MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

Adaptive notch filtering for tracking multiple complex sinusoid signals

This thesis is related to the field of digital signal processing; where the aim of this research is to develop features of an infinite impulse response adaptive notch filter capable of tracking multiple complex sinusoid signals. Adaptive notch filters are commonly used in: Radar, Sonar, and Communication systems, and have the ability to track the frequencies of real or complex sinusoid signals; thus removing noise from an estimate, and enhancing the performance of a system. This research programme began by implementing four currently proposed adaptive notch structures. These structures were simulated and compared: for tracking between two and four signals; however, in their current form they are only capable of tracking real sinusoid signals. Next, one of these structures is developed further, to facilitate the ability to track complex sinusoid signals. This original structure gives superior performance over Regalia's comparable structure under certain conditions, which has been proven by simulations and results. Complex adaptive notch filter structures generally contain two parameters: the first tracks a target frequency, then the second controls the adaptive notch filter's bandwidth. This thesis develops the notch filter, so that the bandwidth parameter can be adapted via a method of steepest ascent; and also investigates tracking complex-valued chirp signals. Lastly, stochastic search methods are considered; and particle swarm optimisation has been applied to reinitialise an adaptive notch filter, when tracking two signals; thus more quickly locating an unknown frequency, after the frequency of the complex sinusoid signal jumps

Genetically evolved dynamic control for quadruped walking

The aim of this dissertation is to show that dynamic control of quadruped locomotion is achievable through the use of genetically evolved central pattern generators. This strategy is tested both in simulation and on a walking robot. The design of the walker has been chosen to be statically unstable, so that during motion less than three supporting feet may be in contact with the ground. The control strategy adopted is capable of propelling the artificial walker at a forward locomotion speed of ~1.5 Km/h on rugged terrain and provides for stability of motion. The learning of walking, based on simulated genetic evolution, is carried out in simulation to speed up the process and reduce the amount of damage to the hardware of the walking robot. For this reason a general-purpose fast dynamic simulator has been developed, able to efficiently compute the forward dynamics of tree-like robotic mechanisms. An optimization process to select stable walking patterns is implemented through a purposely designed genetic algorithm, which implements stochastic mutation and cross-over operators. The algorithm has been tailored to address the high cost of evaluation of the optimization function, as well as the characteristics of the parameter space chosen to represent controllers. Experiments carried out on different conditions give clear indications on the potential of the approach adopted. A proof of concept is achieved, that stable dynamic walking can be obtained through a search process which identifies attractors in the dynamics of the motor-control system of an artificial walker

Kinky structures

Rotational springs are not widely used in structural engineering other than within undergraduate texts to aid with the understanding of strut buckling or other similar theoretical exercises.The inclusion of rotational springs can significantly alter the behaviour of a structure, bringing several potential benefits if inserted strategically. For instance, allowing a frame to be delivered to site as a single deployable piece, where the rotational springs introduce an element of temporary stability during erection; by ensuring hinges form in specific locations during extreme loading events, creating reliable load paths whilst retaining structural integrity; or by limiting the axial force in specific elements, forcing an element to buckle at specific loads. Currently, there is a significant gap in the existing research with regards the analysis and behaviour of structures that have springs distributed through the frame. The inclusion of springs within structural frames will typically encourage gross, yet controlled and predictable displacements that are challenging to analyse. Equally, deployable structures require an element of instability to deploy. With most research focusing on the packed and deployed states of these structures, there is still considerable research to be done on the structural performance of the intermediate stages of deployment. Several forms of deployable structure, such as cable-chain arches for example, are vulnerable and unstable during their intermediate deployment phase and it is proposed that the integration of rotational springs in these types of structure could help control the deployment and maintain stability from a packed shape into the final in-service form as well as preventing phenomenon such as snap-through buckling under large loads. Original work within this thesis creates several repeatable and reliable methods for undertaking buckling analysis of sprung chains to determine an initial balanced equilibrium form to which in-service loadings can then be applied as well as determining the post-buckled behaviour for sprung structures. The application of numerical analysis methods is demonstrated as giving reliable results for single and multiple degrees of freedom systems, but due to the potential for incompatibilities between the stiffnesses of the rotational springs and beam elements there are issues associated with ill-conditioning and methods have been established to identify and mitigate these effects.Alternative structural forms, beyond simple arches, have also been developed through seeking inspiration from the higher buckling modes. Shapes resembling these higher modes have been generated through the careful manipulation of spring stiffnesses (mobilising linear and non-linear springs) combined with the introduction of initial geometrical imperfections allowing the structures to adopt alternative stable states in direct response to specific loading conditions.The analysis methods contained within this thesis are currently more advanced than the manufacturing techniques required to realise these designs in the real world. Although, flexible springs are already being cut into stiff plywood panels using living hinges and multi-material 3D printing is commonplace within the maker community, but these techniques have not yet progressed through to the scale and consistency needed to fabricate a large structural element.However, as these manufacturing techniques mature, the work presented within this thesis will provide a solid base from which the effective analysis of multi-stiffness structures will be possible

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Euromech Colloquium 509: Vehicle Aerodynamics. External Aerodynamics of Railway Vehicles, Trucks, Buses and Cars - Proceedings

During the 509th Colloquium of the Euromech society, held from March 24th & 25th at TU Berlin, fifty leading researchers from all over europe discussed various topics affecting both road vehicle as well as railway vehicle aerodynamics, especially drag reduction (with road vehicles), cross wind stability (with trains) and wake analysis (with both). With the increasing service speed of modern high-speed railway traffic, aerodynamic aspects are gaining importance. The aerodynamic research topics comprise both pure performance improvements, such as the continuous lowering of aerodynamic drag for energy efficiency, as well as safety relevant topics, such as cross-wind stability. The latter topic was most recently brought to attention when a swiss narrow-gauge train overturned during the severe storm Kyrill in january 2007. The shape of the train head usually has largest influence on cross wind stability. Slipstream effects of passing trains cause aerodynamic loads on objects and passengers waiting at platforms. The strength of the slipstream is determined by both the boundary layer development along the length of the train and the wake developing behind the tail of the train. Since high-speed trains can be considered to be as smooth as technically possible, attention is drawn to the wake region. The wake of the train again is also one important factor for the total drag of a train. Due to the fact that trains are bidirectional, optimisation of the leading car of a train with respect to drag and cross wind performance while simultaneously minimising the wake of the train for drag and slipstream performance is a great challenge. Modern optimisation tools are used to aid this multi-parameter multi-constraint design optimisation in conjunction with both CFD and wind tunnel investigations. Since many of the aerodynamic effects in the railway sector are of similar importance to road vehicles, the aim of the colloquium is to bridge the application of shape optimisation principles between rail- and road vehicles. Particular topics to be addressed in the colloquium are: Drag, Energy consumption and emissions: Due to increase in energy cost, drag reduction has gained focus in the past years and attention will grow in the future. Pressure induced drag is of common importance for both rail- and road vehicles. The optimisation of head- and tail shape for road vehicles as well as for bi-directional vehicles (trains) is in the focus. Interference drag between adjacent components shall also be treated. Slipstream Effects: Are a safety issue for high-train operation (Prams sucked into track due to train-induced draught flows) when trains passing platforms at high speeds. For Road vehicles, the ride stability of overtaking cars is influenced by the wake of the leading trucks and busses. Common interest is the minimisation of wake effects for both rail and road vehicles. Cross-Wind Safety, Ride stability under strong winds: Both are safety issues for rail- and road vehicles. Aerodynamic forces shall be minimised (roll moment for trains and also yaw moment for road vehicles). Strategies for Vehicle shape optimisation (head, tail and roof shape) in order to minimise aerodynamic moments. Possibilities of Flow control. Optimisation strategies: Parametrisation, analyses (CFD), Optimisation tools and methods, Application to Drag, Cross-Wind, Ride stability and Snow issue

Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Wavelet Theory

The wavelet is a powerful mathematical tool that plays an important role in science and technology. This book looks at some of the most creative and popular applications of wavelets including biomedical signal processing, image processing, communication signal processing, Internet of Things (IoT), acoustical signal processing, financial market data analysis, energy and power management, and COVID-19 pandemic measurements and calculations. The editor’s personal interest is the application of wavelet transform to identify time domain changes on signals and corresponding frequency components and in improving power amplifier behavior