Online Walking Pattern Generation and Its Application to a Biped Humanoid Robot — KHR-3 (HUBO)

The authors propose a simple on-line method for generating a walking pattern for the biped humanoid robot KHR-3 (HUBO). The problem of realizing a walking action in humanoid robots involves two components: generation of the basic walking pattern and the compensation required to maintain the robot's balance. Dynamic walking can be realized by incorporating the real-time stabilizing control algorithm developed for KHR-1, KHR-2 and KHR-3. The walking pattern of KHR-3 has four modes: forward/backward, left/right, curved walking and turning around. In the previous pattern generation of the KHR series, the step time and stride of the robot were fixed, and the walking modes, step time and action of stride without stopping could not be changed. Hence, the flexibility of the walking pattern of the robot needed to be upgraded. The walking pattern in this paper allows variation in the walking mode, step time and stride for each step. The pattern uses a simple mathematical form of trajectory curves, specifically the sine, cosine, linear and third-order polynomial curves, and the superposition of these curves is used to minimize the complexity and burden of the computation. The authors used a third-order polynomial to generate the trajectory of the robot's pelvis. With the aid of a simplified zero-moment point (ZMP) equation, the pelvis trajectories have a direct relationship with the ZMP trajectories. An effective means of generating the trajectories is introduced, and the scheme is verified experimentally under various walking conditions that take into account the step time and stride. The experimental platform, which has human-like features and movement, is briefly introduced here. With a simple kinematical structure and distributed control hardware architecture, the platform was designed to consume relatively low levels of energy. Moreover, the scheme for generating the trajectory is realized for variations to flexible walking.     

Investigation of the surface rearrangement of poly(imide-siloxane) using dynamic contact angle measurements

Dynamic contact angle measurements and X-ray photoelectron spectroscopy (XPS) were used to investigate the surface compositions and surface rearrangement of poly(imide-siloxane) with various molecular weights and contents of amine-terminated poly(dimethyl siloxane) (ATPDMS). Four different water contact angles were measured to study the poly(imide-siloxane) surface: the initial advancing angle, the equilibrium advancing angle, the initial receding angle, and the equilibrium receding angle. Poly(imide-siloxane) with 2350 and 4300 g/mol of ATPDMS showed higher initial and equilibrium advancing contact angles than those of poly(imide-siloxane) with 433 g/mol of ATPDMS. Since the mobility of ATPDMS segments depended on the chain length of ATPDMS, the molecular weight of ATPDMS determined the surface composition of poly(imide-siloxane), the rate of surface rearrangement, and the contact angle hysteresis. Poly(imide-siloxane)s with 2850 and 4300 g/mol of ATPDMS were mostly covered with ATPDMS even if just 1 wt% of ATPDMS was incorporated, while poly(imide-siloxane) with 433 g/mol of ATPDMS was mostly covered with polyimide segments and partially with ATPDMS. The rate of surface rearrangement and the contact angle hysteresis decreased with the increasing molecular weight as well as content of ATPDMS. The actual ATPDMS-enriched layer thickness was also investigated by XPS. The actual thickness of the ATPDMS-enriched layer was about 15 nm for 2850 g/mol and 4300 g/mol of ATPDMS-modified poly(imide-siloxane) and about 7.5 nm for 433 g/mol of ATPDMS-modified poly(imide-siloxane)     

Static and dynamic characteristics of finite exponential film shaped slider bearings lubricated with micropolar fluid

Abstract

In this paper, the general dynamic Reynolds equation of sliding–squeezing surfaces of exponential shaped slider bearings with micropolar fluid is solved numerically for the assessment of dynamic characteristics. The two Reynolds type equations governing the steady performance and the perturbed characteristics are obtained using the perturbation technique and are solved numerically using the finite difference method. The results are compared with that of the inclined plane slider bearing. It is found that the exponential shaped slider bearing lubricated with micropolar fluids results in higher steady state film pressure, load carrying capacity and better dynamic stiffness and damping characteristics.     

Job shop scheduling under resource constraints and varying order priorities

This paper describes the development of a job shop scheduling system, which is based upon dynamic scheduling rules incorporating customer importance and/or order priority under constrained resources. An important part of the system is the development of a forecasting method for determining the estimated completion time for a job by estimating the future work load on the shop. The system has been developed from the analysis of the maintenance operations of a large petrochemical plant. The use of the computer programs which have been developed will be illustrated.     

Dissolution and precipitation kinetics of γ' in nickel base superalloy Udimet 520

Abstract

The influence of various solution andaging heat treatments on the dissolution and precipitation kinetics of γ' in wrought nickel base Udimet 520 superalloy was investigated, with the aim of determining optimum preforge and post-forge heat treatment schedules. Solution heat treatments at 1070, 1100, 1110, and 1120°C for 1, 2, and 4 h followed by water quenching were applied. Examination by SEM showed that in specimens solution treated at 1070°C the necklace type microstructure remained and partialagglomeration of γ' precipitates was observed even after 4 h holding. By contrast, after solutionising at 1100°C for 4 h, the γ' volume fraction decreased from 28 to 5% and when solution treated at 1140°C, abnormal grain growth was observed. The optimum solution treatment leading to an almost complete dissolution of γ' particles was determined to be 1120°C/4 h. Double aging treatments were carried out at 925°C/4 h/ AC (air cooled) followed by aging at 700 or 800°C for times ranging from 1 to 100 h. The results indicated that the precipitates have almost spherical shapes at the beginning and as the aging time is increased a partial change to a cuboidal shape is observed. This behaviour was more pronounced when aging at 800°C was employed. Microhardness measurements under both aging conditions showed that at 700°C hardness values increase about 60 HV when γ' particles grow 70 nm. On the other hand, in the samples aged at 800°C, hardness values increase with the particle size until a certain value and then drop. The precipitate growth process was followed by image analysis and the activation energy for γ' growth was evaluated to be 104 kJ mol ^-1. The results obtained are discussed in the framework of classic nucleation theory and compared with other workers' results.     

DEVELOPMENT OF CALCULATING MODEL APPLICABLE FOR CYLINDER WALL DYNAMIC HEAT TRANSFER

In the calculation of submarine air conditioning load of the early stage, the obtained heat is regarded as cooling load. The confusion of the two words causing the cooling load figured out is abnormally high, and the change of air conditioning cooling load can not be indicated. In accordance with submarine structure and heat transfer characteristics of its inner components, Laplace transformation to heat conduction differential equation of cylinder wall is carried out. The dynamic calculation of submarine conditioning load based on this model is also conducted, and the results of calculation are compared with those of static cooling load calculation. It is concluded that the dynamic cooling load calculation methods can illustrate the change of submarine air conditioning cooling load more accurate than the static one.     

Effects of electrical current on transport processes in resistance spot welding

Abstract

The effects of alternating current (ac) and direct current (dc) on cooling rate, solute distribution and nugget shape after solidification, which are responsible for microstructure of the fusion zone, during resistance spot welding, are realistically and extensively investigated. The computer program developed by Wang and Wei is used to predict transport variables in workpieces and electrodes during heating, melting, cooling and freezing periods. The model accounts for electromagnetic force, heat generations at the electrode/workpiece interface and faying surface between workpieces, and dynamic electrical resistance including bulk resistance and contact resistances at the faying surface and electrode/workpiece interfaces, which are functions of hardness, temperature, electrode force and surface condition. The computed results show that in contrast to dc, using ac readily produces the nugget in an ellipse shape. Deficit and excess of solute content occur in a thin layer around the boundary and interior of the nugget respectively.     

Effect of welding consumables and processes on dynamic fracture toughness (J 1d) of armour grade Q&T steel joints

Abstract

Austenitic stainless steel (ASS) welding consumables are being used for welding armour grade Q&T steels, as they have higher solubility for hydrogen in the austenitic phase, to avoid hydrogen induced cracking (HIC). Even with austenitic stainless steel consumables under high dilution, the risk of HIC prevailed. In recent years, the developments of low hydrogen ferritic steel (LHF) consumables that contain no hygroscopic compounds are utilised for welding Q&T steels. The use of ASS fillers for welding armour grade Q&T steels creates a duplex microstructure (austenite and δ ferrite) in the welds, which drastically reduces the joint efficiency (ratio of ultimate tensile strength of the joint and the base metal). On the other hand, the weld made using LHF fillers exhibited superior joint efficiency due to the preferential ferrite microstructure in the welds. The use of ASS and LHF consumables for armour grade Q&T steels will lead to formation of distinct microstructures in their respective welds. This microstructural heterogeneity will have a drastic influence on the dynamic fracture toughness of the armour grade Q&T steel welds. Hence, in this investigation an attempt has been made to study the influence on the welding consumables and processes on the dynamic fracture toughness properties of armour grade Q&T steel joints. Shielded metal arc welding (SMAW) and flux cored arc welding (FCAW) processes were used for fabrication of the joints using ASS and LHF welding consumables. The joints fabricated by SMAW process using ASS consumables exhibited superior dynamic fracture toughness values compared to all other joints.     

Effect of alloying elements on properties and microstructures of Ti–V–Cr burn resistant alloys

Abstract

Burn resistant Ti alloys have been developed over the last 10 years. The aim of the present paper is to study the effects of alloying elements on properties and microstructures of Ti–V–Cr burn resistant alloys. The alloys Ti–35V–15Cr, Ti–25V–15Cr, and Ti–25V–15Cr–3Al usually show simple β phase structures, and recrystallisation finishes at 800°C. The Ti–25V–15Cr alloy has good workability, tensile properties, and thermal stability compared with the Ti–35V–15Cr and Ti–25V–15Cr–3Al alloys. There are α precipitates in the Ti–25V–15Cr alloy after exposure at 500°C for 100 h, which leads to a decrease in the thermal stability.     

Simulation and application of dynamic heat transfer model for improvement of continuous casting process

Abstract

Numerical simulation is being increasingly used to improve the existing cooling systems. In order to attain highest quality strand, a two-dimensional dynamic mathematical heat transfer model of billet continuous casting of low carbon steel has been presented. This model can be used to compute the billet temperature distribution and shell thickness, especially it can be used to simulate the solidification process which is caused by frequently variational casting conditions. The fluctuation of measured temperature has been reduced to <10°C with thermal imaging system. The online model can monitor surface temperature and shell thickness in the casting process. So it provides the possibility for the online process control. For the validation of the dynamic model, a lot of billet surface temperature and shell thickness measurement were carried out on an actual casting machine. Finally, the dynamic model has been used for adjusting the operating parameters to improve the casting speed.