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This paper presents numerical modeling and prediction of delamination propagation in thin-walled structure under quasistatic loading realized at software ANSYS®. Approach to delamination process based on cohesive zone model (CZM) and interacting of two shell-layers is utilized.
A hardware-in-the-loop (HIL) model of a vessel electric propulsion drive is proposed. The mathematical description of the vessel trust forces is explained. As well, the propulsion power and torque estimates are discussed within the broad spectre of their parameter changing. A case study is reported where some concrete parameters are applied in the above mathematical model to assess the particular...
A new mechanical approach is presented in this paper for modeling the system of Inverted Elastic Pendulum on Cart with Tip Mass (IEPCTM) exhibiting multiple dynamic equilibria. Torsional spring is assumed in the system structure to account the flexibility of pendulum. The condition of existence of multiple equilibria dynamically is also incorporated in this model. Mathematical model is framed using...
In this paper we propose the fastest converging control policy (also known as deadbeat control) for walking with the bipedal spring-mass model, which serves as an abstraction of a robot on compliant legs. To fully leverage the passive dynamics of the system, the touchdown angle of the swing-leg is assigned as the only control input of the system. We show that two steps (or one stride) are necessary...
Nearly all robotic grippers have one trait in common: they grasp objects with normal forces, either directly, or indirectly through friction. This method of grasping is effective for objects small enough for a given gripper to partially encompass. However, to grasp larger objects, significant grip forces and a high coefficient of friction are required. We present a new grasping method for convex objects,...
Tension is the force required to pull the wire against the accumulation of all resistance, forces and loads. Tension is one of the important controlled parameters in winding process in order to determine the quality of the product. Winding process in electric discharge machine (EDM) wire manufacturing is the last process before the product is packed and sent to customers. In EDM wire manufacturing...
In needle-based medical procedures, beveled-tip flexible needles are steered inside soft tissue with the aim of reaching pre-defined target locations. The efficiency of needle-based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model for simulation of planar needle insertion in soft tissue. The proposed model for needle deflection...
Tendon driven continuum robots have attracted a significant amount of attention in the last decade. As a result several discrete and continuous modeling approaches have been explored in order to understand their behavior. The following article proposes an analytical model describing the influence of frictional effects between the tendon and its conduit in tendon driven continuum robotic manipulators...
A tissue-independent model to estimate needle deflection during insertion in soft tissue is presented in this paper. A force/torque sensor is connected to the needle base in order to measure forces and moments during insertion due to needle deflection. A static mechanical model, which is based on the Euler-Bernoulli beam equation and the balance of forces applied by the tissue onto the needle takes...
This paper presents an adaptive control design method for quadrotor systems carrying slung load. The existence of the slung load will exert swing effect on the quadrotor systems, and it degrades the performance of the quadrotor even affects the stability of the closed-loop systems. Addressing this task, the slung load is treated as a pendulum mass from a single point in this paper. By analyzing the...
Eddy current induced electromagnetic (EM) loads during plasma events are the design driver for ITER port plug (PP) structure, diagnostic first wall (DFW), shield module (DSM) and diagnostic system supported by the PP structure. Generic models using commercial software OPERA, MAXWELL and ANSYS are developed and benchmarks are performed for global EM analysis to obtain port-specific design driving EM...
This paper studies the dynamic performance of an electric machine integrated with the trans-rotary magnetic gear (MITROMAG) in a motoring mode of operation. MITROMAG is formed by mechanically coupling a rotary electric machine to the rotor of a trans-rotary magnetic gear (TROMAG). TROMAG is a magnetic device that converts low-torque, high-speed rotation of its rotor to a high-force, low-speed linear...
The two main goals of this contribution are to demonstrate the integration of hydraulic actuator systems with PCH systems and to discuss a modification of the well known input-output linearization in connection with PCH systems. We will show that this approach is closely related to the existence of so called Casimir functions in the PCH context. Finally, industrial measurements demonstrating the implemented...
Recent developments in microgrids place strict constraints on the underlying state estimation technology, including the need for a dynamic and distributed approach. Since the problem is reminiscent of classical information fusion [2], the paper explores the application of a fusion-based reduced order, distributed unscented particle filter (FR/DUPF) for dynamic state estimation in microgrids. By partitioning...
In order to study high and low cycle fatigue experiment bench control technology of a certain type of aircraft engine fan blade, we can reach the purpose of reducing the pressure pulsation of system and improving the stability of the test loading force. By means of simulation, we first designed the experiment bench model of high-low cycle fatigue based on MATLAB/Sim Hydraulics. Then on the basis of...
Diagnosing a torn Anterior Cruciate Ligament (ACL) of the knee is a difficult task which is usually performed by physical therapist using physical manipulation of the knee. To help training physical therapy students recognizing the difference between an intact and torn ACL this work proposes a simplified physical model to be fabricated. The model is proposed to replicate the Lachman's test which measures...
Using helicopters to deliver supplies to forward ground units in high-threat environments can lead to increase in troop mobility and enlarge the area of operation. However, flying a limited aircraft performance due to slung load in a high-threat area could increase the pilots' workload significantly. The goal of the work was to develop an outer-loop control law to help pilot in controlling helicopter...
Current mandibulomaxillary fixation (MMF) systems tend to deform easily and maintain proper alignment between the mandible and maxilla relatively poorly, resulting in malocclusion in approximately 36% of cases. A novel device was designed to specifically minimize deflection leading to misalignment by optimizing the structural dimensions of a C-channel beam that directly bridges the mandible and maxilla...
The stick-slip actuator motion is dependent on its natural frequency. The backward motion of the actuator during the slip phase due to the stiffness alters the motion of any stickslip friction principle based positioners drastically. This work is an attempt to design and fabricate a simple and compact piezoelectric walker integrated with a force sensor to measure the frictional force during the slip...
Motion of tracked vehicles, especially on soil with shear strength less than 2 kPa under deep sea conditions is an ambitious area to envisage. A tracked deep sea mining machine is being developed to mine polymetallic nodules from 5000–6000 m water depth at the Central Indian Ocean where the sea bed has a very low soil strength. Experimental and numerical simulation studies were conducted on the tracked...
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