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This paper presents an approach to the solution of moving a robot manipulator with minimum cost along a specified geometric path in the presence of obstacles. The main idea is to express obstacle avoidance in terms of the distances between potentially colliding parts. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described.Resumo em Inglês:
This work describes techniques for modeling, optimizing and simulating calibration processes of robots using off-line programming. The identification of geometric parameters of the nominal kinematic model is optimized using techniques of numerical optimization of the mathematical model. The simulation of the actual robot and the measurement system is achieved by introducing random errors representing their physical behavior and its statistical repeatability. An evaluation of the corrected nominal kinematic model brings about a clear perception of the influence of distinct variables involved in the process for a suitable planning, and indicates a considerable accuracy improvement when the optimized model is compared to the non-optimized one.Resumo em Inglês:
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.Resumo em Inglês:
This work deals with an hybrid PID+fuzzy logic controller applied to control the machine tool biaxial table motions. The non-linear model includes backlash and the axis elasticity. Two PID controllers do the primary table control. A third PID+fuzzy controller has a cross coupled structure whose function is to minimise the trajectory contour errors. Once with the three PID controllers tuned, the system is simulated with and without the third controller. The responses results are plotted and compared to analyse the effectiveness of this hybrid controller over the system. They show that the proposed methodology reduces the contour error in a proportion of 70:1.Resumo em Inglês:
In recent years the analysis and synthesis of (mechanical) control systems in descriptor form has been established. This general description of dynamical systems is important for many applications in mechanics and mechatronics, in electrical and electronic engineering, and in chemical engineering as well. This contribution deals with linear mechanical descriptor systems and its control design with respect to a quadratic performance criterion. Here, the notion of properness plays an important role whether the standard Riccati approach can be applied as usual or not. Properness and non-properness distinguish between the cases if the descriptor system is exclusively governed by the control input or by its higher-order time-derivatives additionally. In the unusual case of non-proper systems a quite different problem of optimal control design has to be considered. Both cases will be solved completely.Resumo em Português:
Apresenta-se uma metodologia de análise com o objetivo de avaliarem-se os efeitos de irregularidades superficiais no tabuleiro sobre o comportamento de pontes rodoviárias submetidas à passagem de veículos. A resposta do sistema veículo-estrutura é obtida no domínio da freqüência segundo modelo probabilístico. Simula-se o tabuleiro das pontes com modelo de elementos finitos unidimensionais com massas discretizadas nos nós, o veículo por um sistema de massas, molas e amortecedores, e as irregularidades da pista são definidas por modelo não-determinístico com base na densidade espectral do perfil do pavimento. O carregamento é constituído por uma sucessão infinita de veículos igualmente espaçados deslocando-se com velocidade constante sobre o tabuleiro e a atenção é concentrada na fase permanente da resposta do sistema. Deduzem-se as expressões das densidades espectrais dos elementos da resposta a partir da densidade espectral do perfil irregular do pavimento e integram-se numericamente tais expressões para se chegar às médias quadráticas desses elementos. Observa-se a resposta do modelo matemático, com base em uma ponte rodoviária de concreto armado simplesmente apoiada, com seção tipo caixão e inércia constante, em termos de deslocamentos e esforços nas seções onde ocorrem os efeitos máximos. As conclusões versam sobre a adequação da metodologia desenvolvida e do modelo matemático empregado.Resumo em Inglês:
An analysis methodology is proposed to evaluate the dynamical effects, displacements and stresses, on highway bridge decks, due to vehicles crossing on the rough pavement surfaces defined by a probabilistic model. To this purpose, the methodology is developed to evaluate the vehicle-structure response under a full probabilistic formulation, running in the frequency domain. The mathematical model assumes a finite element representation of the beam like deck and the vehicle simulation uses concentrated parameters of mass, stiffness and damping. The deck surface roughness is defined by a well known power spectrum density of road pavement profiles. The moving load is formed by an infinite succession of equally spaced vehicles moving with constant velocity. Only steady-state response is considered. Response data are produced on concrete box girder elements assembled as a simple beam. Conclusions are concerned with the fitness of the developed analysis methodology and the mathematical model adequacy.Resumo em Inglês:
This work presents a geometric nonlinear dynamic analysis of plates and shells using eight-node hexahedral isoparametric elements. The main features of the present formulation are: (a) the element matrices are obtained using reduced integrations with hourglass control; (b) an explicit Taylor-Galerkin scheme is used to carry out the dynamic analysis, solving the corresponding equations of motion in terms of velocity components; (c) the Truesdell stress rate tensor is used; (d) the vector processor facilities existing in modern supercomputers were used. The results obtained are comparable with previous solutions in terms of accuracy and computational performance.Resumo em Inglês:
The objective of this work is to describe the design and the implementation of an experiment to study the dynamics and the active control of a slewing multi-link flexible structure. The experimental apparatus was designed to be representative of a flexible space structure such as a satellite with multiple flexible appendages. In this study we describe the design procedures, the analog and digital instrumentation, the analytical modeling together with model validation studies carried out through experimental modal testing and parametric system identification studies in the frequency domain. Preliminary results of a simple positional control where the sensor and the actuator are positioned physically at the same point is also described.Resumo em Inglês:
Higher travel speeds of rail vehicles will be possible by developing sophisticated top performance bogies having creep-controlled wheelsets. In this case the torque transmission between the right and the left wheel is realized by an actively controlled creep coupling. To investigate hunting stability and curving capability the linear equations of motion are written in state space notation. Simulation results are obtained with realistic system parameters from industry and various controller gains. The advantage of the „creep-controlled wheelset" is discussed by comparison the simulation results with the dynamic behaviour of the special cases „solid-axle wheelset" and „loose wheelset" (independent rotation of the wheels). The stability is also investigated with a root-locus analysis.Resumo em Inglês:
This paper investigates defect detection methodologies for rolling element bearings through vibration analysis. Specifically, the utility of a new signal processing scheme combining the High Frequency Resonance Technique (HFRT) and Adaptive Line Enhancer (ALE) is investigated. The accelerometer is used to acquire data for this analysis, and experimental results have been obtained for outer race defects. Results show the potential effectiveness of the signal processing technique to determine both the severity and location of a defect. The HFRT utilizes the fact that much of the energy resulting from a defect impact manifests itself in the higher resonant frequencies of a system. Demodulation of these frequency bands through use of the envelope technique is then employed to gain further insight into the nature of the defect while further increasing the signal to noise ratio. If periodic, the defect frequency is then present in the spectra of the enveloped signal. The ALE is used to enhance the envelope spectrum by reducing the broadband noise. It provides an enhanced envelope spectrum with clear peaks at the harmonics of a characteristic defect frequency. It is implemented by using a delayed version of the signal and the signal itself to decorrelate the wideband noise. This noise is then rejected by the adaptive filter that is based upon the periodic information in the signal. Results have been obtained for outer race defects. They show the effectiveness of the methodology to determine both the severity and location of a defect. In two instances, a linear relationship between signal characteristics and defect size is indicated.Resumo em Português:
Este trabalho apresenta uma aplicação de Dimensão Fractal (DF) e técnicas de segmentação de imagens na inspeção industrial automática. Foi desenvolvido um sistema para a indústria têxtil objetivando a detecção de defeitos. A indústria têxtil se particulariza por ter um tipo de produção que torna inviável a utilização das técnicas de extração de características morfológiocas, usualmente empregadas em sistemas de controle de qualidade baseados na visão. Basicamente o sistema implementado compara dados obtidos de imagens digitalizadas, as características destes dados dependem do método selecionado. Dois tipos de métodos podem ser usados: métodos de segmentação e dimensão fractal. Para implementação no sistema, métodos de segmentação conhecidos foram adaptados e aperfeiçoados visando a determinação de variações em uma imagem do tecido (o que caracteriza a existência de uma falha). Na utilização da Dimensão Fractal como uma ferramenta para análise de imagens e controle de qualidade utiliza-se um algoritmo que calcula os valores de dimensão fractal de imagens em toda a região teoricamente admissível (2 <= DF <= 3). Os vários métodos foram comparados quanto a sua eficiência, precisão e aplicabilidade.Resumo em Inglês:
This work presents an application of Fractal Dimension (FD) and Segmentation techniques to Automated Visual Inspection. A system was developed for textile industries and aims at automatic failure detection. The textile industry environment presents particular characteristics in which usual morphological feature extraction cannot be used for visual quality control. Basically, the implemented system compares data from digital images; the characteristics of these data depend on the method selected for analysis. Two kinds of methods can be used: segmentation and fractal dimension. Segmentation techniques were adapted and improved to detect variations of the textile images (indication of defect). The fractal dimension is based on a new efficient algorithm that calculates the image fractal dimension values throughout all range that is between two and three (2 <= FD <= 3). These techniques were compared by their efficiency, accuracy and applicability.Resumo em Inglês:
Some material aspects such as grain size, purity and anisotropy exert an important influence on surface quality, especially in single point diamond turning. The aim of this paper is to present and discuss some critical factors that can limit the accuracy of ultraprecision machining of non-ferrous metals and to identify the effects of them on the cutting mechanism with single point diamond tools. This will be carried out through observations of machined surfaces and chips produced using optical and scanning electron microscopy. Solutions to reduce the influence of some of these limiting factors related with the mechanism of generation of mirror-like surfaces will be discussed.Resumo em Inglês:
In this article a two-dimensional transient boundary element formulation based on the mass matrix approach is discussed. The implicit formulation of the method to deal with elastoplastic analysis is considered, as well as the way to deal with viscous damping effects. The time integration processes are based on the Newmark rhoand Houbolt methods, while the domain integrals for mass, elastoplastic and damping effects are carried out by the well known cell approximation technique. The boundary element algebraic relations are also coupled with finite element frame relations to solve stiffened domains. Some examples to illustrate the accuracy and efficiency of the proposed formulation are also presented.Resumo em Inglês:
A numerical procedure for solving the nongray radiative transfer equation (RTE) in two-dimensional cylindrical participating media is presented. Nongray effects are treated by using a narrow-band approach. Radiative emission from CO, CO2, H2O, CH4 and soot is considered. The solution procedure is applied to study radiative heat transfer in a premixed CH4-O2, laminar, flame. Temperature, soot and IR-active species molar fraction distributions are allowed to vary in the axial direction of the flame. From the obtained results it is possible to quantify the radiative loss in the flame, as well as the importance of soot radiation as compared to gaseous radiation. Since the solution procedure is developed for a two-dimensional cylindrical geometry, it can be applied to other combustion systems such as furnaces, internal combustion engines, liquid and solid propellant combustion.Resumo em Português:
Neste trabalho é apresentado o estudo experimental do escoamento turbulento em um duto curvo simulando parte de uma caldeira de uma usina termoelétrica. As cinzas resultantes da queima de carvão mineral, transportadas pelos gases da combustão, incidem sobre o economizador, localizado após um duto curvo, e provocam erosão dos tubos, levando a falhas que provocam a parada da unidade. A distribuição do escoamento após a curva favorece a erosão na região próxima à parede côncava do duto. A solução clássica para redistribuição do escoamento em curvas são as chapas direcionadoras. No caso presente elas não são aplicáveis, pois a erosão de seus componentes de sustentação iria aumentar os riscos operacionais. Este problema foi investigado em um modelo em escala do duto curvo, usando ar como fluido de trabalho. Foi feita visualização do escoamento com fios de lã na parede do duto. As medições foram realizadas com tubo de Pitot e anemômetro de fio quente. Foram feitas modificações na seção de testes usando técnicas de controle da camada limite. Os resultados mostram que a distribuição do escoamento após a curva foi melhorada e que as modificações, quando aplicadas à caldeira, propiciarão um funcionamento mais seguro e econômico.Resumo em Inglês:
This paper presents an experimental study of the turbulent flow in a curved duct which simulates part of a thermal-electrical power plant. Ashes, carried in the power plant by the flow of gases from the furnace, impinge on the pipes of the economizer, after passing a curved duct, and produce erosion of the pipes, leading to failures which stop plant operation. Flow distribution after the curve increase the erosion near the concave wall of the duct. Classical solutions for flow redistribution in curves, like vanes, are not applicable since they could increase operational risks due to the erosion of the vanes. This problem was investigated in a scale model of the curved duct, in which, for simplicity, air was used as the working fluid. Flow visualizations with wall tuft method, Pitot tube and hot wire measurements were applied. Based on the results, modifications in the test section were made, using boundary-layer control techniques. The results show that the flow redistribution after the curve was improved, and the modifications, when implemented in the plant, may lead to safer and economical operational conditions.