Search Results (23)

Torsional resonance is a common phenomenon in engineering vehicle drivelines. To avoid the influence of resonance on the driveline, it is typical to modify the frequency. However, traditional frequency modification methods cannot precisely achieve expected frequencies while keeping others unchanged. They often cause frequency ‘overflow’ and fail to account for the influence of modal damping on drivelines. To address the issues above, a passive modification method is proposed to modify the natural frequencies of engineering vehicle drivelines, considering modal damping. In this paper, the dynamic equations for gears and shafts are derived by a lumped-parameter model that employs the Lagrange method to establish a reasonably equivalent model as a serial-parallel system consisting of (moment of inertia)-(torsional spring)-(torsional damper) with free boundary conditions. Additionally, the passive structural modification for the partial eigenvalue assignment (PEVAPSM) method is employed to modify the specified partial natural torsional frequencies to realizable expected values, while others remain unchanged. The modal damping of the original driveline is modified based on the orthogonal decomposition method. Finally, the practical applicability of the method proposed in this paper is demonstrated through a specific example. Results indicate that the PEVAPSM method has been successfully extended and supplemented from a theoretical translational system, ignoring modal damping, to a practical torsional system considering modal damping to modify natural frequencies of the structure. The improved PEVAPSM method enables to precisely determine the moment of inertia and modal damping of gears in the driveline, preventing resonance with other structures at the same frequency. It offers valuable guidance for studying the torsional vibration characteristics of engineering vehicle drivelines. Full article

Climate change is reshaping hydrologic regimes in snow-dominated watersheds, with important implications for mine rock drainage quantity and contaminant mobilization. This study quantifies potential long-term changes in drainage quantity by coupling a previously published physics-informed machine learning model with a Monte Carlo framework driven by downscaled monthly climate projections from ClimateNA. The proposed methodology was applied to three drainage monitoring stations at a mine site in Western Canada to assess projected drainage responses over the 2011–2100 period. An ensemble of daily weather sequences was generated by sampling historical within-month variability and scaling the resulting series to match projected monthly climate statistics, which were then used as inputs for the drainage model. Trends were assessed using the Mann–Kendall test modified for serial correlation, and their magnitudes were summarized using the Theil–Sen slopes. The trend analysis results indicate scenario-dependent changes in annual drainage across stations, alongside consistent seasonal shifts toward higher spring (April–May) and lower early-summer (June–July) drainage. These patterns are consistent with earlier snowmelt and earlier snowpack depletion. Corresponding shifts in intra-annual flow timing suggest that a larger fraction of annual drainage occurs earlier in the year. Overall, these findings provide a physics-informed basis for changes in drainage quantity and for guiding monitoring, design, and mitigation strategies under a warming climate. Full article

Metal–polymer hybrid joints are gaining importance as they combine high structural rigidity with a low weight. Additive manufacturing processes such as the laser powder bed fusion process (L-PBF) enable the production of complex metallic lattice structures that allow for form-fitting force transmission between the metal and polymer as mechanical interlock elements. In this work, metal–polymer hybrid compounds with additively manufactured transition zones are systematically investigated and mechanically evaluated. Three different lattice geometries (z4A, z8A, z8V) were fabricated from maraging steel (1.2709) using L-PBF and then hybridised with injection moulding using polypropylene (PP C7069-100NA). Mechanical characterisation was performed by tensile tests according to DIN EN ISO 527, in combination with statistical analyses and an analytical serial three-spring model to determine the homogenised elasticity modulus of the transition zone. The results show significant geometry-related differences in tensile strength, maximum force, and effective stiffness. The A-shaped transition zone geometry (z4A) achieves the highest mechanical performance and up to 82% of the tensile strength of the pure polymer, while the V-shaped transition zone geometry (z8V) has significantly lower load-bearing capacities. Variance analysis shows a dominant geometric influence with effect strength of η² ≈ 0.99. The analytically predicted stiffness values match the experimental results within 5–10%. This work demonstrates a reproducible, simulation-sparse approach to the analysis and design of metal–polymer hybrid connections. Full article

This paper presents a design of spring static-balanced manipulators for reduced spring attachment adjustments. Gravitational joint torque is balanced by spring torque to maintain static balance, but joint reaction force by gravity force and spring force is still an important issue for manipulators. Springs, with their stiffness and attachment parameters, cause torque on the same joint, and then there is a torque-sharing effect between them, and the parameters of one spring can be represented by other springs. The sharing ratio between coupled springs is defined as the ratio of the torque due to the spring attached to the succeeding link to the gravitational torque. For adjacent springs, the bounds of the sharing ratio are from 0 to 1; for non-adjacent springs at a succeeding link or preceding link, the upper bound of the sharing ratio is determined, or the sharing ratio is determined, respectively. The 3-DOF manipulators are an illustrative example: the relationship between joint reaction force and the joint torque-sharing ratio is investigated, and on the optimum joint reaction force, the best sharing ratio and spring attachment installations are found. It is shown that the joint reaction force is reduced in manipulators, and this method is used in spatial manipulators with a systematic spring static balance method. Full article

Tomato brown rugose fruit virus (ToBRFV) has been causing severe agricultural damage worldwide since its recent discovery. While related to tobacco mosaic virus, its properties and infection mechanisms are poorly understood. To uncover their structure and nanomechanics, we carried out atomic force microscopy (AFM) measurements on individual ToBRFV particles. The virions are rod-shaped with a height and width of 9 and 30 nm, respectively. Length is widely distributed (5–1000 nm), with a mode at 30 nm. ToBRFV rods displayed a 22.4 nm axial periodicity related to structural units. Force spectroscopy revealed a Young’s modulus of 8.7 MPa, a spring constant of 0.25 N/m, and a rupture force of 1.7 nN. In the force curves a step was seen at a height of 3.3 nm, which is related to virion wall thickness. Wall thickness was also estimated by predicting coat protein structure with AlphaFold, yielding a protein with a length of 7.3 nm. Accordingly, the structural element of ToBRFv is a right circular cylinder with an equal height and diameter of ~22 nm and a wall thickness between 3.3 and 7.3 nm. Thus, at least four to nine serially linked units are required to encapsidate a single, helically organized RNA genome. Fragmentation of ToBRFV into these cylindrical structural units may result in a facilitated release of the genome and thus efficient infection. Full article

Maintenance of the exteriors of buildings with convex façades, such as skyscrapers, is in high demand in urban centers. However, manual maintenance is inherently dangerous due to the possibility of accidental falls. Therefore, research has been conducted on cleaning robots as a replacement for human workers, e.g., the dual ascension robot (DAR), which is an underactuated rope-driven robot, and the rope-riding mobile anchor (RMA), which is a rope-riding robot. These robots are equipped with a convex-façade-cleaning system. The DAR and RMA are connected to each other by a rope that enables vibration transmission between them. It also increases the instability of the residual vibration that occurs during the operation of the DAR. This study focused on reducing the residual vibrations of a DAR to improve the stability of the overall system. Because it is a rope-on-rope (ROR) system, we assumed it to be a simplified serial spring–damper system and analyzed its kinematics and dynamics. An input-shaping technique was applied to control the residual vibrations in the DAR. We also applied a disturbance observer to mitigate factors contributing to the system uncertainty, such as rope deformation, slip, and external forces. We experimentally validated the system and assessed the effectiveness of the control method, which consisted of the input shaper and disturbance observer. Consequently, the residual vibrations were reduced. Full article

Epoxy resins are extensively employed as adhesives and matrices in fibre-reinforced composites. As polymers, they possess a viscoelastic nature and are prone to creep and stress relaxation even at room temperature. This phenomenon is also responsible for time-dependent failure or creep fracture due to cumulative strain. Several constitutive equations have been used to describe the mechanical time-dependent response of polymers. These models have been proposed over the past six decades, with minimal direct and practical confrontation. Each model is associated with a specific application or research group. This work assesses the predictive performance of four distinct time-dependent constitutive models based on experimental data. The models were deemed sufficiently straightforward to be readily integrated into practical engineering analyses. A range of loading cases, encompassing constant strain rate, creep, and relaxation tests, were conducted on a commercial epoxy resin. Model parameter calibration was conducted with a minimum data set. The extrapolative predictive capacity of the models was evaluated for creep loading by extending the tests to five decades. The selected rheological models comprise two viscoelastic models based on Volterra-type integrals, as originally proposed by Schapery and Rabotnov; one viscoplastic model, as originally proposed by Norton and Bailey; and the Burger model, in which two springs and two dashpots are combined in a serial and parallel configuration. The number of model parameters does not correlate positively to superior performance, even if it is high. Overall, the models exhibited satisfactory predictive performance, displaying similar outcomes with some relevant differences during the unloading phases. Full article

In this paper, serial elastic actuators (SEAs) in conjunction with an accelerometer are proposed as force sensors to detect the intention of movement, and the SEA is proposed as a gentle actuator of a patient’s upper-limb exoskeleton. A smooth trajectory is proposed to provide comfortable performance. There is an offset trajectory between the link and the motor, which increases safety by preventing sudden movements, and the offset is equivalent to the torsional elastic spring constant. The proposed control law is based on a backstepping approach tested in real-time experiments with robust results in a 2-DoF upper-limb rehabilitation exoskeleton. The experimental results showed a sensitivity of 100% and a positive predictive value of 97.5% for movement intention detection. Full article

The article presents factors influencing the germination and development of plants after seeding with disk seeders. Schemes of improved two-disk seeders are proposed, forces acting on the improved seeder during operation, determination of the maximum distance between the seeder disks at the field surface level, and calculation schemes for determining the draft resistance of the serial and improved seeders, the area of the flat disk segment of the seeder, determination of the deformer, and tailstock area of the pressing plate. During the theoretical study of the seeding process, the following parameters and observations were obtained: analytical dependencies of soil density created by the pressing plate; geometric parameters of the pressing plate with a curvature radius r = 52…57 mm, plate section thickness of 2.5 mm; installation of the pressing plate insignificantly increases the draft resistance of the seeder; and the depth of the seeder’s travel has the greatest influence on spring deformation. Experimental studies reveal that the stiffness of the pressing plate is 7500…7600 N/m, ensuring an optimal furrow bottom density of 1.1–1.3 g/cm³; in the range of seed embedding depth of 0.05…0.07 m, 89% of the total number of seeds are placed compared to 76% of seeds embedded by the serial seeder. Full article

This work is dedicated to the design of flexible composite elements, specifically leaf springs. The design of these flexible composite elements took in consideration the technologies, materials and intermediate goods that are available and useable in laboratory manufacturing and the possibility for the transfer of gained knowledge to industrial practice. This work deals with individual types of materials and their processability and usability for the manufacturing of composite products exposed to cyclic stress. The impact of the designed lay-up diagrams and cyclic load boundary on the fatigue behaviour of manufactured specimens was used to evaluate the effect of cyclic stressing. Based on this assessment, a conclusion and recommendation were formulated for the serial manufacturing of flexible composite elements. Full article

Robust and precise visual localization over extended periods of time poses a formidable challenge in the current domain of spatial vision. The primary difficulty lies in effectively addressing significant variations in appearance caused by seasonal changes (summer, winter, spring, autumn) and diverse lighting conditions (dawn, day, sunset, night). With the rapid development of related technologies, more and more relevant datasets have emerged, which has also promoted the progress of 6-DOF visual localization in both directions of autonomous vehicles and handheld devices.This manuscript endeavors to rectify the existing limitations of the current public benchmark for long-term visual localization, especially in the part on the autonomous vehicle challenge. Taking into account that autonomous vehicle datasets are primarily captured by multi-camera rigs with fixed extrinsic camera calibration and consist of serialized image sequences, we present several proposed modifications designed to enhance the rationality and comprehensiveness of the evaluation algorithm. We advocate for standardized preprocessing procedures to minimize the possibility of human intervention influencing evaluation results. These procedures involve aligning the positions of multiple cameras on the vehicle with a predetermined canonical reference system, replacing the individual camera positions with uniform vehicle poses, and incorporating sequence information to compensate for any failed localized poses. These steps are crucial in ensuring a just and accurate evaluation of algorithmic performance. Lastly, we introduce a novel indicator to resolve potential ties in the Schulze ranking among submitted methods. The inadequacies highlighted in this study are substantiated through simulations and actual experiments, which unequivocally demonstrate the necessity and effectiveness of our proposed amendments. Full article

Grip strength (GS) is widely used in various fields such as sports, rehabilitation, and geriatrics to assess muscle strength, and to diagnose sarcopenia and frailty in older adults. There is a potential for measurement differences among different dynamometers available, and studies comparing GS measurements by variable tools have conflicting results. The two most frequently used dynamometers are the Jamar hydraulic (Jamar) and spring-type hand grip dynamometers, and Jamar has not been compared to Jamar PLUS+ Digital (Jamar+) dynamometer in older adults. So, we aimed to assess GS measurements with the Jamar as the reference standard against Jamar+, and spring-type Takei T.KK. 5401 (Takei) digital dynamometers. One hundred and ten outpatients aged >60 years were included. Inter-instrumental reliability was determined. The differences between dynamometers were evaluated by Bland–Altman plots and measurement error. The measurements with Jamar+, and Takei dynamometers were reliable and valid regarding the Jamar dynamometer. Takei and Jamar+ dynamometers overestimated GS over the Jamar dynamometer. Though the differences in the measured values might be disregarded in clinical practice, individuals defined to have low GS varied by the use of different dynamometers. Grip strength better be measured by the same dynamometer in serial measurements of older individuals. Full article

The membrane-type air spring can be used to suppress lateral vibration of a vibration isolation table. However, compared to voice coil actuators, pneumatic actuators are difficult to use for precise vibration control, because servo valves have nonlinear dynamic characteristics. Therefore, actuators, such as voice coil actuators, can be placed in parallel with air springs, allowing force-type actuators to provide additional force to the system. These actuators generate force. In the case of a ball-screw mechanism device or a linear servomotor, it is an actuator that generates displacement. These actuators are represented as serial active systems. Serial active systems are structurally simpler than parallel active systems. However, there are very few studies on vibration isolation systems using serial active systems compared to parallel active systems. As the two are different types of systems, a new control algorithm suitable for the serial active system is needed. This study proposes a system in which an actuator capable of accurately controlling displacement is connected in series with a support spring-damper. A new active vibration control algorithm for the proposed control system is also developed, which is termed the position input and position output. The proposed control algorithm uses the displacement of the system as an input and outputs the desired displacement of the actuator installed in series with the damper and spring. The proposed control algorithm increases the damping at the target frequency and reduces the response of the system. Numerical studies and experiments were conducted on the single-degree-of-freedom and multi-degree-of-freedom systems. The results show the efficacy of the proposed control system and the novel control algorithm for the vibration suppression of the lateral vibration of a vibration isolation table. Full article

Serially connected statically balanced manipulators with springs have been used in many applications. However, a portion of the torques caused by springs countering each other lead to an imbalance in gravitational torques and, therefore, are deemed as waste torques for springs to achieve static balance. In this paper, the torque contribution of a typical spring is classified as gravity-balancing torque and counter-torque based on the accumulated joint angle of the gravitational torque. Then, the internal counter-torque is defined as the sum of the magnitude of the terms of these counter-torques at each joint. Through the adjustment of spring attachment parameters, the internal counter-torque can be minimized with preferable spring attachment parameters while maintaining a static-balancing condition. A typical four-link manipulator with a preselected spring configuration is shown as an illustrative example. The results show that there are 28% and 50% reductions in the internal counter-torque at joints 2 and 3, respectively, through the adjustment of spring attachment parameters. Hence, the waste torques in statically balanced serially connected manipulators are reduced to the lowest quantity. Full article

Several studies have shown that actuation concepts such as Serial elastic actuator (SEA) can reduce peak power and energy consumption in ankle prostheses. Proper selection and design of the actuation concepts is important to unlock the power source potential. In this work, the optimization design, mechanical design, control scheme, and bench experiments of a new powered ankle–foot prosthesis is proposed. The actuation concept of this prosthesis is parallel elastic actuator (PEA) composed of electro-hydrostatic actuator (EHA) as the power kernel and a unidirectional parallel spring as the auxiliary energy storage element. After the appropriate motor and transmission ratio was selected, a dynamic model of the PEA prosthesis was built to obtain the appropriate spring parameters driven by biological data. The design of the hydraulic and mechanical system and the controller were provided for the implementation of the designed system. Bench experiments were performed to verify the performance. The results showed that the designed prosthesis meets the biomechanical dynamics requirements. This result emphasizes the feasibility of the EHA as a power source and actuator and provides new ideas for the design of ankle–foot prostheses. Full article