared with standards mentioned in SAE J1194.1983.

  11. Polymer friction Molecular Dynamics

    DEFF Research Database (Denmark)

    Sivebæk, Ion Marius; Samoilov, Vladimir N.; Persson, Bo N. J.

    We present molecular dynamics friction calculations for confined hydrocarbon solids with molecular lengths from 20 to 1400 carbon atoms. Two cases are considered: a) polymer sliding against a hard substrate, and b) polymer sliding on polymer. In the first setup the shear stresses are relatively...... independent of molecular length. For polymer sliding on polymer the friction is significantly larger, and dependent on the molecular chain length. In both cases, the shear stresses are proportional to the squeezing pressure and finite at zero load, indicating an adhesional contribution to the friction force....

  12. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  13. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  14. Hot Roll Bonding of Aluminum to Twin-Roll Cast (TRC) Magnesium and Its Subsequent Deformation Behavior

    Science.gov (United States)

    Saleh, H.; Schmidtchen, M.; Kawalla, R.

    2018-02-01

    In an experiment in which twin-roll cast AZ31 magnesium alloy and commercial purity aluminum (AA 1050) sheets were bonded by hot rolling as Al/Mg/Al laminate composites, it was found that increasing the preheating temperatures up to 400 °C enhances the bonding strength of composites. Further increases in the preheating temperatures accelerate the magnesium oxide growth and thus reduce the bonding strength. The influence of the reduction ratio on the bonding properties was also studied, whereby it was observed that increasing the rolling reduction led to an increase in the bonding strength. The experimental results show that the optimum bonding strength can be obtained at rolling temperatures of 375-400 °C with a 50-60% reduction in thickness. On the other hand, the subsequent deformation behavior of composite was assessed using plane strain compression and deep drawing tests. We demonstrate that the composites produced using the optimum roll bonding conditions exhibited sufficient bonding during subsequent deformation and did not reveal any debonding at the bonding interface.

  15. Enhanced nanoscale friction on fluorinated graphene.

    Science.gov (United States)

    Kwon, Sangku; Ko, Jae-Hyeon; Jeon, Ki-Joon; Kim, Yong-Hyun; Park, Jeong Young

    2012-12-12

    Atomically thin graphene is an ideal model system for studying nanoscale friction due to its intrinsic two-dimensional (2D) anisotropy. Furthermore, modulating its tribological properties could be an important milestone for graphene-based micro- and nanomechanical devices. Here, we report unexpectedly enhanced nanoscale friction on chemically modified graphene and a relevant theoretical analysis associated with flexural phonons. Ultrahigh vacuum friction force microscopy measurements show that nanoscale friction on the graphene surface increases by a factor of 6 after fluorination of the surface, while the adhesion force is slightly reduced. Density functional theory calculations show that the out-of-plane bending stiffness of graphene increases up to 4-fold after fluorination. Thus, the less compliant F-graphene exhibits more friction. This indicates that the mechanics of tip-to-graphene nanoscale friction would be characteristically different from that of conventional solid-on-solid contact and would be dominated by the out-of-plane bending stiffness of the chemically modified graphene. We propose that damping via flexural phonons could be a main source for frictional energy dissipation in 2D systems such as graphene.

  16. Amontonian frictional behaviour of nanostructured surfaces.

    Science.gov (United States)

    Pilkington, Georgia A; Thormann, Esben; Claesson, Per M; Fuge, Gareth M; Fox, Oliver J L; Ashfold, Michael N R; Leese, Hannah; Mattia, Davide; Briscoe, Wuge H

    2011-05-28

    With nanotextured surfaces and interfaces increasingly being encountered in technological and biomedical applications, there is a need for a better understanding of frictional properties involving such surfaces. Here we report friction measurements of several nanostructured surfaces using an Atomic Force Microscope (AFM). These nanostructured surfaces provide well defined model systems on which we have tested the applicability of Amontons' laws of friction. Our results show that Amontonian behaviour is observed with each of the surfaces studied. However, no correlation has been found between measured friction and various surface roughness parameters such as average surface roughness (R(a)) and root mean squared (rms) roughness. Instead, we propose that the friction coefficient may be decomposed into two contributions, i.e., μ = μ(0) + μ(g), with the intrinsic friction coefficient μ(0) accounting for the chemical nature of the surfaces and the geometric friction coefficient μ(g) for the presence of nanotextures. We have found a possible correlation between μ(g) and the average local slope of the surface nanotextures. This journal is © the Owner Societies 2011

  17. Static friction between rigid fractal surfaces.

    Science.gov (United States)

    Alonso-Marroquin, Fernando; Huang, Pengyu; Hanaor, Dorian A H; Flores-Johnson, E A; Proust, Gwénaëlle; Gan, Yixiang; Shen, Luming

    2015-09-01

    Using spheropolygon-based simulations and contact slope analysis, we investigate the effects of surface topography and atomic scale friction on the macroscopically observed friction between rigid blocks with fractal surface structures. From our mathematical derivation, the angle of macroscopic friction is the result of the sum of the angle of atomic friction and the slope angle between the contact surfaces. The latter is obtained from the determination of all possible contact slopes between the two surface profiles through an alternative signature function. Our theory is validated through numerical simulations of spheropolygons with fractal Koch surfaces and is applied to the description of frictional properties of Weierstrass-Mandelbrot surfaces. The agreement between simulations and theory suggests that for interpreting macroscopic frictional behavior, the descriptors of surface morphology should be defined from the signature function rather than from the slopes of the contacting surfaces.

  18. Friction welding method

    International Nuclear Information System (INIS)

    Ishida, Ryuichi; Hatanaka, Tatsuo.

    1969-01-01

    A friction welding method for forming a lattice-shaped base and tie plate supporter for fuel elements is disclosed in which a plate formed with a concavity along its edge is pressure welded to a rotating member such as a boss by longitudinally contacting the projecting surfaces remaining on either side of the concavity with the rotating member during the high speed rotation thereof in the presence of an inert gas. Since only the two projecting surfaces of the plate are fused by friction to the rotary member, heat expansion is absorbed by the concavity to prevent distortion; moreover, a two point contact surface assures a stable fitting and promotes the construction of a rigid lattice in which a number of the abovementioned plates are friction welded between rotating members to form any desired complex arrangement. The inert has serves to protect the material quality of the contacting surfaces from air during the welding step. The present invention thus provides a method in which even Zircaloy may be friction welded in place of casting stainless steel in the construction of supporting lattices to thereby enhance neutron economy. (K. J. Owens)

  19. Comparisons of friction models in bulk metal forming

    DEFF Research Database (Denmark)

    Tan, Xincai

    2002-01-01

    A friction model is one of the key input boundary conditions in finite element simulations. It is said that the friction model plays an important role in controlling the accuracy of necessary output results predicted. Among the various friction models, which one is of higher accuracy is still...... unknown and controversial. In this paper, finite element analyses applying five different friction models to experiments of upsetting of AA 6082 lubricated with four lubricants are presented. Frictional parameter values are determined by fitness of data of friction area ratio from finite element analysis...... to experimental results. It is found that calibration curves of the friction area ratio for all of the five chosen friction models used in the finite element simulation do fit the experimental results. Usually, calbration curves of the friction area ratio are more sensitive to friction at the tool...

  20. Rolling up a Graphene Sheet

    NARCIS (Netherlands)

    Calvaresi, Matteo; Quintana, Mildred; Rudolf, Petra; Zerbetto, Francesco; Prato, Maurizio

    2013-01-01

    Carbon Nanotubes, CNTs, have been described as rolled-up graphene layers. Matching this concept to experiments has been a great experimental challenge for it requires a method to exfoliate graphite, generate ordered and stable dangling carbon bonds, and roll up the layer without affecting the

  1. Anticipating the friction coefficient of friction materials used in automobiles by means of machine learning without using a test instrument

    OpenAIRE

    TİMUR, Mustafa; AYDIN, Fatih

    2013-01-01

    The most important factor for designs in which friction materials are used is the coefficient of friction. The coefficient of friction has been determined taking such variants as velocity, temperature, and pressure into account, which arise from various factors in friction materials, and by analyzing the effects of these variants on friction materials. Many test instruments have been produced in order to determine the coefficient of friction. In this article, a study about the use ...

  2. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  3. Roll bonding of strained aluminium

    DEFF Research Database (Denmark)

    Staun, Jakob M.

    2003-01-01

    This report investigates roll bonding of pre-strained (å ~ 4) aluminium sheets to produce high strain material from high purity aluminium (99.996%) and commercial pure aluminium (99.6%). The degree of bonding is investigated by optical microscopy and ultrasonic scanning. Under the right...... of the cross rolled volume fraction is found. To further asses this effect, and the anisotropy, it is necessary to acquire knowledge about both texture and microstructure, e.g. by TEM. Roll bonding of pre-strained aluminium is found to be a possible alternative to ARB in the quest for ultra-fine grained...

  4. 14 CFR 23.493 - Braked roll conditions.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Braked roll conditions. 23.493 Section 23.493 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT....493 Braked roll conditions. Under braked roll conditions, with the shock absorbers and tires in their...

  5. Structural Damping with Friction Beams

    Directory of Open Access Journals (Sweden)

    L. Gaul

    2008-01-01

    Full Text Available In the last several years, there has been increasing interest in the use of friction joints for enhancing damping in structures. The joints themselves are responsible for the major part of the energy dissipation in assembled structures. The dissipated work in a joint depends on both the applied normal force and the excitation force. For the case of a constant amplitude excitation force, there is an optimal normal force which maximizes the damping. A ‘passive’ approach would be employed in this instance. In most cases however, the excitation force, as well as the interface parameters such as the friction coefficient, normal pressure distribution, etc., are not constant. In these cases, a ‘semi-active’ approach, which implements an active varying normal force, is necessary. For the ‘passive’ and ‘semi-active’ approaches, the normal force has to be measured. Interestingly, since the normal force in a friction joint influences the local stiffness, the natural frequencies of the assembled structure can be tuned by adjusting the normal force. Experiments and simulations are performed for a simple laboratory structure consisting of two superposed beams with friction in the interface. Numerical simulation of the friction interface requires non-linear models. The response of the double beam system is simulated using a numerical algorithm programmed in MATLAB which models point-to-point friction with the Masing friction model. Numerical predictions and measurements of the double beam free vibration response are compared. A practical application is then described, in which a friction beam is used to damp the vibrations of the work piece table on a milling machine. The increased damping of the table reduces vibration amplitudes, which in turn results in enhanced surface quality of the machined parts, reduction in machine tool wear, and potentially higher feed rates. Optimal positioning of the friction beams is based on knowledge of the mode

  6. LEDs are on a roll

    NARCIS (Netherlands)

    Blom, P.W.M.; Mol, A.M.B. van

    2011-01-01

    Light-emitting diodes are more efficient than conventional lighting, but high production costs limit their uptake. Organic versions that can be produced using a cheap newspaper-style 'roll-to-roll' printing process are likely to revolutionize our lighting and signage, say Paul Blom and Ton van Mol.

  7. 14 CFR 27.493 - Braked roll conditions.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Braked roll conditions. 27.493 Section 27... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Strength Requirements Ground Loads § 27.493 Braked roll conditions. Under braked roll conditions with the shock absorbers in their static positions— (a) The limit...

  8. 14 CFR 29.493 - Braked roll conditions.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Braked roll conditions. 29.493 Section 29... AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Strength Requirements Ground Loads § 29.493 Braked roll conditions. Under braked roll conditions with the shock absorbers in their static positions— (a) The limit...

  9. Computation of the flash-temperature at the wheel-rail contact using a 3D finite element model and its comparison with analytical methods

    NARCIS (Netherlands)

    Naeimi, M.; Li, Z.; Dollevoet, R.P.B.J.; Wu, J.; Petrov, R.H.; Sietsma, J.

    2015-01-01

    The coupled mechanical–thermal behaviour of wheel and rail materials under rolling contact is studied to determine the temperature rise due to the frictional heat. The wheel–rail frictional rolling contact problem is solved using the three–dimensional finite element (FE) method. The FE model

  10. Roll-to-Roll Slot–Die Coated Organic Photovoltaic (OPV) Modules with High Geometrical Fill Factors

    NARCIS (Netherlands)

    Galagan, Y.; Fledderus, H.; Gorter, H.; Mannetje, H.H. 't; Shanmugam, S.; Mandamparambil, R.; Bosman, J.; Rubingh, J.M.; Teunissen, J.P.; Salem, A.; Vries, I.G. de; Andriessen, R.; Groen, W.A.

    2015-01-01

    Flexible semi-transparent organic photovoltaic (OPV) modules were manufactured by roll-to-roll slot–die coating of three functional layers [ZnO, photoactive layer, and poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate)(PEDOT:PSS)] and either the screen printing or inkjet printing of the top

  11. Effect of skin pass rolling reduction rate on the texture evolution of a non-oriented electrical steel after inclined cold rolling

    Energy Technology Data Exchange (ETDEWEB)

    Mehdi, Mehdi [CanmetMATERIALS, Natural Resources Canada, Hamilton, ON L8P 0A5 (Canada); Department of Mechanical, Automotive, and Materials Engineering, University of Windsor, Windsor, ON N9B 3P4 (Canada); He, Youliang, E-mail: youliang.he@canada.ca [CanmetMATERIALS, Natural Resources Canada, Hamilton, ON L8P 0A5 (Canada); Hilinski, Erik J. [Tempel Steel Co., Chicago, IL 60640-1020 (United States); Edrisy, Afsaneh [Department of Mechanical, Automotive, and Materials Engineering, University of Windsor, Windsor, ON N9B 3P4 (Canada)

    2017-05-01

    In order to promote the magnetically favourable <001>//ND texture (θ-fibre) and minimize the unfavourable <111>//ND fibre (γ-fibre) in non-oriented electrical steel, an unconventional cold rolling scheme was employed in this study, in which the cold rolling was carried out at an angle (i.e. 30°, 45°, 60°, and 90°) to the hot rolling direction (HRD). After annealing, two steel sheets (i.e. those after cold rolling at 60° and 45° to the HRD) were found to have considerably different textures from other sheets, i.e. showing the strongest and the weakest θ-fibre textures, respectively. These two sheets were then subjected to skin pass rolling to various reduction rates from 5–20% to investigate the effect of rolling reduction on the evolution of texture. It was found that during skin pass rolling, the cube texture ({001}<100>) was gradually weakened and the rotated cube orientation ({001}<110>) was strengthened. With the increase of the reduction rate, the {112}<110> orientation on the α-fibre became a major component. Upon final annealing, the cube texture was slightly restored, but the volume fraction was considerably lower than that before skin pass rolling. - Highlights: • Inclined cold rolling optimizes the textures of non-oriented electrical steels. • A 60° angle to the hot rolling direction results in the largest improvement of the favorable texture. • Skin pass rolling weakens the cube texture and promotes the {112}<110> texture. • Final annealing restores some of the cube texture and strengthens the rotated cube texture. • Low Taylor factor of the cube orientation leads to its easy deformation in skin pass rolling.

  12. FRICTION-BOON OR BANE IN ORTHODONTICS

    Directory of Open Access Journals (Sweden)

    Sameer

    2015-11-01

    Full Text Available OBJECTIVE: Most fixed appliance techniques involve some degree of sliding between brackets and arch wires. A sound knowledge of the various factors affecting the magnitude of friction is of paramount importance to the clinician. The present study was performed to evaluate and compare the frictional resistance and characteristics between self-ligating brackets and pre-adjusted edgewise brackets with different types of ligation. MATERIALS AND METHODS: Tidy's frictional test design was used to simulate retraction of tooth along with artificial saliva to simulate wet conditions in oral cavity. The jig with this assembly was mounted on the Instron machine with the cross head moving upwards at a speed of 5mm/min. The movable bracket was suspended from the load cell of the testing machine, while the jig was mounted on cross head of machine and the load cell readings were recorded on digital display. Following wires are used 0.016 HANT, 0.019X 0.025HANT, 0.019X 0.025 SS, 0.021X 0.025 SS wires are used. The brackets used were 0.022 slot Damon, 0.022 Smart clip and 0.022 slot MBT system. RESULTS: Self ligating brackets were shown to produce lesser friction when compared to the conventional brackets used with modules, and stainless steel ligatures. Damon self-ligating brackets produce a least friction of all the brackets used in the study. Stainless steel ligatures produced the least friction compared to elastomeric. CONCLUSION: Self ligation brackets produce lesser friction than the conventional brackets ligated with elastomeric modules and stainless steel ligature. Damon self-ligating brackets produce a least friction of all the brackets used in the study width of the bracket was also found to be directly proportional to the friction produced 0.0016HANT with elastomeric modules produce more friction due increase in flexibility of wire.

  13. Study of deformation texture in an AZ31 magnesium alloy rolled at wide range of rolling speed and reductions

    International Nuclear Information System (INIS)

    Sanjari, M; Su, J; Kabir, A S; Yue, S; Tamimi, S; Hara, K; Utsunomiya, H; Petrov, R; Kestens, L

    2015-01-01

    The plasticity of Mg is restricted at low temperatures because: (a) only a small number of deformation mechanisms can be activated, and (b) a preferred crystallographic orientation (texture) develops in wrought alloys, especially in flat-rolled sheets. This causes problems in thin sheet processing as well as component manufacturing from the sheet. In this study, different rolling speeds from 15 to 1000 m/min were employed to warm-roll AZ31B magnesium alloy to different reductions. The results show that AZ31B sheets rolled at 15 m/min and 100 °C has fractured for reductions of more than 30% per pass. However, by increasing the rolling speed to 1000 m/min the rollability was improved significantly and the material can be rolled to reductions of more than 70% per pass. The results show that with increasing strain rate at 100°C, the splitting of basal poles was observed, indicating the activation of more contraction twins and secondary twins. (paper)

  14. Nonlinear friction model for servo press simulation

    Science.gov (United States)

    Ma, Ninshu; Sugitomo, Nobuhiko; Kyuno, Takunori; Tamura, Shintaro; Naka, Tetsuo

    2013-12-01

    The friction coefficient was measured under an idealized condition for a pulse servo motion. The measured friction coefficient and its changing with both sliding distance and a pulse motion showed that the friction resistance can be reduced due to the re-lubrication during unloading process of the pulse servo motion. Based on the measured friction coefficient and its changes with sliding distance and re-lubrication of oil, a nonlinear friction model was developed. Using the newly developed the nonlinear friction model, a deep draw simulation was performed and the formability was evaluated. The results were compared with experimental ones and the effectiveness was verified.

  15. Friction between silicon and diamond at the nanoscale

    International Nuclear Information System (INIS)

    Bai, Lichun; Srikanth, Narasimalu; Sha, Zhen-Dong; Pei, Qing-Xiang; Wang, Xu; Srolovitz, David J; Zhou, Kun

    2015-01-01

    This work investigates the nanoscale friction between diamond-structure silicon (Si) and diamond via molecular dynamics simulation. The interaction between the interfaces is considered as strong covalent bonds. The effects of load, sliding velocity, temperature and lattice orientation are investigated. Results show that the friction can be divided into two stages: the static friction and the kinetic friction. During the static friction stage, the load, lattice orientation and temperature dramatically affects the friction by changing the elastic limit of Si. Large elastic deformation is induced in the Si block, which eventually leads to the formation of a thin layer of amorphous Si near the Si-diamond interface and thus the beginning of the kinetic friction stage. During the kinetic friction stage, only temperature and velocity have an effect on the friction. The investigation of the microstructural evolution of Si demonstrated that the kinetic friction can be categorized into two modes (stick-slip and smooth sliding) depending on the temperature of the fracture region. (paper)

  16. Rudder roll stabilization for ships

    NARCIS (Netherlands)

    van Amerongen, J.; van der Klugt, P.G.M.; van Nauta lemke, H.R.

    1990-01-01

    This paper describes the design of an autopilot for rudder roll stabilization for ships. This autopilot uses the rudder not only for course keeping but also for reduction of the roll. The system has a series of properties which make the controller design far from straightforward: the process has

  17. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  18. Molecular Robots Obeying Asimov's Three Laws of Robotics.

    Science.gov (United States)

    Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

    2017-01-01

    Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

  19. Nonmonotonicity of the Frictional Bimaterial Effect

    Science.gov (United States)

    Aldam, Michael; Xu, Shiqing; Brener, Efim A.; Ben-Zion, Yehuda; Bouchbinder, Eran

    2017-10-01

    Sliding along frictional interfaces separating dissimilar elastic materials is qualitatively different from sliding along interfaces separating identical materials due to the existence of an elastodynamic coupling between interfacial slip and normal stress perturbations in the former case. This bimaterial coupling has important implications for the dynamics of frictional interfaces, including their stability and rupture propagation along them. We show that while this bimaterial coupling is a monotonically increasing function of the bimaterial contrast, when it is coupled to interfacial shear stress perturbations through a friction law, various physical quantities exhibit a nonmonotonic dependence on the bimaterial contrast. In particular, we show that for a regularized Coulomb friction, the maximal growth rate of unstable interfacial perturbations of homogeneous sliding is a nonmonotonic function of the bimaterial contrast and provides analytic insight into the origin of this nonmonotonicity. We further show that for velocity-strengthening rate-and-state friction, the maximal growth rate of unstable interfacial perturbations of homogeneous sliding is also a nonmonotonic function of the bimaterial contrast. Results from simulations of dynamic rupture along a bimaterial interface with slip-weakening friction provide evidence that the theoretically predicted nonmonotonicity persists in nonsteady, transient frictional dynamics.

  20. Surface Friction of Polyacrylamide Hydrogel Particles

    Science.gov (United States)

    Cuccia, Nicholas; Burton, Justin

    Polyacrylamide hydrogel particles have recently become a popular system for modeling low-friction, granular materials near the jamming transition. Because a gel consists of a polymer network filled with solvent, its frictional behavior is often explained using a combination of hydrodynamic lubrication and polymer-surface interactions. As a result, the frictional coefficient can vary between 0.001 and 0.03 depending on several factors such as contact area, sliding velocity, normal force, and the gel surface chemistry. Most tribological measurements of hydrogels utilize two flat surfaces, where the contact area is not well-defined. We have built a custom, low-force tribometer to measure the single-contact frictional properties of spherical hydrogel particles on flat hydrogel surfaces under a variety of measurement conditions. At high velocities (> 1 cm/s), the friction coefficient depends linearly on velocity, but does not tend to zero at zero velocity. We also compare our measurements to solid particles (steel, glass, etc.) on hydrogel surfaces, which exhibit larger frictional forces, and show less dependence on velocity. A physical model for the friction which includes the lubrication layer between the deformed surfaces will be discussed. National Science Foundation Grant No. 1506446.