A non‐isothermal finite element model for injection stretch‐blow molding of PET bottles with parametric studies

A non‐isothermal finite element (FE) model for the injection stretch‐blow molding (ISBM) process of polyethylene terephthalate (PET) bottles is presented in this paper. The constitutive behavior of PET is modeled by the physically based Buckley glass‐rubber model in form of UMAT in ABAQUS. The heat transfer between the stretch rod, the preform, and the mold is modeled. Particular attention is paid to thermal and contact modeling, material model, and selection of proper element types. Extensive FE simulations are carried out to model ISBM of a 20 g‐330 ml bottle made in plant tests. Comparisons of numerical results with the measurements demonstrate that the model can satisfactorily predict the bottle thickness and material distributions. Significant nonlinear differentials are found in strain, temperature, and temperature reduction rate in both bottle thickness and length direction during the process. A volume approach is therefore necessary for accurate predictions of final bottle properties because they are governed by orientation and crystallinity, which are highly temperature and strain dependent. Parametric studies on contact modeling and heat transfer coefficient are also conducted and the results are discussed. Polym. Eng. Sci. 44:1379–1390, 2004. © 2004 Society of Plastics Engineers.     

Humidity‐sensitive properties of new polyelectrolytes based on the copolymers containing phosphonium salt and phosphine function

A simple strategy was developed based on a new reactive function‐ and a salt‐containing new monomer, 4‐vinylbenzyl dimethyl 2‐(dimethylphosphino)ethyl phosphonium chloride (VDEPC), to obtain stable humidity‐sensitive membranes. The major ingredient of a humid membrane is crosslinked polyelectrolytes obtained from copolymers of VDEPC/2‐ethylhexyl acrylate (2‐EHA) = 1/0, 4/1, and 2/1. Isothermal humidity absorption experiments were performed for the estimation of humidity‐sensing materials. The crosslinked copolymers prepared from the reaction of VDEPC/2‐EHA = 4/1 with 1,4‐dichlorobutane showed an average impedance of 595, 39.1, and 3.9 KΩ at 30, 60, and 90% RH, respectively. Their hysteresis, temperature dependence, frequency dependence, and response time were measured. The reliability including water resistance and a long‐term stability were estimated for the application of the common humidity sensor. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 89: 1062–1070, 2003     

Graft polymerization of acrylic acid onto polyphenylene sulfide nonwoven initiated by low temperature plasma

Graft copolymerization of acrylic acid (AA) onto polyphenylene sulfide (PPS) nonwoven initiated by low temperature plasma was studied. The effects of various conditions on graft reaction and the grafting rate were investigated. SEM images showed that PPS nonwoven was grafted, and the graft copolymerization only occurred on the surface of PPS. It may be due to the chain transference going with the graft copolymerization. It was found that with the increasing of plasma power, treatment time, space between electrodes, monomer concentration, and temperature of graft polymerization, the grafting rate increased at first, went to the top, and then decreased. The PPS nonwoven surface graft reaction could be optimized by the following processing conditions: 120 s of plasma treatment time, 50 W of plasma power, 1.5 cm of space between electrodes, 30% (w/w) of monomer concentration, and 50°C of temperature of graft polymerization. Measurement of XPS showed that the peak of C1s of graft polyacrylic acid was existed, and the peak area increased with the increase of the grafting rate. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 5884–5889, 2006     

Toughening of vinylester–urethane hybrid resins through functionalized polymers

Liquid nitrile rubber, hyperbranched polyester, and core/shell rubber particles of various functionality, namely, vinyl, carboxyl, and epoxy, were added up to 20 wt % to a bisphenol‐A‐based vinylester–urethane hybrid (VEUH) resin to improve its toughness. The toughness was characterized by the fracture toughness (K_c) and energy (G_c) determined on compact tensile (CT) specimens at ambient temperature. Toughness improvement in VEUH was mostly achieved when the modifiers reacted with the secondary hydroxyl groups of the bismethacryloxy vinyl ester resin and with the isocyanate of the polyisocyanate compound, instead of participating in the free‐radical crosslinking via styrene copolymerization. Thus, incorporation of carboxyl‐terminated liquid nitrile rubber (CTBN) yielded the highest toughness upgrade with at least a 20 wt % modifier content. It was, however, accompanied by a reduction in both the stiffness and glass transition temperature (T_g) of the VEUH resin. Albeit functionalized (epoxy and vinyl, respectively) hyperbranched polymers were less efficient toughness modifiers than was CTBN, they showed no adverse effect on the stiffness and T_g. Use of core/shell modifiers did not result in toughness improvement. The above changes in the toughness response were traced to the morphology assessed by dynamic mechanical thermal analysis (DMTA) and fractographic inspection of the fracture surface of broken CT specimens. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 84: 672–680, 2002; DOI 10.1002/app.10392     

Sliding‐Mode Velocity Control of a Two‐Wheeled Self‐Balancing Vehicle

Underactuated vehicles are those in which the number of control inputs is less than the degrees of freedom to be controlled. Using actuated wheels, velocity control of the two‐wheeled self‐balancing vehicle drives the vehicle at a desired speed and balances the body of the vehicle. First, we investigate the effects of friction on the wheel and derive the hybrid model of rolling and slipping. Second, we propose a nonlinear sliding mode velocity control scheme for the pure rolling model of the two‐wheeled vehicle. We present the design of the corresponding sliding surfaces and internal dynamics of the two‐wheeled vehicle. Our stability analysis reveals that the proposed sliding mode method can guarantee the asymptotic stability of the error dynamics for velocity control of the underactuated vehicle. Compared to linear optimal control, our numerical simulations demonstrate that the proposed sliding mode schemes can effectively control the velocity under the circumstances of parametric variations, emergency braking, and rapid acceleration in slippery road conditions. The proposed velocity control and the simulation improve our understanding on designing velocity control of the two‐wheeled self‐balancing vehicle.     

Integrated Game Based Guidance with Nonlinear Autopilot Design for Maneuvering Target Interception

The integrated game theory based guidance law with nonlinear autopilot (GGNA) system is presented in this paper. The guidance law is designed based on linear differential game theory while considering the motion of the target in 3‐D space such that the distance between the missile and the target is minimized faster than before. The autopilot system based on quaternion representation is developed using sliding mode control method to generate the attitude command. The stability of the integrated guidance and nonlinear autopilot system is analyzed with Lyapunov stability theory. In addition, this research assumes wingless missiles in our context in order to reduce the nonlinear effect from the aerodynamics. Furthermore, in order to extend the operation range of missiles from endo‐atmosphere to exo‐atmosphere, the missiles are equipped with Thrust Vector Control (TVC) mechanisms and Divert Control System (DCS). Finally, extensive simulations incorporating aerodynamic models are demonstrated to verify the validity of the proposed integrated guidance/autopilot systems. Moreover, the simulation results reveal that the mission of intercepting a maneuvering target is successfully accomplished.     

Stabilization And Tracking Of Underactuated Surface Vessels In Random Waves With Fin Based On Adaptive Hierarchical Sliding Mode Technique

Trajectory tracking and roll stabilization are both vital practices in ship motion control. Trajectory tracking is a kind of low‐frequency control, while roll stabilization by means of fins is a kind of high‐frequency control. However, they have been studied separately previously; most tracking control of underactuated surface vessels in the previous studies do not account for roll stabilization by means of fins. In reality, however, they are an integral system. In this paper, a simple control strategy is proposed to achieve trajectory tracking and fin roll stabilization simultaneously. Four degrees of freedom derived from a six degrees of freedom mathematical model of a surface vessel is considered, including surge, sway, roll and yaw. Surge force, roll moment and yaw moment are considered as control inputs, while position, yaw angle and roll angle are controlled. The number of control inputs is fewer than the outputs to be controlled. Therefore, we are dealing with an underactuated problem. An adaptive hierarchical sliding mode control technique is employed to deal with the underactuation. Stabilization of underactuated surface vessels is studied as a special case. Random waves are applied to test the robustness of the designed controllers. Lyapunov stability theory is used to show the stability of closed‐loop system. The simulation results verify the effectiveness of the proposed strategy.     

A New Derivation of the Cubature Kalman Filters

This paper investigates the cubature Kalman filtering (CKF) for nonlinear dynamic systems. This third‐degree rule based filter employs a spherical‐radial cubature rule to numerically compute the integrals encountered in nonlinear filtering problems, thereby removing the requirements of explicitly computing the Jacobians. The cubature rule, however, requires computing the intractable integrals over a high‐dimensional spherical region for multidimensional applications. Moreover, the cubature formula that has been used to construct the spherical cubature formula has some demerits, most notably its inconvenient properties in computation and low estimation accuracy. Aimed at these issues, a general class of CKFs that uses only cubature rules is derived in this paper. It can be shown that the conventional CKF is a special case of the proposed algorithm. The paper also includes higher‐degree CKFs, especially two representative types of the fifth‐degree CKFs. Performance of the proposed algorithms is demonstrated via two target tracking problems. The experimental results, presented herein, illustrate the superior performance of higher‐degree CKFs to conventional nonlinear filters.     

An Active Disturbance Rejection Approach to Leader‐Follower Controlled Formation

This article describes the design of a linearizing, observer‐based, robust dynamic feedback control scheme for output reference trajectory tracking tasks in a leader‐follower non‐holonomic car formation problem. The approach is based on the cars' kinematic models. A radical simplification in the form of a global ultra‐model is proposed on the follower's exact open loop position tracking error dynamics obtained via flatness considerations. This results in a system described by an additively disturbed set of two, second order integrators with non‐linear velocity dependent control input gain matrix. The unknown additive disturbances are modeled as absolutely uniformly bounded time signals which may be locally approximated by arbitrary elements of a sufficiently high degree family of Taylor polynomials. Linear high‐gain Luenberger observers of the generalized proportional integral (GPI) type may be readily designed. These observers include the self updating internal model of the unknown disturbance input vector components in the form of generic, instantaneous, time‐polynomial models. The proposed (GPI) observers, which are the dual counterpart of GPI controllers [17], achieve a simultaneous disturbance estimation and tracking error phase variables estimation. This on‐line gathered information is used to advantage on the follower's feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to have the follower track a time‐delayed version of the actual leader's trajectory. Experimental results are presented which illustrate the robustness and viability of the proposed approach.     

Virtual target tracking of mobile robot and its application to formation control

A virtual target tracking approach is proposed for kinematic control of mobile robot. In the controller, linear and angular velocity inputs are generated by using the local data of robot position and orientation along with the estimated velocity of target object. Applying the proposed approach to a cooperative robot group with arbitrary number of multiple mobile robots, it is possible to create various robot formations for cooperative navigation and tracking of moving object. The developed controller is shown to be stable and convergent through theoretical proof and a series of experiments.