Machines

This paper proposes a variable stiffness collision post (VSCP) structure based on a uniform stiffness collision post (USCP) structure and performs stiffness matching optimization for VSCPs. A collision post structure assembled in a subway front-end frame can maintain the living space and absorb a certain amount of the kinetic energy of an impact. The experiment was applied on USCP, and the finite element model was verified experimentally. To investigate the effects of the stiffness parameters of VSCP on the specific energy absorption response (SEA_VSCP) and the area of intrusion response (S_In), response surface models fitted from design of experiment were adopted with the finite element model. In addition, a multiobjective optimization design was realized by using the global response search method and a Pareto frontier sequence was generated, which was based on the developed response surface model. It was found that the optimal value of SEA_VSCP and S_In responses cannot be achieved at the same time. Finally, a grey relational analysis is propounded to attain a desirable balance between SEA_VSCP and S_In from the Pareto frontier sequence under constraints of the peak crash force of VSCP and energy absorption of the front-end of cab car. The optimization result shows that the crashworthiness of VSCP is better than that of USCP. Full article

In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is systematically developed in the paper by employing a sound multibody system approach, which is grounded on the use of a straightforward closed-chain kinematic description, it allows for readily evaluating the effectiveness of two alternative methods to formulate the wheel-road contact constraints. The methods employed for this purpose are a technique based on the geometry of the vector cross-product and a strategy based on a simple surface parameterization of the front wheel. To this end, considering a kinematically driven vehicle system, a comparative analysis is performed to analyze the geometry of the contact between the front wheel of the vehicle and the ground, which represents a fundamental problem in the study of the motion of two-wheeled vehicles in general. Subsequently, an exhaustive and extensive numerical analysis, based on the systematic multibody approach mentioned before, is carried out in this work to study the system kinematics in detail. Furthermore, the orientation of the front assembly, which includes the frontal fork, the handlebars, and the front wheel in a seamless subsystem, is implicitly formulated through the definition of three successive rotations, and this approach is used to propose an explicit formulation of its inherent set of Euler angles. In general, the numerical results developed in the present work compare favorably with those found in the literature about vehicle kinematics and contact geometry. Full article

The design and development of space instruments are considered to be distinct from that of other products. It is because the key considerations are vastly different from those that govern the use of products on planet earth. The service life of a space instrument, its use in extreme space environments, size, weight, cost, and the complexity of maintenance must all be considered. As a result, more innovative ideas and resource support are required to assist mankind in space exploration. This article reviews the impact of product design and innovation on the development of space instruments. Using a systematic literature search review and classification, we have identified over 129 papers and finally selected 48 major articles dealing with space instrument product innovation design. According to the studies, it is revealed that product design and functional performance is the main research focuses on the studied articles. The studies also highlighted various factors that affect space instrument manufacturing or fabrication, and that innovativeness is also the key in the design of space instruments. Lastly, the product design is important to affect the reliability of the space instrument. This review study provides important information and key considerations for the development of smart manufacturing technologies for space instruments in the future. Full article

The body freedom flutter characteristics of an airfoil and a fly wing aircraft model were calculated based on a CFD method for the Navier–Stokes equations. Firstly, a rigid elastic coupling dynamic model of a two-dimensional airfoil with a free–free boundary condition was derived in an inertial frame and decoupled by rigid body mode and elastic mode. In the fluid–solid coupling method, the rigid body was trimmed by subtracting the generalized steady aerodynamic force from the structural dynamic equation. The flutter characteristics were predicted by the variable stiffness method at a fixed Mach number and flight altitude. Finally, validation of the predicted body freedom flutter characteristics was performed through a comparison of theoretical solutions based on a Theodorsen unsteady aerodynamic model for airfoil and experimental results for a fly wing aircraft model. The mechanism of the influence of the bending mode stiffness and the position of the center of gravity on the body freedom flutter characteristics were briefly analyzed. Full article

In this paper, to identify the roof unconfined compressive strength (UCS) in the process of coal mine roadway support in real-time and optimize the real-time drilling speed while drilling, this paper proposes and establishes a drilling test method for assessing the uniaxial compressive strength (UCS) of a roof. This method can be used to optimize the speed of drilling. Moreover, a mathematical model of the power output is developed for a roof-strata identification system with a drilling test system. The results were as follows: (1) the system was able to identify the uniaxial compressive strength of roof rock; (2) the pressure of the drill leg of the pneumatic bolt did not match the output power of the pneumatic motor, the pneumatic motor could not reach the maximum power point, and the insufficient thrust of the pneumatic leg led to failure of the maximum output power of the pneumatic motor; (3) to increase the output power of the air motor and thus improve the drilling speed, we applied a booster valve for the system. The experimental results show that the power of the air motor has a linear relationship with drilling speed. In this way, the speed of the drill can be increased by increasing the motor power. Full article

The attitude estimation system based on vision/inertial fusion is of vital importance and great urgency for unmanned ground vehicles (UGVs) in GNSS-challenged/denied environments. This paper aims to develop a fast vision/inertial fusion system to estimate attitude; which can provide attitude estimation for UGVs during long endurance. The core idea in this paper is to integrate the attitude estimated by continuous vision with the inertial pre-integration results based on optimization. Considering that the time-consuming nature of the classical methods comes from the optimization and maintenance of 3D feature points in the back-end optimization thread, the continuous vision section calculates the attitude by image matching without reconstructing the environment. To tackle the cumulative error of the continuous vision and inertial pre-integration, the prior attitude information is introduced for correction, which is measured and labeled by an off-line fusion of multi-sensors. Experiments with the open-source datasets and in road environments have been carried out, and the results show that the average attitude errors are 1.11° and 1.96°, respectively. The road test results demonstrate that the processing time per frame is 24 ms, which shows that the proposed system improves the computational efficiency. Full article

Rotation speed and propulsive force are the two critical parameters in the work of the air-borne bolting rig. To address the problem that unreasonable rotation speed and propulsive force will induce the breakage of the drill pipe and the inability of the drill bit to cut coal adequately this paper proposes an adaptive control strategy for the air-borne bolting rig based on genetic algorithm optimization. Firstly, we obtain the corresponding coal hardness by the real-time acquisition of the working torque of the drill pipe. Then we calculate the reasonable rotation speed of the hydraulic motor and the propulsive force of the hydraulic cylinder on the coal of different hardness. Secondly, the genetic algorithm is applied to optimize the parameters of the PID (proportion integration differentiation) controller so that the system may attain the target value fast and reliably and achieve adaptive control. Finally, a simulation model of the slewing system and the propulsion system of the air-borne bolting rig are established in the AMESim hydraulic software, and the simulation tests were carried out under two distinct working conditions: single coal hardness and coal hardness of sudden change. The results indicate that the PID control strategy based on genetic algorithm optimization has a shorter response time, a smaller overshoot, and a lower steady-state error than the traditional PID control strategy. Full article

It is necessary to analyze the intake/exhaust gas flow of a diesel engine when turbocharger matching and when installing emission control devices such as exhaust gas recirculation (EGR), selective catalytic reduction (SCR), and scrubbers. Analyzing the intake/exhaust gas flow using a 3D approach can use various analytical models, but it requires a significant amount of time to perform the computation. An approach that combines 1D and 3D is a fast numerical analysis method that can utilize the analysis models of the 3D approach and obtain accurate calculation results. In this study, the flow characteristics of the exhaust gas were analyzed using a 1D–3D coupling algorithm to analyze the unsteady gas flow of a diesel engine, and whether the 1D–3D approach was suitable for analyzing exhaust systems was evaluated. The accuracy of the numerical analysis results was verified by comparison with the experimental results, and the flow characteristics of various shapes of the exhaust system of a diesel engine could be analyzed. Numerical analysis using the 1D–3D approach was able to be computed about 300 times faster than the 3D approach, and it was a method that could be used for research focused on the exhaust system. In addition, since it could quickly and accurately calculate intake/exhaust gas flow, it was expected to be used as a numerical analysis method suitable for analyzing the interaction of diesel engines with emission control devices and turbochargers. Full article

Rotor systems are of considerable importance in most modern industrial machinery, and the evaluation of the working conditions and longevity of their core component—the rolling bearing—has gained considerable research interest. In this study, a scale-normalized bearing health indicator based on the improved phase space warping (PSW) and hidden Markov model regression was established. This indicator was then used as the input for the encoder–decoder LSTM neural network with an attention mechanism to predict the rolling bearing RUL. Experiments show that compared with traditional health indicators such as kurtosis and root mean square (RMS), this scale-normalized bearing health indicator directly indicates the actual damage degree of the bearing, thereby enabling the LSTM model to predict RUL of the bearing more accurately. Full article

Multi-axis Laser Engraving Machine Tools (LEMT) are widely used in precision processing of parts with complex surface. The accuracy of kinematic model and parameter measurement are the key factors determining the processing quality of LEMT. In this paper, a kinematic model of multi-axis LEMT was established based on Homogeneous Transformation Matrix (HTM). Two types of unknown parameters, linkage parameters and positioning parameters, were measured in the presented model. Taking advantage of the characteristics of laser processing, this paper proposed a rapid measurement method of linkage parameters by combining the machine tool motion with the laser marking action. For positioning parameters, this study proposed a non-contact measurement method based on structured light scanner, which can obtain the translation values and the rotation values from the Workpiece Coordinate System (WCS) to the Basic Coordinate System (BCS) simultaneously. After the measurement of two kinds of parameters of a multi-axis LEMT was completed, the processing of a spatial curve was performed and the average contour error was controlled at 15.1 $\mathsf{\mu }$m, which is sufficient to meet the project requirements. Full article

The collective motion of biological species has robust and flexible characteristics. Since the individual of the biological group interacts with other neighbors asymmetrically, which means the pairwise interaction presents asymmetrical characteristics during the collective motion, building the model of the pairwise interaction of the individual is still full of challenges. Based on deep learning (DL) technology, experimental data of the collective motion on Hemigrammus rhodostomus fish are analyzed to build an individual interaction model with multi-parameter input. First, a Deep Neural Network (DNN) structure for pairwise interaction is designed. Then, the interaction model is obtained by means of DNN proper training. We propose a novel key neighbor selection strategy, which is called the Largest Visual Pressure Selection (LVPS) method, to deal with multi-neighbor interaction. Based on the information of the key neighbor identified by LVPS, the individual uses the properly trained DNN model for the pairwise interaction. Compared with other key neighbor selection strategies, the statistical properties of the collective motion simulated by our proposed DNN model are more consistent with those of fish experiments. The simulation shows that our proposed method can extend to large-scale group collective motion for aggregation control. Thereby, the individual can take advantage of quite limited local information to collaboratively achieve large-scale collective motion. Finally, we demonstrate swarm robotics collective motion in an experimental platform. The proposed control method is simple to use, applicable for different scales, and fast for calculation. Thus, it has broad application prospects in the fields of multi-robotics control, intelligent transportation systems, saturated cluster attacks, and multi-agent logistics, among other fields. Full article

A turbomachine is a fundamental engineering apparatus meant to transfer energy between a rotor and a fluid. Turbomachines are the core of power generation in many engineering applications such as electric power generation plants, aerospace, marine power, automotive etc. Their relevance makes them both mission critical and safety critical in many fields. To foster reliability and safety, then, continuous monitoring of the rotor is more than desirable. One promising monitoring technique is, with no doubt, the Blade Tip-Timing, which, being simple and non-invasive, can be easily implemented on many different rotors. Blade Tip-Timing is based on the recording of the time of arrival of the blades passing in front of a probe located at a fixed angular position. The non-contact nature of the measurement prevents influences on the measured vibration, that can be recovered for all the blades simultaneously, possibly even online. In this regard, a novel algorithm is presented in this paper for obtaining a good estimate of the vibration of the blades with minimum system complexity (i.e., only one Blade Tip-Timing probe) and minimum computational effort, so to create a simple vibration monitoring system, potentially implementable online. The methodology was tested on a dataset from a SAFRAN turbomachine made available during the Surveillance 9 international conference for a diagnostic contest. Full article

Interest in multilayer windings is increasing with the application of the hairpin winding technology to the manufacturing of electrical machines. Therefore, the four-layer fractional slot concentrated winding is used for the initial design of the machine in this paper. The proposed physical model of the machine uses winding with a relatively high number of turns which is inappropriate to hairpin winding. Therefore the round-wire winding is created and the three-layer winding is derived and analyzed including the effect on the slot leakage inductance. The thermal analysis is then applied to the physical model of the machine to evaluate the slot-related thermal properties of the slot and the whole machine. The measurement is compared with the finite element analysis (FEA) and the equivalent slot thermal conductivity and heat transfer coefficients of the stator and rotor are obtained. Full article

Counting grape berries and measuring their size can provide accurate data for robot picking behavior decision-making, yield estimation, and quality evaluation. When grapes are picked, there is a strong uncertainty in the external environment and the shape of the grapes. Counting grape berries and measuring berry size are challenging tasks. Computer vision has made a huge breakthrough in this field. Although the detection method of grape berries based on 3D point cloud information relies on scanning equipment to estimate the number and yield of grape berries, the detection method is difficult to generalize. Grape berry detection based on 2D images is an effective method to solve this problem. However, it is difficult for traditional algorithms to accurately measure the berry size and other parameters, and there is still the problem of the low robustness of berry counting. In response to the above problems, we propose a grape berry detection method based on edge image processing and geometric morphology. The edge contour search and the corner detection algorithm are introduced to detect the concave point position of the berry edge contour extracted by the Canny algorithm to obtain the best contour segment. To correctly obtain the edge contour information of each berry and reduce the error grouping of contour segments, this paper proposes an algorithm for combining contour segments based on clustering search strategy and rotation direction determination, which realizes the correct reorganization of the segmented contour segments, to achieve an accurate calculation of the number of berries and an accurate measurement of their size. The experimental results prove that our proposed method has an average accuracy of 87.76% for the detection of the concave points of the edge contours of different types of grapes, which can achieve a good edge contour segmentation. The average accuracy of the detection of the number of grapes berries in this paper is 91.42%, which is 4.75% higher than that of the Hough transform. The average error between the measured berry size and the actual berry size is 2.30 mm, and the maximum error is 5.62 mm, which is within a reasonable range. The results prove that the method proposed in this paper is robust enough to detect different types of grape berries. Full article

Within the Industry 4.0 revolution, manufacturing enterprises are transforming to intelligent enterprises constituted by Smart Manufacturing Systems (SMSs). A key capability of SMSs is the ability to connect and communicate with each other through Industrial Internet of Things technologies, and protocols with standard syntax and semantics. In this context, the GEMMA-GRAFCET Methodology (GG-Methodology) provides a standard approach and vocabulary for the management of the Operational Modes (OMs) of SMSs through the automation software, bringing a common understanding of the exchanged data. Considering the lack of tools to implement the methodology, this work introduces an online tool based on Model-Driven Engineering–GEMMA-GRAFCET Generator (GG-Generator)–to specify and generate PLCopen XML code compliant with the GG-Methodology. The proposed GG-Generator is applied to a case study and validated using Virtual Commissioning and Dynamic Software Testing. Due to the consistency obtained between the GG-Methodology and the generated PLC code, the GG-Generator is expected to support the adoption of the methodology, thus contributing to the interoperability of SMSs through the standardization of the automation software for the management of their OMs. Full article

In the design and operation scenarios driven by Digital Twins, large computer-aided design (CAD) models of production line equipment can limit the real-time performance and fidelity of the interaction between digital and physical entities. Digital CAD models often consist of combined parts with characteristics of discrete folded corner planes. CAD models simplified to a lower resolution by current mainstream mesh simplification algorithms might suffer from significant feature loss and mesh breakage, and the interfaces between the different parts cannot be well identified and simplified. A lightweight approach for common CAD assembly models of Digital Twins is proposed. Based on quadric error metrics, constraints of discrete folded corner plane characteristics of Digital Twin CAD models are added. The triangular regularity in the neighborhood of the contraction target vertices is used as the penalty function, and edge contraction is performed based on the cost. Finally, a segmentation algorithm is employed to identify and remove the interfaces between the two CAD assembly models. The proposed approach is verified through common stereoscopic warehouse, robot base, and shelf models. In addition, a scenario of a smart phone production line is applied. The experimental results indicate that the geometric error of the simplified mesh is reduced, the frame rate is improved, and the integrity of the geometric features and triangular facets is effectively preserved. Full article

This paper addresses the problem of instance-level 6DoF pose estimation from a single RGBD image in an indoor scene. Many recent works have shown that a two-stage network, which first detects the keypoints and then regresses the keypoints for 6d pose estimation, achieves remarkable performance. However, the previous methods concern little about channel-wise attention and the keypoints are not selected by comprehensive use of RGBD information, which limits the performance of the network. To enhance RGB feature representation ability, a modular Split-Attention block that enables attention across feature-map groups is proposed. In addition, by combining the Oriented FAST and Rotated BRIEF (ORB) keypoints and the Farthest Point Sample (FPS) algorithm, a simple but effective keypoint selection method named ORB-FPS is presented to avoid the keypoints appear on the non-salient regions. The proposed algorithm is tested on the Linemod and the YCB-Video dataset, the experimental results demonstrate that our method outperforms the current approaches, achieves ADD(S) accuracy of 94.5% on the Linemod dataset and 91.4% on the YCB-Video dataset. Full article

Due to the ubiquitous dynamics of industrial processes, the variable time lag raises great challenge to the high-precision industrial process monitoring. To this end, a process monitoring method based on the dynamic autoregressive latent variable model is proposed in this paper. First, from the perspective of process data, a dynamic autoregressive latent variable model (DALM) with process variables as input and quality variables as output is constructed to adapt to the variable time lag characteristic. In addition, a fusion Bayesian filtering, smoothing and expectation maximization algorithm is used to identify model parameters. Then, the process monitoring method based on DALM is constructed, in which the process data are filtered online to obtain the latent space distribution of the current state, and T² statistics are constructed. Finally, by comparing with an existing method, the feasibility and effectiveness of the proposed method is tested on the sintering process of ternary cathode materials. Detailed comparisons show the superiority of the proposed method. Full article

A faulty dynamical interaction between a machine and a foundation can lead to unexpected and dangerous failures, impacting human lives and the environment. Some machines, as reciprocating compressors, have a low rotation speed; this can lead to dangerous frequency for the foundation blocks. For this reason, a careful analysis shall be done during the design phase to avoid the range of the frequency of resonances and low vibration speeds. Designers can approach this problem by relying both on Analytical Theory and Finite Element Analysis. This article compares these methods by studying the dynamical response of different foundation geometries in a case study of a reciprocating compressor foundation. The applicability limits of Analytical theory are explored and an evaluation of the difference in the estimation of natural frequencies of the system using Analytical Theory and Finite Elements Analysis are made for different foundation geometries. The comparison shows similar results until the foundation geometry is rigid; reference geometries limits are provided so that designers can choose which of the methods better suits their type of analysis. Full article