Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

适用于稠油开采的游梁式抽油机设计分析

在稠油开采中,抽油杆在液体中运动时,所受到的摩擦阻尼力很大,有时高达几十千牛。上冲程时,该力有加大悬点载荷的作用;下冲程时,该力使抽油杆下行困难,甚至悬点载荷为零。为了开采稠油,必须根据其特点设计适应的游梁式抽油机。文章分析了稠油用抽油机的受力特点,提出了该类抽油机的设计要求。     

A new curvature technique calculation for surface tension contribution in PLIC-VOF method

The volume of fluid (VOF) methods have been used for numerous numerical simulations. Among these techniques used to define the moving interface, the piecewise linear interface reconstruction (PLIC-VOF) is one of the most accurate. A study of the superficial tension impact on two-phase flow with free surface is presented. A new method based on direct staggered grid is developped to include surface tension in PLIC-VOF. The new numerical curvature calculation method doesn't need smoothed colour function and leads to less “spurious current”. This technique is applied to the calculus of surface tension force in the case of the rise of air bubble in viscous liquid and the fall of liquid drop in the same liquid on free surface. Droplets, thin layer and capillarity waves are observed after the free surface rupture for different Bond number. The influence of surface tension calculus is then obvioused and when the drop hit the free surface, wavelets propagate toward the virtual boundaries imposed.     

Tearing, folding and deformation of a carbon-carbon sp-bonded network

A monolayer and a few layers of carbon sp²-bonded networks were torn and folded by the tip of an atomic force microscope at the steps on newly cleaved highly oriented pyrolytic graphite. It was found that the preferential breaking directions and folding axes are along the symmetry directions of the graphite hexagonal structure. Depending on the force exerted by the tip, breaking may occur along other directions. The torn part of the graphene sheet can even be stretched and deformed, and does not resume its original shape after release from the tip.     

Optical scattering in beef steak to predict tenderness using hyperspectral imaging in the VIS-NIR region

The objective of this research is to develop a non-destructive method for predicting cooked beef tenderness using optical scattering of light on fresh beef muscle tissue. A hyperspectral imaging system (λ = 496–1,036 nm) that consists of a CCD camera and an imaging spectrograph, was used to acquire beef steak images. The hyperspectral image consisted of 120 bands with spectral intervals of 4.54 nm. Sixty-one fresh beef steaks, including 44 strip loin and 17 tenderloin cuts, were collected. After imaging, the steaks were cooked and Warner-Bratzler shear (WBS) force values were collected as tenderness references. The optical scattering profiles were derived from the hyperspectral images and fitted to the modified Lorentzian function. Parameters, such as the peak height, full scattering width at half maximum (FWHM), and the slope around the FWHM were determined at each wavelength. Stepwise regression was used to identify 7 key wavelengths and parameters. The parameters were then used to predict the WBS scores. The model was able to predict WBS scores with an R = 0.67. Optical scattering implemented with hyperspectral imaging shows limited success for predicting current status of tenderness in beef steak.     

Interconnected power systems with superconducting magnetic energy storage

The objective of this work is to discuss the concept of back‐to‐back interconnection systems with energy storage, especially with a Superconducting Magnetic Energy Storage (SMES) incorporated into a back‐to‐back DC link. In this case, each converter of the back‐to‐back system is used as a power conditioning system for the SMES coils. Since the AC–DC converter can be designed independently of the frequency of the power system, a two‐way switch is connected to the AC side of each converter. This two‐way switch can select the interconnected power systems. By using the two‐way switches, this system can provide the stored energy in the SMES system to each interconnected power system through two AC–DC converters. For instance, lower‐cost power of each power network can be stored through two converters during the off‐peak hours and made available for dispatch to each power network during periods of demand peak. Then this system increases the reliability of electric power networks and enables the economical operations depending on the power demand. This paper describes the unique operations of the back‐to‐back interconnection with SMES and discuses the optimal SMES configuration for a 300‐MW‐class back‐to‐back interconnection. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 164(2): 37–43, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20482     

A physically based method for triangulated surface flattening

This paper introduces a new method of generating 2D flat patterns from a 3D triangulated surface by opening the bending configuration of each winged triangle pair. The flattening can be divided into four steps. First, a 3D triangulated surface is modeled with a mass-spring system that simulates the surface deformation during the flattening. Second, an unwrapping force field is built to drive the mass-spring system to a developable configuration through the numerical integration. Third, a velocity redistribution procedure is initiated to average velocity variances among the particles. Finally, the mass-spring system is forced to collide with a plane, and the final 2D pattern is generated after all the winged triangle pairs are spread onto the colliding plane. To retain the size and area of the original 3D surface, a strain control mechanism is introduced to keep the springs from over-elongation or over-shrinkage at each time step.     

Effects of circumferential pick spacing on boom type roadheader cutting head performance

Effects of equal and unequal circumferential pick spacing on the performance of boom type roadheaders having cylindrical cutting heads are investigated. For this purpose, two experimental cutting heads with equal and unequal circumferential spacing are designed and manufactured. The cutting head with unequal circumferential spacing is specifically designed to prevent tool-holder overlap at the nose section. Manufacturing difficulties associated with equal circumferential pick spacing due to tool-holder overlap are discussed with solid modeling and practical applications. The heads are tested at Park Cayirhan Coal Mine in Turkey and their cutting performances are analysed. Although better cutting performance for equal circumferential spacing are predicted by force–balance analysis, in situ measurements of instantaneous (net) traversing speed and cutting rate, pick consumption rate and machine vibration show that no significant difference exists between the performances of the two cutting heads.     

Matrix mediated alignment of single wall carbon nanotubes in polymer composite films

Alignment of single wall carbon nanotubes (SWNT) in liquid crystalline (LC) polymer matrix imparting orientation to the nanotubes along the nematic director was studied by atomic force microscopy, measurements of electrical conductivity and Raman spectroscopy of the composite in the directions parallel and perpendicular to the nematic director. The composites were prepared through dispersion of SWNT with LC monomer in a common solvent, their alignment in nematic monomer and consequent UV polymerization of the monomer. The anisotropy of electrical and optical properties of the system depends strongly on the concentration of the nanotubes in the range of 1-10% SWNT being especially strong for smaller concentrations and negligible at higher loads. A simple semi-quantitative model is suggested to account for the orientational behavior of nanotubes in nematic matrices. It successfully describes the observed anisotropy of physical properties at microscale (up to 200 μm) in terms of anchoring of the polymer chains to the nanotubes surface and adjustment of the nanotubes orientation to the nematic direction due to such coupling. The increasing disorientation of the nematic domains at higher nanotubes loads is explained as a development of larger number of LC defects induced by the nanotubes in the nematic matrix due to their intrinsic nature of aggregation. The anisotropy of physical properties at macro scale (several millimeters) is much smaller and less dependable on SWNT concentration because differently oriented LC domains effectively wash out the anisotropy.     

Hydrodynamic force between two hard spheres tangentially translating in a power-law fluid

The hydrodynamic interaction between two hard spheres tangentially translating in a power-law fluid is investigated. By considering the gap between the two spheres being sufficiently small such that the Reynolds’ lubrication theory applies, an analytical equation to the pressure in the gap is obtained using truncated Fourier series. To a good approximation, the pressure equation can be further simplified. The simplified approximate equation over-predicts the pressure for shear thickening fluid (n>1) but under-predicts the pressure for shear-thinning fluid (n<1). However, the errors in the predicted tangential force and moment are relatively small. In particular, for a Newtonian fluid, the accurate solution and the simplified approximate solution degenerate to the asymptotic solution of Goldman et al. [1967. Slow viscous motion of a sphere parallel to a plane wall-motion through a quiescent fluid. Chemical Engineering Science 22, 637-651.] and O’Neill and Stewartson [1967. On the slow motion of a sphere parallel to a nearby plane wall. Journal of Fluid Mechanics 27, 705-724.]. Both solutions predict that for shear thickening fluid (n>1), the hydrodynamic force converged in the inner region of the gap between the two spheres and the contribution from the outer region is sufficiently small. For shear thinning fluid (n<1), the contribution from the outer region is also significant.