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Editor’s Choice Articles

Editor’s Choice articles are based on recommendations by the scientific editors of MDPI journals from around the world. Editors select a small number of articles recently published in the journal that they believe will be particularly interesting to readers, or important in the respective research area. The aim is to provide a snapshot of some of the most exciting work published in the various research areas of the journal.

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15 pages, 2069 KB  
Review
Systematic Literature Review Predictive Maintenance Solutions for SMEs from the Last Decade
by Sepideh Hassankhani Dolatabadi and Ivana Budinska
Machines 2021, 9(9), 191; https://doi.org/10.3390/machines9090191 - 7 Sep 2021
Cited by 20 | Viewed by 8079
Abstract
Today, small- and medium-sized enterprises (SMEs) play an important role in the economy of societies. Although environmental factors, such as COVID-19, as well as non-environmental factors, such as equipment failure, make these industries more vulnerable, they can be minimized by better understanding the [...] Read more.
Today, small- and medium-sized enterprises (SMEs) play an important role in the economy of societies. Although environmental factors, such as COVID-19, as well as non-environmental factors, such as equipment failure, make these industries more vulnerable, they can be minimized by better understanding the concerns and threats these industries face. Only a few SMEs have the capacity to implement the innovative manufacturing technologies of Industry 4.0. The system must be highly adaptable to any equipment, have low costs, avoid the need of doing complex integrations and setups, and have future reliability due to the rapid growth of technology. The goal of this study was to provide an overview of past articles (2010–2020), highlighting the major expectations, requirements, and challenges for SMEs regarding the implementation of predictive maintenance (PdM). The proposed solutions to meet these expectations, requirements, and challenges are discussed. In general, in this study, we attempted to overcome the challenges and limitations of using smart manufacturing—PdM, in particular—in small- and medium-sized enterprises by summarizing the solutions offered in different industries and with various conditions. Moreover, this literature review enables managers and stakeholders of organizations to find solutions from previous studies for a specific category, with consideration for their expectations and needs. This can be significantly helpful for small- and medium-sized organizations to save time due to time-consuming maintenance processes. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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20 pages, 8162 KB  
Article
A Smart Tool Holder Calibrated by Machine Learning for Measuring Cutting Force in Fine Turning and Its Application to the Specific Cutting Force of Low Carbon Steel S15C
by Liang-Wei Tseng, Teng-Shan Hu and Yuh-Chung Hu
Machines 2021, 9(9), 190; https://doi.org/10.3390/machines9090190 - 6 Sep 2021
Cited by 12 | Viewed by 5956
Abstract
Real-time monitoring of the cutting force in the machining process is critical for improving machining accuracy, optimizing the machining process, and optimizing tool lifetime; however, the dynamometers are too expensive to be widely used by machine tool users. Therefore, this paper presents a [...] Read more.
Real-time monitoring of the cutting force in the machining process is critical for improving machining accuracy, optimizing the machining process, and optimizing tool lifetime; however, the dynamometers are too expensive to be widely used by machine tool users. Therefore, this paper presents a simple and cheap apparatus—a smart tool holder—to measure the cutting force of turning tools in the finishing turning. The apparatus does not change the structure of the turning tool. It consists of a tool holder and a piezoresistive force sensor foil, and transmits the signal through Bluetooth wireless communication. Instead of dealing with the circuit hardware, this paper uses the Artificial Neural Network (ANN) model to successfully calibrate the warm-up shift problem of the piezoresistive force sensor. Such a software method is simple, and considerably cheaper than the hardware method. For the force measurement capability of the smart tool holder, the cross-interference between orthogonal forces are very small and thus can be ignored. The force reading of the smart tool holder possesses high repeatability for the same turning parameters and high accuracy within the experiment groups. The authors apply the smart tool holder to cut the low carbon steel S15C, and to determine its specific cutting force in fine turning. The resulting fine turning force model agrees very well with the measurement. Its mean absolute deviation is 3.87% and its standard deviation is 1.55%, which reveals that the accuracy and precision of the smart tool holder and the fine turning force model are both good. Full article
(This article belongs to the Section Advanced Manufacturing)
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9 pages, 1853 KB  
Communication
Highly Stretchable and Kirigami-Structured Strain Sensors with Long Silver Nanowires of High Aspect Ratio
by Huiyan Huang, Catherine Jiayi Cai, Bok Seng Yeow, Jianyong Ouyang and Hongliang Ren
Machines 2021, 9(9), 186; https://doi.org/10.3390/machines9090186 - 3 Sep 2021
Cited by 7 | Viewed by 3868
Abstract
Stretchable, skin-interfaced, and wearable strain sensors have risen in recent years due to their wide-ranging potential applications in health-monitoring devices, human motion detection, and soft robots. High aspect ratio (AR) silver nanowires (AgNWs) have shown great potential in the flexible and stretchable strain [...] Read more.
Stretchable, skin-interfaced, and wearable strain sensors have risen in recent years due to their wide-ranging potential applications in health-monitoring devices, human motion detection, and soft robots. High aspect ratio (AR) silver nanowires (AgNWs) have shown great potential in the flexible and stretchable strain sensors due to the high conductivity and flexibility of AgNW conductive networks. Hence, this work aims to fabricate highly stretchable, sensitive, and linear kirigami strain sensors with high AR AgNWs. The AgNW synthesis parameters and process windows have been identified by Taguchi’s design of experiment and analysis. Long AgNWs with a high AR of 1556 have been grown at optimized synthesis parameters using the one-pot modified polyol method. Kirigami sensors were fabricated via full encapsulation of AgNWs with Ecoflex silicon rubber. Kirigami-patterned strain sensors with long AgNWs show high stretchability, moderate sensitivity, excellent linearity (R2 = 0.99) up to 70% strain and can promptly detect finger movement without obvious hysteresis. Full article
(This article belongs to the Special Issue Smart Machines: Applications and Advances in Human Motion Analysis)
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18 pages, 7880 KB  
Article
The Thermal Error Estimation of the Machine Tool Spindle Based on Machine Learning
by Yu-Cheng Chiu, Po-Hsun Wang and Yuh-Chung Hu
Machines 2021, 9(9), 184; https://doi.org/10.3390/machines9090184 - 30 Aug 2021
Cited by 29 | Viewed by 4675
Abstract
Thermal error is one of the main sources of machining error of machine tools. Being a key component of the machine tool, the spindle will generate a lot of heat in the machining process and thereby result in a thermal error of itself. [...] Read more.
Thermal error is one of the main sources of machining error of machine tools. Being a key component of the machine tool, the spindle will generate a lot of heat in the machining process and thereby result in a thermal error of itself. Real-time measurement of thermal error will interrupt the machining process. Therefore, this paper presents a machine learning model to estimate the thermal error of the spindle from its feature temperature points. The authors adopt random forests and Gaussian process regression to model the thermal error of the spindle and Pearson correlation coefficients to select the feature temperature points. The result shows that random forests collocating with Pearson correlation coefficients is an efficient and accurate method for the thermal error modeling of the spindle. Its accuracy reaches to 90.49% based on only four feature temperature points—two points at the bearings and two points at the inner housing—and the spindle speed. If the accuracy requirement is not very onerous, one can select just the temperature points of the bearings, because the installation of temperature sensors at these positions is acceptable for the spindle or machine tool manufacture, while the other positions may interfere with the cooling pipeline of the spindle. Full article
(This article belongs to the Section Robotics, Mechatronics and Intelligent Machines)
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19 pages, 20281 KB  
Article
An Improved Invariant Kalman Filter for Lie Groups Attitude Dynamics with Heavy-Tailed Process Noise
by Jiaolong Wang, Chengxi Zhang, Jin Wu and Ming Liu
Machines 2021, 9(9), 182; https://doi.org/10.3390/machines9090182 - 27 Aug 2021
Cited by 8 | Viewed by 3901
Abstract
Attitude estimation is a basic task for most spacecraft missions in aerospace engineering and many Kalman type attitude estimators have been applied to the guidance and navigation of spacecraft systems. By building the attitude dynamics on matrix Lie groups, the invariant Kalman filter [...] Read more.
Attitude estimation is a basic task for most spacecraft missions in aerospace engineering and many Kalman type attitude estimators have been applied to the guidance and navigation of spacecraft systems. By building the attitude dynamics on matrix Lie groups, the invariant Kalman filter (IKF) was developed according to the invariance properties of symmetry groups. However, the Gaussian noise assumption of Kalman theory may be violated when a spacecraft maneuvers severely and the process noise might be heavy-tailed, which is prone to degrade IKF’s performance for attitude estimation. To address the attitude estimation problem with heavy-tailed process noise, this paper proposes a hierarchical Gaussian state-space model for invariant Kalman filtering: The probability density function of state prediction is defined based on student’s t distribution, while the conjugate prior distributions of the scale matrix and degrees of freedom (dofs) parameter are respectively formulated as the inverse Wishart and Gamma distribution. For the constructed hierarchical Gaussian attitude estimation state-space model, the Lie groups rotation matrix of spacecraft attitude is inferred together with the scale matrix and dof parameter using the variational Bayesian iteration. Numerical simulation results illustrate that the proposed approach can significantly improve the filtering robustness of invariant Kalman filter for Lie groups spacecraft attitude estimation problems with heavy-tailed process uncertainty. Full article
(This article belongs to the Special Issue Modeling, Sensor Fusion and Control Techniques in Applied Robotics)
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19 pages, 4448 KB  
Article
Fault Detection and Severity Level Identification of Spiral Bevel Gears under Different Operating Conditions Using Artificial Intelligence Techniques
by Syed Muhammad Tayyab, Steven Chatterton and Paolo Pennacchi
Machines 2021, 9(8), 173; https://doi.org/10.3390/machines9080173 - 18 Aug 2021
Cited by 15 | Viewed by 3525
Abstract
Spiral bevel gears are known for their smooth operation and high load carrying capability; therefore, they are an important part of many transmission systems that are designed for high speed and high load applications. Due to high contact ratio and complex vibration signal, [...] Read more.
Spiral bevel gears are known for their smooth operation and high load carrying capability; therefore, they are an important part of many transmission systems that are designed for high speed and high load applications. Due to high contact ratio and complex vibration signal, their fault detection is really challenging even in the case of serious defects. Therefore, spiral bevel gears have rarely been used as benchmarking for gears’ fault diagnosis. In this research study, Artificial Intelligence (AI) techniques have been used for fault detection and fault severity level identification of spiral bevel gears under different operating conditions. Although AI techniques have gained much success in this field, it is mostly assumed that the operating conditions under which the trained AI model is deployed for fault diagnosis are same compared to those under which the AI model was trained. If they differ, the performance of AI model may degrade significantly. In order to overcome this limitation, in this research study, an effort has been made to find few robust features that show minimal change due to changing operating conditions; however, they are fault discriminating. Artificial neural network (ANN) and K-nearest neighbors (KNN) are used as classifiers and both models are trained and tested by using the selected robust features for fault detection and severity assessment of spiral bevel gears under different operating conditions. A performance comparison between both classifiers is also carried out. Full article
(This article belongs to the Special Issue Structural Health Monitoring for Mechanical Systems)
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14 pages, 6110 KB  
Article
3D Measurement of Structured Specular Surfaces Using Stereo Direct Phase Measurement Deflectometry
by Yuemin Wang, Yongjia Xu, Zonghua Zhang, Feng Gao and Xiangqian Jiang
Machines 2021, 9(8), 170; https://doi.org/10.3390/machines9080170 - 17 Aug 2021
Cited by 20 | Viewed by 3707
Abstract
With the rapid development of modern manufacturing processes, ultra-precision structured freeform surfaces are being widely explored for components with special surface functioning. Measurement of the 3D surface form of structured specular objects remains a challenge because of the complexity of the surface form. [...] Read more.
With the rapid development of modern manufacturing processes, ultra-precision structured freeform surfaces are being widely explored for components with special surface functioning. Measurement of the 3D surface form of structured specular objects remains a challenge because of the complexity of the surface form. Benefiting from a high dynamic range and large measuring area, phase measurement deflectometry (PMD) exhibits great potential in the inspection of the specular surfaces. However, the PMD is insensitive to object height, which leads to the PMD only being used for smooth specular surface measurement. Direct phase measurement deflectometry (DPMD) has been introduced to measure structured specular surfaces, but the surface form measurement resolution and accuracy are limited. This paper presents a method named stereo-DPMD for measuring structured specular objects by introducing a stereo deflectometor into DPMD, so that it combines the advantages of slope integration of the stereo deflectometry and discontinuous height measurement from DPMD. The measured object is separated into individual continuous regions, so the surface form of each region can be recovered precisely by slope integration. Then, the relative positions between different regions are evaluated by DPMD system to reconstruct the final 3D shape of the object. Experimental results show that the structured specular surfaces can be measured accurately by the proposed stereo-DPMD method. Full article
(This article belongs to the Special Issue Precision Measurement and Machines)
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17 pages, 3330 KB  
Article
Adaptive Data-Driven Control for Linear Time Varying Systems
by Talal Abdalla
Machines 2021, 9(8), 167; https://doi.org/10.3390/machines9080167 - 13 Aug 2021
Cited by 3 | Viewed by 4089
Abstract
In this paper, we propose an adaptive data-driven control approach for linear time varying systems, affected by bounded measurement noise. The plant to be controlled is assumed to be unknown, and no information in regard to its time varying behaviour is exploited. First, [...] Read more.
In this paper, we propose an adaptive data-driven control approach for linear time varying systems, affected by bounded measurement noise. The plant to be controlled is assumed to be unknown, and no information in regard to its time varying behaviour is exploited. First, using set-membership identification techniques, we formulate the controller design problem through a model-matching scheme, i.e., designing a controller such that the closed-loop behaviour matches that of a given reference model. The problem is then reformulated as to derive a controller that corresponds to the minimum variation bounding its parameters. Finally, a convex relaxation approach is proposed to solve the formulated controller design problem by means of linear programming. The effectiveness of the proposed scheme is demonstrated by means of two simulation examples. Full article
(This article belongs to the Special Issue Design and Control of Advanced Mechatronics Systems)
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15 pages, 4161 KB  
Article
Mathematical Validation of Experimentally Optimised Parameters Used in a Vibration-Based Machine-Learning Model for Fault Diagnosis in Rotating Machines
by Natalia Espinoza-Sepulveda and Jyoti Sinha
Machines 2021, 9(8), 155; https://doi.org/10.3390/machines9080155 - 7 Aug 2021
Cited by 11 | Viewed by 3628
Abstract
Mathematical models have been widely used in the study of rotating machines. Their application in dynamics has eased further research since they can avoid time-consuming and exorbitant experimental processes to simulate different faults. The earlier vibration-based machine-learning (VML) model for fault diagnosis in [...] Read more.
Mathematical models have been widely used in the study of rotating machines. Their application in dynamics has eased further research since they can avoid time-consuming and exorbitant experimental processes to simulate different faults. The earlier vibration-based machine-learning (VML) model for fault diagnosis in rotating machines was developed by optimising the vibration-based parameters from experimental data on a rig. Therefore, a mathematical model based on the finite-element (FE) method is created for the experimental rig, to simulate several rotor-related faults. The generated vibration responses in the FE model are then used to validate the earlier developed fault diagnosis model and the optimised parameters. The obtained results suggest the correctness of the selected parameters to characterise the dynamics of the machine to identify faults. These promising results provide the possibility of implementing the VML model in real industrial systems. Full article
(This article belongs to the Special Issue Structural Health Monitoring for Mechanical Systems)
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15 pages, 4361 KB  
Article
Digital Twin-Driven Mating Performance Analysis for Precision Spool Valve
by Wenbin Tang, Guangshen Xu, Shoujing Zhang, Shoufeng Jin and Runxiao Wang
Machines 2021, 9(8), 157; https://doi.org/10.3390/machines9080157 - 7 Aug 2021
Cited by 21 | Viewed by 3387
Abstract
The precision spool valve is the core component of the electro-hydraulic servo control system, and its performance has an important influence on the flight control of aviation and aerospace products. The non-uniform surface topography error causes a non-uniform mating gap field inside the [...] Read more.
The precision spool valve is the core component of the electro-hydraulic servo control system, and its performance has an important influence on the flight control of aviation and aerospace products. The non-uniform surface topography error causes a non-uniform mating gap field inside the spool valve, which causes oil leakage and leads to deterioration of the spool valve performance. However, the current oil leakage calculation method only considers the influence of size errors, which is not comprehensive. Thus, how to characterize the mating behavior of the spool valve and its effect on oil leakage with consideration of surface topography errors is the key to evaluating the performance of the spool valve. This paper proposes a new way of analyzing the mating performance of precision spool valves, which considers the surface topography errors based on digital twin technology. Firstly, a general framework for the analysis of mating performance of precision spool valve based on a digital twin is proposed. Then, key technologies of assembly interface geometry modeling, matching behavior modeling and performance analysis are studied. Finally, a quantitative correlation between the mating parameters and the oil leakage of the precision spool valve is revealed. The method is tested on a practical case. This proposed method can provide theoretical support for the accurate prediction and evaluation of the mating performance of the precision spool valve. Full article
(This article belongs to the Section Machine Design and Theory)
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18 pages, 3424 KB  
Article
Kinematics, Speed, and Anthropometry-Based Ankle Joint Torque Estimation: A Deep Learning Regression Approach
by Luís Moreira, Joana Figueiredo, João Paulo Vilas-Boas and Cristina Peixoto Santos
Machines 2021, 9(8), 154; https://doi.org/10.3390/machines9080154 - 6 Aug 2021
Cited by 22 | Viewed by 5428
Abstract
Powered Assistive Devices (PADs) have been proposed to enable repetitive, user-oriented gait rehabilitation. They may include torque controllers that typically require reference joint torque trajectories to determine the most suitable level of assistance. However, a robust approach able to automatically estimate user-oriented reference [...] Read more.
Powered Assistive Devices (PADs) have been proposed to enable repetitive, user-oriented gait rehabilitation. They may include torque controllers that typically require reference joint torque trajectories to determine the most suitable level of assistance. However, a robust approach able to automatically estimate user-oriented reference joint torque trajectories, namely ankle torque, while considering the effects of varying walking speed, body mass, and height on the gait dynamics, is needed. This study evaluates the accuracy and generalization ability of two Deep Learning (DL) regressors (Long-Short Term Memory and Convolutional Neural Network (CNN)) to generate user-oriented reference ankle torque trajectories by innovatively customizing them according to the walking speed (ranging from 1.0 to 4.0 km/h) and users’ body height and mass (ranging from 1.51 to 1.83 m and 52.0 to 83.7 kg, respectively). Furthermore, this study hypothesizes that DL regressors can estimate joint torque without resourcing electromyography signals. CNN was the most robust algorithm (Normalized Root Mean Square Error: 0.70 ± 0.06; Spearman Correlation: 0.89 ± 0.03; Coefficient of Determination: 0.91 ± 0.03). No statistically significant differences were found in CNN accuracy (p-value > 0.05) whether electromyography signals are included as inputs or not, enabling a less obtrusive and accurate setup for torque estimation. Full article
(This article belongs to the Special Issue Smart Machines: Applications and Advances in Human Motion Analysis)
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12 pages, 1659 KB  
Article
Determination of Heat Transfer Coefficient from Housing Surface of a Totally Enclosed Fan-Cooled Machine during Passive Cooling
by Payam Shams Ghahfarokhi, Andrejs Podgornovs, Ants Kallaste, Antonio J. Marques Cardoso, Anouar Belahcen, Toomas Vaimann, Bilal Asad and Hans Tiismus
Machines 2021, 9(6), 120; https://doi.org/10.3390/machines9060120 - 18 Jun 2021
Cited by 12 | Viewed by 5336
Abstract
This paper presents the analytical calculation of the heat transfer coefficient of a complex housing shape of a Totally Enclosed Fan-Cooled (TEFC) industrial machine when it works below 20% of its nominal speed or close to stall. Therefore, passive cooling is dominant, and [...] Read more.
This paper presents the analytical calculation of the heat transfer coefficient of a complex housing shape of a Totally Enclosed Fan-Cooled (TEFC) industrial machine when it works below 20% of its nominal speed or close to stall. Therefore, passive cooling is dominant, and most of the heat is extracted by the combination of natural convection and radiation phenomena. Under these conditions, the area-based composite approach was used for the development of the analytical calculation method. A test rig using a TEFC Synchronous Reluctance Motor (SynRM) was constructed, and the collected experimental data was used to validate the proposed analytical method successfully. Full article
(This article belongs to the Special Issue Thermal Analysis of Electric Machine Drives)
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19 pages, 8970 KB  
Article
Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance
by Giacomo Palmieri and Cecilia Scoccia
Machines 2021, 9(6), 121; https://doi.org/10.3390/machines9060121 - 18 Jun 2021
Cited by 50 | Viewed by 7153
Abstract
This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators [...] Read more.
This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators operating in a three-dimensional workspace. The control strategy consists of a combination of off-line path planning algorithms with on-line motion control. The path planning algorithm is used to generate trajectories able to avoid fixed obstacles detected before the robot starts to move; this is based on the potential fields method combined with a smoothing interpolation that exploits Bézier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; this is realized using a velocity control law based on the null space method for redundancy control. Furthermore, an additional term of the control law is introduced which takes into account the speed of the obstacles, as well as their position. In order to test the algorithms, a set of simulations are presented: the redundant collaborative robot KUKA LBR iiwa is controlled in different cases, where fixed or dynamic obstacles interfere with its motion. The simulated data show that the proposed method for the smoothing of the trajectory can give a reduction of the angular accelerations of the motors of the order of 90%, with an increase of less than 15% of the calculation time. Furthermore, the dependence of the on-line control law on the speed of the obstacle can lead to reductions in the maximum speed and acceleration of the joints of approximately 50% and 80%, respectively, without significantly increasing the computational effort that is compatible for transferability to a real system. Full article
(This article belongs to the Special Issue Advances of Japanese Machine Design)
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14 pages, 5037 KB  
Article
Robot Grasping System and Grasp Stability Prediction Based on Flexible Tactile Sensor Array
by Tong Li, Xuguang Sun, Xin Shu, Chunkai Wang, Yifan Wang, Gang Chen and Ning Xue
Machines 2021, 9(6), 119; https://doi.org/10.3390/machines9060119 - 17 Jun 2021
Cited by 31 | Viewed by 5984
Abstract
As an essential perceptual device, the tactile sensor can efficiently improve robot intelligence by providing contact force perception to develop algorithms based on contact force feedback. However, current tactile grasping technology lacks high-performance sensors and high-precision grasping prediction models, which limits its broad [...] Read more.
As an essential perceptual device, the tactile sensor can efficiently improve robot intelligence by providing contact force perception to develop algorithms based on contact force feedback. However, current tactile grasping technology lacks high-performance sensors and high-precision grasping prediction models, which limits its broad application. Herein, an intelligent robot grasping system that combines a highly sensitive tactile sensor array was constructed. A dataset that can reflect the grasping contact force of various objects was set up by multiple grasping operation feedback from a tactile sensor array. The stability state of each grasping operation was also recorded. On this basis, grasp stability prediction models with good performance in grasp state judgment were proposed. By feeding training data into different machine learning algorithms and comparing the judgment results, the best grasp prediction model for different scenes can be obtained. The model was validated to be efficient, and the judgment accuracy was over 98% in grasp stability prediction with limited training data. Further, experiments prove that the real-time contact force input based on the feedback of the tactile sensor array can periodically control robots to realize stable grasping according to the real-time grasping state of the prediction model. Full article
(This article belongs to the Section Robotics, Mechatronics and Intelligent Machines)
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12 pages, 1508 KB  
Article
Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design
by Alexey Fomin, Anton Antonov, Victor Glazunov and Giuseppe Carbone
Machines 2021, 9(6), 117; https://doi.org/10.3390/machines9060117 - 12 Jun 2021
Cited by 17 | Viewed by 4011
Abstract
The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the [...] Read more.
The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the dimensions of some mechanism’s links and their initial configuration to reproduce these trajectories. After describing the mechanism, the paper examines kinematic relations representing the basis for the subsequent synthesis algorithm. Next, the obtained expressions are extended and provide a system of equations to be solved. The structure of this equation system allows it to be solved effectively by numerical methods, which is demonstrated with an example. The proposed algorithm of dimensional synthesis does not require solving the optimization problems, in contrast to the familiar methods of dimensional synthesis of parallel mechanisms. Further, the suggested approach to the synthesis problem allows finding solution in a fast and computationally efficient manner. Full article
(This article belongs to the Special Issue Robotic Machine Tools)
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15 pages, 3358 KB  
Article
Dual Resource Constrained Flexible Job Shop Scheduling Based on Improved Quantum Genetic Algorithm
by Shoujing Zhang, Haotian Du, Sebastian Borucki, Shoufeng Jin, Tiantian Hou and Zhixiong Li
Machines 2021, 9(6), 108; https://doi.org/10.3390/machines9060108 - 24 May 2021
Cited by 43 | Viewed by 5407
Abstract
Aiming at solving the problem of dual resource constrained flexible job shop scheduling problem (DRCFJSP) with differences in operating time between operators, an artificial intelligence (AI)-based DRCFJSP optimization model is developed in this paper. This model introduces the differences between the loading and [...] Read more.
Aiming at solving the problem of dual resource constrained flexible job shop scheduling problem (DRCFJSP) with differences in operating time between operators, an artificial intelligence (AI)-based DRCFJSP optimization model is developed in this paper. This model introduces the differences between the loading and unloading operation time of workers before and after the process. Subsequently, the quantum genetic algorithm (QGA) is used as the carrier; the process is coded through quantum coding; and the niche technology is used to initialize the population, adaptive rotation angle, and quantum mutation strategy to improve the efficiency of the QGA and avoid premature convergence. Lastly, through the Kacem standard calculation example and the reliability analysis of the factory workshop processing process example, performance evaluation is conducted to show that the improved QGA has good convergence and does not fall into premature ability, the improved QGA can solve the problem of reasonable deployment of machines and personnel in the workshop, and the proposed method is more effective for the DRCFJSP than some existing methods. The findings can provide a good theoretical basis for actual production and application. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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17 pages, 3606 KB  
Perspective
Perspectives on SCADA Data Analysis Methods for Multivariate Wind Turbine Power Curve Modeling
by Davide Astolfi
Machines 2021, 9(5), 100; https://doi.org/10.3390/machines9050100 - 13 May 2021
Cited by 21 | Viewed by 4781
Abstract
Wind turbines are rotating machines which are subjected to non-stationary conditions and their power depends non-trivially on ambient conditions and working parameters. Therefore, monitoring the performance of wind turbines is a complicated task because it is critical to construct normal behavior models for [...] Read more.
Wind turbines are rotating machines which are subjected to non-stationary conditions and their power depends non-trivially on ambient conditions and working parameters. Therefore, monitoring the performance of wind turbines is a complicated task because it is critical to construct normal behavior models for the theoretical power which should be extracted. The power curve is the relation between the wind speed and the power and it is widely used to monitor wind turbine performance. Nowadays, it is commonly accepted that a reliable model for the power curve should be customized on the wind turbine and on the site of interest: this has boosted the use of SCADA for data-driven approaches to wind turbine power curve and has therefore stimulated the use of artificial intelligence and applied statistics methods. In this regard, a promising line of research regards multivariate approaches to the wind turbine power curve: these are based on incorporating additional environmental information or working parameters as input variables for the data-driven model, whose output is the produced power. The rationale for a multivariate approach to wind turbine power curve is the potential decrease of the error metrics of the regression: this allows monitoring the performance of the target wind turbine more precisely. On these grounds, in this manuscript, the state-of-the-art is discussed as regards multivariate SCADA data analysis methods for wind turbine power curve modeling and some promising research perspectives are indicated. Full article
(This article belongs to the Special Issue Condition Monitoring for Non-stationary Rotating Machines)
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13 pages, 42408 KB  
Article
Development of Cutting Force Model and Process Maps for Power Skiving Using CAD-Based Modelling
by Nikolaos Tapoglou
Machines 2021, 9(5), 95; https://doi.org/10.3390/machines9050095 - 10 May 2021
Cited by 16 | Viewed by 5777
Abstract
Power skiving is a new gear cutting process that has been recognized to provide a step change in the production rate achieved in the machining of high-precision internal and external involute gears. The process is based on a continuous generating meshing between the [...] Read more.
Power skiving is a new gear cutting process that has been recognized to provide a step change in the production rate achieved in the machining of high-precision internal and external involute gears. The process is based on a continuous generating meshing between the workgear and the cutting tool. Understanding of the loads applied in the cutting tool, and therefore some of the sources of tool wear, have not been thoroughly understood. This paper presents a novel model that is able to predict with high accuracy the cutting forces in the power skiving process. The model is based on a solid modelling simulation algorithm that produces high-fidelity solid bodies that are used for the calculations. The results of the model have been experimentally validated. A series of process maps are also produced to assist in the identification of the optimal machining parameters. Full article
(This article belongs to the Section Advanced Manufacturing)
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18 pages, 6540 KB  
Article
Designing a Low-Cost Mechatronic Device for Semi-Automatic Saffron Harvesting
by Alessandro Rocco Denarda, Andrea Manuello Bertetto and Giuseppe Carbone
Machines 2021, 9(5), 94; https://doi.org/10.3390/machines9050094 - 9 May 2021
Cited by 6 | Viewed by 7454
Abstract
This paper addresses the design of a novel mechatronic device for saffron harvesting. The main proposed challenge consists of proposing a new paradigm for semi-automatic harvesting of saffron flowers. The proposed novel solution is designed for being easily portable with user-friendly and cost-oriented [...] Read more.
This paper addresses the design of a novel mechatronic device for saffron harvesting. The main proposed challenge consists of proposing a new paradigm for semi-automatic harvesting of saffron flowers. The proposed novel solution is designed for being easily portable with user-friendly and cost-oriented features and with a fully electric battery-powered actuation. A preliminary concept design has been proposed as based on a specific novel cam mechanism in combination with an elastic spring for fulfilling the detachment of the flowers from their stems. Numerical calculations and simulations have been carried out to complete the full design of a proof-of-concept prototype. Preliminary experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solutions, whose concept has been submitted for patenting. Full article
(This article belongs to the Special Issue Intelligent Machines and Control Systems)
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17 pages, 6516 KB  
Article
On the Direct Extrusion of Solder Wire from 52In-48Sn Alloy
by Sergei Faizov, Aleksandr Sarafanov, Ivan Erdakov, Dmitry Gromov, Alexandra Svistun, Lev Glebov, Vitaly Bykov, Anastasia Bryk and Liudmila Radionova
Machines 2021, 9(5), 93; https://doi.org/10.3390/machines9050093 - 6 May 2021
Cited by 15 | Viewed by 4166
Abstract
In this article, technology for producing wire and rod solder from 52In-48Sn alloy has been developed and investigated in the conditions of small-scale production. The use of direct extrusion of wire and rods instead of traditional technology for producing solder, which includes pressing, [...] Read more.
In this article, technology for producing wire and rod solder from 52In-48Sn alloy has been developed and investigated in the conditions of small-scale production. The use of direct extrusion of wire and rods instead of traditional technology for producing solder, which includes pressing, rolling and drawing, can significantly reduce the fleet of required equipment. Using only a melting furnace and a hydraulic press, solder wires and rods can be produced in various sizes. Shortening the production cycle allows you to quickly fulfill small orders and be competitive in sales. This article develops a mathematical model of direct extrusion, which allows you to calculate the extrusion ratio, extrusion speed and pressing force. The results of modeling the process of extrusion of wire Ø2.00 mm and rods Ø8.0 mm made of 52In-48Sn alloy are presented. The temperature of the solder and the tool is simulated in software QForm based on the finite element method. Experimental results of manufacturing Ø2.0 mm solder wire and Ø8.0 mm rods are presented. The microstructure of the direct extruded solder is a eutectic of phases γ and β. Energy-dispersive X-ray spectroscopy (EDS) mapping of the 52In-48Sn alloy showed that the solder obtained by direct extrusion has a uniform distribution of structural phases. The developed technology can be used in the manufacture of wires and rods from other low-melting alloys. Full article
(This article belongs to the Special Issue Selected Papers from the ICIEAM 2021 Conference)
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14 pages, 2012 KB  
Article
Developing a Combined Method for Detection of Buried Metal Objects
by Ivan V. Bryakin, Igor V. Bochkarev, Vadim R. Khramshin and Ekaterina A. Khramshina
Machines 2021, 9(5), 92; https://doi.org/10.3390/machines9050092 - 2 May 2021
Cited by 6 | Viewed by 8455
Abstract
This paper discusses the author-developed novel method for the detection of buried metal objects that combines two basic subsurface sensing methods: one based on changes in the electromagnetic field parameters as induced by the inner or surficial impedance of the medium when affected [...] Read more.
This paper discusses the author-developed novel method for the detection of buried metal objects that combines two basic subsurface sensing methods: one based on changes in the electromagnetic field parameters as induced by the inner or surficial impedance of the medium when affected by a propagating magnetic field; and one based on changes in the input impedance of the receiver as induced by the electromagnetic properties of the probed medium. The proposed method utilizes three instrumentation channels: two primary channels come from the ferrite magnetic antenna (the receiver), where the first channel is used to measure the current voltage amplitude of the active input signal component, while the second channel measures the current voltage amplitude of the reactive input signal component; an additional (secondary) channel comes from the emitting frame antenna (the transmitter) to measure the current amplitude of the exciting current. This data redundancy proves to significantly improve the reliability and accuracy of detecting buried metal objects. Implementation of the computational procedures for the proposed method helped to detect and identify buried objects by their specific electrical conductance and magnetic permeability, while also locating them depth-wise. The research team has designed an induction probe that contains two mutually orthogonal antennas (a frame transmitter and ferrite receiver); the authors herein propose a metal detector design that implements the proposed induction sensing method. Experimental research proved the developed combined method for searching for buried metal objects efficient and well-performing. Full article
(This article belongs to the Section Automation and Control Systems)
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16 pages, 1781 KB  
Review
Review of Rotor Balancing Methods
by Liqing Li, Shuqian Cao, Jing Li, Rimin Nie and Lanlan Hou
Machines 2021, 9(5), 89; https://doi.org/10.3390/machines9050089 - 29 Apr 2021
Cited by 47 | Viewed by 14893
Abstract
This review is dedicated to balancing methods that are used to solve the rotor-balancing problem. To ensure a stable operation over an operating speed range, it is necessary to balance a rotor. The traditional methods, including the influence coefficient method (ICM) and the [...] Read more.
This review is dedicated to balancing methods that are used to solve the rotor-balancing problem. To ensure a stable operation over an operating speed range, it is necessary to balance a rotor. The traditional methods, including the influence coefficient method (ICM) and the modal balancing method (MBM) are introduced, and the research progress, operation steps, advantages and disadvantages of these methods are elaborated. The classification of new balancing methods is reviewed. Readers are expected to obtain an overview of the research progress of existing balancing methods and the directions for future studies. Full article
(This article belongs to the Section Turbomachinery)
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20 pages, 8561 KB  
Article
Parametric Optimization for Cutting Forces and Material Removal Rate in the Turning of AISI 5140
by Mustafa Kuntoğlu, Osman Acar, Munish Kumar Gupta, Hacı Sağlam, Murat Sarikaya, Khaled Giasin and Danil Yurievich Pimenov
Machines 2021, 9(5), 90; https://doi.org/10.3390/machines9050090 - 29 Apr 2021
Cited by 35 | Viewed by 4415
Abstract
The present paper deals with the optimization of the three components of cutting forces and the Material Removal Rate (MRR) in the turning of AISI 5140 steel. The Harmonic Artificial Bee Colony Algorithm (H-ABC), which is an improved nature-inspired [...] Read more.
The present paper deals with the optimization of the three components of cutting forces and the Material Removal Rate (MRR) in the turning of AISI 5140 steel. The Harmonic Artificial Bee Colony Algorithm (H-ABC), which is an improved nature-inspired method, was compared with the Harmonic Bee Algorithm (HBA) and popular methods such as Taguchi’s S/N ratio and the Response Surface Methodology (RSM) in order to achieve the optimum parameters in machining applications. The experiments were performed under dry cutting conditions using three cutting speeds, three feed rates, and two depths of cuts. Quadratic regression equations were identified as the objective function for HBA to represent the relationship between the cutting parameters and responses, i.e., the cutting forces and MRR. According to the results, the RSM (72.1%) and H-ABC (64%) algorithms provide better composite desirability compared to the other techniques, namely Taguchi (43.4%) and HBA (47.2%). While the optimum parameters found by the H-ABC algorithm are better when considering cutting forces, RSM has a higher success rate for MRR. It is worth remarking that H-ABC provides an effective solution in comparison with the frequently used methods, which is promising for the optimization of the parameters in the turning of new-generation materials in the industry. There is a contradictory situation in maximizing the MRR and minimizing the cutting power simultaneously, because the affecting parameters have a reverse effect on these two response parameters. Comparing different types of methods provides a perspective in the selection of the optimum parameter design for industrial applications of the turning processes. This study stands as the first paper representing the comparative optimization approach for cutting forces and MRR. Full article
(This article belongs to the Section Material Processing Technology)
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13 pages, 2045 KB  
Article
Thermodynamic Performance Analysis of Solar Based Organic Rankine Cycle Coupled with Thermal Storage for a Semi-Arid Climate
by Nasser Mohammed A. Almefreji, Babras Khan and Man-Hoe Kim
Machines 2021, 9(5), 88; https://doi.org/10.3390/machines9050088 - 28 Apr 2021
Cited by 6 | Viewed by 4092
Abstract
This study focuses on the thermodynamic performance analysis of the solar organic Rankine cycle (SORC) that uses solar radiation over a moderate temperature range. A compound parabolic collector (CPC) was adjusted to collect solar radiation because of its long-lasting nature and featured low [...] Read more.
This study focuses on the thermodynamic performance analysis of the solar organic Rankine cycle (SORC) that uses solar radiation over a moderate temperature range. A compound parabolic collector (CPC) was adjusted to collect solar radiation because of its long-lasting nature and featured low concentration ratios, which are favorable for moderate temperature applications. A thermal storage tank was fixed to preserve the solar energy and ensure the system’s continuous performance during unfavorable weather. However, water was used as the heat transfer fluid and R245fa was used as the working fluid in this system. The performance in both the hottest and coldest months was analyzed using the average hourly profile in MATLAB using weather data from Riyadh, Saudi Arabia. Variations in the tank temperature during the charging and discharging modes were found. The hourly based thermal efficiency and net power output for both configurations were also compared. The results show that at 17:00, when the cycle was about to shut down, the thermal efficiency was 12.79% and the network output was 16 kW in July, whereas in January, the efficiency was ~12.80% and the net power output was 15.54 kW. Full article
(This article belongs to the Section Electromechanical Energy Conversion Systems)
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15 pages, 6643 KB  
Article
Multiscale Modelling and Analysis for Design and Development of a High-Precision Aerostatic Bearing Slideway and Its Digital Twin
by Ning Gou, Kai Cheng and Dehong Huo
Machines 2021, 9(5), 85; https://doi.org/10.3390/machines9050085 - 25 Apr 2021
Cited by 19 | Viewed by 4871
Abstract
Aerostatic bearing slideways have been increasingly applied in the precision engineering industry and other high-tech sectors over the last two decades or so, due to their considerable advantages over mechanical slideways in terms of high motion accuracy, high speeds, low friction, and environment-friendly [...] Read more.
Aerostatic bearing slideways have been increasingly applied in the precision engineering industry and other high-tech sectors over the last two decades or so, due to their considerable advantages over mechanical slideways in terms of high motion accuracy, high speeds, low friction, and environment-friendly operations. However, new challenges in air bearings design and analysis have been occurring and often imposed along the journeys. An industrial-feasible approach for the design and development of aerostatic bearing slideways as standard engineering products is essential and much needed particularly for addressing their rapid demands in diverse precision engineering sectors, and better applications and services in a continuous sustainable manner. This paper presents the multiscale modelling and analysis-based approach for design and development of the aerostatic bearing slideways and its digital twin. The multiscale modelling and analysis and the associated simulation development can be the kernel of the digital twin, which cover the mechanical design, direct drive and control, dynamics tuning of the slideway, and their entire mechatronic system integration. Using this approach and implementation, the performance of an aerostatic bearing slideway can be predicted and assessed in the process. The implementation perspectives for the sideway digital twin are presented and discussed in steps. The digital simulations and digital twin system can be fundamentally important for continuously improving the design and development of aerostatic bearing slideways, and their applications and services in the context of industry 4.0 and beyond. Full article
(This article belongs to the Special Issue Advanced Autonomous Machines and Designs)
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14 pages, 31448 KB  
Article
Development of a New Finishing Process Combining a Fixed Abrasive Polishing with Magnetic Abrasive Finishing Process
by Yanhua Zou, Ryunosuke Satou, Ozora Yamazaki and Huijun Xie
Machines 2021, 9(4), 81; https://doi.org/10.3390/machines9040081 - 12 Apr 2021
Cited by 15 | Viewed by 5629
Abstract
High quality, highly efficient finishing processes are required for finishing difficult-to-machine materials. Magnetic abrasive finishing (MAF) process is a finishing method that can obtain a high accuracy surface using fine magnetic particles and abrasive particles, but has poor finishing efficiency. On the contrary, [...] Read more.
High quality, highly efficient finishing processes are required for finishing difficult-to-machine materials. Magnetic abrasive finishing (MAF) process is a finishing method that can obtain a high accuracy surface using fine magnetic particles and abrasive particles, but has poor finishing efficiency. On the contrary, fixed abrasive polishing (FAP) is a polishing process can obtain high material removal efficiency but often cannot provide a high-quality surface at the nano-scale. Therefore, this work proposes a new finishing process, which combines the magnetic abrasive finishing process and the fixed abrasive polishing process (MAF-FAP). To verify the proposed methodology, a finishing device was developed and finishing experiments on alumina ceramic plates were performed. Furthermore, the mechanism of the MAF-FAP process was investigated. In addition, the influence of process parameters on finishing characteristics is discussed. According to the experimental results, this process can achieve high-efficiency finishing of brittle hard materials (alumina ceramics) and can obtain nano-scale surfaces. The surface roughness of the alumina ceramic plate is improved from 202.11 nm Ra to 3.67 nm Ra within 30 min. Full article
(This article belongs to the Special Issue Advances and Trends in Non-conventional, Abrasive and Precision Machining 2021)
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19 pages, 3684 KB  
Article
Cybersecurity Risk Assessment in Smart City Infrastructures
by Maxim Kalinin, Vasiliy Krundyshev and Peter Zegzhda
Machines 2021, 9(4), 78; https://doi.org/10.3390/machines9040078 - 4 Apr 2021
Cited by 99 | Viewed by 14736
Abstract
The article is devoted to cybersecurity risk assessment of the dynamic device-to-device networks of a smart city. Analysis of the modern security threats at the IoT/IIoT, VANET, and WSN inter-device infrastructures demonstrates that the main concern is a set of network security threats [...] Read more.
The article is devoted to cybersecurity risk assessment of the dynamic device-to-device networks of a smart city. Analysis of the modern security threats at the IoT/IIoT, VANET, and WSN inter-device infrastructures demonstrates that the main concern is a set of network security threats targeted at the functional sustainability of smart urban infrastructure, the most common use case of smart networks. As a result of our study, systematization of the existing cybersecurity risk assessment methods has been provided. Expert-based risk assessment and active human participation cannot be provided for the huge, complex, and permanently changing digital environment of the smart city. The methods of scenario analysis and functional analysis are specific to industrial risk management and are hardly adaptable to solving cybersecurity tasks. The statistical risk evaluation methods force us to collect statistical data for the calculation of the security indicators for the self-organizing networks, and the accuracy of this method depends on the number of calculating iterations. In our work, we have proposed a new approach for cybersecurity risk management based on object typing, data mining, and quantitative risk assessment for the smart city infrastructure. The experimental study has shown us that the artificial neural network allows us to automatically, unambiguously, and reasonably assess the cyber risk for various object types in the dynamic digital infrastructures of the smart city. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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20 pages, 7884 KB  
Article
Optimal Control of the Positional Electric Drive and Its Implementation
by Vladimir Dotsenko, Roman Prokudin and Alexander Litvinenko
Machines 2021, 9(4), 70; https://doi.org/10.3390/machines9040070 - 24 Mar 2021
Cited by 2 | Viewed by 2414
Abstract
The article deals with the optimal control of the positional electric drive of the stator element of a segment-type wind turbine. The calculation options charts current in the assumption of the minimum energy consumption and the implementation of line chart current using the [...] Read more.
The article deals with the optimal control of the positional electric drive of the stator element of a segment-type wind turbine. The calculation options charts current in the assumption of the minimum energy consumption and the implementation of line chart current using the phenomenon of capacitor discharge. The analysis of the implementation is expressed in a jump-like change in current and a triangular graph of the speed change. This article deals with small capacity synchronous wind turbine generators with a segment type stator. These units have the possibility of intentionally changing the air gap between the rotor and stator. This allows: (1) Reduce the starting torque on the rotor shaft, which will allow the rotor to pick up at low wind speeds. (2) Equivalent to change of air gap in this case is change of excitation of synchronous generators. Thus, the purpose of the article is to consider a method of excitation of generators in a segmented design, by controlling the gap with the electric drive, while providing control should be carried out with minimal losses. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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23 pages, 8318 KB  
Article
Design and Optimization of a Centrifugal Pump for Slurry Transport Using the Response Surface Method
by Khaled Alawadhi, Bashar Alzuwayer, Tareq Ali Mohammad and Mohammad H. Buhemdi
Machines 2021, 9(3), 60; https://doi.org/10.3390/machines9030060 - 13 Mar 2021
Cited by 28 | Viewed by 9050
Abstract
Since centrifugal pumps consume a mammoth amount of energy in various industrial applications, their design and optimization are highly relevant to saving maximum energy and increasing the system’s efficiency. In the current investigation, a centrifugal pump has been designed and optimized. The study [...] Read more.
Since centrifugal pumps consume a mammoth amount of energy in various industrial applications, their design and optimization are highly relevant to saving maximum energy and increasing the system’s efficiency. In the current investigation, a centrifugal pump has been designed and optimized. The study has been carried out for the specific application of transportation of slurry at a flow rate of 120 m3/hr to a head of 20 m. For the optimization process, a multi-objective genetic algorithm (MOGA) and response surface methodology (RSM) have been employed. The process is based on the mean line design of the pump. It utilizes six geometric parameters as design variables, i.e., number of vanes, inlet beta shroud, exit beta shroud, hub inlet blade draft, Rake angle, and the impeller’s rotational speed. The objective functions employed are pump power, hydraulic efficiency, volumetric efficiency, and pump efficiency. In this reference, five different software packages, i.e., ANSYS Vista, ANSYS DesignModeler, response surface optimization software, and ANSYS CFX, were coupled to achieve the optimized design of the pump geometry. Characteristic maps were generated using simulations conducted for 45 points. Additionally, erosion rate was predicted using 3-D numerical simulations under various conditions. Finally, the transient behavior of the pump, being the highlight of the study, was evaluated. Results suggest that the maximum fluctuation in the local pressure and stresses on the cases correspond to a phase angle of 0°–30° of the casing that in turn corresponds to the maximum erosion rates in the region. Full article
(This article belongs to the Section Machine Design and Theory)
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13 pages, 1188 KB  
Article
Aeroelastic Response of Aircraft Wings to External Store Separation Using Flexible Multibody Dynamics
by Aykut Tamer
Machines 2021, 9(3), 61; https://doi.org/10.3390/machines9030061 - 13 Mar 2021
Cited by 3 | Viewed by 3928
Abstract
In aviation, using external stores under the wings is a common method of carrying payload or fuel. In some cases, the payload can be rigidly attached to the wing. However, stores must often be ejected during flight for aircraft, such as military type, [...] Read more.
In aviation, using external stores under the wings is a common method of carrying payload or fuel. In some cases, the payload can be rigidly attached to the wing. However, stores must often be ejected during flight for aircraft, such as military type, which carry drop tanks and missiles. This may cause the wing to respond dynamically with increasing amplitudes, due to the impulsive load of ejection and the change of total mass. This is especially critical in aircraft with highly flexible wings, such as those with high aspect ratios. In this case, it is crucial to evaluate the wing response to store separation, which requires a suitable simulation environment that is able to support nonlinear and multidisciplinary analysis. To address such a need, this work presents the use of flexible multibody dynamics in the simulation of wing response to store separation. To demonstrate, a highly compliant wing was selected with a rigid body that was mounted on the wing to represent an external store. The time marching simulation of the wing before and after the store separation was presented to show the features and benefits of the method. Full article
(This article belongs to the Special Issue Dynamic Stability Analysis of Aerospace Structures)
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17 pages, 872 KB  
Article
Application of the Sequence Planner Control Framework to an Intelligent Automation System with a Focus on Error Handling
by Martin Dahl, Kristofer Bengtsson and Petter Falkman
Machines 2021, 9(3), 59; https://doi.org/10.3390/machines9030059 - 12 Mar 2021
Cited by 11 | Viewed by 2973
Abstract
Future automation systems are likely to include devices with a varying degree of autonomy, as well as advanced algorithms for perception and control. Human operators will be expected to work side by side with both collaborative robots performing assembly tasks and roaming robots [...] Read more.
Future automation systems are likely to include devices with a varying degree of autonomy, as well as advanced algorithms for perception and control. Human operators will be expected to work side by side with both collaborative robots performing assembly tasks and roaming robots that handle material transport. To maintain the flexibility provided by human operators when introducing such robots, these autonomous robots need to be intelligently coordinated, i.e., they need to be supported by an intelligent automation system. One challenge in developing intelligent automation systems is handling the large amount of possible error situations that can arise due to the volatile and sometimes unpredictable nature of the environment. Sequence Planner is a control framework that supports the development of intelligent automation systems. This paper describes Sequence Planner and tests its ability to handle errors that arise during execution of an intelligent automation system. An automation system, developed using Sequence Planner, is subjected to a number of scenarios where errors occur. The error scenarios and experimental results are presented along with a discussion of the experience gained in trying to achieve robust intelligent automation. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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16 pages, 5771 KB  
Article
Dual-Motor Planetary Transmission to Improve Efficiency in Electric Vehicles
by Giacomo Mantriota and Giulio Reina
Machines 2021, 9(3), 58; https://doi.org/10.3390/machines9030058 - 11 Mar 2021
Cited by 41 | Viewed by 9645
Abstract
Electric cars are typically subject to highly variable operational conditions, especially when they drive in urban environments. Consequently, the efficiency of the electric motors may degrade significantly, possibly leading to lower autonomy and higher running costs. Latest advances in power electronics and motion [...] Read more.
Electric cars are typically subject to highly variable operational conditions, especially when they drive in urban environments. Consequently, the efficiency of the electric motors may degrade significantly, possibly leading to lower autonomy and higher running costs. Latest advances in power electronics and motion control have paved the way to the development of novel architectures of full electric power transmissions. In this paper, a dual-motor solution is proposed where two smaller motors are coupled via a planetary gear, in contrast to the standard configuration that uses one larger motor directly connected to the drive wheels with a fixed ratio reducer. The dual-motor architecture guarantees that both motors operate in the vicinity of their optimal working range, resulting in a higher overall energy efficiency. The technical requirements and the control strategy of the dual-motor system are selected through a parametric optimization process. Results included were obtained from extensive simulations performed over different standard driving cycles, showing that the dual-motor power transmission generally outperforms the single-motor counterpart with an average efficiency improvement of about 9% that is reached in both the power delivery and regeneration stage. Full article
(This article belongs to the Special Issue Italian Advances on MMS)
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18 pages, 2499 KB  
Article
Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators
by Lan Li, Ziying Lin, Yi Jiang, Cungui Yu and Jianyong Yao
Machines 2021, 9(3), 57; https://doi.org/10.3390/machines9030057 - 8 Mar 2021
Cited by 16 | Viewed by 4415
Abstract
In this paper, a novel nonlinear model and high-precision lifting motion control method of a hydraulic manipulator driven by a proportional valve are presented, with consideration of severe system nonlinearities, various uncertainties as well as valve backlash/deadzone input nonlinearities. To accomplish this mission, [...] Read more.
In this paper, a novel nonlinear model and high-precision lifting motion control method of a hydraulic manipulator driven by a proportional valve are presented, with consideration of severe system nonlinearities, various uncertainties as well as valve backlash/deadzone input nonlinearities. To accomplish this mission, based on the independent valve orifice throttling process, a new comprehensive pressure-flow model is proposed to uniformly indicate both the backlash and deadzone effects on the flow characteristics. Furthermore, in the manipulator lifting dynamics, considering mechanism nonlinearity and utilizing a smooth LuGre friction model to describe the friction dynamics, a nonlinear state-space mathematical model of hydraulic manipulation system is then established. To suppress the adverse effects of severe nonlinearities and uncertainties in the system, a high precision adaptive robust control method is proposed via backstepping, in which a projection-type adaptive law in combination with a robust feedback term is conducted to attenuate various uncertainties and disturbances. Lyapunov stability analysis demonstrates that the proposed control scheme can acquire transient and steady-state close-loop stability, and the excellent tracking performance of the designed control law is verified by comparative simulation results. Full article
(This article belongs to the Special Issue Advanced Control of Industrial Electro-Hydraulic Systems)
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16 pages, 4143 KB  
Article
On the Suspension Design of Paquitop, a Novel Service Robot for Home Assistance Applications
by Luigi Tagliavini, Andrea Botta, Paride Cavallone, Luca Carbonari and Giuseppe Quaglia
Machines 2021, 9(3), 52; https://doi.org/10.3390/machines9030052 - 2 Mar 2021
Cited by 11 | Viewed by 4454
Abstract
The general and constant ageing of the world population that has been observed in the last decade has led robotics researchers community to focus its aims to answer the ever-growing demand for health care, housing, care-giving, and social security. Among others, the researchers [...] Read more.
The general and constant ageing of the world population that has been observed in the last decade has led robotics researchers community to focus its aims to answer the ever-growing demand for health care, housing, care-giving, and social security. Among others, the researchers at Politecnico di Torino are developing a novel platform to enhance the performance offered by present-day issues, and to assess many others which were not even taken into consideration before they have been highlighted by the pandemic emergency currently in progress. This situation, in fact, made dramatically clear how important it is to have reliable non-human operators whom one can trust when the life of elderly or weak patients is endangered by the simple presence of other people. The platform, named Paquitop, features an innovative architecture conceived for omni-directional planar motion. The machine is designed for domestic, unstructured, and variously populated environments. Therefore, the mobile robot should be able to avoid or pass over small obstacles, passing through the capability to achieve specific person tracking tasks, and arriving to the need of operating with an high dynamic performance. Given its purpose, this work addresses the design of the suspension system which enables the platform to ensure a steady floor contact and adequate stability in every using condition. Different configurations of such system are then presented and compared through use-case simulations. Full article
(This article belongs to the Special Issue Latest Trends of Autonomous Aerial and Terrestrial Vehicles for Service Robotics Applications)
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16 pages, 4842 KB  
Article
Developing New Thermal Protection Method for AC Electric Motors
by Igor V. Bochkarev, Ivan V. Bryakin, Vadim R. Khramshin, Aida R. Sandybaeva and Konstantin V. Litsin
Machines 2021, 9(3), 51; https://doi.org/10.3390/machines9030051 - 1 Mar 2021
Cited by 11 | Viewed by 4286
Abstract
Monitoring the thermal state of windings of electrical machines is a backbone for protection from unacceptable overheating. A large number of different methods and systems aim to solve this problem. This article discusses the main known methods of thermal protection of electric motors [...] Read more.
Monitoring the thermal state of windings of electrical machines is a backbone for protection from unacceptable overheating. A large number of different methods and systems aim to solve this problem. This article discusses the main known methods of thermal protection of electric motors and provides their comparative analysis. This paper shows that the most promising methods are those based on control of the current active resistance of the stator winding, as its value uniquely depends on temperature. It is demonstrated that the known methods have a number of disadvantages. A new phase method for thermal protection of AC motors is proposed. The method is based on the fact that a temperature-induced change in the active and reactive components of the winding impedance causes a corresponding change in the angle between the vectors of phase voltages and currents. This allows for thermal protection by controlling the change in this angle. This article provides tabular analytical substantiation of the proposed method, which is based on the direct measurements of voltage and current and the subsequent algorithmic calculation of physical values functionally related to the sought angle. The authors develop a structural block diagram of a device that implements the proposed thermal protection method. All relevant experimental studies were carried out. In this case, a small-sized electronic thermometer with a remote digital temperature sensor connected to the USB port of a personal computer was used as a temperature meter. The results obtained confirm the functional capability and efficiency of the proposed technical solution. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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18 pages, 2747 KB  
Article
Design of Nonlinear Control of Gas Turbine Engine Based on Constant Eigenvectors
by Sagit Valeev and Natalya Kondratyeva
Machines 2021, 9(3), 49; https://doi.org/10.3390/machines9030049 - 25 Feb 2021
Cited by 9 | Viewed by 7975
Abstract
A gas turbine engine represents a complex dynamic control object. Its characteristics change depending on the state of the environment and the regimes of its operation. This paper discusses an algorithmic approach to the design of a nonlinear controller, based on the concept [...] Read more.
A gas turbine engine represents a complex dynamic control object. Its characteristics change depending on the state of the environment and the regimes of its operation. This paper discusses an algorithmic approach to the design of a nonlinear controller, based on the concept of constant eigenvectors and analytical design of the control system. The proposed design method makes it possible to ensure the stability and the required quality of transient processes at different acceleration modes. In this case, the constancy of the matrix of the canonical basis of the closed-loop control system is assumed, which guarantees stability. The design of a neural network dynamic model of a gas turbine engine based on a neural network approximator with one input and multiple outputs is considered. An example of the design of a nonlinear controller for a gas turbine engine is considered, the neural network model of which is given in the state space. The application of neural network approximation of controller coefficients is presented. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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17 pages, 3842 KB  
Article
Consideration of Distinguishing Design Features of Gas-Turbine and Gas-Reciprocating Units in Design of Emergency Control Systems
by Pavel Ilyushin, Aleksandr Kulikov, Konstantin Suslov and Sergey Filippov
Machines 2021, 9(3), 47; https://doi.org/10.3390/machines9030047 - 24 Feb 2021
Cited by 32 | Viewed by 3698
Abstract
Modern gas-turbine units (GTUs) and gas-reciprocating units (GRUs) have found a wide use at power plants, including distributed generation facilities, running on gaseous fuel. The design features of these generating units have a considerable effect on the nature and parameters of transient processes [...] Read more.
Modern gas-turbine units (GTUs) and gas-reciprocating units (GRUs) have found a wide use at power plants, including distributed generation facilities, running on gaseous fuel. The design features of these generating units have a considerable effect on the nature and parameters of transient processes due to emergency disturbances in the adjacent network. The study shows that single-shaft gas-turbine and gas-reciprocating units do not allow even short-term considerable frequency drops. These schemes and operating conditions arise due to emergency active power shortages when the connection between the power plant and the power system weakens due to repair conditions or islanded operation. The paper presents the results of transient process calculations for operating power plants (distributed generation facilities), which make it possible to identify the unfavorable properties of GTUs and GRUs. The results show that two-shaft (three-shaft) GTUs and GRUs can switch to out-of-step conditions even when short-circuits in the adjacent network are cleared with high-speed relay protection devices. The features of out-of-step conditions and the admissibility of their short-term duration for the spontaneous restoration of generators’ synchronization are considered. The findings suggest that considering the fundamental design features of generating units provides informed technical decisions on equipping power plants (distributed generation (DG) facilities) and the adjacent network with efficient emergency control systems. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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24 pages, 2800 KB  
Article
Segmented Embedded Rapid Defect Detection Method for Bearing Surface Defects
by Linjian Lei, Shengli Sun, Yue Zhang, Huikai Liu and Hui Xie
Machines 2021, 9(2), 40; https://doi.org/10.3390/machines9020040 - 14 Feb 2021
Cited by 16 | Viewed by 3531
Abstract
The rapid development of machine vision has prompted the continuous emergence of new detection systems and algorithms in surface defect detection. However, most of the existing methods establish their systems with few comparisons and verifications, and the methods described still have various problems. [...] Read more.
The rapid development of machine vision has prompted the continuous emergence of new detection systems and algorithms in surface defect detection. However, most of the existing methods establish their systems with few comparisons and verifications, and the methods described still have various problems. Thus, an original defect detection method: Segmented Embedded Rapid Defect Detection Method for Surface Defects (SERDD) is proposed in this paper. This method realizes the two-way fusion of image processing and defect detection, which can efficiently and accurately detect surface defects such as depression, scratches, notches, oil, shallow characters, abnormal dimensions, etc. Besides, the character recognition method based on Spatial Pyramid Character Proportion Matching (SPCPM) is used to identify the engraved characters on the bearing dust cover. Moreover, the problem of characters being cut in coordinate transformation is solved through Image Self-Stitching-and-Cropping (ISSC). This paper adopts adequate real image data to verify and compare the methods and proves the effectiveness and advancement through detection accuracy, missing alarm rate, and false alarm rate. This method can provide machine vision technical support for bearing surface defect detection in its real sense. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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27 pages, 8982 KB  
Article
Probabilistic Condition Monitoring of Azimuth Thrusters Based on Acceleration Measurements
by Riku-Pekka Nikula, Mika Ruusunen, Joni Keski-Rahkonen, Lars Saarinen and Fredrik Fagerholm
Machines 2021, 9(2), 39; https://doi.org/10.3390/machines9020039 - 10 Feb 2021
Cited by 7 | Viewed by 7391
Abstract
Drill ships and offshore rigs use azimuth thrusters for propulsion, maneuvering and steering, attitude control and dynamic positioning activities. The versatile operating modes and the challenging marine environment create demand for flexible and practical condition monitoring solutions onboard. This study introduces a condition [...] Read more.
Drill ships and offshore rigs use azimuth thrusters for propulsion, maneuvering and steering, attitude control and dynamic positioning activities. The versatile operating modes and the challenging marine environment create demand for flexible and practical condition monitoring solutions onboard. This study introduces a condition monitoring algorithm using acceleration and shaft speed data to detect anomalies that give information on the defects in the driveline components of the thrusters. Statistical features of vibration are predicted with linear regression models and the residuals are then monitored relative to multivariate normal distributions. The method includes an automated shaft speed selection approach that identifies the normal distributed operational areas from the training data based on the residuals. During monitoring, the squared Mahalanobis distance to the identified distributions is calculated in the defined shaft speed ranges, providing information on the thruster condition. The performance of the method was validated based on data from two operating thrusters and compared with reference classifiers. The results suggest that the method could detect changes in the condition of the thrusters during online monitoring. Moreover, it had high accuracy in the bearing condition related binary classification tests. In conclusion, the algorithm has practical properties that exhibit suitability for online application. Full article
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23 pages, 8684 KB  
Article
Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle
by Antonio Tota, Enrico Galvagno and Mauro Velardocchia
Machines 2021, 9(2), 38; https://doi.org/10.3390/machines9020038 - 9 Feb 2021
Cited by 20 | Viewed by 8596
Abstract
Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding [...] Read more.
Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis. Full article
(This article belongs to the Special Issue Italian Advances on MMS)
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12 pages, 1814 KB  
Communication
Chip Appearance Inspection Method for High-Precision SMT Equipment
by Huiyan Zhang, Hao Sun and Peng Shi
Machines 2021, 9(2), 34; https://doi.org/10.3390/machines9020034 - 7 Feb 2021
Cited by 7 | Viewed by 4282
Abstract
In order to meet the defect-detection requirements of chips in high-precision surface mount technology (SMT) equipment widely used in the electronic industry, a chip appearance defect-detection method based on multi-order fractional discrete wavelet packet decomposition (DWPD) is proposed in this paper. First, lead [...] Read more.
In order to meet the defect-detection requirements of chips in high-precision surface mount technology (SMT) equipment widely used in the electronic industry, a chip appearance defect-detection method based on multi-order fractional discrete wavelet packet decomposition (DWPD) is proposed in this paper. First, lead and body regions were extracted from chip images using the image segmentation algorithm with asymmetric Laplace mixture model and connected-component labelling algorithm; then, the texture feature of the region to be inspected was extracted with the multi-order fractional DWPD algorithm and the geometric and gradient features were combined to form image features of the region to be inspected before the subset of features was selected from image features with the feature selection algorithm based on the variational Bayesian Gaussian mixture model; and finally, the support vector machine was used to determine whether the region to be inspected was defective. An experiment was conducted on a data set captured in high-precision SMT equipment. The accuracy of the proposed chip appearance defect-detection method is about 93%, which is more accurate than existing ones. Full article
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38 pages, 14218 KB  
Article
Development and Research of Crosshead-Free Piston Hybrid Power Machine
by Viktor Shcherba, Viktor Shalay, Evgeniy Nosov, Evgeniy Pavlyuchenko and Ablai-Khan Tegzhanov
Machines 2021, 9(2), 32; https://doi.org/10.3390/machines9020032 - 5 Feb 2021
Cited by 7 | Viewed by 3355
Abstract
This article considers the development and research of a new design of crosshead-free piston hybrid power machine. After verification of a system of simplifying assumptions based on the fundamental laws of energy, mass, and motion conservation, as well as using the equation of [...] Read more.
This article considers the development and research of a new design of crosshead-free piston hybrid power machine. After verification of a system of simplifying assumptions based on the fundamental laws of energy, mass, and motion conservation, as well as using the equation of state, mathematical models of the work processes of the compressor section, pump section, and liquid flow in a groove seal have been developed. In accordance with the patent for the invention, a prototype of a crosshead-free piston hybrid power machine (PHPM) was developed; it was equipped with the necessary measuring equipment and a stand for studying the prototype. Using the developed mathematical model, the physical picture of the ongoing work processes in the compressor and pump sections is considered, taking into account their interaction through a groove seal. Using the developed plan, a set of experimental studies was carried out with the main operational parameters of the crosshead-free PHPM: operating processes, temperature of the cylinder–piston group and integral parameters (supply coefficient of the compressor section, volumetric efficiency of the pump section, etc.). As a result of numerical and experimental studies, it was determined that this PHPM design has better cooling of the compressor section (decrease in temperature of the valve plate is from 10 to 15 K; decrease in temperature of intake air is from 6 to 8 K, as well as there is increase in compressor and pump section efficiency up to 5%). Full article
(This article belongs to the Section Machines Testing and Maintenance)
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16 pages, 5085 KB  
Article
A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories
by Cecilia Scoccia, Giacomo Palmieri, Matteo Claudio Palpacelli and Massimo Callegari
Machines 2021, 9(2), 30; https://doi.org/10.3390/machines9020030 - 4 Feb 2021
Cited by 30 | Viewed by 4650
Abstract
In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s [...] Read more.
In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s motion; it is based on the potential fields method combined with a smoothing process realized by means of interpolation with Bezier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A new term is introduced in the control law to take into account the speed of the obstacles as well as their position. Simulations on a simplified planar case are presented to assess the validity of the algorithms and to estimate the computational effort in order to verify the transferability of our approach to a real system. Full article
(This article belongs to the Special Issue Italian Advances on MMS)
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21 pages, 3323 KB  
Article
Machine Learning-Based Cognitive Position and Force Controls for Power-Assisted Human–Robot Collaborative Manipulation
by S. M. Mizanoor Rahman
Machines 2021, 9(2), 28; https://doi.org/10.3390/machines9020028 - 3 Feb 2021
Cited by 22 | Viewed by 5257
Abstract
Manipulation of heavy objects in industries is very necessary, but manual manipulation is tedious, adversely affects a worker’s health and safety, and reduces efficiency. On the contrary, autonomous robots are not flexible to manipulate heavy objects. Hence, we proposed human–robot systems, such as [...] Read more.
Manipulation of heavy objects in industries is very necessary, but manual manipulation is tedious, adversely affects a worker’s health and safety, and reduces efficiency. On the contrary, autonomous robots are not flexible to manipulate heavy objects. Hence, we proposed human–robot systems, such as power assist systems, to manipulate heavy objects in industries. Again, the selection of appropriate control methods as well as inclusion of human factors in the controls is important to make the systems human friendly. However, existing power assist systems do not address these issues properly. Hence, we present a 1-DoF (degree of freedom) testbed power assist robotic system for lifting different objects. We also included a human factor, such as weight perception (a cognitive cue), in the robotic system dynamics and derived several position and force control strategies/methods for the system based on the human-centric dynamics. We developed a reinforcement learning method to predict the control parameters producing the best/optimal control performance. We also derived a novel adaptive control algorithm based on human characteristics. We experimentally evaluated those control methods and compared the system performance between the control methods. Results showed that both position and force controls produced satisfactory performance, but the position control produced significantly better performance than the force controls. We then proposed using the results to design control methods for power assist robotic systems for handling large and heavy materials and objects in various industries, which may improve human–robot interactions (HRIs) and system performance. Full article
(This article belongs to the Special Issue Collaborative Robotics and Adaptive Machines)
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22 pages, 3240 KB  
Article
Operator-Based Nonlinear Control for a Miniature Flexible Actuator Using the Funnel Control Method
by Keisuke Ueno, Shuhei Kawamura and Mingcong Deng
Machines 2021, 9(2), 26; https://doi.org/10.3390/machines9020026 - 1 Feb 2021
Cited by 15 | Viewed by 2977
Abstract
Recently, the studies of soft actuators have been getting increased attention among various fields. Soft actuators are very safe for fragile objects and have an affinity to humans because they are composed of flexible materials. A miniature flexible actuator is a kind of [...] Read more.
Recently, the studies of soft actuators have been getting increased attention among various fields. Soft actuators are very safe for fragile objects and have an affinity to humans because they are composed of flexible materials. A miniature flexible actuator is a kind of pneumatically driven soft actuator. It has a bellowed shape and asymmetrical structure. This shape can generate a curling motion in two ways under positive and negative pressures with only one air tube. In the previous article, a control system using adaptive λ-tracking control was proposed. This control gain can become too large as time tends to infinity because the adaptive law exhibits a non-decreasing gain. To solve this problem, the funnel control method is proposed. The adaptive gain of this method not only increases but also decreases; however, the design scheme of the boundary function which is needed to decide on adaptive gain is not proposed here. In this article, an operator-based nonlinear control system’s design and the design scheme of the boundary function using an observer are proposed. Then, the effectiveness of the proposed method is verified by a simulation and an experiment. Full article
(This article belongs to the Section Automation and Control Systems)
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19 pages, 8849 KB  
Article
Evaluation of Grip Force and Energy Efficiency of the “Federica” Hand
by Daniele Esposito, Sergio Savino, Chiara Cosenza, Emilio Andreozzi, Gaetano Dario Gargiulo, Caitlin Polley, Giuseppe Cesarelli, Giovanni D’Addio and Paolo Bifulco
Machines 2021, 9(2), 25; https://doi.org/10.3390/machines9020025 - 27 Jan 2021
Cited by 28 | Viewed by 6194
Abstract
The actual grip force provided by a hand prosthesis is an important parameter to evaluate its efficiency. To this end, a split cylindrical handlebar embedding a single-axis load cell was designed, 3D printed and assembled. Various measurements were made to evaluate the performances [...] Read more.
The actual grip force provided by a hand prosthesis is an important parameter to evaluate its efficiency. To this end, a split cylindrical handlebar embedding a single-axis load cell was designed, 3D printed and assembled. Various measurements were made to evaluate the performances of the “Federica” hand, a simple low-cost hand prosthesis. The handlebar was placed at different angular positions with respect to the hand palm, and the experimental data were processed to estimate the overall grip force. In addition, piezoresistive force sensors were applied on selected phalanxes of the prosthesis, in order to map the distribution of the grasping forces between them. The electrical current supplied to the single servomotor that actuates all the five fingers, was monitored to estimate the force exerted on the main actuator tendon, while tendon displacement was evaluated by a rotary potentiometer fixed to the servomotor shaft. The force transfer ratio of the whole system was about 12.85 %, and the mean dissipated energy for a complete cycle of closing-opening was 106.80 Nmm, resulting lower than that of many commercial prostheses. The mean grip force of the “Federica” hand was 8.80 N, that is enough to support the user in many actions of daily life, also considering the adaptive wrapping capability of the prosthesis. On average, the middle phalanges exerted the greatest grip force (2.65 N) on the handlebar, while the distal phalanges a force of 1.66 N. Full article
(This article belongs to the Section Robotics, Mechatronics and Intelligent Machines)
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23 pages, 6925 KB  
Article
Precise Locating Control for a Polar Crane Based on Sliding Mode Active Disturbance Rejection Control and Quadratic Programming Algorithm
by Xuyang Cao, Zhiwei Wang and Xingang Zhang
Machines 2021, 9(2), 22; https://doi.org/10.3390/machines9020022 - 20 Jan 2021
Cited by 10 | Viewed by 3900
Abstract
A polar crane is a large-scale special lifting equipment operated in a nuclear power plant. To address the precise locating control problem of a polar crane with the center of gravity shifting, with cross-coupling, and with external disturbance, an effective control scheme is [...] Read more.
A polar crane is a large-scale special lifting equipment operated in a nuclear power plant. To address the precise locating control problem of a polar crane with the center of gravity shifting, with cross-coupling, and with external disturbance, an effective control scheme is proposed in this paper. Firstly, a nonholonomic constraint dynamic model of the polar crane is established according to the Lagrange–Rouse equation. Then, an expansion state observer (ESO) of the active disturbance rejection control (ADRC) method is applied to estimate and compensate the cross-coupling disturbance in real-time. To improve the robustness and convergence speed of the control system, the nonsingular terminal sliding mode (NTSM) control method is incorporated with ADRC and the stability of the controller is proven by the Lyapunov function approach. Furthermore, to solve the problem of redundant actuation and to reduce trajectory deviation of the bridge truck, the contact forces of the horizontal guide device are introduced into the quadratic programming (QP) optimization algorithm. Finally, the effectiveness and superiority of the proposed control scheme are illustrated by simulation results. Full article
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10 pages, 2965 KB  
Communication
Optimal Design of Double-Pole Magnetization BLDC Motor and Comparison with Single-Pole Magnetization BLDC Motor in Terms of Electromagnetic Performance
by Hyo-Seob Shin, Gang-Hyeon Jang, Kyung-Hun Jung, Seong-Kook Cho, Jang-Young Choi and Hyeon-Jae Shin
Machines 2021, 9(1), 18; https://doi.org/10.3390/machines9010018 - 17 Jan 2021
Cited by 1 | Viewed by 8139
Abstract
This study presents an optimal double-pole magnetization brushless DC (BLDC) motor design, compared to a single-pole magnetization BLDC motor in terms of electromagnetic performance. Initially, a double-pole model is selected based on the permanent magnet (PM) of the single-pole model. The pole separation [...] Read more.
This study presents an optimal double-pole magnetization brushless DC (BLDC) motor design, compared to a single-pole magnetization BLDC motor in terms of electromagnetic performance. Initially, a double-pole model is selected based on the permanent magnet (PM) of the single-pole model. The pole separation space, which is generated in the magnetization process of the double-pole PM, is selected based on the pole space of the single-pole model. Moreover, the PM offset is selected considering the PM volume of the single-pole model. Further, an optimal model is selected using the multiple response optimal method, which is a type of response surface methodology (RSM). The objective of the optimal design is to maintain the back EMF and decrease the cogging torque; the design variables include the pole separation space and PM offset. The experimental points of the initial model are designed using the central composite method (CCD). Finally, the optimization is verified by comparing the experimental and analysis results of the single-pole model with the analysis results of the optimal model. Full article
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22 pages, 13297 KB  
Article
Experimental Investigation of the Leaf Type Bearing Structure with Undersprings Under Dynamic Excitation
by Hannes Schmiedeke, Michael Sinapius and Nontavut Prechavut
Machines 2021, 9(1), 15; https://doi.org/10.3390/machines9010015 - 15 Jan 2021
Cited by 3 | Viewed by 3558
Abstract
With foil bearings, rotors achieve high rotational speeds with less friction and wear. In addition, here the required space is small and no peripheral components like liquid tanks or pumps are needed. The drawback is a more complex prediction of the real behavior [...] Read more.
With foil bearings, rotors achieve high rotational speeds with less friction and wear. In addition, here the required space is small and no peripheral components like liquid tanks or pumps are needed. The drawback is a more complex prediction of the real behavior in rotordynamic systems. Impedance test rigs are suitable for investigating the structural-dynamic bearing properties and for validating the theoretical models. This article presents and discusses the measurement of dynamic behavior, i.e., stiffness and damping coefficients, of the structure of a leaf type bearing with undersprings. These measurements include variations in static load due to the relative displacement of the bearing and shaft as well as an attempt to explain the noticed anisotropic behavior of the bearing. This article also shows how much a controlled excitation improves the comparability across the frequency band. For this purpose, a test rig is presented that has been further developed in comparison to known literature approaches. The results show, that the loss factors of the examined bearing structure are up to 4 times bigger below lift-off compared to the operation at 60,000 rpm. Furthermore, the movement amplitudes and the static loads have a great influence on the stiffness and the damping. Full article
(This article belongs to the Section Automation and Control Systems)
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17 pages, 10547 KB  
Article
Definition of Damage Indices for Railway Axle Bearings: Results of Long-Lasting Tests
by Paolo Pennacchi, Steven Chatterton, Andrea Vania and Davide Massocchi
Machines 2021, 9(1), 12; https://doi.org/10.3390/machines9010012 - 13 Jan 2021
Cited by 8 | Viewed by 4961
Abstract
The European Rail Transport System has set goals of improving the reliability, availability, durability, high-speed capacity, and maintenance. In this context, the condition monitoring approach is of fundamental importance for all components of the “train” system. The authors have long been in the [...] Read more.
The European Rail Transport System has set goals of improving the reliability, availability, durability, high-speed capacity, and maintenance. In this context, the condition monitoring approach is of fundamental importance for all components of the “train” system. The authors have long been in the diagnostics of the railway traction system, with a focus on rolling element bearings. In this paper, signal processing techniques, already developed in the past and experimentally validated in the railway field, are applied to vibration data for the definition of damage indices for railway axle bearings. This allows to evaluate the “status” of the bearing and the monitoring of the evolution of any damage that may occur. The experimental data were obtained by means of a test-rig built according to EN 12082:2017 and following the test specifications of the same standard. Full article
(This article belongs to the Special Issue Italian Advances on MMS)
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