Effects of gender differences on the subjective perceived intensity of steering wheel rotational vibration based on a multivariate regression model

The aims of this study were to determine equal sensation curves for hand–arm steering wheel rotational vibration and to investigate the effect of gender on the subjective perceived intensity of steering wheel hand–arm vibration. Psychophysical response tests of 40 participants (20 males and 20 females) were performed using a steering wheel rotational vibration simulator using the category-ratio Borg CR10 scale procedure for direct estimation of perceived intensity. The test stimuli were sinusoidal vibrations at 22 third octave band centre frequencies in the range from 3 to 400 Hz, with acceleration amplitudes in the range from 0.04 to 27 m/s² r.m.s. Multivariate regression procedures were applied to the experimentally acquired data in order to establish a regression model expressing the Borg CR10 perceived intensity values as a function of the two independent parameters of the frequency and amplitude of vibration. The equal sensation curves suggested a non-linear dependency of the subjective perceived intensity on both frequency and amplitude. Females were found to provide higher Borg CR10 perceived intensity values than males (p < 0.05), particularly at the higher intensity levels above approximately 1.0 m/s² r.m.s and at the higher frequencies above approximately 20 Hz.

Relevance to industry

For the manufacturers of steering systems and of other automobile components this study provides vibration perception curves and identifies the possible importance of gender towards the perception of vibration which arrives at the steering wheel.     

Hand-transmitted vibration from the steering wheel to drivers of a small four-wheel drive tractor

The paper presents research results of the vibration transmitted from the steering wheel of the small tractor with a 4-wheel drive to the driver's hands. The vibration measurements were carried out on the tractor randomly chosen from the producer's store-house. Before testing the tractor was examined and adjusted following the producer's recommendations. The vibration levels were measured at idling and at full load. The vibration level on the steering wheel was measured and analyzed and the frequency spectra for the chosen working conditions were obtained. The frequency-weighted acceleration, given in m/s(-2), was calculated. The vibration total value was defined as the root-mean-square of the three component values. The obtained values are graphically represented in accordance with ISO/DIS 5349-1979 and ISO5349-1-2001. The vibration exposure for the predicted 10% prevalance of vibration-induced white finger in accordance with Annex C of the same standard was also tested.     

Effects of power tool vibration on peripheral nerve endings

Exposure to high frequency (kHz) vibration from impact power tools is overlooked in the ISO 5349-1 risk prediction for acquiring Hand Arm Vibration Syndrome. The biological effects of high frequency, power tool vibration have not been adequately studied. We characterized the magnitude and transmissibility of riveting hammer vibration in a rat tail model using a light weight piezoelectric sensor. The performance of the newly-introduced piezoelectric sensor was validated by showing its similarities to the previously published laser vibrometer. ISO 5349-1 frequency weighting revealed major risk from the 35 Hz component of the riveting hammer vibration, whereas the weighted values of the kHz components were not calculated to reach exposure action value in 24 h– However, the unweighted acceleration magnitudes at 12.4 and 16.3 kHz were about 10 and 50 times larger than the unweighted acceleration peak observed at 35 Hz. A transmissibility of <1 was calculated for 12.4 and 16.3 kHz, indicating tissue absorbance, while 35 Hz exhibited a transmissibility of 9.05, suggesting tissue resonance. The largest absolute change in acceleration was at 12.4 and 16.3 kHz, implicating that a considerable amount of high frequency vibration energy was absorbed by the tissue. A progressive reduction in intact sensory nerve endings was observed in the tissue when increasing vibration exposure from 1 min to 12 min.     

The vibration of inclined backrests: perception and discomfort of vibration applied parallel to the back in the z-axis of the body

This study determined how backrest inclination and the frequency of vibration influence the perception and discomfort of vibration applied parallel to the back (vertical vibration when sitting upright, horizontal vibration when recumbent). Subjects experienced backrest vibration at frequencies in the range 2.5 to 25 Hz at vibration magnitudes up to 24 dB above threshold. Absolute thresholds, equivalent comfort contours, and the principal locations for feeling vibration were determined with four backrest inclinations: 0° (upright), 30°, 60° and 90° (recumbent). With all backrest inclinations, acceleration thresholds and equivalent comfort contours were similar and increased with increasing frequency at 6 dB per octave (i.e. velocity constant). It is concluded that backrest inclination has little effect on the frequency dependence of thresholds and equivalent comfort contours for vibration applied along the back, and that the W (d) frequency weighting in current standards is appropriate for evaluating z-axis vibration of the back at all backrest inclinations. STATEMENT OF RELEVANCE: To minimise the vibration discomfort of seated people, it is necessary to understand how discomfort varies with backrest inclination. It is concluded that the vibration on backrests can be measured using a pad between the backrest and the back, so that it reclines with the backrest, and the measured vibration evaluated without correcting for the backrest inclination.     

Vibration and comfort IV. Application of experimental results

In this conclusion to a four-part series of papers, an interpretation of the experimental data presented in the earlier three papers is given. The results obtained from the experiments are compared with those obtained by other researchers. A set of simplified approximations to the various equivalent comfort contours are defined and a general approach to the prediction of discomfort due to multi-axis, multi-input complex vibration is given.

It is shown that the results for translational vibration of a seat surface supporting the body are reasonably consistent with some previous studies. Although the contours for fore-and-aft and lateral vibration are in agreement with those in ISO 2631 (1978) there is evidence that sensitivity to vertical seat vibration above 8 Hz should be greater than defined in that standard. It is shown that the results for rotational seat vibration differ by an order of magnitude from those published by other authors but that this difference may be explained by the positions of the centres of rotation used in other studies.

It is shown that simple approximations to the median equivalent comfort contours for translational and rotational seat vibration and translational foot and back vibration may be defined by contours on acceleration frequency graph having a slope of O dB per octave (constant acceleration) and 6 dB per octave (constant velocity). For most conditions these contours fall within the 25th-75th percentile of the experimental data. The application of these contours as frequency weightings for general vibration evaluations is discussed.     

Body height change from motor vehicle vibration

Seventeen (17) subjects were exposed to tri-axial vehicle whole-body vibration for approximately 3 h, and measured hourly for body height. The control was the same environment, but no vibration. A broad band predominantly z-axis acceleration (1.6–10 Hz), with a mean level of 0.885 m/s² at the seat, was generated by a semi-truck tractor driven on secondary roads. The dominant one-third octave band of the vibration at the seat was 2 Hz with an acceleration magnitude of 0.521 m/s². At the end of the first hour, the results indicated a subject growth by 1.14 mm when exposed to vibration and a shrinkage of nearly equal amount without vibration. In the second and third hours, subjects followed the natural tendency to shrink under both conditions. At the end of the third hour, the subject height with vibration was 2.23 mm higher than that without vibration.

Relevance to industry

Whole body vibration has been identified as a possible cause for low-back pain problem in professional truck drivers. The body height measure in this study could potentially provide a link between low-back pain and vibration     

The dynamic method of determination of the piezoelectric hydrostatic coefficients

The dynamic method of the determination of the piezoelectric hydrostatic coefficients, d_h, was improved. We have constructed new equipment for more exact measurement by means of the direct dynamic method. The piston for the high-pressure mechanical excitation of pressure changes was used. The advantage of the proposed method is a low frequency (about 1 Hz) pressure excitation. The lever hydraulic press is able to create the hydrostatic pressure inside the pressure chamber up to 70 MPa. The temperature control is realised by the PID temperature controller with a resistivity heater and by the compressor cooler.     

The vibration of inclined backrests: perception and discomfort of vibration applied parallel to the back in the z-axis of the body

This study determined how backrest inclination and the frequency of vibration influence the perception and discomfort of vibration applied parallel to the back (vertical vibration when sitting upright, horizontal vibration when recumbent). Subjects experienced backrest vibration at frequencies in the range 2.5 to 25 Hz at vibration magnitudes up to 24 dB above threshold. Absolute thresholds, equivalent comfort contours, and the principal locations for feeling vibration were determined with four backrest inclinations: 0° (upright), 30°, 60° and 90° (recumbent). With all backrest inclinations, acceleration thresholds and equivalent comfort contours were similar and increased with increasing frequency at 6 dB per octave (i.e. velocity constant). It is concluded that backrest inclination has little effect on the frequency dependence of thresholds and equivalent comfort contours for vibration applied along the back, and that the W _d frequency weighting in current standards is appropriate for evaluating z-axis vibration of the back at all backrest inclinations.

Statement of Relevance: To minimise the vibration discomfort of seated people, it is necessary to understand how discomfort varies with backrest inclination. It is concluded that the vibration on backrests can be measured using a pad between the backrest and the back, so that it reclines with the backrest, and the measured vibration evaluated without correcting for the backrest inclination.     

The significance of lateral whole-body vibrations related to separately and simultaneously applied vertical motions. A validation study of ISO 2631

Sensitivity of lateral motions relative to vertical motions were determined and compared to predictions provided by ISO 2631. Two experiments were executed where lateral and vertical motions were applied consecutively or simultaneously and where the magnitude of a single- or dual-axis test signal was adjusted until it was judged as equivalent to a preceding single-axis reference motion of the same frequency.

Experiment 1: References consisted of vertical sinusoidal motions presented with 1.6–12.5 Hz and weighted accelerations of a_zw=0.3, 0.6 and 1.2 m s^-2 r.m.s., single-axis test signals were lateral motions of the same frequency. 26 subjects (15 men, 11 women, 20–56 yr) participated in the experiments. Accelerations adjusted for lateral vibrations above 1.6 Hz were considerably lower than predicted suggesting that the weighting factors provided in ISO 2631 are incorrect.

Experiment 2: References consisted of single-axis vertical or lateral sinusoidal motions presented with 1.6–12.5 Hz and a weighted acceleration of a_zw=1.25 m s^-2 r.m.s. The dual-axis test signals consisted of a constant fraction of the reference acceleration (10, 25, 50, 75, 90%) and a perpendicularly oriented adjustable component. 31 subjects (15 men, 16 women, 19–51 yr) participated in the experiments.

Both experiments revealed that ISO 2631 is qualitatively valid, the weighting of lateral motions above 1.6 Hz, however, should be increased in order to meet the actual sensitivity particularly in case of multi-axis vibrations.     

Development of a new frequency weighting filter for the assessment of grinder exposure to wrist-transmitted vibration

The risk assessment of hand tool workers exposed to hand-arm vibrations is still problematic. It is based, accordingly to ISO 5349, on a frequency-weighted measurement recorded at the handle of the tool. Unfortunately, the frequency-weighted filter recommended by ISO 5349 does not take into account any amplification of the hand-arm system and underestimates the global rms acceleration transmitted to the hand. In this study, the vibration transmitted from the tool handle to the worker's wrist is investigated in an industrial environment for seven commercial grinders, two subjects and three push forces. The results are compared with the ISO-5349 and ACGIH threshold limit values, and a new frequency weighting filter is proposed, by which the amplification close to the natural frequencies of the hand-arm system can be considered in the evaluation of the vibration transmitted to the wrist from vibration measurements at the tool handle in a grinding operation.     

Modeling and characterization of a micromachined artificial hair cell vector hydrophone

In the paper, a micromachined artificial vector hydrophone arises from a biological inspiration, the fish hair cell is presented. It is desirable that the application of piezoresistive effects combined with ingenious bionic structure and MEMS technology may improve the low-frequency sensitivity of the vector hydrophone as well as its miniaturization. Modeling processes for realizing the artificial hair cell hydrophone, along with preliminary characterization results in terms of sensitivity, frequency response and directivity patterns are also introduced. The microstructure of the sensor consists of four vertical cantilever beams with attached rigid plastic cylinder in the center of the structure. By locating eight piezoresistors logically formed the Wheatstone bridges; they can detect two components of underwater acoustic signal simultaneously. The prepared vector hydrophone has been measured in the standing wave field finally. The experiment results show that the vector hydrophone has good low-frequency characteristic, the free-field voltage sensitivity is −197.2 dB (0 dB = 1 V/μPa) at 400 Hz with a about 2 dB one-third octave positive slope over the 40–400 Hz bandwidth. The depth of pits of the directivity pattern is about 34.6 dB.     

Noise exposed of the operators of combine harvesters with and without a cab

A considerable number of the combine harvesters in Turkey are rather old and used without cabs resulting in unhealthy working conditions for their operators. Noise is one of the detrimental factors. This study deals with determining and comparing the noise exposed on the operators of the combines with and without a cab used for wheat harvesting in Turkey. The sound pressure levels (dB) at octave band center frequencies (31.5–8000 Hz) and the sound levels (dBA) at the ear level of the operators were measured on 37 different combine harvesters with four different makes and different years from 1976 to 2001. Fifteen of the combines were without a cab, another 15 had original cabs while remaining seven combines had cabs mounted on them after manufacturing.

The sound pressure levels were in a decreasing trend from the lower frequencies to higher frequencies. This trend was more noticeable for the combines with original cab and with the cab mounted after manufacturing compared to the ones without cab. The use of a cab was more effective in the insulation of the noise at the medium and higher frequencies, which have more bothersome effect compared to the lower frequencies. The sound pressure levels were 75–102 dB and 46–89 dB at low (31.5–500 Hz) and high (500–8000 Hz) frequencies for all combines, respectively. The sound pressure levels at the frequency of 4000 Hz at which the human ear is most sensitive were 6–17 dB lower for the combines with the cabs mounted after manufacturing and 9–28 dB lower for the ones with the original cabs compared to the combines without cab. The sound levels were 85–90, 81–83, and 76–81 dBA for the combines without cab, with cab mounted after manufacturing, and with original cab, respectively.

The study showed that the use of a cab was useful in the insulation of the noise, particularly at higher frequencies. In addition, it protects the operator from the factors having detrimental effects on the working efficiency such as high temperature and dusty environment. The authors strongly recommend mounting of a cab on to the combines currently being used without a cab in rental system in Turkey to provide healthy working conditions for their operators.     

铁路车轮导纳分析

为控制铁路车轮的振动和噪声辐射,采用模态叠加法分析车轮频率响应,利用ANSYS建立车轮结构有限元模型,根据0～10 000 Hz的模态计算0～5 000 Hz内的频率响应,用Block Lanzos法计算50～5 000 Hz内车轮的固有频率和振型,分析车轮的固有模态和导纳特性.研究结果表明：车轮在名义接触点处受到不同方向激励时所得的导纳特性与车轮相应的模态有关;对于车轮不同接触点处的激励,在1 000 Hz以下频段,轮缘轴向激励引起的径向导纳大于踏面径向激励引起的径向导纳,在其他频段,踏面径向激励引起的径向导纳都比轮缘激励引起的径向导纳大.铁路车轮导纳分析有助于探明车轮噪声产生的机理,是轮轨噪声分析的基础.     

A finite element modeling-based approach to predict vibrations transmitted through different body segments of the operator within the workspace of a small tractor

Agricultural tractor drivers are subjected to high levels of whole-body vibrations and hand arm vibrations during most part of the farm activities due to unevenness of field surface, uneasy posture, improper workplace design, moving parts of the tractor, and other unavoidable circumstances. The comfort level of the operator inside a dynamic tractor is dependent on the level of vibration generated inside the different human body segments. In the present study, a finite element modeling was proposed to predict vertical vibrations (Z-axis) and frequencies at the different body segments of the seated small tractor operator. The forces required for different controls of the tractor were measured to be used as input parameters in the finite element modeling. The maximum mean forces of the brake (172.8 N) and clutch (153.2 N) were used as the input parameters for the simulation study. The simulated results were validated with the field measured values of vertical accelerations at selected body segments of the operator. The simulation could successfully predict vertical vibrations at selected points of interest (i.e., foot, leg, thigh, lower arm, upper arm, back, and head) except the chest of the body, as the buttock of the operator model was fixed (degree of freedom is equal to zero) in the simulation. The obtained results were compared with the international standards ISO 2631-1 (1985/1997) and ISO 5349-1 (2001) to assess the vibration characteristics at the different body segments of the operator. The foot, leg, lower arm, and upper arm of the operator were subjected to vertical vibration frequencies from 10 to 200 Hz. Most of the resonance of vertical accelerations occurred in one-third octave bands of 20–80 Hz frequencies. The thigh, chest, back, and head of the operator were exposed to vibration frequencies below 40 Hz during field operation. At these parts of the body, the vertical acceleration resonated at lower frequencies, between 2 and 8 Hz.     

Computation of hydrostatic piezoelectric coefficients for 1–3 composites by the finite-element method

The hydrostatic piezoelectric charge coefficients (d_h) and hydrostatic piezoelectric voltage coefficients (g_h) of 1–3 PZT/polymer composites have been calculated by two equations containing the stress tensors of each element. A composite model is divided into 162 elements, and the stress distributions are computed under 0.7 MPa hydrostatic pressure using the finite-element method. The higher d_h value is found for the composite with 30.9% PZT and the higher g_h value for the composite with 19.8% PZT.     

3-D silicon vector sensor based on a novel parallel-field Hall microdevice

A single-chip 3-D silicon vector sensor for magnetic-field measurement is presented. This triaxial device functionally integrates in a common transducer region two novel five-contacts parallel-field Hall elements for in-plane components B_x and B_y and four cross-coupled orthogonal triple Hall elements for the B_z component, perpendicular to the chip surface. The effective sensor volume is 150 μm×150 μm×100 μm. The main advantage of this 3-D vector magnetometer is the strongly reduced (with about 45%) channel cross-sensitivities. This is achieved by amperometric output mode of operation using an original read-out circuitry, keeping equal voltage conditions on the top of the chip with and without magnetic field. The sensitivities per channel reaches S_A(B_x)=S_A(B_y)=356 μA/T and S_A(B_z)=260 μA/T at a supply current 10 mA, the measured equivalent offsets of the three channel outputs are 25/35 mT and the low frequency noise is mainly a 1/f. The lowest detected magnetic induction of the three output channels is about 15/20 μT in the range 1≤f≤ 10² Hz and the frequency response of the 3-D device together with the read-out electronics is at least 30 kHz.     

Bedside safety rails: assessment of strength requirements and the appropriateness of current designs

This second paper in a series of studies of the discomfort produced by multi-axis vibration is concerned with rotational seat vibration. The effects of level, frequency and direction of the roll, pitch and yaw vibration of a firm flat seat have been studied in two experiments. At octave centre frequencies in the range 1-31.5 Hz the first experiment determined the levels of roll, pitch and yaw seat vibration which caused discomfort equivalent to 0-5 and l.25m/s²r.m.s. 10 Hz vertical seat vibration. In the second experiment, comfort contours equivalent to 0.8 m/s² r.m.s. 10 Hz vertical seat vibration were determined from 18 males and 18 females at preferred third-octave centre frequencies from 1 to 31.5 Hz. In all cases the axis of rotation passed through the centre of the seat surface. There was no vibration of the feet and no backrest.

It was concluded that the shape of equivalent comfort contours need not normally depend on vibration, level. Both individual and group equivalent comfort contours are presented. Although there were significant correlations between subject size and subject relative discomfort it is not thought that these correlations have much practical application. In all three axes the median contours of vibration acceleration increase in proportion to vibration frequency. Sensitivity is greatest for roll vibration and least for yaw vibration of the seat.     

地铁线路扣件刚度对钢轨振动与波磨的影响

为探明整体道床轨道区段波磨发生机理及其对轮轨系统参数的影响规律,建立轮对和整体道床轨道三维有限元模型,分析轮轨共振模态与整体道床钢轨振动特性,探讨钢轨扣件刚度和轮对振动模态对整体道床区段钢轨波磨的影响规律.结果 表明:钢轨扣件刚度主要影响钢轨起跳共振频率,而对钢轨pinned-pinned共振频率影响甚微;较低的扣件刚度将激发钢轨较大的振动,在特定频段上过大的钢轨振动会导致对应波长波磨的加剧,进而加速波磨的发展;钢轨在358 Hz下的横向弯曲变形是地铁整体道床区段线路产生特征波长为40 mm波磨的主要原因,故可采取减振措施抑制轮轨系统在358 Hz处的横向振动响应,从而抑制波磨的产生和发展.     

Frequency-dependence of discomfort caused by vibration and mechanical shocks

The frequency content of a mechanical shock is not confined to its fundamental frequency, so it was hypothesised that the frequency-dependence of discomfort caused by shocks with defined fundamental frequencies will differ from the frequency-dependence of sinusoidal vibration. Subjects experienced vertical vibration and vertical shocks with fundamental frequencies from 0.5 to 16 Hz and magnitudes from ±0.7 to ±9.5 ms^–2. The rate of growth of discomfort with increasing magnitude of motion decreased with increasing frequency of both motions, so the frequency-dependence of discomfort varied with the magnitudes of both motions and no single frequency weighting will be ideal for all magnitudes. At the frequencies of sinusoidal vibration producing greatest discomfort (4–16 Hz), shocks produced less discomfort than vibration with same peak acceleration or unweighted vibration dose value. Frequency-weighted vibration dose values provided the best predictions of the discomfort caused by different frequencies and magnitudes of vibration and shock.

Practitioner Summary: Human responses to vibration and shock vary according to the frequency content of the motion. The ideal frequency weighting depends on the magnitude of the motion. Standardised frequency-weighted vibration dose values estimate discomfort caused by vibration and shock but for motions containing very low frequencies the filtering is not optimum.     

Attitude-based dynamic and kinematic models for wheels of mobile robot on deformable slope

Deformable slope is a type of terrain that wheeled mobile robots (WMRs) and ground unmanned vehicles (GUVs) may have to traverse to accomplish their mission tasks. However, the associated terramechanics for wheels with arbitrary posture is rarely studied. In this paper, based on wheel attitude, dynamics of the wheel–terrain interaction for a rigid wheel on deformable slope is investigated. Through introducing the angular geometry of wheel attitude into terramechanics theory, a generalized dynamic model is developed, involving two inclination angles of slope and three attitude angles of wheel steering axis. Two representative cases are studied: the wheel runs straight forward and perpendicular to the slope, and the wheel is in a steering maneuver with an inclined steering axis. A generalized kinematic model for wheel–terrain contact point and wheel center is also provided, which analytically explicates that trajectory of wheel motion is coupled with wheel attitude while driven by angular rates. The proposed attitude-based models are valid for arbitrary wheel–terrain geometry and can lead to control purpose directly. Effectiveness of the models is confirmed by simulating the influences from attitude to wheel mechanics and motion.