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Machines
Volume 9
Issue 5
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Machines, Volume 9, Issue 5 (May 2021) – 23 articles

Cover Story (view full-size image): Several robotic appliances involving human–machine interaction prefer actuators driven by cables as they provide better back drivability than those relying on gears. However, design variables and free parameters in this kind of transmission remain under study, both analytically and experimentally. In our paper, we present a test bench that aims to enable researchers to tackle experimentation in cable-driven transmissions, allowing them to manipulate dimensions, external load, rotational speed, and cable tension. The system is built around a brushless DC motor coupled with two dismountable pulleys, two drums, and a perforated disk that allows changes in mass load and balance. Two load cells are used to measure the mechanical reactive force in the motor. View this paper.
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18 pages, 6808 KiB  
Article
An Adaptive RBF-NMPC Architecture for Trajectory Tracking Control of Underwater Vehicles
by Zhenzhong Chu, Da Wang and Fei Meng
Machines 2021, 9(5), 105; https://doi.org/10.3390/machines9050105 - 20 May 2021
Cited by 11 | Viewed by 2309
Abstract
An adaptive control algorithm based on the RBF neural network (RBFNN) and nonlinear model predictive control (NMPC) is discussed for underwater vehicle trajectory tracking control. Firstly, in the off-line phase, the improved adaptive Levenberg–Marquardt-error surface compensation (IALM-ESC) algorithm is used to establish the [...] Read more.
An adaptive control algorithm based on the RBF neural network (RBFNN) and nonlinear model predictive control (NMPC) is discussed for underwater vehicle trajectory tracking control. Firstly, in the off-line phase, the improved adaptive Levenberg–Marquardt-error surface compensation (IALM-ESC) algorithm is used to establish the RBFNN prediction model. In the real-time control phase, using the characteristic that the system output will change with the external environment interference, the network parameters are adjusted by using the error between the system output and the network prediction output to adapt to the complex and uncertain working environment. This provides an accurate and real-time prediction model for model predictive control (MPC). For optimization, an improved adaptive gray wolf optimization (AGWO) algorithm is proposed to obtain the trajectory tracking control law. Finally, the tracking control performance of the proposed algorithm is verified by simulation. The simulation results show that the proposed RBF-NMPC can not only achieve the same level of real-time performance as the linear model predictive control (LMPC) but also has a superior anti-interference ability. Compared with LMPC, the tracking performance of RBF-NMPC is improved by at least 43% and 25% in the case of no interference and interference, respectively. Full article
(This article belongs to the Section Vehicle Engineering)
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13 pages, 4072 KiB  
Article
Design and Thermal Stability Analysis of Swing Micro-Mirror Structure for Gravitational Wave Observatory in Space
by Kunyao Zheng and Mingming Xu
Machines 2021, 9(5), 104; https://doi.org/10.3390/machines9050104 - 18 May 2021
Cited by 2 | Viewed by 2158
Abstract
A kind of swing micro-mirror structure with high stability for gravitational wave observatory in space is proposed in this paper. As the key interface instrument in the gravitational wave observatory, the swing micro-mirror structure plays a very important role. Firstly, the 3D model [...] Read more.
A kind of swing micro-mirror structure with high stability for gravitational wave observatory in space is proposed in this paper. As the key interface instrument in the gravitational wave observatory, the swing micro-mirror structure plays a very important role. Firstly, the 3D model of the mechanism is designed and established. Then, the solution method of the index of stability, pointing jitter, is researched. After that, the thermal stability and the first-order natural frequency of the mechanism are researched via finite element analysis. The first-order natural frequency of the mechanism is 247.55 Hz, which can meet the requirements of the design. It can be seen from the results of the simulation, the amplitude spectral density of the mirror angle deviation is 3.975 nrad/√Hz when the range of temperature variation is 0.1 °C, which is able to meet the requirements of the design. The thermal stability has a closed relationship with the structural stability around the X-axis. In addition, this article also studies the thermal stability of the mechanism in the case of temperature changes in different directions. It is found that the thermal stability of the mechanism around the Y-axis would be significantly affected by the temperature changes along the Y-axis. Full article
(This article belongs to the Special Issue Precision Measurement and Machines)
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15 pages, 6111 KiB  
Article
Row End Detection and Headland Turning Control for an Autonomous Banana-Picking Robot
by Peichen Huang, Lixue Zhu, Zhigang Zhang and Chenyu Yang
Machines 2021, 9(5), 103; https://doi.org/10.3390/machines9050103 - 18 May 2021
Cited by 14 | Viewed by 2778
Abstract
A row-following system based on machine vision for a picking robot was designed in our previous study. However, the visual perception could not provide reliable information during headland turning according to the test results. A complete navigation system for a picking robot working [...] Read more.
A row-following system based on machine vision for a picking robot was designed in our previous study. However, the visual perception could not provide reliable information during headland turning according to the test results. A complete navigation system for a picking robot working in an orchard needs to support accurate row following and headland turning. To fill this gap, a headland turning method for an autonomous picking robot was developed in this paper. Three steps were executed during headland turning. First, row end was detected based on machine vision. Second, the deviation was further reduced before turning using the designed fast posture adjustment algorithm based on satellite information. Third, a curve path tracking controller was developed for turning control. During the MATLAB simulation and experimental test, different controllers were developed and compared with the designed method. The results show that the designed turning method enabled the robot to converge to the path more quickly and remain on the path with lower radial errors, which eventually led to reductions in time, space, and deviation during headland turning. Full article
(This article belongs to the Special Issue Recent Advances in Computer Vision Technology and Its Agricultural Application)
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18 pages, 3096 KiB  
Article
Investigation of Optimization Algorithms for Neural Network Solutions of Optimal Control Problems with Mixed Constraints
by Irina Bolodurina and Lyubov Zabrodina
Machines 2021, 9(5), 102; https://doi.org/10.3390/machines9050102 - 17 May 2021
Cited by 2 | Viewed by 2243
Abstract
In this paper, we consider the problem of selecting the most efficient optimization algorithm for neural network approximation—solving optimal control problems with mixed constraints. The original optimal control problem is reduced to a finite-dimensional optimization problem by applying the necessary optimality conditions, the [...] Read more.
In this paper, we consider the problem of selecting the most efficient optimization algorithm for neural network approximation—solving optimal control problems with mixed constraints. The original optimal control problem is reduced to a finite-dimensional optimization problem by applying the necessary optimality conditions, the Lagrange multiplier method and the least squares method. Neural network approximation models are presented for the desired control functions, trajectory and conjugate factors. The selection of the optimal weight coefficients of the neural network approximation was carried out using the gravitational search algorithm and the basic particle swarm algorithm and the genetic algorithm. Computational experiments showed that evolutionary optimization algorithms required the smallest number of iterations for a given accuracy in comparison with the classical gradient optimization method; however, the multi-agent optimization methods were performed later for each operation. As a result, the genetic algorithm showed a faster convergence rate relative to the total execution time. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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18 pages, 2932 KiB  
Article
A Nonlinear Magnetic Stabilization Control Design for an Externally Manipulated DC Motor: An Academic Low-Cost Experimental Platform
by Leonardo Acho
Machines 2021, 9(5), 101; https://doi.org/10.3390/machines9050101 - 14 May 2021
Cited by 2 | Viewed by 2087
Abstract
The main objective of this paper is to present a position control design to a DC-motor, where the set-point is externally supplied. The controller is conceived by using vibrational control theory and implemented by just processing the time derivative of a Hall-effect sensor [...] Read more.
The main objective of this paper is to present a position control design to a DC-motor, where the set-point is externally supplied. The controller is conceived by using vibrational control theory and implemented by just processing the time derivative of a Hall-effect sensor signal. Vibrational control is robust against model uncertainties. Hence, for control design, a simple mathematical model of a DC-Motor is invoked. Then, this controller is realized by utilizing analog electronics via operational amplifiers. In the experimental set-up, one extreme of a flexible beam attached to the motor shaft, and with a permanent magnet fixed on the other end, is constructed. Therefore, the control action consists of externally manipulating the flexible beam rotational position by driving a moveable Hall-effect sensor that is located facing the magnet. The experimental platform results in a low-priced device and is useful for teaching control and electronic topics. Experimental results are evidenced to support the main paper contribution. Full article
(This article belongs to the Special Issue Advanced Autonomous Machines and Designs)
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17 pages, 3606 KiB  
Perspective
Perspectives on SCADA Data Analysis Methods for Multivariate Wind Turbine Power Curve Modeling
by Davide Astolfi
Machines 2021, 9(5), 100; https://doi.org/10.3390/machines9050100 - 13 May 2021
Cited by 16 | Viewed by 3116
Abstract
Wind turbines are rotating machines which are subjected to non-stationary conditions and their power depends non-trivially on ambient conditions and working parameters. Therefore, monitoring the performance of wind turbines is a complicated task because it is critical to construct normal behavior models for [...] Read more.
Wind turbines are rotating machines which are subjected to non-stationary conditions and their power depends non-trivially on ambient conditions and working parameters. Therefore, monitoring the performance of wind turbines is a complicated task because it is critical to construct normal behavior models for the theoretical power which should be extracted. The power curve is the relation between the wind speed and the power and it is widely used to monitor wind turbine performance. Nowadays, it is commonly accepted that a reliable model for the power curve should be customized on the wind turbine and on the site of interest: this has boosted the use of SCADA for data-driven approaches to wind turbine power curve and has therefore stimulated the use of artificial intelligence and applied statistics methods. In this regard, a promising line of research regards multivariate approaches to the wind turbine power curve: these are based on incorporating additional environmental information or working parameters as input variables for the data-driven model, whose output is the produced power. The rationale for a multivariate approach to wind turbine power curve is the potential decrease of the error metrics of the regression: this allows monitoring the performance of the target wind turbine more precisely. On these grounds, in this manuscript, the state-of-the-art is discussed as regards multivariate SCADA data analysis methods for wind turbine power curve modeling and some promising research perspectives are indicated. Full article
(This article belongs to the Special Issue Condition Monitoring for Non-stationary Rotating Machines)
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28 pages, 6772 KiB  
Article
Research Based on Modeling and Simulation of the Transient Regime in Controlled Switching with High Power Switches
by Caius Panoiu, Dumitru Ciulica, Manuela Panoiu and Sergiu Mezinescu
Machines 2021, 9(5), 99; https://doi.org/10.3390/machines9050099 - 12 May 2021
Cited by 2 | Viewed by 2447
Abstract
This paper addresses one of the current areas of interest in electrical engineering, which is controlled switching of high voltage circuit breakers. During their operation, the problem of controlled switching of high voltage circuit breakers in commutation regimes was studied. Several types of [...] Read more.
This paper addresses one of the current areas of interest in electrical engineering, which is controlled switching of high voltage circuit breakers. During their operation, the problem of controlled switching of high voltage circuit breakers in commutation regimes was studied. Several types of switching were analyzed, considered representative of the transient regime, depending on the type of load, on the defect that may occur on the power supply lines, as well as depending on the position of this defect (near or far). The study carried out in the paper includes simulations of the controlled connection/disconnection operations in a transient regime, assuming the existence of different kinds of defects. To perform the study and simulations in the transient regime, a model, implemented in Matlab, was used for a time interval located around the origin of the time axis. The study included the dependence of the SF6 circuit breaker switching process on the following parameters: the DC voltage supply, ambient temperature and oil pressure in the circuit breaker actuator. The validity of the theory presented in this paper, in addition to being validated by simulations, is proven by the fact that the protection system currently in use at the power station of an 800 MW power plant, at the 400 kV power line, is based on the principles presented in this paper. The theory presented in the paper has been implemented in industry for nearly two years, and the results confirm that the theory presented in the paper is fully applicable in high voltage power stations. Full article
(This article belongs to the Section Electromechanical Energy Conversion Systems)
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17 pages, 2950 KiB  
Article
Fault Diagnosis of Rolling Bearing Based on Shift Invariant Sparse Feature and Optimized Support Vector Machine
by Haodong Yuan, Nailong Wu, Xinyuan Chen and Yueying Wang
Machines 2021, 9(5), 98; https://doi.org/10.3390/machines9050098 - 12 May 2021
Cited by 21 | Viewed by 2581
Abstract
The vibration signal of rotating machinery fault is a periodic impact signal and the fault characteristics appear periodically. The shift invariant K-SVD algorithm can solve this problem effectively and is thus suitable for fault feature extraction of rotating machinery. With the over-complete dictionary [...] Read more.
The vibration signal of rotating machinery fault is a periodic impact signal and the fault characteristics appear periodically. The shift invariant K-SVD algorithm can solve this problem effectively and is thus suitable for fault feature extraction of rotating machinery. With the over-complete dictionary learned by the training samples, including thedifferent classes, shift invariant sparse feature for the training as well as test samples can be formed through sparse codes and employed as the input of classifier. A support vector machine (SVM) with optimized parameters has been extensively used in intelligent diagnosis of machinery fault. Hence, in this study, a novel fault diagnosis method of rolling bearings using shift invariant sparse feature and optimized SVM is proposed. Firstly, dictionary learning by shift invariant K-SVD algorithm is conducted. Then, shift invariant sparse feature is constructed with the learned over-complete dictionary. Finally, optimized SVM is employed for classification of the shift invariant sparse feature corresponding to different classes, hence, bearing fault diagnosis is achieved. With regard to the optimized SVM, three methods including grid search, generic algorithm (GA), and particle swarm optimization (PSO) are respectively carried out. The experiment results show that the shift invariant sparse feature using shift invariant K-SVD can effectively distinguish the bearing vibration signals corresponding to different running states. Moreover, optimized SVM can significantly improve the diagnosis precision. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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12 pages, 3894 KiB  
Communication
Low-Order Radial Modal Test and Analysis of Drive Motor Stator
by Jie Li, Shaobo Yang, Jincai Yang, Fengqin Li, Qingqiang Zeng, Junlong Shao, Chun Chang, Nian Wu, Ying Chen and Keqiang Li
Machines 2021, 9(5), 97; https://doi.org/10.3390/machines9050097 - 12 May 2021
Cited by 3 | Viewed by 2081
Abstract
For a driving motor stator of EDU (Electric Drive Unit) intelligent electric transmission of a domestic plug-in hybrid electric vehicle, modal tests are performed on the motor stator with or without motor shell. Either the hammering method or the frequency sweeping method is [...] Read more.
For a driving motor stator of EDU (Electric Drive Unit) intelligent electric transmission of a domestic plug-in hybrid electric vehicle, modal tests are performed on the motor stator with or without motor shell. Either the hammering method or the frequency sweeping method is used in the test. The modal frequencies, modal shapes, and damping ratios of the first five orders that meet the requirements of the modal confidence criterion are obtained. The influence of the motor shell on the low-order radial modal of the motor stator is discussed. The results show that similar results are obtained in the modal parameter estimation respectively using the hammering method and the frequency sweeping method. They can both be used for low-order radial modal test of the motor stator. The motor stator without shell exhibits a linear structure in the frequency domain. Each modal frequency obtained by the frequency sweeping method is slightly higher than that obtained by the hammering method. Full article
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20 pages, 4845 KiB  
Article
Precision Interaction Force Control of an Underactuated Hydraulic Stance Leg Exoskeleton Considering the Constraint from the Wearer
by Shan Chen, Tenghui Han, Fangfang Dong, Lei Lu, Haijun Liu, Xiaoqing Tian and Jiang Han
Machines 2021, 9(5), 96; https://doi.org/10.3390/machines9050096 - 10 May 2021
Cited by 15 | Viewed by 3861
Abstract
Hydraulic lower limb exoskeletons are wearable robotic systems, which can help people carry heavy loads. Recently, underactuated exoskeletons with some passive joints have been developed in large numbers for the purpose of decreasing the weight and energy consumption of the system. There are [...] Read more.
Hydraulic lower limb exoskeletons are wearable robotic systems, which can help people carry heavy loads. Recently, underactuated exoskeletons with some passive joints have been developed in large numbers for the purpose of decreasing the weight and energy consumption of the system. There are many control algorithms for a multi-joint fully actuated exoskeleton, which cannot be applied for underactuated systems due to the reduction in the number of control inputs. Besides, since the hydraulic actuator is not a desired force output source, there exist high order nonlinearities in hydraulic exoskeletons, which makes the controller design more challenging than motor driven exoskeleton systems. This paper proposed a precision interaction force controller for a 3DOF underactuated hydraulic stance leg exoskeleton. First, the control effect of the wearer is considered and the posture of the exoskeleton back is assumed as a desired trajectory under the control of the wearer. Under this assumption, the system dynamics are changed from a 3DOF underactuated system in joint space to a 2DOF fully actuated system in Cartesian space. Then, a three-level interaction force controller is designed in which the high-level controller conducts human motion intent inference, the middle level controller tracks human motion and the low-level controller achieves output force tracking of hydraulic cylinders. The MIMO adaptive robust control algorithm is applied in the controller design to effectively address the high order nonlinearities of the hydraulic system, multi-joint couplings and various model uncertainties. A gain tuning method is also provided to facilitate the controller gains selection for engineers. Comparative simulations are conducted, which demonstrate that the principal human-machine interaction force components can be minimized and good robust performance to load change and modeling errors can be achieved. Full article
(This article belongs to the Special Issue Advanced Control of Industrial Electro-Hydraulic Systems)
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13 pages, 42408 KiB  
Article
Development of Cutting Force Model and Process Maps for Power Skiving Using CAD-Based Modelling
by Nikolaos Tapoglou
Machines 2021, 9(5), 95; https://doi.org/10.3390/machines9050095 - 10 May 2021
Cited by 9 | Viewed by 3859
Abstract
Power skiving is a new gear cutting process that has been recognized to provide a step change in the production rate achieved in the machining of high-precision internal and external involute gears. The process is based on a continuous generating meshing between the [...] Read more.
Power skiving is a new gear cutting process that has been recognized to provide a step change in the production rate achieved in the machining of high-precision internal and external involute gears. The process is based on a continuous generating meshing between the workgear and the cutting tool. Understanding of the loads applied in the cutting tool, and therefore some of the sources of tool wear, have not been thoroughly understood. This paper presents a novel model that is able to predict with high accuracy the cutting forces in the power skiving process. The model is based on a solid modelling simulation algorithm that produces high-fidelity solid bodies that are used for the calculations. The results of the model have been experimentally validated. A series of process maps are also produced to assist in the identification of the optimal machining parameters. Full article
(This article belongs to the Section Advanced Manufacturing)
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18 pages, 6540 KiB  
Article
Designing a Low-Cost Mechatronic Device for Semi-Automatic Saffron Harvesting
by Alessandro Rocco Denarda, Andrea Manuello Bertetto and Giuseppe Carbone
Machines 2021, 9(5), 94; https://doi.org/10.3390/machines9050094 - 09 May 2021
Cited by 3 | Viewed by 4619
Abstract
This paper addresses the design of a novel mechatronic device for saffron harvesting. The main proposed challenge consists of proposing a new paradigm for semi-automatic harvesting of saffron flowers. The proposed novel solution is designed for being easily portable with user-friendly and cost-oriented [...] Read more.
This paper addresses the design of a novel mechatronic device for saffron harvesting. The main proposed challenge consists of proposing a new paradigm for semi-automatic harvesting of saffron flowers. The proposed novel solution is designed for being easily portable with user-friendly and cost-oriented features and with a fully electric battery-powered actuation. A preliminary concept design has been proposed as based on a specific novel cam mechanism in combination with an elastic spring for fulfilling the detachment of the flowers from their stems. Numerical calculations and simulations have been carried out to complete the full design of a proof-of-concept prototype. Preliminary experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solutions, whose concept has been submitted for patenting. Full article
(This article belongs to the Special Issue Intelligent Machines and Control Systems)
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17 pages, 6516 KiB  
Article
On the Direct Extrusion of Solder Wire from 52In-48Sn Alloy
by Sergei Faizov, Aleksandr Sarafanov, Ivan Erdakov, Dmitry Gromov, Alexandra Svistun, Lev Glebov, Vitaly Bykov, Anastasia Bryk and Liudmila Radionova
Machines 2021, 9(5), 93; https://doi.org/10.3390/machines9050093 - 06 May 2021
Cited by 11 | Viewed by 2666
Abstract
In this article, technology for producing wire and rod solder from 52In-48Sn alloy has been developed and investigated in the conditions of small-scale production. The use of direct extrusion of wire and rods instead of traditional technology for producing solder, which includes pressing, [...] Read more.
In this article, technology for producing wire and rod solder from 52In-48Sn alloy has been developed and investigated in the conditions of small-scale production. The use of direct extrusion of wire and rods instead of traditional technology for producing solder, which includes pressing, rolling and drawing, can significantly reduce the fleet of required equipment. Using only a melting furnace and a hydraulic press, solder wires and rods can be produced in various sizes. Shortening the production cycle allows you to quickly fulfill small orders and be competitive in sales. This article develops a mathematical model of direct extrusion, which allows you to calculate the extrusion ratio, extrusion speed and pressing force. The results of modeling the process of extrusion of wire Ø2.00 mm and rods Ø8.0 mm made of 52In-48Sn alloy are presented. The temperature of the solder and the tool is simulated in software QForm based on the finite element method. Experimental results of manufacturing Ø2.0 mm solder wire and Ø8.0 mm rods are presented. The microstructure of the direct extruded solder is a eutectic of phases γ and β. Energy-dispersive X-ray spectroscopy (EDS) mapping of the 52In-48Sn alloy showed that the solder obtained by direct extrusion has a uniform distribution of structural phases. The developed technology can be used in the manufacture of wires and rods from other low-melting alloys. Full article
(This article belongs to the Special Issue Selected Papers from the ICIEAM 2021 Conference)
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14 pages, 2012 KiB  
Article
Developing a Combined Method for Detection of Buried Metal Objects
by Ivan V. Bryakin, Igor V. Bochkarev, Vadim R. Khramshin and Ekaterina A. Khramshina
Machines 2021, 9(5), 92; https://doi.org/10.3390/machines9050092 - 02 May 2021
Cited by 6 | Viewed by 5921
Abstract
This paper discusses the author-developed novel method for the detection of buried metal objects that combines two basic subsurface sensing methods: one based on changes in the electromagnetic field parameters as induced by the inner or surficial impedance of the medium when affected [...] Read more.
This paper discusses the author-developed novel method for the detection of buried metal objects that combines two basic subsurface sensing methods: one based on changes in the electromagnetic field parameters as induced by the inner or surficial impedance of the medium when affected by a propagating magnetic field; and one based on changes in the input impedance of the receiver as induced by the electromagnetic properties of the probed medium. The proposed method utilizes three instrumentation channels: two primary channels come from the ferrite magnetic antenna (the receiver), where the first channel is used to measure the current voltage amplitude of the active input signal component, while the second channel measures the current voltage amplitude of the reactive input signal component; an additional (secondary) channel comes from the emitting frame antenna (the transmitter) to measure the current amplitude of the exciting current. This data redundancy proves to significantly improve the reliability and accuracy of detecting buried metal objects. Implementation of the computational procedures for the proposed method helped to detect and identify buried objects by their specific electrical conductance and magnetic permeability, while also locating them depth-wise. The research team has designed an induction probe that contains two mutually orthogonal antennas (a frame transmitter and ferrite receiver); the authors herein propose a metal detector design that implements the proposed induction sensing method. Experimental research proved the developed combined method for searching for buried metal objects efficient and well-performing. Full article
(This article belongs to the Section Automation and Control Systems)
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19 pages, 9190 KiB  
Article
Simulation of Energy Absorption Performance of the Couplers in Urban Railway Vehicles during a Heavy Collision
by Sunghyun Lim, Yong-hyeon Ji and Yeong-il Park
Machines 2021, 9(5), 91; https://doi.org/10.3390/machines9050091 - 30 Apr 2021
Cited by 7 | Viewed by 3693
Abstract
Railway vehicles are generally operated by connecting several vehicles in a row. Mechanisms connecting railway vehicles must also absorb front and rear shock loads that occur during a train’s operation. To minimize damage, rail car couplers are equipped with a buffer system that [...] Read more.
Railway vehicles are generally operated by connecting several vehicles in a row. Mechanisms connecting railway vehicles must also absorb front and rear shock loads that occur during a train’s operation. To minimize damage, rail car couplers are equipped with a buffer system that absorbs the impact of energy. It is difficult to perform a crash test and evaluate performance by applying a buffer to an actual railway vehicle. In this study, a simulation technique using a mathematical buffer model was introduced to overcome these difficulties. For this, a model of each element of the buffer was built based on the experimental data for each element of the coupling buffer system and a collision simulation program was developed. The buffering characteristics of a 10-car train colliding at 25 km/h were analyzed using a developed simulator. The results of the heavy collision simulation showed that the rubber buffer was directly connected to the hydraulic shock absorber in a solid contact state, and displacement of the hydraulic buffer hardly occurred despite the increase in reaction force due to the high impact speed. Since the impact force is concentrated on the vehicle to which the collision is applied, it may be appropriate to apply a deformation tube with different characteristics depending on the vehicle location. Full article
(This article belongs to the Section Vehicle Engineering)
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20 pages, 8561 KiB  
Article
Parametric Optimization for Cutting Forces and Material Removal Rate in the Turning of AISI 5140
by Mustafa Kuntoğlu, Osman Acar, Munish Kumar Gupta, Hacı Sağlam, Murat Sarikaya, Khaled Giasin and Danil Yurievich Pimenov
Machines 2021, 9(5), 90; https://doi.org/10.3390/machines9050090 - 29 Apr 2021
Cited by 26 | Viewed by 2911
Abstract
The present paper deals with the optimization of the three components of cutting forces and the Material Removal Rate (MRR) in the turning of AISI 5140 steel. The Harmonic Artificial Bee Colony Algorithm (H-ABC), which is an improved nature-inspired [...] Read more.
The present paper deals with the optimization of the three components of cutting forces and the Material Removal Rate (MRR) in the turning of AISI 5140 steel. The Harmonic Artificial Bee Colony Algorithm (H-ABC), which is an improved nature-inspired method, was compared with the Harmonic Bee Algorithm (HBA) and popular methods such as Taguchi’s S/N ratio and the Response Surface Methodology (RSM) in order to achieve the optimum parameters in machining applications. The experiments were performed under dry cutting conditions using three cutting speeds, three feed rates, and two depths of cuts. Quadratic regression equations were identified as the objective function for HBA to represent the relationship between the cutting parameters and responses, i.e., the cutting forces and MRR. According to the results, the RSM (72.1%) and H-ABC (64%) algorithms provide better composite desirability compared to the other techniques, namely Taguchi (43.4%) and HBA (47.2%). While the optimum parameters found by the H-ABC algorithm are better when considering cutting forces, RSM has a higher success rate for MRR. It is worth remarking that H-ABC provides an effective solution in comparison with the frequently used methods, which is promising for the optimization of the parameters in the turning of new-generation materials in the industry. There is a contradictory situation in maximizing the MRR and minimizing the cutting power simultaneously, because the affecting parameters have a reverse effect on these two response parameters. Comparing different types of methods provides a perspective in the selection of the optimum parameter design for industrial applications of the turning processes. This study stands as the first paper representing the comparative optimization approach for cutting forces and MRR. Full article
(This article belongs to the Section Material Processing Technology)
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16 pages, 1781 KiB  
Review
Review of Rotor Balancing Methods
by Liqing Li, Shuqian Cao, Jing Li, Rimin Nie and Lanlan Hou
Machines 2021, 9(5), 89; https://doi.org/10.3390/machines9050089 - 29 Apr 2021
Cited by 26 | Viewed by 8416
Abstract
This review is dedicated to balancing methods that are used to solve the rotor-balancing problem. To ensure a stable operation over an operating speed range, it is necessary to balance a rotor. The traditional methods, including the influence coefficient method (ICM) and the [...] Read more.
This review is dedicated to balancing methods that are used to solve the rotor-balancing problem. To ensure a stable operation over an operating speed range, it is necessary to balance a rotor. The traditional methods, including the influence coefficient method (ICM) and the modal balancing method (MBM) are introduced, and the research progress, operation steps, advantages and disadvantages of these methods are elaborated. The classification of new balancing methods is reviewed. Readers are expected to obtain an overview of the research progress of existing balancing methods and the directions for future studies. Full article
(This article belongs to the Section Turbomachinery)
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13 pages, 2045 KiB  
Article
Thermodynamic Performance Analysis of Solar Based Organic Rankine Cycle Coupled with Thermal Storage for a Semi-Arid Climate
by Nasser Mohammed A. Almefreji, Babras Khan and Man-Hoe Kim
Machines 2021, 9(5), 88; https://doi.org/10.3390/machines9050088 - 28 Apr 2021
Cited by 5 | Viewed by 2857
Abstract
This study focuses on the thermodynamic performance analysis of the solar organic Rankine cycle (SORC) that uses solar radiation over a moderate temperature range. A compound parabolic collector (CPC) was adjusted to collect solar radiation because of its long-lasting nature and featured low [...] Read more.
This study focuses on the thermodynamic performance analysis of the solar organic Rankine cycle (SORC) that uses solar radiation over a moderate temperature range. A compound parabolic collector (CPC) was adjusted to collect solar radiation because of its long-lasting nature and featured low concentration ratios, which are favorable for moderate temperature applications. A thermal storage tank was fixed to preserve the solar energy and ensure the system’s continuous performance during unfavorable weather. However, water was used as the heat transfer fluid and R245fa was used as the working fluid in this system. The performance in both the hottest and coldest months was analyzed using the average hourly profile in MATLAB using weather data from Riyadh, Saudi Arabia. Variations in the tank temperature during the charging and discharging modes were found. The hourly based thermal efficiency and net power output for both configurations were also compared. The results show that at 17:00, when the cycle was about to shut down, the thermal efficiency was 12.79% and the network output was 16 kW in July, whereas in January, the efficiency was ~12.80% and the net power output was 15.54 kW. Full article
(This article belongs to the Section Electromechanical Energy Conversion Systems)
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19 pages, 7834 KiB  
Article
ANN-Based Pattern Recognition for Induction Motor Broken Rotor Bar Monitoring under Supply Frequency Regulation
by Ashish Kumar Sinha, Ananda Shankar Hati, Mohamed Benbouzid and Prasun Chakrabarti
Machines 2021, 9(5), 87; https://doi.org/10.3390/machines9050087 - 27 Apr 2021
Cited by 20 | Viewed by 2189
Abstract
The requisite of direct-on-line (DOL) starting for various applications in underground mines subjects the rotor bars of heavy-duty squirrel cage induction motors (SCIMs) to severe stresses, resulting in sustained fault in the rotor bars, unlike the applications where mostly reduced voltage starting is [...] Read more.
The requisite of direct-on-line (DOL) starting for various applications in underground mines subjects the rotor bars of heavy-duty squirrel cage induction motors (SCIMs) to severe stresses, resulting in sustained fault in the rotor bars, unlike the applications where mostly reduced voltage starting is preferred. Furthermore, SCIMs working in underground mines are also affected by unforeseen frequency fluctuations. Hence, the paper proposes a discrete wavelet transform (DWT)-based broken rotor bar detection scheme using the stator current analysis of SCIM when subjected to a frequency regulation (±4% of 50 Hz supply) in steady-state, as prevalent in underground mines. In this regard, the level-seven detailed coefficient obtained by the DWT-based multi-resolution analysis of stator current corresponding to the healthy rotor is compared with that of the faulty rotor to extract the necessary features to identify the fault. Further implementation of the proposed scheme is done using artificial neural network (ANN)-based pattern recognition techniques, wherein both feed-forward backdrops and cascaded forward backdrop type ANNs have been used for fault pinpointing based on the feature extraction results obtained from DWT. The scheme is developed and analysed in MATLAB/Simulink using 5.5 kW, 415 V, 50 Hz SCIM, which is further validated using the LabVIEW-based real-time implementation. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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18 pages, 23338 KiB  
Article
Mechanism Design and Experiment of a Bionic Turtle Dredging Robot
by Tao Wang, Zhuo Wang and Bo Zhang
Machines 2021, 9(5), 86; https://doi.org/10.3390/machines9050086 - 25 Apr 2021
Cited by 6 | Viewed by 3028
Abstract
In order to clean underwater silt in artificially constructed rivers, lakes, and fish ponds, for which no suitable tool exists, a tool has been developed that imitates the structure and movement of the tortoise’s legs, and designs a four-legged dredging robot that can [...] Read more.
In order to clean underwater silt in artificially constructed rivers, lakes, and fish ponds, for which no suitable tool exists, a tool has been developed that imitates the structure and movement of the tortoise’s legs, and designs a four-legged dredging robot that can adapt to the complex underwater environment. The article uses the transformation matrix to analyze the kinematics of the dredging robot, determines the movement sequence of the outriggers according to the principle of stability, and analyzes the movement characteristics of the three gait modes. Then, we combined the control function of the foot trajectory with the experimental prototype based on the bionic tortoise mechanism to carry out a walking experiment. During the experiment, the motion stability is good. Additionally, the changes in the position, the posture of the outriggers, and the body prove that the movement stability of the dredging robot using coordinated gait, mixed gait, and intermittent gait has increased sequentially. Full article
(This article belongs to the Section Machine Design and Theory)
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15 pages, 6643 KiB  
Article
Multiscale Modelling and Analysis for Design and Development of a High-Precision Aerostatic Bearing Slideway and Its Digital Twin
by Ning Gou, Kai Cheng and Dehong Huo
Machines 2021, 9(5), 85; https://doi.org/10.3390/machines9050085 - 25 Apr 2021
Cited by 12 | Viewed by 3329
Abstract
Aerostatic bearing slideways have been increasingly applied in the precision engineering industry and other high-tech sectors over the last two decades or so, due to their considerable advantages over mechanical slideways in terms of high motion accuracy, high speeds, low friction, and environment-friendly [...] Read more.
Aerostatic bearing slideways have been increasingly applied in the precision engineering industry and other high-tech sectors over the last two decades or so, due to their considerable advantages over mechanical slideways in terms of high motion accuracy, high speeds, low friction, and environment-friendly operations. However, new challenges in air bearings design and analysis have been occurring and often imposed along the journeys. An industrial-feasible approach for the design and development of aerostatic bearing slideways as standard engineering products is essential and much needed particularly for addressing their rapid demands in diverse precision engineering sectors, and better applications and services in a continuous sustainable manner. This paper presents the multiscale modelling and analysis-based approach for design and development of the aerostatic bearing slideways and its digital twin. The multiscale modelling and analysis and the associated simulation development can be the kernel of the digital twin, which cover the mechanical design, direct drive and control, dynamics tuning of the slideway, and their entire mechatronic system integration. Using this approach and implementation, the performance of an aerostatic bearing slideway can be predicted and assessed in the process. The implementation perspectives for the sideway digital twin are presented and discussed in steps. The digital simulations and digital twin system can be fundamentally important for continuously improving the design and development of aerostatic bearing slideways, and their applications and services in the context of industry 4.0 and beyond. Full article
(This article belongs to the Special Issue Advanced Autonomous Machines and Designs)
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16 pages, 2117 KiB  
Article
High-Efficient Calculation Method for Sensitive PDGEs of Five-Axis Reconfigurable Machine Tool
by Zhanqun Song, Shuang Ding, Zhiwei Chen, Zhongwang Lu and Zhouzhou Wang
Machines 2021, 9(5), 84; https://doi.org/10.3390/machines9050084 - 25 Apr 2021
Cited by 5 | Viewed by 1777
Abstract
Sensitive geometric errors of a machine tool have significant influence on machining accuracy, and it is important to identify them. Complex modeling and analysis must be carried out to identify the sensitive geometric errors of a five-axis machine tool by using the traditional [...] Read more.
Sensitive geometric errors of a machine tool have significant influence on machining accuracy, and it is important to identify them. Complex modeling and analysis must be carried out to identify the sensitive geometric errors of a five-axis machine tool by using the traditional method. Once the configuration structure of the machine tools is reconstructed, repetitive error modeling and analysis are required, and the identification cycle of sensitive geometric errors is long. Therefore, this paper proposes a high-efficient calculation method for sensitive position-dependent geometric error (PDGEs) identification of a five-axis reconfigurable machine tool. According to the results of sensitive geometric errors of the RTTTR-type and TTTRR-type five-axis machine tools, the mapping expressions between sensitive PDGEs and the configuration structure of machine tools was established. In this method, sensitive PDGEs can be calculated directly according to the mapping expression, which eliminates the process of error modeling and analysis. Taking a RTTTR-type five-axis machine tool as an example, the sensitive PDGEs were calculated according to the presented mapping expressions without error modeling and analysis. A series of analysis points in the machining area were selected to compare the machining errors before and after sensitive PDGE compensation. The results show that this calculation method is accurate. Full article
(This article belongs to the Section Advanced Manufacturing)
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17 pages, 5063 KiB  
Article
An Experimental Test Bench for Cable-Driven Transmission
by Giovanni Torres Charry and Juan Bernardo Gómez Mendoza
Machines 2021, 9(5), 83; https://doi.org/10.3390/machines9050083 - 22 Apr 2021
Cited by 2 | Viewed by 2822
Abstract
Cable-driven transmissions are used widely in robotic applications. However, design variables and parameters of this kind of transmission remain under study, both analytically and experimentally. In this paper, an experimental test bench to evaluate the behavior of medium-low power pulley-cable transmissions is presented. [...] Read more.
Cable-driven transmissions are used widely in robotic applications. However, design variables and parameters of this kind of transmission remain under study, both analytically and experimentally. In this paper, an experimental test bench to evaluate the behavior of medium-low power pulley-cable transmissions is presented. The design of the test bench allows manipulating variables such as dimensions, external load, speed, and cable tension. The system consists mainly of a brushless direct current (DC) motor, two load cells to measure the mechanical reactive force in the motor, two dismountable pulleys, two drums, a perforated disk, and several masses that provide the load and the inertial load, and electronic modules to control the speed and position of the pulley. Special attention was paid to the calibration of the load cells, focused in compensating the effect of creep. Validation tests were carried out in order to evaluate the device design. Next, pilot experiments were performed to estimate the friction behavior in the transmission. Preliminary results suggest that the friction in the transmission is largely governed by the friction behavior of the bearings. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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