Measuring Coulomb and Viscous Friction in Revolute Joint

In this research work, the emphasis is on the study of the effects of friction in the revolute joint for fine manipulation of robotic arm manipulators. The friction model is used to capture the friction in static mode, the breakaway point of displacement and the linear part of the friction when asperity junctions arc broken. The experimental setup is designed to attain Coulomb and viscous friction parameters in the revolute joint with velocity sensor equipped with mechanical system. The velocity sensor detects velocity response as controlled ramp torque is applied to the physical model to evaluate friction in the joint. The physical model is designed and built in MSC ADAMS environment and simulated using the same parameters which were experienced by the real model. The block diagram is drawn in the Simulink: (MATLAB) under same configuration and then simulated. The results, obtained from MSC ADAMS and Simulink, are compared with the experimental data

Analysis and Simulation of a Pan Tilt Platform Based on Linear Model

This research paper deals with the modeling, analysis and simulation of a two degree of freedom pan tilt platform (PTP) for rapidly positioning a camera. The PT?, with 2-revolute joints, is a device that makes possible for the camera to point in a desired direction. The objective of this paper is to derive a mathematical model of the PTP to point in a desired direction. To achieve the objective, a feedback control system with PD controller was analyzed and simulated in section III. The PTP was used on unmanned aerial vehicle to perform visual tracking experiments for moving objects. There is a growing demand for control systems with motion tracking ability. The practicality of this project can be extended to a broad range of applications. Of these, the most apparent use is in defense, where there is a strong emphasis on reliably neutralizing threats without risking human life. Unmanned aerial systems can provide significant reductions in manpower and risk to humans for critical security and defense roles. The applications of PTP m defense and security applications have been increased significantly in recent years. Such applications include target acquisition, intelligence, surveillance and reconnaissance, border patrol, maritime security, search and rescue, and environmental monitoring. Also, several applications for this device exist both in law enforcement and in entertainment

IMECE2005-80469 A COMPARATIVE STUDY OF CROSS-FLOW INDUCED VIBRATIONS IN HEAT EXCHANGER TUBE BUNDLES USING BOND GRAPH APPROACH

ABSTRACT Flow-induced vibration (FIV) has been a major concern in the nuclear and process industries involving steam generator and heat exchanger tube bundle design. Various techniques and models have been developed and used for the analysis of crossflow induced vibration of tube bundles. Bond Graph approach has been applied to existing FIV excitation models, followed by a comparative study. Results have been obtained using 20-SIM software. It is expected that the current approach will give a new dimension to the FIV analysis of tube bundles

A Novel Methodology for Automated Synthesis of Mechatronic Systems Designs Using Bond-Graphs and Genetic Programming

Automated synthesis refers to design of physical systems using any of the models proposed for machine intelligence like evolutionary computation, neural networks and fuzzy logic. Mechatronic systems arc mixed or hybrid systems as thcy combine elements from different cncrgy domains. These dynamic systems are inherently complex and capturing underlying energy behavior among interacting sub-systems is difficult owing to the variety in the composition of the mechatronic systems and also due to the limitation imposed by conventional modeling techniques unable to handle more than one energy domain. Bond-Graph modeling and simulation is an advanced domain independent, object oriented and polymorphic graphical description of physical systems. The universal modeling paradigm offered by Bond-Graphs is well suited for mcchatronic systems as it can represent their multi energy domain character using a unified notation scheme. Genetic programming is one of the most promising evolutionary computation techniques. The genetic programming paradigm is modeled on Darwinian concepts of evolution and natural selection. Genetic programming starts from a high level statement of a problem's requirements along with a fitness criterion and attempts to produce a computer program that provides a solution to the problem. Combining unified modeling and analysis tools offered by Bond-Graphs with topologically open ended synthesis and search capability of genetic programming, a novel automated design methodology has been developed for generating mechatronic systems designs using an integrated synthesis, analysis and feedback scheme which comes close to the definition of a true automated invention machine. This research paper is a brief introduction to all concepts associated with automated design of mechatronic systems using Bond-Graphs and genetic programming and explains the novel automated design methodology with a design example

FEDSM2006-98397 DYNAMIC ANALYSIS OF FLUID FLOWING THROUGH MICRO POROUS FILTERS USING BONDGRAPH APPROACH

ABSTRACT Delivery of optimized fuel injection pressure to combustion chamber of an engine assembly leads to optimum torque and horsepower. Contaminant free supply of fuel without compromising on volume flow rate is the most important design requirement. Incorporation of very fine fuel filters having less than 10 micron rating reduces volume flow rate at the injection nozzles whereas fuel filter with larger pore size stabilize the injection pressure but may result into failure of fuel injection pump assembly due to scuffing produced by the fuel contaminant between the plunger and sleeve of hydraulic head of fuel injection pump. The fuel flows from fuel tank through low-pressure injection line, primary and secondary fuel filters, fuel transfer pump, fuel injectioin pump, and high-pressure injection line and injector nozzles. Modeling and simulation of volume flow rate vis-à-vis fuel injection pressure together with micro-porous fuel filter poses a formidable challenge. Bondgraph method (BGM) is ideally suited for the modeling and simulation of such a multi-domain dynamic system. The aim of this research is to apply BGM to model and simulate the optimized fuel injection pressure and analysis of filters with different micro-porosity and their effect on volume flow rate. Fuel filter porosity, inlet and outlet pressures of transfer pump, fuel injection pump and low/high pressure injection line pressure have been determined experimentally. These experimentally determined parameters are then used as input in our Bondgraph model for the dynamic analysis of fuel injection pressure incorporating micro-porous filters

CCDC 262838: Experimental Crystal Structure Determination

An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures

CCDC 262839: Experimental Crystal Structure Determination

An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures