Engineering Dynamics and Life Sciences

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

A preliminary evaluation of static tests to detect slip using tyre strain sensing system in robotic platforms

Wheel slip estimation is a determinant factor in improving performance of wheeled mobile robots. Conventional wheel slip estimation methods relied upon sensors which are far from the tyre-ground interface; hence, they required the use of approximated models and complex transformations. A modern method which directly measures tyre-ground contact quantities utilising in-tyre sensors helps develop accurate and direct wheel slip estimation techniques. In this paper, an optimum sensing system for small, non-pressurised robotic tyres is presented. Data processing algorithms are proposed to show possible techniques for deploying the readings of this system to estimate tyre forces and slip variables. These algorithms analyse the sensing system's measurements in both longitudinal and lateral directions with respect to the tyre direction of motion. Performance of the system is evaluated with static tests using a custom-built, bench-top rig. In these tests, different angular positions, vertical forces, and horizontal forces were tested. Results of these tests demonstrated that the system is capable of detecting tyre slip with a sufficient degree of consistency and robustness

DEVELOPMENT OF A NOVEL VEHICLE GUIDANCE SYSTEM: VEHICLE RISK MITIGATION AND CONTROL

Over a half of fatal vehicular crashes occur due to vehicles leaving their designated travel lane and entering other lanes or leaving the roadway. Lane departure accidents also result in billions of dollars in cost to society. Recent vehicle technology research into driver assistance and vehicle autonomy has developed to assume various driving tasks. However, these systems are do not work for all roads and travel conditions. The purpose of this research study was to begin the development a novel vehicle guidance approach, specifically studying how the vehicle interacts with the system to detect departures and control the vehicle A literature review was conducted, covering topics such as vehicle sensors, control methods, environment recognition, driver assistance methods, vehicle autonomy methods, communication, positioning, and regulations. Researchers identified environment independence, recognition accuracy, computational load, and industry collaboration as areas of need in intelligent transportation. A novel method of vehicle guidance was conceptualized known as the MwRSF Smart Barrier. The vision of this method is to send verified road path data, based AASHTO design and vehicle dynamic aspects, to guide the vehicle. To further development research was done to determine various aspects of vehicle dynamics and trajectory trends can be used to predict departures and control the vehicle. Tire-to-road friction capacity and roll stability were identified as traits that can be prevented with future road path knowledge. Road departure characteristics were mathematically developed. It was shown that lateral departure, orientation error, and curvature error are parametrically linked, and discussion was given for these metrics as the basis for of departure prediction. A three parallel PID controller for modulating vehicle steering inputs to a virtual vehicle to remain on the path was developed. The controller was informed by a matrix of XY road coordinates, road curvature and future road curvature and was able to keep the simulated vehicle to within 1 in of the centerline target path. Recommendations were made for the creation of warning modules, threshold levels, improvements to be applied to vehicle controller, and ultimately full-scale testing. Advisor: Cody S. Stoll

Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms

Wheel slip estimation is an important element in improving the performance of wheeled mobile robots. Conventional wheel slip estimation methods relied upon sensors which were far from the tyre-ground interface; hence, they required the use of approximated models and complex transformations. A modern method, which directly measures tyre-ground contact quantities utilising in-tyre sensors, helps develop accurate and direct wheel slip estimation techniques. The work presented in this paper represents a first stage towards developing such techniques for small, non-pressurised tyres that are widely used in mobile robots. An optimum sensing system for these tyres is presented. Experimental work is conducted to determine the possibility of bonding the selected system inside the tyre. Static footprint tests are undertaken to derive an optimal design for the sensing system. Image processing is utilised to obtain dimensions of the tyre-ground contact patches provided by these tests. Performance of the produced system design is evaluated with static tests using a custom-built, bench-top rig. Results of these tests demonstrated a sufficient degree of consistency in the measurements of the sensory system. In addition, the strain profiles extracted from the sensors' readings agree with key theoretical facts

Study to design and develop remote manipulator system

Modeling of human performance in remote manipulation tasks is reported by automated procedures using computers to analyze and count motions during a manipulation task. Performance is monitored by an on-line computer capable of measuring the joint angles of both master and slave and in some cases the trajectory and velocity of the hand itself. In this way the operator's strategies with different transmission delays, displays, tasks, and manipulators can be analyzed in detail for comparison. Some progress is described in obtaining a set of standard tasks and difficulty measures for evaluating manipulator performance

Tactile sensing: a machine learning approach

This thesis addresses the problem of tactile sensing in a robot. We construct an artificial finger and use machine learning to acquire the ability to recognise textures and predict slip. The finger has randomly distributed strain gauges and polyvinylidene fluoride (PVDF) films em- bedded in silicone. In the texture recognition task, several machine learning algorithms such as naive Bayes, decision trees, and naive Bayes trees have been trained to distinguish materials sensed by the artificial finger. Different textures induce different intensities of vibrations in the silicone. Conse- quently, textures can be distinguished by the presence of different fre- quencies in the signal. The data from the finger are preprocessed and the Fourier coefficients of the sensor outputs are used to train classifiers. We show that the learned classifiers generalise well for unseen datasets. Our classifiers can distinguish between different materials such as carpet, flooring vinyls, tiles, sponge, wood and polyvinyl-chloride (PVC) woven mesh with an accuracy of 95 _ 4%. In the slip prediction task, we predict a slip by studying temporal patterns in the multidimensional time-series data about the finger-object contact. The multidimensional time-series is analysed using probabilistic clustering that transforms the data into a sequence of symbols that is used to train a hidden Markov model (HMM) classifier. Experimental results show that the classifier can predict a slip, at least 100ms before the slip takes place, with an accuracy of 96% on unseen datasets

Topics in Machining with Industrial Robot Manipulators and Optimal Motion Control

Two main topics are considered in this thesis: Machining with industrial robot manipulators and optimal motion control of robots and vehicles. The motivation for research on the first subject is the need for flexible and accurate production processes employing industrial robots as their main component. The challenge to overcome here is to achieve high-accuracy machining solutions, in spite of the strong process forces required for the task. Because of the process forces, the nonlinear dynamics of the manipulator, such as the joint compliance and backlash, may significantly degrade the achieved machining accuracy of the manufactured part. In this thesis, a macro/micro-manipulator configuration is considered to the purpose of increasing the milling accuracy. In particular, a model-based control architecture is developed for control of the macro/micro-manipulator setup. The considered approach is validated by experimental results from extensive milling experiments in aluminium and steel. Related to the problem of high-accuracy milling is the topic of robot modeling. To this purpose, two different approaches are considered; modeling of the quasi-static joint dynamics and dynamic compliance modeling. The first problem is approached by an identification method for determining the joint stiffness and backlash. The second problem is approached by using gray-box identification based on subspace-identification methods. Both identification algorithms are evaluated experimentally. Finally, online state estimation is considered as a means to determine the workspace position and orientation of the robot tool. Kalman Filters and Rao-Blackwellized Particle Filters are employed to the purpose of sensor fusion of internal robot measurements and measurements from an inertial measurement unit for estimation of the desired states. The approaches considered are fully implemented and evaluated on experimental data. The second part of the thesis discusses optimal motion control applied to robot manipulators and road vehicles. A control architecture for online control of a robot manipulator in high-performance path tracking is developed, and the architecture is evaluated in extensive simulations. The main characteristic of the control strategy is that it combines coordinated feedback control along both the tangential and transversal directions of the path; this separation is achieved in the framework of natural coordinates. One motivation for research on optimal control of road vehicles in time-critical maneuvers is the desire to develop improved vehicle-safety systems. In this thesis, a method for solving optimal maneuvering problems using nonlinear optimization is discussed. More specifically, vehicle and tire modeling and the optimization formulations required to get useful solutions to these problems are investigated. The considered method is evaluated on different combinations of chassis and tire models, in maneuvers under different road conditions, and for investigation of optimal maneuvers in systems for electronic stability control. The obtained optimization results in simulations are evaluated and compared

HAPTICS IN ROBOTICS AND AUTOMOTIVE SYSTEMS

Haptics is the science of applying touch (tactile) sensation and control to interaction with computer applications. The devices used to interact with computer applications are known as haptic interfaces. These devices sense some form of human movement, be it finger, head, hand or body movement and receive feedback from computer applications in form of felt sensations to the limbs or other parts of the human body. Examples of haptic interfaces range from force feedback joysticks/controllers in video game consoles to tele-operative surgery. This thesis deals with haptic interfaces involving hand movements. The first experiment involves using the end effector of a robotic manipulator as an interactive device to aid patients with deficits in the upper extremities in passive resistance therapy using novel path planning. The second experiment involves the application of haptic technology to the human-vehicle interface in a steer-by-wire transportation system using adaptive control

Continuum contact models for coupled adhesion and friction

We develop two new continuum contact models for coupled adhesion and friction, and discuss them in the context of existing models proposed in the literature. Our new models are able to describe sliding friction even under tensile normal forces, which seems reasonable for certain adhesion mechanisms. In contrast, existing continuum models for combined adhesion and friction typically include sliding friction only if local contact stresses are compressive. Although such models work well for structures with sufficiently strong local compression, they fail to capture sliding friction for soft and compliant systems (like adhesive pads), for which the resistance to bending is low. This can be overcome with our new models. For further motivation, we additionally present experimental results for the onset of sliding of a smooth glass plate on a smooth elastomer cap under low normal loads. As shown, the findings from these experiments agree well with the results from our models. In this paper we focus on the motivation and derivation of our continuum contact models, and provide a corresponding literature survey. Their implementation in a nonlinear finite element framework as well as the algorithmic treatment of adhesion and friction will be discussed in future work

Pneumatic Tire

For many years, tire engineers relied on the monograph, \u27Mechanics of Pneumatic Tires\u27, for detailed information about the principles of tire design and use. Published originally by the National Bureau of Standards, U.S. Department of Commerce, in 1971, and a later (1981) edition by the National Highway Traffic Safety Administration (NHTSA), U.S. Department of Transportation, it has long been out of print. No textbook or monograph of comparable range and depth has appeared since. While many chapters of the two editions contain authoritative reviews that are still relevant today, they were prepared in an era when bias ply and belted-bias tires were in widespread use in the United States and thus did not deal in a comprehensive way with more recent tire technology, notably the radial constructions now adopted nearly universally. In 2002, it was preposed that NHTSA should sponsor and publish electronically a new book on passenger tires, under editorship of the University of Akron, to meet the needs of a new generation of tire scientists, engineers, designers, and users. This text is the outcome. The chapter authors are recognized authorities in tire science and technology. They have prepared scholarly and up-to-date reviews of the various aspects of passenger car tire design, construction and use, and included test questions in many instances, so that the book can be used for self-study or as a teaching text by engineers and others entering the tire industry